Discharging operating mechanical device with multi-rod closed chain structure

Abstract

The invention provides a discharging operating mechanical device with a multi-rod closed chain structure. The discharging operating mechanical device comprises a base, a slewing platform, an expandingand contracting mechanism, a lifting mechanism, a pitching mechanism, a cutting gun, a wrist and a driving device, wherein the expanding and contracting mechanism comprises a first driving rod and alarge arm; the lifting mechanism comprises a second driving rod, a second connecting rod, a third connecting rod and a lifting rod; the pitching mechanism comprises a third driving rod and a pitchingrod; the driving device comprises three servo motors; and the three servo motors are respectively connected with the first driving rod, the second driving rod and the third driving rod. The discharging operating mechanical device disclosed by the invention adopts a controllable multi-rod parallel mechanism; and compared with a series connection manipulator, the discharging operating mechanical device has the advantages that the operating smoothness and the reliability of the manipulator are improved, no accumulated error is generated, and the precision is high; and the discharging operating mechanical device is compact in structure, high in rigidity, high in carrying capacity, low in inertia, and good in dynamic performance, and the kinematic trajectory of the manipulator is flexible and diversified.

Description

technical field [0001] The invention relates to the field of mechanical engineering, in particular to a mechanical device for unloading operation with a multi-rod closed chain structure. Background technique [0002] At present, most of the general-purpose gas-cutting cutting manipulators in the manufacturing industry are open-chain series structure joint motor-driven manipulators. The main feature is that the drive motors are all installed on each joint of the manipulator, and the motor drives each joint The rotation of the mechanical arm realizes various actions of the mechanical arm. This structure has the following problems: the arm of the mechanical 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, which will increase the load on the driving motor , increasing the moment of inertia of the arm, leading to a decline in the dynamic performance of the manipulator, and the drive mot...

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to solve the problems that the drive motors of the articulated gas cutting manipulator with a series structure are installed at the joints, resulting in a large moment of inertia of the manipulator, a decrease in dynamic performance, a large cumulative error, a small bearing capacity, and a complex structure.

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