Multi-link type blanking mechanical device with three freedom degrees

Abstract

A multi-link type blanking mechanical device with three freedom degrees comprises a big arm connection rod, a connection plate, a forearm connection rod, a wrist connection rod, a big arm, a small arm, a small arm drive rod, a first connection rod, a second connection rod, a third connection rod, a revolving platform, a base, a wrist drive rod, a wrist, a burning torch and a drive device, whereinone end of the big arm connection rod is connected to the wrist drive rod, the other end of the big arm link is connected with the connection plate, one end of the forearm connection rod is connectedwith the connection plate, and the other end of the forearm connection rod is connected to the wrist connection rod, and the drive device comprises a first servo motor, a second servo motor and the third servo motor which are connected to the big arm, the forearm drive rod and the wrist drive rod correspondingly and big arm, the forearm drive rod and the wrist drive rod correspondingly. The multi-link type blanking mechanical device adopts the multi-link parallel mechanism, all the drive motors are installed on the revolving platform to drive the drive rods, and the multi-link type blanking mechanical device is compact in structure, high in rigidity, low in inertia, good in dynamic performance, rapid in response and capable of improving the production efficiency.

Description

technical field [0001] The invention relates to the field of mechanical engineering, in particular to a multi-rod feeding mechanical device with three degrees of activity. Background technique [0002] The existing gas cutting manipulators in the machinery manufacturing industry mostly use series structure joint motors to drive the mechanical arms. Various actions of the mechanical arm. Since the drive motors of the open-chain series structure articulated manipulator are all installed at the joints, this structure has the following problems: the arm of the manipulator needs to carry the weight of the motor and meet the rigidity requirements, and the cross-sectional size of the arm needs to be relatively small. Large, this will increase the load of the drive motor, increase the motion inertia of the arm, and cause the dynamic performance of the manipulator to decline. At the same time, the drive motors are installed at the joint position, resulting in a large cumulative erro...

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a multi-rod feeding mechanical device with three degrees of activity, which overcomes the large cumulative error of the arm caused by the installation of all the drive motors of the series mechanical arms on each joint of the mechanical arm, the small bearing capacity, and the inertia of the arm. large and low dynamic performance, in order to achieve the above purpose, the present invention adopts the following technical solutions: a three-movement multi-rod type blanking mechanical device, which is characterized in that it includes a boom connecting rod 13, a connecting plate 12, Forearm connecting rod 11, wrist connecting rod 8, big arm 14, forearm 7, forearm driving rod 3, first connecting rod 5, second connecting rod 6, third connecting rod 4, rotary platform 2, base 1, Wrist driving rod 15, wrist 9, torch 10, driving device, big arm connecting rod 13 one ends are connected on the wrist driving rod 15, big arm connecting rod 13 other ends are connected with connecting plate 12, forearm connecting rod 11 one ends are connected with The other end of the arm link 11 is connected to the wrist link 8, one end of the arm 14 is connected to the rotary platform 2, and the other end of the arm 14 is connected to the connecting plate 12 and one end of the arm 7. The other end of the arm 7 is connected to the wrist link 8, one end of the forearm driving rod 3 is connected to the rotary platform 2, the other end of the forearm driving rod 3 is connected to one end of the first connecting rod 5, and the other end of the first connecting rod 5 is connected to the first connecting rod 5. One end of the two connecting rods 6 is connected, the other end of the second connecting rod 6 is connected to the forearm 7, one end of the third connecting rod 4 is connected to the middle part of the boom 14, and the other end of the third connecting rod 4 is connected to the first connecting rod 5; The driving device includes a first servo motor, a second servo motor, and a third servo motor, which are respectively connected with the big arm 14, the forearm driving rod 3, and the wrist driving rod 15, and drive the big arm 14, the small arm driving rod 3, and the wrist respectively. rod 15 to drive

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