Servo-driving multi-connecting-rod variable-degree-of-freedom connecting rod mechanism for simple oxygen-acetylene cutting machine
A technology of servo drive and linkage mechanism, which is applied in the field of machinery, can solve the problems of the variable degree of freedom mechanism of the gas cutting blanking machine, the decline of the dynamic performance of the manipulator, and the increase of the load of the drive motor, etc. Compactness and weight reduction effect
Inactive Publication Date: 2017-08-18
GUANGXI UNIV
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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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[0007] A servo-driven multi-link variable-degree-of-freedom link mechanism for a simple gas cutting cutting machine, consisting of a base 1, an active bar 13, a first link 15, a first connecting piece 5, a fourth link 4, a large Arm 2, gripper link 6, second link 22, third link 26, gripper 27, torch 28, servo drive, first locking device 23 and second locking device 24 The base 1 is mounted on a movable slewing platform; the boom 2 is connected to the base through the first swivel pair 10, and the other end of the boom 2 is connected to the gripper link 6 through the third swivel pair 8; The active rod 13 is connected to the base 1 through the fifth rotating pair 12, the other end is connected to the first connecting rod 15 through the sixth rotating pair 14, and the first connecting rod 15 is connected to the first connecting member 5 through the seventh rotating pair 16 The first connecting member 5 is connected with the second connecting rod 22 through the eighth rotating pa...
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A servo-driven multi-link variable-degree-of-freedom link mechanism for a simple gas cutting cutting machine, consisting of a base 1, an active bar 13, a first link 15, a first connecting piece 5, a fourth link 4, a large Arm 2, gripper link 6, second link 22, third link 26, gripper 27, torch 28, servo drive device, first locking device 23 and second locking device 24; The boom 2 is connected to the base through the first rotating pair 10, the first locking device 23 and the second locking device 24 are installed on the seventh rotating pair 16 and the eleventh rotating pair 19 respectively, and the servo drives The device includes a first servo motor connected with the active rod 13 to drive its rotation; the first locking device 23 and the second locking device 24 are locked by electromagnetic means. The invention adopts the connecting rod transmission mechanism to replace the hydraulic mechanism, which solves the disadvantages of easy oil leakage and complicated mechanism of the hydraulic mechanism. The locking device on the revolving pair can adapt to different working conditions, and the number of motors used is less than the degree of freedom of the mechanism.
Description
technical field [0001] The invention relates to the mechanical field, in particular to a servo-driven multi-link variable-degree-of-freedom link mechanism for a simple gas cutting cutting 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...
Claims
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Login to View More IPC IPC(8): B25J5/00B25J9/00B23K7/10
CPCB25J5/007B23K7/10B25J9/0048
Inventor不公告发明人
OwnerGUANGXI UNIV