CN104551477A - Method for carrying out welding construction by utilizing multi-degree of freedom controllable mechanism type connecting rod mechanism - Google Patents
Method for carrying out welding construction by utilizing multi-degree of freedom controllable mechanism type connecting rod mechanism Download PDFInfo
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- CN104551477A CN104551477A CN201410817779.6A CN201410817779A CN104551477A CN 104551477 A CN104551477 A CN 104551477A CN 201410817779 A CN201410817779 A CN 201410817779A CN 104551477 A CN104551477 A CN 104551477A
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- China
- Prior art keywords
- connecting rod
- revolute pair
- link
- arm
- rocking arm
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Classifications
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- 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
- B23K37/0252—Steering means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Resistance Welding (AREA)
Abstract
The invention relates to a method for carrying out welding construction by utilizing a multi-degree of freedom controllable mechanism type connecting rod mechanism. An execution main chain is formed by a stand column, a main arm, a first rocker arm, a second rocker arm, a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod; an execution sub chain is formed by a fifth connecting rod, a sixth connecting rod, a seventh connecting rod, a stand column and a main arm; when welding operation is carried out, the main arm is driven through a motor so as to rotate and move, and the fifth connecting rod, the sixth connecting rod and the seventh connecting rod support the main arm and are in movement combination with the main arm; the second rocker arm is driven through the motor, so that the second rocker arm carries out rocker arm type control on the third connecting rod; the third connecting rod and the fourth connecting rod are driven through the motor to rotate, so that the connecting rod mechanism can finish welding operation. The method provided by the invention has the advantages of large working space, high rigidity, strong carrying capacity and high execution precision.
Description
Technical field
The present invention relates to robot field, particularly a kind of method utilizing multi-freedom-degreecontrollable controllable mechanism type linkage to carry out welding procedure.
Background technology
Serial manipulator rigidity is lower, the occasion that can not be applied at a high speed, carry greatly; And parallel robot is compared with traditional serial manipulator, have without accumulated error, precision compared with high, compact conformation, bearing capacity is large, rigidity is high and end welding actuator inertia is little etc. feature, drive unit can be placed on fixed platform or close to the position of fixed platform, such motion parts is lightweight, speed is high, and dynamic response is good; But the distinct disadvantage of the parallel robot little and complex structure that is working space.In engineering, existing manipulator such as the MOTOMAN-K10 with local closed chain does not solve industrial robot Problems existing.
Summary of the invention
Technical problem to be solved by this invention is to provide a kind of method utilizing multi-freedom-degreecontrollable controllable mechanism type linkage to carry out welding procedure, solves conventional serial robot large about required moment, the shortcoming that rigidity is low and working space is little.
The present invention solves the problems of the technologies described above taked technical scheme: a kind of method utilizing multi-freedom-degreecontrollable controllable mechanism type linkage to carry out welding procedure,
Described multi-freedom-degreecontrollable controllable mechanism type linkage comprises column, principal arm, first rocking arm, second rocking arm, first connecting rod, second connecting rod, third connecting rod, double leval jib, slide block, 5th connecting rod, six-bar linkage and seven-link assembly, described column bottom connects the 14 revolute pair, column top is connected with principal arm first link and the first rocking arm first link respectively by the first revolute pair, first second, rocking arm link is connected with first connecting rod one end by the second revolute pair, the first connecting rod other end is connected by the 4th revolute pair and the second rocking arm second link, second first, rocking arm link is connected by the 5th revolute pair and principal arm second link, second rocking arm the 3rd link is connected with second connecting rod one end by the 6th revolute pair, the second connecting rod other end is connected by the 3rd revolute pair and the first rocking arm the 3rd link, third connecting rod one end is connected by the 7th revolute pair and the second rocking arm the 4th link, the third connecting rod other end is connected with double leval jib one end by the 8th revolute pair, the double leval jib other end is used for connecting welding executing agency, described column side is provided with moving sets, slide block one end is connected with column by moving sets, the other end is connected with the 5th connecting rod one end by the tenth revolute pair, the 5th connecting rod other end is connected with six-bar linkage one end by the 11 revolute pair, the six-bar linkage other end is connected with seven-link assembly one end by the 12 revolute pair, and the seven-link assembly other end is connected with the 3rd link of principal arm by the 13 revolute pair,
Before weld job, car body and column bottom the 14 revolute pair are coupled together, welding executing agency the 9th revolute pair and double leval jib are coupled together;
When weld job carries out, drive principal arm by motor, principal arm is rotated, meanwhile, the 5th connecting rod, six-bar linkage and seven-link assembly support principal arm, and carry out motion with principal arm and synthesize; Drive the second rocking arm by motor again, thus make the second rocking arm carry out rocker-arm control to third connecting rod; Driven by motor, third connecting rod and double leval jib are rotated, thus make linkage complete weld job.
