The telescopic arm welding operation machine is also called a column type welding operation machine, and is composed of a column, a cross arm feeding mechanism, a cross arm and a traveling trolley. The trolley is equipped with a column, the column can be rotated around its own axis, and the cross arm feeding mechanism can be lifted and lowered along the column, and the cross arm which can be telescopically moved in the horizontal direction is installed therein, and the submerged arc welding machine is disposed at one end of the cross arm. By controlling the position of the cross arm, the cross arm feed mechanism, the column and the traveling trolley, the welder can be sent to any place within the operating range of the manipulator. Due to the many activities of the manipulator, in addition to the rigidity of each component, the accuracy of the machining assembly should be ensured.
(1) The principle of minimum motion inertia Because the moving parts of the manipulator are often changed, the motion state often changes, and the impact and vibration are inevitably generated. The principle of minimum motion inertia is used to increase the smoothness of the manipulator and improve the dynamic characteristics of the manipulator. For this reason, it should be noted that the quality of the moving parts should be minimized under the premise of satisfying the strength and rigidity, and the centroid configuration of the moving parts on the rotating shaft should be noted.
(2) Scale planning optimization principle When the design requirements meet certain working space requirements, the dimension optimization is used to select the minimum boom size, which will improve the rigidity of the manipulator and further reduce the motion inertia.
(3) Principle of selection of high-strength materials Since the operating machine acts as a load from the wrist, the arm, the boom to the frame in turn, it is necessary to use high-strength materials to reduce the quality of the parts.
(4) Principle of stiffness design In the design of manipulator, stiffness is a more important problem than strength. To maximize stiffness, the shape and size of the profile of the member must be properly selected to improve the stiffness and contact stiffness of the member, and the arm should be reasonably arranged. The force and moment on the rod minimize the bending deformation of the rod.
(5) Reliability principle Due to the complexity of the mechanism and the many links, the robot operating machine is particularly important. In general, the reliability of components should be higher than the reliability of components, and the reliability of components should be higher than the reliability of the whole machine. Probabilistic design methods can be used to design parts or structures with reliability requirements, and system reliability can be used to assess the reliability of the operating system.
(6) Process principle The robot manipulator is a high-precision, highly integrated automatic mechanical system. Good processing and assembly processability is one of the important principles to be reflected in the design. Only a reasonable structural design without good processability will inevitably lead to a reduction in the performance of the operating machine and an increase in cost.
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