CN107116322A - A kind of lightweight Six-freedom-degree space controllable-mechanism type high-speed welding robot - Google Patents
A kind of lightweight Six-freedom-degree space controllable-mechanism type high-speed welding robot Download PDFInfo
- Publication number
- CN107116322A CN107116322A CN201710539358.5A CN201710539358A CN107116322A CN 107116322 A CN107116322 A CN 107116322A CN 201710539358 A CN201710539358 A CN 201710539358A CN 107116322 A CN107116322 A CN 107116322A
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- Prior art keywords
- revolute pair
- sliding sleeve
- final stage
- connecting rod
- follower lever
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- 238000003466 welding Methods 0.000 title claims abstract description 40
- 210000000245 forearm Anatomy 0.000 claims abstract description 36
- 238000000034 method Methods 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 abstract description 7
- 230000000630 rising effect Effects 0.000 abstract description 4
- 230000033001 locomotion Effects 0.000 description 19
- 238000010586 diagram Methods 0.000 description 7
- 230000007246 mechanism Effects 0.000 description 7
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Transmission Devices (AREA)
Abstract
A kind of lightweight Six-freedom-degree space controllable-mechanism type high-speed welding robot, first servomotor drives the 4th final stage to slide over and moved forward and backward on forearm by the driving-chain including the first driving lever, second servomotor drives forearm to rotate by the driving-chain including the second driving lever, forearm drives actuator to be swung on working face by driving-chain, 3rd servomotor drives the second final stage to slide over and moved forward and backward on forearm by the driving-chain including the 3rd driving lever, driving actuator does the adjustment at the elevation angle after second final stage sliding sleeve and the 4th final stage sliding sleeve are transmitted by the driving-chain being made up of first connecting rod to the 15th connecting rod, 4th servomotor controls rotating shaft to be acted relative to the rising height centered on revolute pair four by the driving-chain including the 4th driving lever, control the rising height of actuator.Instant invention overcomes existing most of linkage can only plane driving transmission and the shortcomings of space stiffness poor, with motor need not be installed on joint and decelerator realizes the characteristics of space is driven.
Description
Technical field
The present invention relates to mechanical field, specifically a kind of lightweight Six-freedom-degree space controllable-mechanism type high-speed welding machine
People.
Background technology
Since 1980s, people wish to reduce the quality of robot motion's part always to improve its dynamic
Can, and achieve gratifying achievement.But these work are all around the rod member quality expansion of mitigation robot.And installed in cascade machine
Motor, decelerator at device person joint is actually very big to Robotic Dynamic performance impact.Moreover, in order to ensure that motor output is big
Power, its output speed is very high, it is necessary to which the decelerator of big speed ratio is decelerated to the speed of suitable robot work.And grind
Small volume processed, the speed reducer with high transmission ratio of light weight are also the comparison stubborn problem that robot of China industry runs into.At present, state
Robot motor and one of decelerator and the robot motor of international most advanced level, the gap of decelerator are produced, is exactly quality
(weight) and volume are big, and this can cause, and the rotary inertia of robot is big, Robotic Dynamic performance is not good, be also easy to produce larger vibration
The problems such as.If motor, decelerator can be arranged in frame, joint is not mounted within manipulator motion, then is not turned
Big the brought various problems of dynamic inertia.
The content of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of lightweight Six-freedom-degree space controllable-mechanism type high-speed welding
Robot.
To achieve these goals, present invention employs following technical scheme：
A kind of lightweight Six-freedom-degree space controllable-mechanism type high-speed welding robot, including first support bar, second
Strut, the 3rd support bar, the 4th support bar, the first large arm, the second large arm, the third-largest arm, the first driving lever, the second driving lever,
3rd driving lever, the 4th driving lever, the first primary follower lever, the second primary follower lever, the 3rd primary follower lever, the 4th it is primary from
Lever, the first primary sliding sleeve, the second primary sliding sleeve, the 3rd primary sliding sleeve, the 4th primary sliding sleeve, first level follower lever, second
Secondary follower lever, third time level follower lever, the 4th level follower lever, the first triangle part, the second triangle part, the 3rd triangle part, the th
Four triangle parts, the 5th triangle part, the first three-level follower lever, the second three-level follower lever, the 3rd three-level follower lever, first level are slided
Set, second subprime sliding sleeve, third time level sliding sleeve, the first final stage follower lever, the second final stage follower lever, the 3rd final stage follower lever,
One contiguous block, the second contiguous block, the 3rd contiguous block, the first final stage sliding sleeve, the second final stage sliding sleeve, the 3rd final stage sliding sleeve, the 4th end
