CN104552255A - Multi-degree-of-freedom controllable mechanism type welding robot - Google Patents
Multi-degree-of-freedom controllable mechanism type welding robot Download PDFInfo
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- CN104552255A CN104552255A CN201410814209.1A CN201410814209A CN104552255A CN 104552255 A CN104552255 A CN 104552255A CN 201410814209 A CN201410814209 A CN 201410814209A CN 104552255 A CN104552255 A CN 104552255A
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Abstract
The invention discloses a multi-degree-of-freedom controllable mechanism type welding robot. One end of a stand column is connected with a vehicle body via a revolving pair; the other end of the stand column is respectively connected with one end of a main arm and the first connection end of a first rocker arm; the second connection end of the first rocker arm is connected with one end of a first connecting rod; the other end of the first connecting rod is connected with the second connection end of a second rocker arm; the first connection end of the second rocker arm is connected with the other end of the main arm; the third connection end of the second rocker arm is connected with one end of a second connecting rod; the other end of the second connecting rod is connected with the third connection end of the first rocker arm; one end of a third connecting rod is connected with the fourth connection end of the second rocker arm; the other end of the third connecting rod is connected with one end of a fourth connecting rod; the other end of the fourth connecting rod is connected with a tail end welding executor; one end of a sliding block is connected with the stand column via a moving pair; the other end of the sliding block is connected with a fifth connecting rod; the fifth connecting rod, a sixth connecting rod, a seventh connecting rod and the third connection end of the main arm are successively connected. The multi-degree-of-freedom controllable mechanism type welding robot has the advantages of large working space, high rigidity, high bearing capability and high execution precision.
Description
Technical field
The present invention relates to robot field, particularly a kind of multi-freedom-degreecontrollable controllable mechanism type welding robot.
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 multi-freedom-degreecontrollable controllable mechanism type welding robot, solves conventional serial robot large about required moment, the shortcoming that rigidity is low and working space is little.
It is as follows that the present invention solves the problems of the technologies described above taked technical scheme:
A kind of multi-freedom-degreecontrollable controllable mechanism type welding robot, comprise car body, column, principal arm, the first rocking arm, the second rocking arm, first connecting rod, second connecting rod, third connecting rod, double leval jib, slide block, the 5th connecting rod, six-bar linkage, seven-link assembly and end welding actuator
Described column bottom is connected with car body by 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 welds actuator by the 9th revolute pair with end and is connected,
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.
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 of a kind of multi-freedom-degreecontrollable controllable mechanism type welding robot of the present invention.
Fig. 2 is the first work stereogram of a kind of multi-freedom-degreecontrollable controllable mechanism type welding robot of the present invention.
Fig. 3 is the first work rearview of a kind of multi-freedom-degreecontrollable controllable mechanism type welding robot of the present invention.
Fig. 4 is the first work top view of a kind of multi-freedom-degreecontrollable controllable mechanism type welding robot of the present invention.
Fig. 5 is the first rocker structure schematic diagram of a kind of multi-freedom-degreecontrollable controllable mechanism type welding robot of the present invention.
Fig. 6 is the second rocker structure schematic diagram of a kind of multi-freedom-degreecontrollable controllable mechanism type welding robot of the present invention.
Fig. 7 is the main arm structure schematic diagram of a kind of multi-freedom-degreecontrollable controllable mechanism type welding robot of the present invention.
Fig. 8 is the third connecting rod structural representation of a kind of multi-freedom-degreecontrollable controllable mechanism type welding robot of the present invention.
Fig. 9 is the slide block structure schematic diagram of a kind of multi-freedom-degreecontrollable controllable mechanism type welding robot of the present invention.
Figure 10 is the pillar construction schematic diagram of a kind of multi-freedom-degreecontrollable controllable mechanism type welding robot of the present invention.
Figure 11 is the second work front view of a kind of multi-freedom-degreecontrollable controllable mechanism type welding robot of the present invention.
Figure 12 is the 3rd work front view of a kind of multi-freedom-degreecontrollable controllable mechanism type welding robot of the present invention.
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 multi-freedom-degreecontrollable controllable mechanism type welding robot, comprises car body 1, column 2, principal arm 4, first rocking arm 3, second rocking arm 7, first connecting rod 5, second connecting rod 6, third connecting rod 8, double leval jib 9, slide block 23, the 5th connecting rod 25, six-bar linkage 12, seven-link assembly 11 and end welding actuator 10.
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.
