CN106799529A - A kind of variable active degree linkage for oxygen-acetylene cutting machine - Google Patents

Abstract

A variable-activity link mechanism for a gas cutting cutting machine, including a base 1, a boom lifting mechanism, a gripper link pitching mechanism, a gripper 27, a torch 28, a servo drive device, and a first lock Locking device 5 and second locking device 12; The boom elevating mechanism includes boom 8, fourth connecting rod 3 and fifth connecting rod 6, and the gripper link pitching mechanism includes active rod 16, first The connecting rod 18, the second connecting rod 21 and the third connecting rod 11, the first locking device 5 and the second locking device 12 are respectively installed on the eleventh rotating pair 4 and the eighth rotating pair 7, which can be removed according to the gas cutting According to the different working conditions of the material mechanism, it is locked in time; the servo drive device includes a first servo motor connected to the active rod 16 to drive its rotation; the first locking device 5 and the second locking device 12 are locked by electromagnetic means. The invention only uses one active rod to realize the two-degree-of-freedom gas-cutting blanking operation, reduces the number of motors used, and lowers the construction cost of the gas-cutting blanking mechanism.

Description

A variable activity linkage mechanism for gas cutting blanking machine

technical field

The invention relates to the mechanical field, in particular to a variable activity link mechanism for a gas cutting blanking machine.

Background technique

At present, most of the general-purpose gas cutting cutting machines in the manufacturing industry are joint-type motor-driven manipulators with a series structure in the form of an open chain. Various actions of the manipulator. 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 cumulative errors, small load-carrying capacity, complex structure, and low modularity of the manipulator. With the development of motor technology and the improvement of control technology, the parallel mechanism provides a wide range of development space for the manipulator. The multi-degree-of-freedom parallel mechanism driven by the control motor not only has a large working space, flexible movements, and can complete complex motion trajectory output. At the same time, it also has the advantages of low manufacturing cost and simple maintenance.

The variable degree of freedom mechanism adapts to the functional requirements of different stages by combining new topological structures. At present, there are few variable-degree-of-freedom mechanisms that can be applied to reality, and no variable-degree-of-freedom mechanisms that have been applied to gas cutting blanking machines have been seen.

Contents of the invention

The purpose of the present invention is to provide a variable activity link mechanism for gas cutting blanking machine, which overcomes the shortcomings of high precision requirements, complex structure, easy oil leakage and other shortcomings of the hydraulic system components of hydraulic gas cutting blanking machine, and overcomes the open chain structure. All the driving motors need to be installed at the joint position, and the number of controllable driving motors is less than the degree of freedom of the connecting rod mechanism of the gas cutting machine, which overcomes the need for the existing mechanical electric gas cutting cutting mechanism to be equipped with the degree of freedom of the connecting rod mechanism The disadvantage of controlling the same number of motors is to simplify the complexity of the structure and reduce the weight, inertia, volume and cost of the mechanism. In order to achieve the above object, the present invention provides a variable activity link mechanism for a gas cutting cutting machine, including a base 1, a boom lifting mechanism, a gripper link pitching mechanism, a gripper 27, a torch 28. Servo drive device, first locking device 5 and second locking device 12; the base 1 is installed on a movable slewing platform; the boom lifting mechanism includes a boom 8, a fourth connecting rod 3 and a second Five connecting rods 6, one end of the boom 8 is connected to the base 1 through the sixth rotating pair 14, and the other end is connected to the gripper connecting rod 10 through the ninth rotating pair 9; one end of the fourth connecting rod 3 is connected through the tenth rotating pair The rotating pair 2 is connected to the base 1, and the other end is connected to one end of the fifth connecting rod 6 through the eleventh rotating pair 4, and the other end of the fifth connecting rod 6 is connected to the boom 8 through the seventh rotating pair 13; The connecting rod pitching mechanism includes an active rod 16, a first connecting rod 18, a second connecting rod 21, a third connecting rod 11, a sixth connecting rod 23 and a seventh connecting rod 25, and one end of the active rod 16 passes through the first rotating pair 15 is connected with the base 1, and the other end is connected with one end of the first connecting rod 18 through the second rotating pair 17, and the other end of the first connecting rod 18 is connected with one end of the second connecting rod 21 through the third rotating pair 19, and the second connecting rod 21 The other end is connected to the gripper link 10 through the fifth rotating pair 22, one end of the sixth connecting rod 23 is connected to one end of the seventh connecting rod 25 through the twelfth rotating pair 24, and the other end of the sixth connecting rod 23 is connected through the thirteenth connecting rod. The rotating pair 26 is connected to the middle part of the first connecting rod 18, and the other end of the seventh connecting rod 25 is connected to the base 1 through the first rotating pair 15; one end of the third connecting rod 11 is connected to the boom 8 through the eighth rotating pair 7, and the other end One end is connected to the second connecting rod 21 through the fourth rotating pair 20; the first locking device 5 and the second locking device 12 are respectively installed on the eleventh rotating pair 4 and the eighth rotating pair 7, which can be cut according to the gas cutting The mechanism is locked in time under different working conditions; the servo drive device includes a first servo motor connected to the active rod 16 to drive its rotation; the first locking device 5 and the second locking device 12 are locked electromagnetically.