Level sliding sleeve, the 5th final stage sliding sleeve, the 6th final stage sliding sleeve, the 7th final stage sliding sleeve, the 8th final stage sliding sleeve, the 9th final stage sliding sleeve, first
Guide rod, the second guide rod, first connecting rod, second connecting rod, third connecting rod, fourth link, the 5th connecting rod, six-bar linkage, seven-link assembly,
8th connecting rod, the 9th connecting rod, the tenth connecting rod, the 11st connecting rod, the 12nd connecting rod, the 13rd connecting rod, the tenth double leval jib, the 15th
Connecting rod, forearm, frame, actuator and rotating shaft,
Concrete structure and annexation are as follows：
First support bar lower end is fixed in frame, first support bar upper end by revolute pair one simultaneously with the first triangle part
First jiao and the connection of first large arm one end, the middle part of the first large arm is connected in rotating shaft by revolute pair 40；
Second support bar lower end is fixed in frame, second support bar upper end by revolute pair two simultaneously with the second triangle part
First jiao and the connection of second large arm one end, the middle part of the second large arm is connected in rotating shaft by revolute pair 41；It is second largest
The arm other end is connected on the first contiguous block by revolute pair 70,
3rd support bar lower end is fixed in frame, and the 3rd post upper passes through revolute pair San Tong method and the 3rd triangle part
First jiao and the connection of the third-largest arm one end, the middle part of the third-largest arm is connected in rotating shaft by revolute pair 42；
4th support bar lower end is fixed in frame, and the 4th post upper passes through the triangle part first of revolute pair four and the 4th
Angle is connected；
First primary sliding sleeve is sleeved in first support bar,
Second primary sliding sleeve is sleeved in second support bar,
3rd primary sliding sleeve is sleeved on the 3rd support bar,
4th primary sliding sleeve is sleeved on the 4th support bar；
First time level sliding sleeve is sleeved in the first large arm,
Second subprime sliding sleeve is sleeved in the second large arm,
Third time level sliding sleeve is sleeved on the third-largest arm；
Forearm one end is connected on the first contiguous block by revolute pair 65, and the forearm other end is fixedly connected on the second company
Connect on block；Second final stage sliding sleeve, the 3rd final stage sliding sleeve, the 4th final stage sliding sleeve and the 5th final stage sliding sleeve are sleeved on forearm successively；
First lower end of the guide rod is fixedly connected on the first contiguous block, and the first final stage sliding sleeve is sleeved on the first guide rod；
First connecting rod one end is connected on the first final stage sliding sleeve by revolute pair 13,
The first connecting rod other end is connected by revolute pair 14 with second connecting rod one end,
The second connecting rod other end is fixedly connected on forearm；
First driving lever one end is connected in frame by revolute pair five,
The first driving lever other end is connected by revolute pair six with first primary follower lever one end,
The first primary follower lever other end is connected on the first primary sliding sleeve by revolute pair seven；
First level follower lever one end is connected to the first primary sliding sleeve by revolute pair eight,
First level follower lever other end is connected by second jiao of revolute pair nine and the first triangle part；
First three-level follower lever one end is connected by revolute pair ten with the third angle of the first triangle part,
The first three-level follower lever other end is connected on first level sliding sleeve by revolute pair 11；
First final stage follower lever one end is connected on first level sliding sleeve by revolute pair 12,
The first final stage follower lever other end is connected on the 4th final stage sliding sleeve by revolute pair 15；
Lead to revolute pair 16 between 4th final stage sliding sleeve and the 5th final stage sliding sleeve to connect,
Third connecting rod one end is connected on the 5th final stage sliding sleeve by revolute pair 17,
The third connecting rod other end is connected on the 6th final stage sliding sleeve by revolute pair 18,
6th final stage sliding sleeve is sleeved in fourth link,
Fourth link one end is connected on the second contiguous block by revolute pair 19,
The fourth link other end by revolute pair 20 on first jiao of the 5th triangle part,
5th connecting rod one end is connected on the 6th final stage sliding sleeve by revolute pair 21,
The 5th connecting rod other end is connected to second jiao of the 5th triangle part by revolute pair 22,
Six-bar linkage one end is connected to the third angle of the 5th triangle part by revolute pair 23,
The six-bar linkage other end is connected on the 7th final stage sliding sleeve by revolute pair 24,
7th final stage sliding sleeve is sleeved on seven-link assembly,
Second driving lever one end is connected in frame by revolute pair 43,
The second driving lever other end is connected by revolute pair 44 with second primary follower lever one end,
The second primary follower lever other end is connected on the second primary sliding sleeve by revolute pair 45；
Second subprime follower lever one end is connected to the second primary sliding sleeve by revolute pair 46,
The second subprime follower lever other end is connected by second jiao of revolute pair 47 and the second triangle part；
Second three-level follower lever one end is connected by revolute pair 48 with the third angle of the second triangle part,
The second three-level follower lever other end is connected on second subprime sliding sleeve by revolute pair 49,
