CN106607915A - Painting mechanical arm of variable-degree-of-freedom connecting rod mechanism - Google Patents

Abstract

The invention relates to a painting mechanical arm of a variable-degree-of-freedom connecting rod mechanism. The painting mechanical arm comprises a base 1, a large arm lifting mechanism, a wrist connecting rod pitching mechanism, a wrist 27, a nozzle 28, a servo driving device, a first locking device 5 and a second locking device 12, wherein the large arm lifting mechanism comprises a large arm 8, a fourth connecting rod 3 and a fifth connecting rod 6, the wrist connecting rod pitching mechanism comprises a driving rod 16, a first connecting rod 18, a second connecting rod 21 and a third connecting rod 11, the first locking device 5 and the second locking device 12 are respectively installed on an eleventh revolving pair 4 and an eighth revolving pair 7 and can be locked in time according to different working conditions of the painting mechanical arm, the servo driving device comprises a first servo motor which is connected with the driving rod 16 so as to drive the first servo motor to rotate, and the first locking device 5 and the second locking device 12 are locked in an electromagnetic mode. According to the painting mechanical arm, the two-degree-of-freedom painting operation can be realized only by using one driving rod, so that the use number of motors is reduced, and the construction cost of the painting mechanical arm is reduced.

Description

One kind can variable freedom linkage painting operation machinery arm

Technical field

The present invention relates to mechanical field, particularly one kind can variable freedom linkage painting operation machinery arms.

Background technology

Over the years, because the personnel of labour market are in short supply, human cost rises year by year, promotes painting operation machinery Extensive application of the arm in painting operation.Painting operation machinery arm has mechanical type and fluid pressure type two types, current painting operation The mechanical arm great majority of mechanical arm are hydraulic-drivens, are existed as the medium of transmission power using hydraulic oil due to hydraulic drive Problems with：Its startability is poor, and easily because producing leakage after inner member abrasion, and the hydraulic oil for leaking can pollute ring Border；Hydraulic oil temperature influence is larger, and aggregate efficiency is relatively low, there is noise and vibration sometimes.It sometimes appear that overheated, powerless in work etc. Phenomenon；Hydraulic Elements requirement on machining accuracy is high, and matching requirements are strict, and manufacture is more difficult, and maintenance in use requires technology Higher, difficulty is larger.With the increase of painting operation machinery arm function, its hydraulic system becomes increasingly complex, breaks down more There are emergentness, disguise.Mechanical type painting operation machinery arm is to realize painting operation action using mechanical transmissioning piece, with firm Durable the advantages of, but traditional single-degree-of-freedom mechanical type painting operation machinery arm can not complete the action of complexity, range of application Extremely limited, mechanical type controllable mechanism electronic painting operation machinery arm instead of hydraulic drive with linkage, when driving lever by When servomotor drives, automatization, NC postprocessing control are easily realized, solve some shortcomings of hydraulic system presence, but existed Need to be equipped with the controlled motor with linkage degree of freedom equivalent amount to be controlled the mechanism's weight, fortune that complex structure is brought Big and high cost the problem of dynamic inertia.

Variable Freedom Mechanism is by the functional requirement that is combined into new topological structure to adapt to different phase.Can apply at present It is also little in actual Variable Freedom Mechanism, had not seen the Variable Freedom Mechanism for being applied to painting operation machinery arm.