The invention adopts a controllable multi-rod closed-chain mechanism, which overcomes the disadvantage that the driving motors of the open-chain structure need to be installed at joint positions, improves the stability and reliability of the arm operation, has no cumulative error, and has high precision; the structure is compact, High rigidity, large bearing capacity, low inertia, good dynamic performance, flexible and diversified arm movement trajectory. A locking device is added to the linkage mechanism, and it is allowed to lock and release a specific rotating pair according to the different working conditions of the mechanism, which reduces the degree of freedom of the mechanism in a timely manner, and realizes the possibility of being used under the condition of fulfilling the expected requirements. The number of controlled driving motors is less than the degree of freedom of the connecting rod mechanism of the gas cutting machine, and the gas cutting and cutting operation with two degrees of freedom can be realized by using one active rod, which overcomes the need for the existing gas cutting machine to be equipped with the same number of degrees of freedom as the connecting rod mechanism The shortcomings of controlling the motor to control, simplify the complexity of the structure, reduce the weight, inertia, volume and cost of the mechanism, increase the controllability and stability of the mechanism, and improve work efficiency. At the same time, it also overcomes the shortcomings of the hydraulic system of the hydraulic gas cutting machine, such as high precision requirements, complex structure, easy oil leakage, poor reliability, and low transmission efficiency.

Description of drawings

Fig. 1 is a schematic diagram of a variable activity link mechanism for a gas cutting cutting machine according to the present invention. detailed description

A variable-activity link mechanism for a gas cutting cutting machine, including a base 1, a boom lifting mechanism, a gripper link pitching mechanism, a gripper 27, a torch 28, a servo drive device, and a first lock tightening device 5 and second locking device 12; the base 1 is installed on a movable slewing platform; the boom lifting mechanism includes a boom 8, a fourth link 3 and a fifth link 6, and the boom 8. One end is connected to the base 1 through the sixth rotating pair 14, and the other end is connected to the gripper connecting rod 10 through the ninth rotating pair 9; one end of the fourth connecting rod 3 is connected to the base 1 through the tenth rotating pair 2, and the other end One end is connected to one end of the fifth connecting rod 6 through the eleventh rotating pair 4, and the other end of the fifth connecting rod 6 is connected to the boom 8 through the seventh rotating pair 13; The first connecting rod 18, the second connecting rod 21 and the third connecting rod 11, the sixth connecting rod 23 and the seventh connecting rod 25, one end of the active rod 16 is connected with the base 1 through the first rotating pair 15, and the other end is connected through the The second rotating pair 17 is connected with one end of the first connecting rod 18, the other end of the first connecting rod 18 is connected with the second connecting rod 21 through the third rotating pair 19, and the other end of the second connecting rod 21 is connected with the fifth rotating pair 22. The gripper connecting rod 10 is connected, one end of the sixth connecting rod 23 is connected to one end of the seventh connecting rod 25 through the twelfth rotating pair 24, and the other end of the sixth connecting rod 23 is connected to the first connecting rod 18 through the thirteenth rotating pair 26 The other end of the seventh connecting rod 25 is connected to the base 1 through the first rotating pair 15; one end of the third connecting rod 11 is connected to the boom 8 through the eighth rotating pair 7, and the other end is connected to the fourth rotating pair 20 The two connecting rods 21 are connected; the first locking device 5 and the second locking device 12 are installed on the eleventh rotating pair 4 and the eighth rotating pair 7 respectively, and can be locked in time according to different working conditions of the gas cutting and blanking mechanism The servo drive device includes a first servo motor, which is connected with the active rod 16 to drive its rotation; the first locking device 5 and the second locking device 12 are locked by electromagnetic means.