Second final stage follower lever one end is connected on second subprime sliding sleeve by revolute pair 50；
The second final stage follower lever other end is connected on the first final stage sliding sleeve by revolute pair 66,
3rd driving lever one end is connected in frame by revolute pair 51,
The 3rd driving lever other end is connected by revolute pair 52 with the 3rd primary follower lever one end,
The 3rd primary follower lever other end is connected on the 3rd primary sliding sleeve by revolute pair 53；
Third time level follower lever one end is connected to the 3rd primary sliding sleeve by revolute pair 54,
The third time level follower lever other end is connected by second jiao of revolute pair 55 and the 3rd triangle part；
3rd three-level follower lever one end is connected by revolute pair 56 with the third angle of the 3rd triangle part,
The 3rd three-level follower lever other end is connected on third time level sliding sleeve by revolute pair 57,
3rd final stage follower lever one end is connected on third time level sliding sleeve by revolute pair 58；
The 3rd final stage follower lever other end is connected on the second final stage sliding sleeve by revolute pair 25,
Lead to revolute pair 26 between second final stage sliding sleeve and the 3rd final stage sliding sleeve to connect,
8th connecting rod one end is connected on the 3rd final stage sliding sleeve by revolute pair 27,
The 8th connecting rod other end is connected on the 8th final stage sliding sleeve by revolute pair 28,
8th final stage sliding sleeve is sleeved on the 9th connecting rod,
9th connecting rod one end is connected on the second contiguous block by revolute pair 29,
The 9th connecting rod other end is connected on the tenth connecting rod by revolute pair 30,
11st connecting rod one end is connected on the 8th final stage sliding sleeve by revolute pair 31,
The 11st connecting rod other end is connected to the tenth connecting rod one end by revolute pair 32,
The tenth connecting rod other end is connected on seven-link assembly by revolute pair 33,
Seven-link assembly one end is connected to first jiao of the 5th triangle part also by revolute pair 20,
The seven-link assembly other end is connected on the 3rd contiguous block by revolute pair 34,
Second guide rod is fixedly connected on the 3rd contiguous block,
9th final stage sliding sleeve is sleeved on the second guide rod；
12nd connecting rod one end is connected on the 7th final stage sliding sleeve by revolute pair 35,
The 12nd connecting rod other end is connected on the 9th final stage sliding sleeve by revolute pair 36,
13rd connecting rod one end is connected on the 3rd contiguous block by revolute pair 37,
The 13rd connecting rod other end is fixedly connected on actuator,
Tenth double leval jib one end is connected on the 9th final stage sliding sleeve by revolute pair 38,
The tenth double leval jib other end is connected on the 15th connecting rod by revolute pair 39,
The 15th connecting rod other end is fixedly connected on the 13rd connecting rod.
4th driving lever one end is connected in frame by revolute pair 59,
The 4th driving lever other end is connected by revolute pair 60 with the 4th primary follower lever one end,
The 4th primary follower lever other end is connected on the 4th primary sliding sleeve by revolute pair 61；
4th level follower lever one end is connected to the 4th primary sliding sleeve by revolute pair 62,
The 4th level follower lever other end is connected by second jiao of revolute pair 63 and the 4th triangle part,
The third angle of 4th triangle part is connected in rotating shaft by revolute pair 64.
Further,
The revolute pair 13, revolute pair 14, revolute pair 16, the rotation of revolute pair 26 and revolute pair 65
Radial section of the plane parallel to forearm.
Further,
The rotational plane of the revolute pair 37, revolute pair 38 and revolute pair 39 is parallel to the 13rd connecting rod
Radial section.
Further,
The revolute pair one, revolute pair two, revolute pair three, revolute pair four, revolute pair five, revolute pair six, revolute pair seven, turn
Dynamic pair eight, revolute pair nine, revolute pair ten, revolute pair 11, revolute pair 12, revolute pair 15, revolute pair 17, revolute pair ten
8th, revolute pair 19, revolute pair 20, revolute pair 21, revolute pair 22, revolute pair 23, revolute pair 24,
Revolute pair 25, revolute pair 27, revolute pair 28, revolute pair 29, revolute pair 30, revolute pair 31,
Revolute pair 32, revolute pair 33, revolute pair 34, revolute pair 35, revolute pair 36, revolute pair 40,
Revolute pair 41, revolute pair 42, revolute pair 43, revolute pair 44, revolute pair 45, revolute pair 40
6th, revolute pair 47, revolute pair 48, revolute pair 49, revolute pair 50, revolute pair 51, revolute pair 50
2nd, revolute pair 53, revolute pair 54, revolute pair 55, revolute pair 56, revolute pair 57, revolute pair five
18, revolute pair 59, revolute pair 60, revolute pair 61, revolute pair 62, revolute pair 63, revolute pair six
14, axial cross section of the rotational plane of revolute pair 66 and revolute pair 70 parallel to forearm.
Further,
First guide rod is perpendicular to forearm.
Further,
Second guide rod is perpendicular to the 13rd connecting rod.
Further,
Also include the first servomotor, the second servomotor, the 3rd servomotor and the 4th servomotor, revolute pair five by
First servomotor is driven, and revolute pair 43 is driven by the second servomotor, and revolute pair 51 is driven by the 3rd servomotor
Dynamic, revolute pair 59 is driven by the 4th servomotor.
Further,
The frame is connected on base by revolute pair.
