CN109604882A - A kind of nine rod piece mechanism of sealed joint structure type for stitch welding machine - Google Patents
A kind of nine rod piece mechanism of sealed joint structure type for stitch welding machine Download PDFInfo
- Publication number
- CN109604882A CN109604882A CN201710925422.3A CN201710925422A CN109604882A CN 109604882 A CN109604882 A CN 109604882A CN 201710925422 A CN201710925422 A CN 201710925422A CN 109604882 A CN109604882 A CN 109604882A
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- CN
- China
- Prior art keywords
- connecting rod
- lever
- driving lever
- driving
- articulated
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Resistance Welding (AREA)
Abstract
The present invention provides a kind of nine rod piece mechanism of sealed joint structure type for stitch welding machine, including pedestal, rotatable platform, telescoping mechanism, elevating mechanism, welding gun, can be rotated wrist and driving device at luffing mechanism；Telescoping mechanism includes: the first driving lever, the second driving lever, large arm, first connecting rod and second connecting rod, one end of first driving lever is articulated in rotatable platform, one end of second driving lever is articulated in rotatable platform, one end of large arm and the other end of the first driving lever are hinged, one end of first connecting rod and the other end of large arm are hinged, second connecting rod is in bending, and one end of second connecting rod and the other end of the second driving lever are hinged, and the other end of second connecting rod is articulated with the middle part of first connecting rod；Driving device is three servo motors, and the present invention improves manipulator traveling comfort and reliability, no accumulated error, and precision is higher；Compact-sized, rigidity is high, and large carrying capacity, inertia are low, dynamic property is good.
Description
Technical field
The present invention relates to mechanical engineering field, in particular to a kind of nine bar of sealed joint structure type for stitch welding machine
Part mechanism.
Background technique
Most of currently manufactured general mash welder tool hand of industry is the cascaded structure joint type motor driven machine for open form
Tool hand is mainly characterized in that driving motor is all mounted on each joint of manipulator, drives manipulator each by motor
The various movements of manipulator are realized in the rotation in a joint.Due to the driving electricity of the cascaded structure articulated robot of open form
Machine is all mounted on the position in joint, and this frame mode has the following problems: manipulator arm needs to carry the weight of motor simultaneously
Rigidity requirement need to be met, arm sectional dimension needs to be made larger, will increase the load of driving motor in this way, increases the fortune of arm
Dynamic inertia, causes manipulator dynamic property to decline, while driving motor is all mounted on joint position and the accumulation of manipulator is caused to miss
Difference is big, bearing capacity is small, structure is complicated, the degree of modularity is low.It is in parallel with the development of motor technology and the raising of control technology
Mechanism provides extensive development space for manipulator, not only has work by controlling motor-driven multiple freedom parallel mechanism
Space is big, flexible movements, the motion profile output of achievable complexity, at the same also have manufacturing cost is low, maintenance simply etc.
Advantage.
Summary of the invention
The purpose of the present invention is to provide a kind of more bar welding manipulators of parallel connection, solve cascaded structure articulated robot
Driving motor is all mounted on the position in joint, leads to that manipulator rotary inertia is big, dynamic property decline, and accumulated error is big, carrying
The problem of ability is small, structure is complicated.To achieve the above object, present invention provide the technical scheme that a kind of be used for automatic spot
The nine rod piece mechanism of sealed joint structure type of machine, including pedestal, rotatable platform, telescoping mechanism, luffing mechanism, elevating mechanism,
Welding gun can be rotated wrist and driving device；Telescoping mechanism includes: the first driving lever, the second driving lever, large arm, first connecting rod
And second connecting rod, one end of the first driving lever are articulated in rotatable platform, one end of the second driving lever, which is articulated with, can be rotated
On platform, one end of large arm and the other end of the first driving lever are hinged, and one end of first connecting rod and the other end of large arm are hinged, the
Two connecting rods are in bending, and one end of second connecting rod and the other end of the second driving lever are hinged, and the other end of second connecting rod is articulated with
The middle part of first connecting rod；Luffing mechanism includes pitch lever and wrist connecting rod, one end of pitch lever and the other end of first connecting rod
Hingedly, the top of wrist connecting rod and the other end of pitch lever are hinged；Elevating mechanism includes third driving lever and elevating lever, third
One end of driving lever is articulated in rotatable platform, and one end of elevating lever is articulated on the lever arm of second connecting rod, and elevating lever is in curved
Curved, the other end of third driving lever is articulated in the middle part of the lever arm of elevating lever, the other end of elevating lever and the lower part of wrist connecting rod
Hingedly；Driving device is three servo motors, and servo motor is mounted on rotatable platform, respectively with the first driving lever, second
Driving lever and third driving lever connection, to drive corresponding rotation, be each responsible for driving the first driving lever, the second driving lever with
And the swing of third driving lever.
The present invention using controllable more bar parallel institutions, whole driving motors be all mounted on rotatable platform to driving lever into
Row driving, compared with Serial manipulator, reduces the movement inertia of arm, improves manipulator dynamic property, improve machinery
Hand traveling comfort and reliability, no accumulated error is compact-sized, and rigidity is high, and large carrying capacity, inertia is low, dynamic property
Good, Robotic Manipulator Motion Trajectory flexible and diverse.
Detailed description of the invention
Fig. 1 is structural schematic diagram according to the present invention.