During work, when the boom 8 is raised and lowered, the first locking device 5 is opened, the eleventh turning pair 4 recovers the degree of freedom, the second locking device 12 is closed, and the eighth turning pair 7 loses the degree of freedom. At this time, the boom 8 lifts under the action of active lever 16. When the gripper link 10 is pitching alone, the second locking device 12 is opened, the eighth rotating pair 7 restores the degree of freedom, the first locking device 5 locks, the eleventh rotating pair 4 loses the degree of freedom, and the big arm 8 is relatively The base 1 loses the degree of freedom, and now the gripper connecting rod is driven by the active rod 16 to realize pitching. During the entire process of gas cutting and blanking, the first locking device 5 and the second locking device 12 are selected to lock or open respectively according to different working conditions, and jointly complete the lifting and telescoping of the boom, and the connecting rod 10 of the gripper. With the pitching and other movements of the clamper 27, the gas cutting operation of the torch 28 is realized. The first locking device 5 and the second locking device 12 can be locked by electromagnetic means, and the control is easy to realize.

Claims (1)

1. a kind of variable active degree linkage for oxygen-acetylene cutting machine, it is characterised in that including：Base 1, large arm lift Structure, clamper connecting rod luffing mechanism, clamper 27, burning torch 28, servo drive, the first locking device 5 and the second locking dress Put 12；The base 1 is arranged on removable revolving dial；The large arm elevating mechanism includes large arm 8, fourth link 3 and the Five connecting rods 6, one end of the large arm 8 rotates secondary 14 and is connected with base 1 by the 6th, and the other end rotates secondary 9 with clamping by the 9th Device connecting rod 10 is connected；The one end of the fourth link 3 rotates secondary 2 and is connected with base 1 by the tenth, and the other end is rotated by the 11st Secondary 4 are connected with the one end of the 5th connecting rod 6, and the other end of the 5th connecting rod 6 rotates secondary 13 and is connected with large arm 8 by the 7th；The clamper Connecting rod luffing mechanism includes that driving lever 16, first connecting rod 18, second connecting rod 21 and third connecting rod 11, six-bar linkage 23 and the 7th connect Bar 25, one end of the driving lever 16 rotates secondary 15 and is connected with base 1 by first, and the other end rotates secondary 17 and first by second The one end of connecting rod 18 connects, and the other end of first connecting rod 18 rotates secondary 19 and is connected with the one end of second connecting rod 21 by the 3rd, second connecting rod 21 other ends rotate secondary 22 and are connected with clamper connecting rod 10 by the 5th, the one end of six-bar linkage 23 by the 12nd rotate secondary 24 and The connection of the one end of seven-link assembly 25, the other end of six-bar linkage 23 rotate secondary 26 and are connected with the middle part of first connecting rod 18 by the 13rd, the The other end of seven-link assembly 25 rotates secondary 15 connect base 1 by first；The one end of the third connecting rod 11 by eighth-turn dynamic secondary 7 with it is big Arm 8 is connected, and the other end rotates secondary 20 and is connected with second connecting rod 21 by the 4th；First locking device 5 and the second locking device 12 It is separately mounted in the 11st rotation secondary 4 and eighth-turn dynamic secondary 7, can be carried out according to the different operating mode of oxygen-acetylene cutting mechanism in good time Locking；Servo drive is connected to drive it to rotate including the first servomotor with driving lever 16；First locking device 5 and Two locking devices 12 are locked using electromagnetic mode.