Compared with prior art, the beneficial effect that the present invention possesses：
The present invention realizes that the centre of gravity lightweight structure being installed to whole motors and decelerator near pedestal is designed, motor
Large Amplitude Motion is not done with decelerator with motion rod member.Overcome existing welding robot and motor and decelerator are arranged on pass
On section, produced movement inertia is big, residual oscillation obvious and the low shortcoming of high speed operation positioning precision, with structural reliability
High, stability is good and the low feature of cost.
The present invention hangs down two two sets be mutually perpendicular on working face slider-crank mechanisms by two of square sliding block
Straight surface structure is linked to together, realizes two driving being mutually perpendicular on working face transmissions.Overcome existing most of connecting rod machine
Structure can only plane driving transmission and the shortcomings of space stiffness poor, with that need not install motor and decelerator on joint, just in fact
The characteristics of having showed space driving transmission.
Two sets of slider-crank mechanisms, are realized crank block machine by the present invention by same slide bar symmetrical serial together
Structure tandem sequence, overcomes that traditional four bars transmission mechanism integral rigidity is low and the big shortcoming of space-consuming, tight with drive mechanism
Gather with reliability it is high the characteristics of.
The present invention realizes being total to for sliding block rotation and sliding block slip by the way that two sliding blocks through same axis are connected
Axle is driven.
Brief description of the drawings
Fig. 1 shows for the overall structure of lightweight Six-freedom-degree space controllable-mechanism type high-speed welding robot of the present invention
It is intended to one.
Fig. 2 shows for the partial structurtes of lightweight Six-freedom-degree space controllable-mechanism type high-speed welding robot of the present invention
It is intended to one.
Fig. 3 shows for the partial structurtes of lightweight Six-freedom-degree space controllable-mechanism type high-speed welding robot of the present invention
It is intended to two.
Fig. 4 shows for the partial structurtes of lightweight Six-freedom-degree space controllable-mechanism type high-speed welding robot of the present invention
It is intended to three.
Fig. 5 is the forearm of lightweight Six-freedom-degree space controllable-mechanism type high-speed welding robot of the present invention, first
Assemble mechanism schematic diagram one between guide rod and the second final stage follower lever.
Fig. 6 is the forearm of lightweight Six-freedom-degree space controllable-mechanism type high-speed welding robot of the present invention, first
Assemble mechanism schematic diagram two between guide rod and the second final stage follower lever.
Fig. 7 is the forearm of lightweight Six-freedom-degree space controllable-mechanism type high-speed welding robot of the present invention, first
Assemble mechanism schematic diagram three between guide rod and the second final stage follower lever.
Fig. 8 is last for the control first of lightweight Six-freedom-degree space controllable-mechanism type high-speed welding robot of the present invention
The structural representation one of the driving-chain of level follower lever motion.
Fig. 9 is last for the control first of lightweight Six-freedom-degree space controllable-mechanism type high-speed welding robot of the present invention
The structural representation two of the driving-chain of level follower lever motion.
Figure 10 performs for the control of lightweight Six-freedom-degree space controllable-mechanism type high-speed welding robot of the present invention
The driving-chain structural representation one of device motion.
Figure 11 performs for the control of lightweight Six-freedom-degree space controllable-mechanism type high-speed welding robot of the present invention
The driving-chain structural representation two of device motion.
Figure 12 is the control second of lightweight Six-freedom-degree space controllable-mechanism type high-speed welding robot of the present invention
The structural representation one of the driving-chain of final stage follower lever motion.
Figure 13 is the control second of lightweight Six-freedom-degree space controllable-mechanism type high-speed welding robot of the present invention
The structural representation two of the driving-chain of final stage follower lever motion.
Figure 14 is the control the 3rd of lightweight Six-freedom-degree space controllable-mechanism type high-speed welding robot of the present invention
The structural representation one of the driving-chain of final stage follower lever motion.
Figure 15 is the control the 3rd of lightweight Six-freedom-degree space controllable-mechanism type high-speed welding robot of the present invention
The structural representation two of the driving-chain of final stage follower lever motion.
Figure 16 performs for the control of lightweight Six-freedom-degree space controllable-mechanism type high-speed welding robot of the present invention
The driving-chain structural representation three of device motion.
Figure 17 performs for the control of lightweight Six-freedom-degree space controllable-mechanism type high-speed welding robot of the present invention
The driving-chain structural representation four of device motion.
Figure 18 performs for the control of lightweight Six-freedom-degree space controllable-mechanism type high-speed welding robot of the present invention
The driving-chain structural representation five of device motion.
Figure 19 connects for the 13rd of lightweight Six-freedom-degree space controllable-mechanism type high-speed welding robot of the present invention
Assembling structure schematic diagram between bar, the tenth double leval jib and the 15th connecting rod.
Figure 20 connects for the 13rd of lightweight Six-freedom-degree space controllable-mechanism type high-speed welding robot of the present invention
Assembling structure schematic diagram between bar, seven-link assembly and the second guide rod.
Figure 21 connects for the 12nd of lightweight Six-freedom-degree space controllable-mechanism type high-speed welding robot of the present invention
Assembling structure schematic diagram between bar and the 9th final stage sliding sleeve.
