CN104552258A - Six-freedom-degree rocker arm type movable welding robot - Google Patents
Six-freedom-degree rocker arm type movable welding robot Download PDFInfo
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- CN104552258A CN104552258A CN201410814254.7A CN201410814254A CN104552258A CN 104552258 A CN104552258 A CN 104552258A CN 201410814254 A CN201410814254 A CN 201410814254A CN 104552258 A CN104552258 A CN 104552258A
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- connecting rod
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Abstract
The invention discloses a six-freedom-degree rocker arm type movable welding robot. One end of a stand column is connected with a vehicle body; the other end of the stand column is connected with one end of a main arm and a first connection end of a first rocker arm; a second connection end of the first rocker arm is connected with one end of a first connection rod; the other end of the first connection rod is connected with a second connection end of a second rocker arm; a first connection end of the second rocker arm is connected with the other end of the main arm; a third connection end of the second rocker arm is connected with one end of a second connection rod; the other end of the second connection rod is connected with a third connection end of the first rocker arm; one end of a third connection rod is connected with a fourth connection end of the second rocker arm; the other end of the third connection rod is connected with one end of a fourth connection rod; the other end of the fourth connection rod is connected with a tail end welding actuator; one end of a sliding block is connected with the stand column through a movable pair; the other end of the sliding block is connected with a fifth connection rod; the other end of the fifth connection rod is connected with one end of a sixth connection rod; the other end of the sixth connection rod is connected with the other arm of the main arm. The six-freedom-degree rocker arm type movable welding robot has the advantages of large working space, high rigidity, high bearing capability and high execution accuracy.
Description
Technical field
The present invention relates to robot field, particularly a kind of six degree of freedom rocker-arm mobile 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 six degree of freedom rocker-arm mobile 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 six degree of freedom rocker-arm mobile welding robot, comprises 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 and end welding actuator,
Described column bottom is connected with car body by fixed joint, 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 11 revolute pair, the 5th connecting rod other end is connected with six-bar linkage one end by the tenth revolute pair, and the six-bar linkage other end is connected with second link of principal arm by the 5th 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 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 operating diagram of a kind of six degree of freedom rocker-arm mobile welding robot of the present invention.
Fig. 2 is the first work front view of a kind of six degree of freedom rocker-arm mobile welding robot of the present invention.
Fig. 3 is the first work rearview of a kind of six degree of freedom rocker-arm mobile welding robot of the present invention.
Fig. 4 is the first work top view of a kind of six degree of freedom rocker-arm mobile welding robot of the present invention.
Fig. 5 is the second operating diagram of a kind of six degree of freedom rocker-arm mobile welding robot of the present invention.
Fig. 6 is the 3rd operating diagram of a kind of six degree of freedom rocker-arm mobile welding robot of the present invention.
Fig. 7 is the first rocker structure schematic diagram of a kind of six degree of freedom rocker-arm mobile welding robot of the present invention.
Fig. 8 is the second rocker structure schematic diagram of a kind of six degree of freedom rocker-arm mobile welding robot of the present invention.
Fig. 9 is the main arm structure schematic diagram of a kind of six degree of freedom rocker-arm mobile welding robot of the present invention.
Figure 10 is the third connecting rod structural representation of a kind of six degree of freedom rocker-arm mobile welding robot of the present invention.
Figure 11 is the slide block structure schematic diagram of a kind of six degree of freedom rocker-arm mobile welding robot of the present invention.
Figure 12 is the pillar construction schematic diagram of a kind of six degree of freedom rocker-arm mobile 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 six degree of freedom rocker-arm mobile 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 12, six-bar linkage 11 and end welding actuator 10.
Described column 2 bottom is connected with car body 1 by fixed joint, 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 12 one end by the 11 revolute pair 24,5th connecting rod 12 other end is connected with six-bar linkage 11 one end by the tenth revolute pair 25, and six-bar linkage 11 other end is connected with second link of principal arm 4 by the 5th revolute pair 16.
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 six degree of freedom rocker-arm mobile 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 six degree of freedom rocker-arm mobile 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 and end welding actuator
Described column bottom is connected with car body by fixed joint, 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 11 revolute pair, the 5th connecting rod other end is connected with six-bar linkage one end by the tenth revolute pair, and the six-bar linkage other end is connected with second link of principal arm by the 5th revolute pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410814254.7A CN104552258A (en) | 2014-12-23 | 2014-12-23 | Six-freedom-degree rocker arm type movable welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410814254.7A CN104552258A (en) | 2014-12-23 | 2014-12-23 | Six-freedom-degree rocker arm type movable welding robot |
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| Publication Number | Publication Date |
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| CN104552258A true CN104552258A (en) | 2015-04-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410814254.7A Pending CN104552258A (en) | 2014-12-23 | 2014-12-23 | Six-freedom-degree rocker arm type movable welding robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108927597A (en) * | 2018-08-02 | 2018-12-04 | 李彦利 | A kind of multiple degrees of freedom mash welder auxiliary device |
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| JP2011143496A (en) * | 2010-01-13 | 2011-07-28 | Ihi Corp | Device and method for tray transfer |
| CN103707289A (en) * | 2013-12-17 | 2014-04-09 | 广西大学 | Controllable multi-degree of freedom welding robot |
| CN103722552A (en) * | 2013-12-17 | 2014-04-16 | 广西大学 | Controllable multi-degree-of-freedom manipulator |
| CN103737581A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | Multi-bar six-freedom-degree welding robot containing parallel closed loop sub chains and provided with controllable space |
| CN104044134A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Multi-freedom-degree controlled parallel robot |
| CN104096998A (en) * | 2014-06-27 | 2014-10-15 | 广西大学 | Multi-degree of freedom parallel mechanism type spot welding robot |
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2014
- 2014-12-23 CN CN201410814254.7A patent/CN104552258A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011143496A (en) * | 2010-01-13 | 2011-07-28 | Ihi Corp | Device and method for tray transfer |
| CN103737581A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | Multi-bar six-freedom-degree welding robot containing parallel closed loop sub chains and provided with controllable space |
| CN103707289A (en) * | 2013-12-17 | 2014-04-09 | 广西大学 | Controllable multi-degree of freedom welding robot |
| CN103722552A (en) * | 2013-12-17 | 2014-04-16 | 广西大学 | Controllable multi-degree-of-freedom manipulator |
| CN104044134A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Multi-freedom-degree controlled parallel robot |
| CN104096998A (en) * | 2014-06-27 | 2014-10-15 | 广西大学 | Multi-degree of freedom parallel mechanism type spot welding robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108927597A (en) * | 2018-08-02 | 2018-12-04 | 李彦利 | A kind of multiple degrees of freedom mash welder auxiliary device |
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Application publication date: 20150429 |