The content of the invention

It is an object of the invention to provide one kind can variable freedom linkage painting operation machinery arm, overcome fluid pressure type to apply The shortcomings of industry mechanical arm hydraulic system element required precision height, complex structure, easy oil leakage is pretended, the driving electricity of open-chain structure is overcome Machine is required for being arranged on the shortcoming of joint position, and causes the quantity of controllable drive motor less than painting operation machinery arm link machine The degree of freedom of structure, overcomes the electronic painting operation machinery arm structure of existing machinery formula to need to be equipped with and linkage degree of freedom equivalent amount Controlled motor come the shortcoming that is controlled, simplify the complexity of structure, the weight of reducing mechanism, movement inertia, volume and Cost.For achieving the above object, the invention provides one kind can variable freedom linkage painting operation machinery arm, including base 1st, large arm elevating mechanism, wrist connecting rod luffing mechanism, wrist 27, nozzle 28, servo drive, the first locking device 5 and Two locking devices 12；The base 1 is arranged on removable revolving dial；The large arm elevating mechanism includes large arm the 8, the 4th The connecting rod 6 of connecting rod 3 and the 5th, one end of the large arm 8 rotates secondary 14 and is connected with base 1 by the 6th, and the other end is rotated by the 9th Secondary 9 are connected with wrist connecting rod 10；The one end of the fourth link 3 rotates secondary 2 and is connected with base 1 by the tenth, and the other end passes through the 11 rotate secondary 4 is 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；Institute Wrist connecting rod luffing mechanism is stated including driving lever 16, first connecting rod 18, second connecting rod 21 and third connecting rod 11, the and of six-bar linkage 23 Seven-link assembly 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 by second It is connected with the one end of first connecting rod 18, 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, the The other end of two connecting rod 21 rotates secondary 22 and is connected with wrist connecting rod 10 by the 5th, and the one end of six-bar linkage 23 rotates secondary by the 12nd 24 are connected with the one end of seven-link assembly 25, the other end of six-bar linkage 23 rotates secondary 26 and connects with the middle part of first connecting rod 18 by the 13rd Connect, 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 is by the dynamic pair of eighth-turn 7 are connected with large arm 8, 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 dress Put 12 to be separately mounted in the 11st rotation secondary 4 and eighth-turn dynamic secondary 7, can be according to the different operating mode of painting operation machinery arm structure Locked in good time；Servo drive is connected to drive it to rotate including the first servomotor with driving lever 16；First locking The locking device 12 of device 5 and second is locked using electromagnetic mode.

The present invention adopts controllable many bar closed chain mechanisms, and the motor for overcoming open-chain structure is required for being arranged on joint position The shortcoming put, improves the stationarity and reliability of arm operation, and without cumulative error, precision is higher；Compact conformation, rigidity is high, Large carrying capacity, inertia are low, dynamic property is good, arm motion track flexible and diverse.Install locking device additional on linkage, And allow it to be locked according to the different operating modes of mechanism and loosen specific rotation pair, the degree of freedom of mechanism is reduced in good time, realize In the case where expected requirement is completed, the quantity of the controllable drive motor for using less than painting operation machinery arm link mechanism from By spending, two degrees of freedom painting operation operation is capable of achieving using a driving lever, overcomes existing painting operation machinery arm to need to be equipped with The shortcoming being controlled with the controlled motor of linkage degree of freedom equivalent amount, simplifies the complexity of structure, reduces machine The weight of structure, movement inertia, volume and cost, increased the controllability and stability of mechanism, improve work efficiency.Simultaneously Overcome fluid pressure type painting operation machinery arm hydraulic system element required precision height, complex structure, easy oil leakage, poor reliability, biography The low shortcoming of efficiency of movement.

Description of the drawings

Fig. 1 is that one kind of the present invention can variable freedom linkage painting operation machinery arm schematic diagram.