Figure 22 is the control the 4th of lightweight Six-freedom-degree space controllable-mechanism type high-speed welding robot of the present invention
The structural representation one of the driving-chain of triangle part motion.
Figure 23 is the control the 4th of lightweight Six-freedom-degree space controllable-mechanism type high-speed welding robot of the present invention
The structural representation two of the driving-chain of triangle part motion.
Figure 24 is the overall structure of lightweight Six-freedom-degree space controllable-mechanism type high-speed welding robot of the present invention
Schematic diagram two.
In figure：
First servomotor 1a, the second servomotor 2a, the 3rd servomotor 3a, the 4th servomotor 4a,
First support bar 1b, second support bar 2b, the 3rd support bar 3b, the 4th support bar 4b,
First large arm 1c, the second large arm 2c, the third-largest arm 3c,
First driving lever 1d, the second driving lever 2d, the 3rd driving lever 3d, the 4th driving lever 4d,
First primary follower lever 1e, the second primary follower lever 2e, the 3rd primary follower lever 3e, the 4th primary follower lever 4e,
First primary sliding sleeve 1f, the second primary sliding sleeve 2f, the 3rd primary sliding sleeve 3f, the 4th primary sliding sleeve 4f,
First level follower lever 1g, second subprime follower lever 2g, third time level follower lever 3g, the 4th level follower lever 4g,
First triangle part 1h, the second triangle part 2h, the 3rd triangle part 3h, the 4th triangle part 4h, the 5th triangle part 5h,
First three-level follower lever 1i, the second three-level follower lever 2i, the 3rd three-level follower lever 3i,
First level sliding sleeve 1j, second subprime sliding sleeve 2j, third time level sliding sleeve 3j,
First final stage follower lever 1k, the second final stage follower lever 2k, the 3rd final stage follower lever 3k,
First contiguous block 1n, the second contiguous block 2n, the 3rd contiguous block 3n,
First final stage sliding sleeve 1p, the second final stage sliding sleeve 2p, the 3rd final stage sliding sleeve 3p, the 4th final stage sliding sleeve 4p,
5th final stage sliding sleeve 5p, the 6th final stage sliding sleeve 6p, the 7th final stage sliding sleeve 7p, the 8th final stage sliding sleeve 8p,
9th final stage sliding sleeve 9p,
First guide rod 1q, the second guide rod 2q,
First connecting rod 1, second connecting rod 2, third connecting rod 3, fourth link 4, the 5th connecting rod 5,
Six-bar linkage 6, seven-link assembly 7, the 8th connecting rod 8, the 9th connecting rod 9, the tenth connecting rod 10,
11st connecting rod 11, the 12nd connecting rod 12, the 13rd connecting rod 13, the tenth double leval jib 14, the 15th connecting rod 15,
Forearm 100, frame 99, actuator 98, rotating shaft 97.
Embodiment
Technical scheme is further elaborated below by embodiment.
Embodiment 1
A kind of lightweight Six-freedom-degree space controllable-mechanism type high-speed welding robot, including first support bar 1b, second
Support bar 2b, the 3rd support bar 3b, the 4th support bar 4b, the first large arm 1c, the second large arm 2c, the third-largest arm 3c, first are actively
Bar 1d, the second driving lever 2d, the 3rd driving lever 3d, the 4th driving lever 4d, the first primary follower lever 1e, the second primary follower lever
2e, the 3rd primary follower lever 3e, the 4th primary follower lever 4e, the first primary sliding sleeve 1f, the second primary sliding sleeve 2f, the 3rd primary are sliding
Cover 3f, the 4th primary sliding sleeve 4f, first level follower lever 1g, second subprime follower lever 2g, third time level follower lever 3g, the 4th time
Level follower lever 4g, the first triangle part 1h, the second triangle part 2h, the 3rd triangle part 3h, the 4th triangle part 4h, the 5th triangle part 5h,
First three-level follower lever 1i, the second three-level follower lever 2i, the 3rd three-level follower lever 3i, first level sliding sleeve 1j, second subprime are slided
Cover 2j, third time level sliding sleeve 3j, the first final stage follower lever 1k, the second final stage follower lever 2k, the 3rd final stage follower lever 3k, the first company
Connect block 1n, the second contiguous block 2n, the 3rd contiguous block 3n, the first final stage sliding sleeve 1p, the second final stage sliding sleeve 2p, the 3rd final stage sliding sleeve
3p, the 4th final stage sliding sleeve 4p, the 5th final stage sliding sleeve 5p, the 6th final stage sliding sleeve 6p, the 7th final stage sliding sleeve 7p, the 8th final stage sliding sleeve
8p, the 9th final stage sliding sleeve 9p, the first guide rod 1q, the second guide rod 2q, first connecting rod 1, second connecting rod 2, third connecting rod the 3, the 4th connect
Bar 4, the 5th connecting rod 5, six-bar linkage 6, seven-link assembly 7, the 8th connecting rod 8, the 9th connecting rod 9, the tenth connecting rod 10, the 11st connecting rod
11st, the 12nd connecting rod 12, the 13rd connecting rod 13, the tenth double leval jib 14, the 15th connecting rod 15, forearm 100, frame 99, actuator
