Blanking mechanical device adopting link type parallel-series structure

Abstract

A blanking mechanical device adopting a link type parallel-series structure is characterized by comprising a base, a revolving platform, a first driving rod, a second driving rod, a big arm, a big armconnection rod, a middle arm connection rod, a middle arm, a forearm, a wrist, a burning torch, an inclination detector and a drive device; one end of the first driving rod is connected with the revolving platform, the other end of the first driving rod is connected with one end of the big arm link, the forearm is connected with the wrist, the burning torch is connected with the wrist, and the inclination detector is mounted on the forearm, and the driving device comprises a first servo motor, a second servo motor and a third servo motor are included. According to the blanking mechanical device adopting the link type parallel-series structure, the motors which are installed on the arm originally are installed on the machine frame, so that the weight of the arm is reduced.

Description

technical field [0001] The invention relates to the field of engineering machinery, in particular to a rod-type parallel-series structure blanking mechanical device. Background technique [0002] Gas cutting manipulators are widely used in processing and manufacturing production lines. Most of the existing gas cutting manipulators use series structure manipulators. In this structure, all motors are installed at the arm joints. The manipulator arm needs to carry the weight of the motor and meet the rigidity requirements. , the cross-sectional size of the arm needs to be made larger, which will increase the load of the drive motor and the moment of inertia of the arm, resulting in poor dynamic performance of the robot, large cumulative error of the joints, and large moment of inertia. These factors directly affect the work of the gas cutting manipulator. Efficiency and precision increase production costs. At the same time, the drive motors are all installed at the joints, res...

AI Technical Summary

Problems solved by technology

[0002] Gas cutting manipulators are widely used in processing and manufacturing production lines. Most of the existing gas cutting manipulators use series structure manipulators. In this structure, all motors are installed at the arm joints. The manipulator arm needs to carry the weight of the motor and meet the rigidity requirements. , the cross-sectional size of the arm needs to be made larger, which will increase the load of the drive motor and the moment of inertia of the arm, resulting in poor dynamic performance of the robot, large cumulative error of the joints, and large moment of inertia. These factors directly affect the work of the gas cutting manipulator. efficiency and precision, increased production costs

At the same time, the drive motors are all installed at the joints, resulting in a complex structure and low modularity of the manipulator.

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