Specific embodiment

One kind can variable freedom linkage painting operation machinery arm, including base 1, large arm elevating mechanism, wrist connecting rod pitching Mechanism, wrist 27, nozzle 28, servo drive, the first locking device 5 and the second locking device 12；The base 1 is arranged on On removable revolving dial；The large arm elevating mechanism includes large arm 8, the connecting rod 6 of fourth link 3 and the 5th, the one end of the large arm 8 Secondary 14 are rotated by the 6th to be connected with base 1, the other end rotates secondary 9 and is connected with wrist connecting rod 10 by the 9th；Described 4th connects The one end of bar 3 rotates secondary 2 and is connected with base 1 by the tenth, and the other end rotates secondary 4 and is connected with the one end of the 5th connecting rod 6 by the 11st, The other end of 5th connecting rod 6 rotates secondary 13 and is connected with large arm 8 by the 7th；The wrist connecting rod luffing mechanism include driving lever 16, First connecting rod 18, second connecting rod 21 and third connecting rod 11, six-bar linkage 23 and seven-link assembly 25, one end of the driving lever 16 passes through First rotates secondary 15 is connected with base 1, and the other end rotates secondary 17 and is connected with the one end of first connecting rod 18 by second, first connecting rod 18 The other end rotates secondary 19 and be connected with the one end of second connecting rod 21 by the 3rd, the other end of second connecting rod 21 by the 5th rotate pair 22 and Wrist connecting rod 10 connects, and the one end of six-bar linkage 23 is connected by the 12nd rotation secondary 24 with the one end of seven-link assembly 25, six-bar linkage 23 other ends rotate secondary 26 and are connected with the middle part of first connecting rod 18 by the 13rd, and the other end of seven-link assembly 25 rotates secondary by first 15 connect bases 1；The one end of the third connecting rod 11 is connected by eighth-turn dynamic secondary 7 with large arm 8, and the other end rotates secondary by the 4th 20 are connected with second connecting rod 21；First locking device 5 and the second locking device 12 are separately mounted to the 11st rotation secondary 4 and the 8th Rotate on secondary 7, can in good time be locked according to the different operating mode of painting operation machinery arm structure；Servo drive includes first Servomotor, is connected to drive it to rotate with driving lever 16；First locking device 5 and the second locking device 12 adopt electromagnetic mode Locked.

At work, when large arm 8 is lifted, the first locking device 5 is opened, and the 11st rotates secondary 4 degree of affranchising, the second lock Tight device 12 is closed, and eighth-turn dynamic secondary 7 loses degree of freedom, and now, large arm 8 is lifted under the effect of driving lever 16.Wrist connecting rod 10 Individually during pitching, the second locking device 12 is opened, and eighth-turn 7 degree of affranchising of dynamic pair, the first locking device 5 is locked, and the 11st Rotate secondary 4 and lose degree of freedom, the respect thereto 1 of large arm 8 loses degree of freedom, now wrist connecting rod is realized bowing under the driving of driving lever 16 Face upward.In whole painting operation operation process, the first locking device 5 and the second locking device 12 according to different working conditions, Tight lock is selected respectively or is opened, the motions such as large arm lifting and flexible, wrist connecting rod 10 and the pitching of wrist 27 are completed jointly, realize The painting operation operation of nozzle 28.First locking device 5 and the second locking device 12 can be locked using electromagnetic mode, control Easily realize.

Claims (1)

1. one kind can variable freedom linkage painting operation machinery arm, it is characterised in that include：Base 1, large arm elevating mechanism, Wrist connecting rod luffing mechanism, wrist 27, nozzle 28, servo drive, the first locking device 5 and the second locking device 12；Institute State base 1 to be arranged on removable revolving dial；The large arm elevating mechanism includes large arm 8, the connecting rod of fourth link 3 and the 5th 6, the 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 wrist connecting rod 10 by the 9th Connection；The one end of the fourth link 3 rotates secondary 2 and is connected with base 1 by the tenth, and the other end rotates pair 4 and the by the 11st The one end of five connecting rod 6 connects, and the other end of the 5th connecting rod 6 rotates secondary 13 and is connected with large arm 8 by the 7th；The wrist connecting rod pitching machine Structure includes driving lever 16, first connecting rod 18, second connecting rod 21 and third connecting rod 11, six-bar linkage 23 and seven-link assembly 25, described The one end of driving lever 16 rotates secondary 15 and is connected with base 1 by first, and the other end rotates secondary 17 with first connecting rod 18 1 by second End connection, 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, the other end of second connecting rod 21 Secondary 22 are rotated by the 5th to be connected with wrist connecting rod 10, the one end of six-bar linkage 23 rotates secondary 24 and seven-link assembly 25 by the 12nd One end connection, 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, and seven-link assembly 25 is another One end rotates secondary 15 connect base 1 by first；The one end of the third connecting rod 11 is connected by eighth-turn dynamic secondary 7 with large arm 8, separately One 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 are separately mounted to 11st rotates in secondary 4 and eighth-turn dynamic secondary 7, can in good time be locked according to the different operating mode of painting operation machinery arm structure； Servo drive is connected to drive it to rotate including the first servomotor with driving lever 16；First locking device 5 and the second lock Tight device 12 is locked using electromagnetic mode.