98 and rotating shaft 97,
Concrete structure and its annexation are as follows：
As shown in figure 9, first support bar 1b lower ends are fixed in frame 99, first support bar 1b upper ends pass through revolute pair one
101 are connected with first jiao of the first triangle part 1h and first large arm 1c one end simultaneously, and the first large arm 1c middle part passes through revolute pair
40 are connected in rotating shaft 97；
As shown in figure 12, second support bar 2b lower ends are fixed in frame 99, and second support bar 2b upper ends pass through revolute pair
2 102 are connected with first jiao of the second triangle part 2h and second large arm 2c one end simultaneously, and the second large arm 2c middle part is by rotating
Pair 41 is connected in rotating shaft 97；The second large arm 2c other ends are connected to the first contiguous block 1n by revolute pair 70
On,
As shown in figure 14, the 3rd support bar 3b lower ends are fixed in frame 99, and the 3rd support bar 3b upper ends pass through revolute pair
3 103 are connected with first jiao of the 3rd triangle part 3h and the third-largest arm 3c one end simultaneously, and the third-largest arm 3c middle part is by rotating
Pair 42 is connected in rotating shaft 97；
As shown in figure 22, the 4th support bar 4b lower ends are fixed in frame 99, and the 4th support bar 4b upper ends pass through revolute pair
4 104 with the 4th triangle part 4h first jiao be connected；
As shown in Figure 2：
First primary sliding sleeve 1f is sleeved on first support bar 1b,
Second primary sliding sleeve 2f is sleeved on second support bar 2b,
3rd primary sliding sleeve 3f is sleeved on the 3rd support bar 3b,
4th primary sliding sleeve 4f is sleeved on the 4th support bar 4b；
First time level sliding sleeve 1j is sleeved on the first large arm 1c,
Second subprime sliding sleeve 2j is sleeved on the second large arm 2c,
Third time level sliding sleeve 3j is sleeved on the third-largest arm 3c；
As shown in Fig. 5~7：
The one end of forearm 100It is connected on the first contiguous block 1n, the other end of forearm 100 is fixedly connected
On the second contiguous block 2n；Second final stage sliding sleeve 2p, the 3rd final stage sliding sleeve 3p, the 4th final stage sliding sleeve 4p and the 5th final stage sliding sleeve
5p is sleeved on forearm 100 successively；First guide rod 1q lower ends are fixedly connected on the first contiguous block 1n, the first final stage sliding sleeve 1p
It is sleeved on the first guide rod 1q；
The one end of first connecting rod 1 is connected on the first final stage sliding sleeve 1p by revolute pair 13,
The other end of first connecting rod 1 is connected by revolute pair 14 with the one end of second connecting rod 2,
The other end of second connecting rod 2 is fixedly connected on forearm 100；
As shown in Fig. 8~9：
First driving lever 1d one end is connected in frame 99 by revolute pair 5 105,
The first driving lever 1d other ends are connected by revolute pair 6 106 with first primary follower lever 1e one end,
The first primary follower lever 1e other ends are connected on the first primary sliding sleeve 1f by revolute pair 7 107；
First level follower lever 1g one end is connected to the first primary sliding sleeve 1f by revolute pair 8 108,
First level follower lever 1g other end is connected by second jiao of revolute pair 9 109 and the first triangle part 1h；
First three-level follower lever 1i one end is connected by revolute pair 10 with the first triangle part 1h the third angle,
The first three-level follower lever 1i other ends are connected on first level sliding sleeve 1j by revolute pair 11；
First final stage follower lever 1k one end is connected on first level sliding sleeve 1j by revolute pair 12,
The first final stage follower lever 1k other ends are connected on the 4th final stage sliding sleeve 4p by revolute pair 15；
As shown in FIG. 10 and 11：
Lead to revolute pair 16 between 4th final stage sliding sleeve 4p and the 5th final stage sliding sleeve 5p to connect,
The one end of third connecting rod 3 is connected on the 5th final stage sliding sleeve 5p by revolute pair 17,
The other end of third connecting rod 3 is connected on the 6th final stage sliding sleeve 6p by revolute pair 18,
6th final stage sliding sleeve 6p is sleeved in fourth link 4,
The one end of fourth link 4 is connected on the second contiguous block 2n by revolute pair 19,
The other end of fourth link 4 by revolute pair 20 on first jiao of the 5th triangle part 5h,
The one end of 5th connecting rod 5 is connected on the 6th final stage sliding sleeve 6p by revolute pair 21,
The other end of 5th connecting rod 5 is connected to second jiao of the 5th triangle part 5h by revolute pair 22,
The one end of six-bar linkage 6 is connected to the 5th triangle part 5h the third angle by revolute pair 23,
The other end of six-bar linkage 6 is connected on the 7th final stage sliding sleeve 7p by revolute pair 24,
7th final stage sliding sleeve 7p is sleeved on seven-link assembly 7,
