Simple spot welding mechanical arm adopting freedom-degree-variable connecting rod mechanism

Abstract

A simple spot welding mechanical arm adopting a freedom-degree-variable connecting rod mechanism is composed of a base 1, a large arm 2, a connecting part 4, a wrist connecting rod 5, a welding gun 28, a wrist 27, a drive device, a driving rod 13, a connecting rod 15, an upper arm 18, a first locking device 25 and a second locking device 26. The large arm 2 is connected to the base 1 through a first rotating pair 9. The other end of the large arm 2 is connected with the wrist connecting rod 5 through a third rotating pair 7. The first locking device 25 and the second locking device 26 are mounted on an eighth rotating pair 17 and a first rotating pair 9 correspondingly. The drive device is composed of a first servo motor and connected with the driving rod 13 and drives the driving rod 13.The first locking device 25 and the second locking device 26 are both electromagnetic locking devices. The simple spot welding mechanical arm overcomes the defect that an existing spot welding mechanical arm mechanism needs to be provided with control motors with the number equal to that of freedom degrees of the connecting rod mechanism to achieve control.

Description

technical field [0001] The invention relates to the field of mechanical technology, in particular to a simple spot welding manipulator using a variable degree of freedom link mechanism. Background technique [0002] At present, most of the general-purpose spot welding manipulators in the manufacturing industry are joint motor-driven manipulators with a series structure in the form of an open chain. various actions. 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 the joint position, ...

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