Specific embodiment
A kind of nine rod piece mechanism of sealed joint structure type for stitch welding machine, comprising: pedestal 12, rotatable platform 1,
Telescoping mechanism, elevating mechanism, welding gun 10, can be rotated wrist 13 and driving device at luffing mechanism；Telescoping mechanism includes: first
Driving lever 2, the second driving lever 3, large arm 4, first connecting rod 6 and second connecting rod 5, one end of the first driving lever 2 are articulated with and can turn
On moving platform 1, one end of the second driving lever 3 is articulated in rotatable platform 1, and one end of large arm 4 is another with the first driving lever 2
End is hinged, and one end of first connecting rod 6 and the other end of large arm 4 are hinged, and second connecting rod 5 is in one end of bending and second connecting rod 5
Hinged with the other end of the second driving lever 3, the other end of the second connecting rod 5 is articulated in the middle part of the lever arm of first connecting rod 6；When first
When driving lever 2 turns left, large arm 4 is moved downward, so that first connecting rod 6 be driven to move upwards, and when the second driving lever 3 to
When turning right dynamic, second connecting rod 5 is moved upwards, on the contrary then make first so that first connecting rod 6 obtains the bigger amplitude moved upwards
Connecting rod 6 moves downward.Luffing mechanism includes pitch lever 9 and wrist connecting rod 11, and one end of pitch lever 9 is another with first connecting rod 6
One end is hinged, and the top of wrist connecting rod 11 and the other end of pitch lever 9 are hinged；When first connecting rod 6 moves upwards, pitch lever 9
Also it moves upwards, it is on the contrary then make wrist connecting rod 11 so that wrist connecting rod 11 drives and can be rotated wrist and welding gun and move downward
Drive can be rotated wrist and welding gun moves upwards.Elevating mechanism includes third driving lever 7 and elevating lever 8, third driving lever 7
One end is articulated in rotatable platform 1, and one end of elevating lever 8 is articulated on the lever arm of second connecting rod 5, and the elevating lever 8 is in bending
Shape, the other end of third driving lever 7 are articulated in the middle part of the lever arm of elevating lever 8, under the other end and wrist connecting rod 11 of elevating lever 8
Portion is hinged；When third driving lever 7 moves downward, elevating lever 8 can be driven to decline, so that wrist connecting rod 11 declines, instead
Then make wrist connecting rod 11 rise.Driving device be three servo motors, respectively with the first driving lever 2, the second driving lever 3 and
Third driving lever 7 connects, and to drive corresponding rotation, is each responsible for the first driving lever 2 of driving, the second driving lever 3 and third
The swing of driving lever 7.
In use, being acted accordingly by the mutual cooperation of telescoping mechanism, luffing mechanism and elevating mechanism, as the first master
When lever 2, the second driving lever 3 and third driving lever 7 move downward, wrist connecting rod 11 can be realized bends down movement, this
When, if third driving lever 7 continues to move right the ascending motion, it can be achieved that wrist connecting rod 11, when the first driving lever 2, second is main
When lever 3 and third driving lever 7 move right, then wrist connecting rod 11 realizes movement of steeving.The movement of wrist connecting rod 11 drives
The movement of welding gun 10.
Controllable drive motor is mounted on revolving platform by the present invention, simplifies the complexity of structure, reducing mechanism
Each connecting rod rod piece is made into lighter bar by weight, volume and cost, mechanical arm of the invention, so that entire mechanism kinematic inertia
Small, dynamic performance is good, easily controllable, by the way that revolving platform, the revolution working space for making mechanical arm possess 360 degree, work is arranged
It is big to make spatial dimension.
Claims (1)
1. a kind of use nine connecting rod mash welder tool hand of closed linkage, it is characterised in that: including pedestal, rotatable platform, telescopic machine
Structure, elevating mechanism, welding gun, can be rotated wrist and driving device at luffing mechanism；Telescoping mechanism includes: the first driving lever, second
One end of driving lever, large arm, first connecting rod and second connecting rod, the first driving lever is articulated in rotatable platform, and second actively
One end of bar is articulated in rotatable platform, and one end of large arm and the other end of the first driving lever are hinged, one end of first connecting rod
Hinged with the other end of large arm, second connecting rod is in bending, and one end of second connecting rod and the other end of the second driving lever are hinged, the
The other end of two connecting rods is articulated with the middle part of first connecting rod；Luffing mechanism includes pitch lever and wrist connecting rod, and the one of pitch lever
End is hinged with the other end of first connecting rod, and the top of wrist connecting rod and the other end of pitch lever are hinged；Elevating mechanism includes third
One end of driving lever and elevating lever, third driving lever is articulated in rotatable platform, and one end of elevating lever is articulated with the second company
On the lever arm of bar, elevating lever is in bending, and the other end of third driving lever is articulated in the middle part of the lever arm of elevating lever, elevating lever it is another
The lower hinge of one end and wrist connecting rod；Driving device is three servo motors, and servo motor is mounted on rotatable platform, point
It is not connect with the first driving lever, the second driving lever and third driving lever, to drive corresponding rotation, is each responsible for driving first
The swing of driving lever, the second driving lever and third driving lever.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710925422.3A CN109604882A (en) | 2017-10-04 | 2017-10-04 | A kind of nine rod piece mechanism of sealed joint structure type for stitch welding machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710925422.3A CN109604882A (en) | 2017-10-04 | 2017-10-04 | A kind of nine rod piece mechanism of sealed joint structure type for stitch welding machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109604882A true CN109604882A (en) | 2019-04-12 |
Family
ID=66001445
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710925422.3A Withdrawn CN109604882A (en) | 2017-10-04 | 2017-10-04 | A kind of nine rod piece mechanism of sealed joint structure type for stitch welding machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109604882A (en) |
-
2017
- 2017-10-04 CN CN201710925422.3A patent/CN109604882A/en not_active Withdrawn
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190412 |
|
| WW01 | Invention patent application withdrawn after publication |