As shown in Figures 12 and 13：
Second driving lever 2d one end is connected in frame 99 by revolute pair 43,
The second driving lever 2d other ends are connected by revolute pair 44 with second primary follower lever 2e one end,
The second primary follower lever 2e other ends are connected on the second primary sliding sleeve 2f by revolute pair 45；
Second subprime follower lever 2g one end is connected to the second primary sliding sleeve 2f by revolute pair 46,
The second subprime follower lever 2g other ends are connected by second jiao of revolute pair 47 and the second triangle part 2h；
Second three-level follower lever 2i one end is connected by revolute pair 48 with the second triangle part 2h the third angle,
The second three-level follower lever 2i other ends are connected on second subprime sliding sleeve 2j by revolute pair 49,
Second final stage follower lever 2k one end is connected on second subprime sliding sleeve 2j by revolute pair 50；
The second final stage follower lever 2k other ends pass throughIt is connected on the first final stage sliding sleeve 1p,
As shown in FIG. 14 and 15：
3rd driving lever 3d one end is connected in frame 99 by revolute pair 51,
The 3rd driving lever 3d other ends are connected by revolute pair 52 with the 3rd primary follower lever 3e one end,
The 3rd primary follower lever 3e other ends are connected on the 3rd primary sliding sleeve 3f by revolute pair 53；
Third time level follower lever 3g one end is connected to the 3rd primary sliding sleeve 3f by revolute pair 54,
The third time level follower lever 3g other ends are connected by second jiao of revolute pair 55 and the 3rd triangle part 3h；
3rd three-level follower lever 3i one end is connected by revolute pair 56 with the 3rd triangle part 3h the third angle,
The 3rd three-level follower lever 3i other ends are connected on third time level sliding sleeve 3j by revolute pair 57,
3rd final stage follower lever 3k one end is connected on third time level sliding sleeve 3j by revolute pair 58；
The 3rd final stage follower lever 3k other ends are connected on the second final stage sliding sleeve 2p by revolute pair 25,
As shown in Figure 16~18：
Lead to revolute pair 26 between second final stage sliding sleeve 2p and the 3rd final stage sliding sleeve 3p to connect,
The one end of 8th connecting rod 8 is connected on the 3rd final stage sliding sleeve 3p by revolute pair 27,
The other end of 8th connecting rod 8 is connected on the 8th final stage sliding sleeve 8p by revolute pair 28,
8th final stage sliding sleeve 8p is sleeved on the 9th connecting rod 9,
The one end of 9th connecting rod 9 is connected on the second contiguous block 2n by revolute pair 29,
The other end of 9th connecting rod 9 is connected on the tenth connecting rod 10 by revolute pair 30,
The one end of 11st connecting rod 11 is connected on the 8th final stage sliding sleeve 8p by revolute pair 31,
The other end of 11st connecting rod 11 is connected to the one end of the tenth connecting rod 10 by revolute pair 32,
The other end of tenth connecting rod 10 is connected on seven-link assembly 7 by revolute pair 33,
The one end of seven-link assembly 7 is connected to first jiao of the 5th triangle part 5h also by revolute pair 20,
The other end of seven-link assembly 7 is connected on the 3rd contiguous block 3n by revolute pair 34,
As shown in Figure 19~21：
Second guide rod 2q one end is fixedly connected on the 3rd contiguous block 3n,
9th final stage sliding sleeve 9p is sleeved on the second guide rod 2q；
The one end of 12nd connecting rod 12 is connected on the 7th final stage sliding sleeve 7p by revolute pair 35,
The other end of 12nd connecting rod 12 is connected on the 9th final stage sliding sleeve 9p by revolute pair 36,
The one end of 13rd connecting rod 13 is connected on the 3rd contiguous block 3n by revolute pair 37,
The other end of 13rd connecting rod 13 is fixedly connected on actuator 98,
The one end of tenth double leval jib 14 is connected on the 9th final stage sliding sleeve 9p by revolute pair 38,
The other end of tenth double leval jib 14 is connected on the 15th connecting rod 15 by revolute pair 39,
The other end of 15th connecting rod 15 is fixedly connected on the 13rd connecting rod 13.
Shown in Figure 22~23
4th driving lever 4d one end is connected in frame 99 by revolute pair 59,
The 4th driving lever 4d other ends are connected by revolute pair 60 with the 4th primary follower lever 4e one end,
The 4th primary follower lever 4e other ends are connected on the 4th primary sliding sleeve 4f by revolute pair 61；
4th level follower lever 4g one end is connected to the 4th primary sliding sleeve 4f by revolute pair 62,
The 4th level follower lever 4g other end is connected by second jiao of revolute pair 63 and the 4th triangle part 4h,
4th triangle part 4h the third angle is connected in rotating shaft 97 by revolute pair 64.
Further,
The revolute pair 13, revolute pair 14, revolute pair 16, revolute pair 26 and revolute pair
Radial section of 65 rotational plane parallel to forearm 100.