Outstanding advantages of the present invention is:
1, the subchain of executing agency's motion control is formed by column, the 5th connecting rod, six-bar linkage, seven-link assembly and principal arm, improve the rigidity of robot, and the design of rocking arm movable type improves the working space of robot greatly, the dead-centre position of mechanism can be avoided, the sphere of action of Neng Shi robot is larger, and Neng Shi mechanism better keeps balance;
2, motor is arranged on rocking arm joint, drives closed loop chain movement, thus indirectly drive tail end connecting rod by revolute pair on four-bar mechanism, make end weld the mobility of actuator and activity space larger, can active moment be reduced;
3, motor is arranged on after principal arm, reduces the center of gravity of whole mechanism, and can the larger motor of installation power in mechanism, make end weld actuator and can adapt in the complex jobs such as welding, spraying, carrying, handling, assembling, piling;
4, linkage and end weld and weld actuator with a with gemel connecting rod and end between actuator and be connected, make actuator flexibility ratio higher, working space is larger than robot in the past, and lighter bar made by with gemel connecting rod, whole mechanism power performance can be made better and be easy to control, end can also be made to weld actuator among a small circle, rotate 360 degree of round angles, make mechanism can be applicable to more occasions, precision is higher;
5, lighter bar made by connecting rod, and make mechanism kinematic inertia little, dynamic performance is good;
6, compared with robot mechanism of the same type, under equal-wattage, work is more.
Accompanying drawing explanation
Fig. 1 is the first work front view that multi-freedom-degreecontrollable controllable mechanism type linkage of the present invention carries out weld job.
Fig. 2 is the first work stereogram that multi-freedom-degreecontrollable controllable mechanism type linkage of the present invention carries out weld job.
Fig. 3 is the first work rearview that multi-freedom-degreecontrollable controllable mechanism type linkage of the present invention carries out weld job.
Fig. 4 is the first work top view that multi-freedom-degreecontrollable controllable mechanism type linkage of the present invention carries out weld job.
Fig. 5 is the first rocker structure schematic diagram of multi-freedom-degreecontrollable controllable mechanism type linkage of the present invention.
Fig. 6 is the second rocker structure schematic diagram of multi-freedom-degreecontrollable controllable mechanism type linkage of the present invention.
Fig. 7 is the main arm structure schematic diagram of multi-freedom-degreecontrollable controllable mechanism type linkage of the present invention.
Fig. 8 is the third connecting rod structural representation of multi-freedom-degreecontrollable controllable mechanism type linkage of the present invention.
Fig. 9 is the slide block structure schematic diagram of multi-freedom-degreecontrollable controllable mechanism type linkage of the present invention.
Figure 10 is the pillar construction schematic diagram of multi-freedom-degreecontrollable controllable mechanism type linkage of the present invention.
Figure 11 is the second work front view that multi-freedom-degreecontrollable controllable mechanism type linkage of the present invention carries out weld job.
Figure 12 is the 3rd work front view that multi-freedom-degreecontrollable controllable mechanism type linkage of the present invention carries out weld job.
Detailed description of the invention
Below in conjunction with drawings and Examples, technical scheme of the present invention is described further.
As shown in Fig. 1-Figure 12, a kind of method utilizing multi-freedom-degreecontrollable controllable mechanism type linkage to carry out welding procedure, is first connected and installed welding tractor according to following method of attachment:
Described column 2 bottom is connected with car body 1 by the 14 revolute pair 29, column 2 top is connected with principal arm 4 first links and the first rocking arm 3 first links respectively by the first revolute pair 13, first 3 second, rocking arm link is connected with first connecting rod 5 one end by the second revolute pair 14, first connecting rod 5 other end is connected by the 4th revolute pair 17 and the second rocking arm 7 second links, second 7 first, rocking arm link is connected by the 5th revolute pair 16 and principal arm 4 second links, second rocking arm 7 the 3rd link is connected with second connecting rod 6 one end by the 6th revolute pair 18, second connecting rod 6 other end is connected by the 3rd revolute pair 15 and the first rocking arm 3 the 3rd link, third connecting rod 8 one end is connected by the 7th revolute pair 19 and the second rocking arm 7 the 4th link, third connecting rod 8 other end is connected with double leval jib 9 one end by the 8th revolute pair 20, double leval jib 9 other end welds actuator 10 by the 9th revolute pair 21 and end and is connected.
Described column 2 side is provided with moving sets 22, slide block 23 one end is connected with column 2 by moving sets 22, the other end is connected with the 5th connecting rod 25 one end by the tenth revolute pair 24,5th connecting rod 25 other end is connected with six-bar linkage 12 one end by the 11 revolute pair 26, six-bar linkage 12 other end is connected with seven-link assembly 11 one end by the 12 revolute pair 27, and seven-link assembly 11 other end is connected with the 3rd link of principal arm 4 by the 13 revolute pair 28.
When weld job carries out, drive principal arm 4 by motor, principal arm 4 is rotated, and meanwhile, the 5th connecting rod 25, six-bar linkage 12 and seven-link assembly 11 support principal arm 4, and carry out motion with principal arm 4 and synthesize; Drive the second rocking arm 7 by motor again, thus make the second rocking arm 7 pairs of third connecting rods 8 carry out rocker-arm control; Driven by motor, third connecting rod 8 and double leval jib 9 are rotated, thus make linkage complete weld job.
