Three-degree-of-freedom closed-chain type arc welding machine mechanism

Abstract

A three-degree-of-freedom closed-chain type arc welding machine mechanism comprises a base, a rotatable platform, a telescopic mechanism, a lifting mechanism, a pitching mechanism, a pivoted wrist, awelding gun and a driving device; the telescopic mechanism comprises a first active rod, a second connecting rod and a first big arm; the lifting mechanism comprises a second active rod, a third connecting rod and a second big arm; the pitching mechanism comprises a third active rod and a pitching rod; the upper portion of a pivoted wrist link is hinged to the other end of the first big arm, and the lower portion of the pivoted wrist link is hinged to the other end of the second big arm; and the driving device comprises three servo motors, the three servo motors are correspondingly connected with the first active rod, the second active rod and the third active rod, and the first active rod, the second active rod and the third active rod are correspondingly driven by the three servo motors.All driving motors of the three-degree-of-freedom closed-chain type arc welding machine mechanism are arranged on the rotatable platform to drive the active rods, and the three-degree-of-freedom closed-chain type arc welding machine has high rigidity, large carrying capacity, low inertia, good dynamic performance, and flexible and diversified mechanical arm movement tracks.

Description

technical field [0001] The invention relates to the field of mechanical engineering, in particular to a closed-chain arc welding mechanism with three degrees of freedom. Background technique [0002] At present, most of the general-purpose arc welding manipulators in the manufacturing industry are joint motor-driven manipulators with 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, resulting in large ...

AI Technical Summary

Problems solved by technology

Since the drive motors of the joint-type manipulator with the series structure in the form of an 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-bearing capacity, complex structure, and low modularity of the manipulator.

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