Servo motor driven variable-activity connecting rod mechanism for gas cutting unloading machine

Abstract

A servo-motor-driven variable-movement link mechanism for a gas cutting cutting machine, including a base 1, a boom lifting mechanism, a gripper link pitching mechanism, a gripper 27, a torch 28, a servo drive device, The first locking device 5 and the second locking device 22; the boom lifting mechanism includes a boom 20, the first connecting rod 3 and the second connecting rod 6, and the gripper link pitching mechanism includes an active rod 17 , the third connecting rod 15, the connector 13 and the fourth connecting rod 11, the first locking device 5 and the second locking device 22 are installed on the second rotating pair 4 and the fifth rotating pair 7 respectively, and the servo drive The device includes a first servo motor connected to the active rod 17 to drive its rotation; the first locking device 5 and the second locking device 22 are locked by electromagnetic means. The invention utilizes one active rod to realize two degrees of freedom gas cutting and blanking operations, reduces the number of motors used, and lowers the construction cost of the gas cutting and blanking machine.

Description

technical field [0001] The invention relates to the mechanical field, in particular to a servo motor-driven variable activity link mechanism for a gas cutting blanking machine. Background technique [0002] At present, most of the general-purpose gas cutting cutting machines in the manufacturing industry are joint-type motor-driven manipulators with a series structure in the form of an open chain. Various actions of the manipulator. Since the driving motors of the joint-type manipulators with series structure in the form of open chain are installed at the joints, this structure has the following problems: the manipulator arm needs to carry the weight of the motor and meet the rigidity requirements, and the cross-sectional size of the arm needs to be made larger. This will increase the load on the drive motor, increase the moment of inertia of the arm, and lead to a decrease in the dynamic performance of the manipulator. At the same time, the drive motors are installed at th...

AI Technical Summary

Problems solved by technology

Since the driving motors of the joint-type manipulators with series structure in the form of open chain are installed at the joints, this structure has the following problems: the manipulator arm needs to carry the weight of the motor and meet the rigidity requirements, and the cross-sectional size of the arm needs to be made larger. This will increase the load of the drive motor, increase the motion inertia of the arm, and lead to a decrease in the dynamic performance of the manipulator. At the same time, the drive motors are installed at the joint position, resulting in large cumulative errors, small load-carrying capacity, complex structure, and low modularity of the manipulator.

At present, there are few variable-degree-of-freedom mechanisms that can be applied to practical applications, and no variable-degree-of-freedom mechanisms that have been applied to gas cutting blanking machines have been seen.

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