The rotation of described principal arm 4, second rocking bar 7, third connecting rod 8 and double leval jib 9 is driven by motor.
A kind of multi-freedom-degreecontrollable controllable mechanism type welding robot provided by the invention, there is working space large, rigidity is high, bearing capacity is strong, inertia is little welds actuator precision advantages of higher with end, welding can be applied in, spraying, carrying, handling, assembling, in the complex jobs such as piling, effectively raise labour efficiency, improve a lot in product quality and stability, and this mechanism machine driving precision is high, machine driving loss is little, larger power can be exported without accumulated error, there is good controlling functions, adopt indirect drive manner, effectively can also reduce the moment required for driving joint.
Claims (1)
1. a multi-freedom-degreecontrollable controllable mechanism type welding robot, it is characterized in that, comprise car body, column, principal arm, the first rocking arm, the second rocking arm, first connecting rod, second connecting rod, third connecting rod, double leval jib, slide block, the 5th connecting rod, six-bar linkage, seven-link assembly and end welding actuator
Described column bottom is connected with car body by 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 welds actuator by the 9th revolute pair with end and is connected,
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.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410814209.1A CN104552255B (en) | 2014-12-23 | 2014-12-23 | A kind of multi-freedom-degreecontrollable controllable mechanism type welding robot |
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| CN201410814209.1A CN104552255B (en) | 2014-12-23 | 2014-12-23 | A kind of multi-freedom-degreecontrollable controllable mechanism type welding robot |
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| CN104552255A true CN104552255A (en) | 2015-04-29 |
| CN104552255B CN104552255B (en) | 2016-06-15 |
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Citations (8)
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| EP1015192B1 (en) * | 1997-05-30 | 2003-03-26 | Pellenc (Société Anonyme) | Robotized machine equipped with arm with symmetrical pantograph, for example for fruit picking or sorting diverse objects |
| US20030152453A1 (en) * | 2000-03-09 | 2003-08-14 | Christian Salesse | Load handling device with servo feed-back control |
| EP2134514B1 (en) * | 2007-03-09 | 2011-09-21 | Pal-tec Automation Gmbh | Manipulator for charging at least one machine, in particular a tool machine, and charging device for said type of machine |
| CN203357446U (en) * | 2013-07-12 | 2013-12-25 | 中国石油大学(华东) | Drill rod handling mechanical arm |
| CN103612253A (en) * | 2013-11-28 | 2014-03-05 | 东莞职业技术学院 | Large-stroke industrial robot |
| CN103693340A (en) * | 2013-12-07 | 2014-04-02 | 广西大学 | Large-working-space multi-degree-of-freedom controllable mechanism-type shovel-loading integrated transport car |
| CN103737578A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | Controllable mechanism type fine-adjusting welding robot with multiple degrees of spatial freedom |
| WO2014171642A1 (en) * | 2013-04-19 | 2014-10-23 | 서울대학교 산학협력단 | Method for forming redundantly-actuated mechanism and actuator force distribution system |
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2014
- 2014-12-23 CN CN201410814209.1A patent/CN104552255B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1015192B1 (en) * | 1997-05-30 | 2003-03-26 | Pellenc (Société Anonyme) | Robotized machine equipped with arm with symmetrical pantograph, for example for fruit picking or sorting diverse objects |
| US20030152453A1 (en) * | 2000-03-09 | 2003-08-14 | Christian Salesse | Load handling device with servo feed-back control |
| EP2134514B1 (en) * | 2007-03-09 | 2011-09-21 | Pal-tec Automation Gmbh | Manipulator for charging at least one machine, in particular a tool machine, and charging device for said type of machine |
| WO2014171642A1 (en) * | 2013-04-19 | 2014-10-23 | 서울대학교 산학협력단 | Method for forming redundantly-actuated mechanism and actuator force distribution system |
| CN203357446U (en) * | 2013-07-12 | 2013-12-25 | 中国石油大学(华东) | Drill rod handling mechanical arm |
| CN103612253A (en) * | 2013-11-28 | 2014-03-05 | 东莞职业技术学院 | Large-stroke industrial robot |
| CN103693340A (en) * | 2013-12-07 | 2014-04-02 | 广西大学 | Large-working-space multi-degree-of-freedom controllable mechanism-type shovel-loading integrated transport car |
| CN103737578A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | Controllable mechanism type fine-adjusting welding robot with multiple degrees of spatial freedom |
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| CN104552255B (en) | 2016-06-15 |
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