Claims (1)
1. utilize multi-freedom-degreecontrollable controllable mechanism type linkage to carry out a method for welding procedure, it is characterized in that,
Described multi-freedom-degreecontrollable controllable mechanism type linkage comprises column, principal arm, first rocking arm, second rocking arm, first connecting rod, second connecting rod, third connecting rod, double leval jib, slide block, 5th connecting rod, six-bar linkage and seven-link assembly, described column bottom connects the 14 revolute pair, column top is connected with principal arm first link and the first rocking arm first link respectively by the first revolute pair, first second, rocking arm link is connected with first connecting rod one end by the second revolute pair, the first connecting rod other end is connected by the 4th revolute pair and the second rocking arm second link, second first, rocking arm link is connected by the 5th revolute pair and principal arm second link, second rocking arm the 3rd link is connected with second connecting rod one end by the 6th revolute pair, the second connecting rod other end is connected by the 3rd revolute pair and the first rocking arm the 3rd link, third connecting rod one end is connected by the 7th revolute pair and the second rocking arm the 4th link, the third connecting rod other end is connected with double leval jib one end by the 8th revolute pair, the double leval jib other end is used for connecting welding executing agency, described column side is provided with moving sets, slide block one end is connected with column by moving sets, the other end is connected with the 5th connecting rod one end by the tenth revolute pair, the 5th connecting rod other end is connected with six-bar linkage one end by the 11 revolute pair, the six-bar linkage other end is connected with seven-link assembly one end by the 12 revolute pair, and the seven-link assembly other end is connected with the 3rd link of principal arm by the 13 revolute pair,
Before weld job, car body and column bottom the 14 revolute pair are coupled together, welding executing agency the 9th revolute pair and double leval jib are coupled together;
When weld job carries out, drive principal arm by motor, principal arm is rotated, meanwhile, the 5th connecting rod, six-bar linkage and seven-link assembly support principal arm, and carry out motion with principal arm and synthesize; Drive the second rocking arm by motor again, thus make the second rocking arm carry out rocker-arm control to third connecting rod; Driven by motor, third connecting rod and double leval jib are rotated, thus make linkage complete weld job.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410817779.6A CN104551477B (en) | 2014-12-23 | 2014-12-23 | Utilize the method that multi-freedom-degreecontrollable controllable mechanism type linkage carries out welding procedure |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410817779.6A CN104551477B (en) | 2014-12-23 | 2014-12-23 | Utilize the method that multi-freedom-degreecontrollable controllable mechanism type linkage carries out welding procedure |
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| Publication Number | Publication Date |
|---|---|
| CN104551477A true CN104551477A (en) | 2015-04-29 |
| CN104551477B CN104551477B (en) | 2016-08-24 |
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| CN201410817779.6A Active CN104551477B (en) | 2014-12-23 | 2014-12-23 | Utilize the method that multi-freedom-degreecontrollable controllable mechanism type linkage carries out welding procedure |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2143498A (en) * | 1983-07-21 | 1985-02-13 | Emi Ltd | Improvements in or relating to assembly robots |
| JPH02168303A (en) * | 1988-12-21 | 1990-06-28 | Shin Meiwa Ind Co Ltd | Control method for robot |
| CN201900399U (en) * | 2010-12-22 | 2011-07-20 | 广西大学 | Simple spot welding robot mechanism |
| CN102514001A (en) * | 2011-12-28 | 2012-06-27 | 广西大学 | Spatial eight-degrees-of-freedom welding robot mechanism |
| CN103433918A (en) * | 2013-09-09 | 2013-12-11 | 清华大学 | Series-parallel industrial robot with five degrees of freedom |
| CN103737207A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | Parallel-serial welding robot mechanism with six degrees of freedom |
-
2014
- 2014-12-23 CN CN201410817779.6A patent/CN104551477B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2143498A (en) * | 1983-07-21 | 1985-02-13 | Emi Ltd | Improvements in or relating to assembly robots |
| JPH02168303A (en) * | 1988-12-21 | 1990-06-28 | Shin Meiwa Ind Co Ltd | Control method for robot |
| CN201900399U (en) * | 2010-12-22 | 2011-07-20 | 广西大学 | Simple spot welding robot mechanism |
| CN102514001A (en) * | 2011-12-28 | 2012-06-27 | 广西大学 | Spatial eight-degrees-of-freedom welding robot mechanism |
| CN103433918A (en) * | 2013-09-09 | 2013-12-11 | 清华大学 | Series-parallel industrial robot with five degrees of freedom |
| CN103737207A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | Parallel-serial welding robot mechanism with six degrees of freedom |
Non-Patent Citations (1)
| Title |
|---|
| 孙元等: "一种并联激光焊接机器人的机构设计", 《机器人》, vol. 31, no. 6, 30 November 2009 (2009-11-30), pages 535 - 538 * |
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| CN104551477B (en) | 2016-08-24 |
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