Further,
The rotational plane of revolute pair 37, revolute pair 38 and revolute pair 39 is parallel to the tenth
The radial section of three connecting rods 13.
Further,
Revolute pair 1, revolute pair 2 102, revolute pair 3 103, revolute pair 4 104, revolute pair 5 105, revolute pair six
106th, revolute pair 7 107, revolute pair 8 108, revolute pair 9 109, revolute pair 10, revolute pair 11, revolute pair 12
112nd, revolute pair 15, revolute pair 17, revolute pair 18, revolute pair 19, revolute pair 20, turn
Dynamic pair 21, revolute pair 22, revolute pair 23, revolute pair 24, revolute pair 25
125th, revolute pair 27, revolute pair 28, revolute pair 29, revolute pair 30, revolute pair 31, turn
Dynamic pair 32, revolute pair 33, revolute pair 34, revolute pair 35, revolute pair 36
136th, revolute pair 40, revolute pair 41, revolute pair 42, revolute pair 43, revolute pair 40
4 144, revolute pair 45, revolute pair 46, revolute pair 47, revolute pair 48, revolute pair
49, revolute pair 50, revolute pair 51, revolute pair 52, revolute pair 53, rotation
Pair 54, revolute pair 55, revolute pair 56, revolute pair 57, revolute pair 58,
Revolute pair 59, revolute pair 60, revolute pair 61, revolute pair 62, revolute pair 63
163rd, axial direction of the rotational plane of revolute pair 64, revolute pair 66 and revolute pair 70 parallel to forearm
Section.
Further,
First guide rod 1q is perpendicular to forearm 100, and the second guide rod 2q is perpendicular to the 13rd connecting rod 13.
Further,
Revolute pair 5 105 is driven by the first servomotor 1a,
Revolute pair 43 is driven by the second servomotor 2a,
Revolute pair 51 is driven by the 3rd servomotor 3a,
Revolute pair 59 is driven by the 4th servomotor 4a.
Further,
The frame is connected on base by revolute pair.
First servomotor drives the 4th final stage to slide over and does front and rear on forearm by the driving-chain including the first driving lever
Motion, the second servomotor drives forearm to rotate by the driving-chain including the second driving lever, and forearm is driven by driving-chain and held
Row device swings on working face, and the 3rd servomotor drives the second final stage by the driving-chain including the 3rd driving lever
Slide over and moved forward and backward on forearm, the second final stage sliding sleeve and the 4th final stage sliding sleeve pass through by first connecting rod to the 15th connecting rod structure
Into driving-chain transmission after driving actuator do the adjustment at the elevation angle, the 4th servomotor is by including the driving-chain of the 4th driving lever
Control rotating shaft relative to the rising height action centered on revolute pair four, that is, control the rising height of actuator.
Claims (8)
1. a kind of lightweight Six-freedom-degree space controllable-mechanism type high-speed welding robot, it is characterised in that including the first support
Bar, second support bar, the 3rd support bar, the 4th support bar, the first large arm, the second large arm, the third-largest arm, the first driving lever,
Two driving levers, the 3rd driving lever, the 4th driving lever, the first primary follower lever, the second primary follower lever, the 3rd primary follower lever,
4th primary follower lever, the first primary sliding sleeve, the second primary sliding sleeve, the 3rd primary sliding sleeve, the 4th primary sliding sleeve, first level from
Lever, second subprime follower lever, third time level follower lever, the 4th level follower lever, the first triangle part, the second triangle part, the 3rd
Triangle part, the 4th triangle part, the 5th triangle part, the first three-level follower lever, the second three-level follower lever, the 3rd three-level follower lever,
Level sliding sleeve, second subprime sliding sleeve, third time level sliding sleeve, the first final stage follower lever, the second final stage follower lever, the 3rd final stage from
Lever, the first contiguous block, the second contiguous block, the 3rd contiguous block, the first final stage sliding sleeve, the second final stage sliding sleeve, the 3rd final stage sliding sleeve,
4th final stage sliding sleeve, the 5th final stage sliding sleeve, the 6th final stage sliding sleeve, the 7th final stage sliding sleeve, the 8th final stage sliding sleeve, the 9th final stage are slided
Set, the first guide rod, the second guide rod, first connecting rod, second connecting rod, third connecting rod, fourth link, the 5th connecting rod, six-bar linkage,
Seven-link assembly, the 8th connecting rod, the 9th connecting rod, the tenth connecting rod, the 11st connecting rod, the 12nd connecting rod, the 13rd connecting rod, the 14th connect
Bar, the 15th connecting rod, forearm, frame, actuator and rotating shaft,
Concrete structure and annexation are as follows：
First support bar lower end is fixed in frame, first support bar upper end by revolute pair one simultaneously with the first triangle part first
Angle and the connection of first large arm one end, the middle part of the first large arm is connected in rotating shaft by revolute pair 40；
Second support bar lower end is fixed in frame, second support bar upper end by revolute pair two simultaneously with the second triangle part first
Angle and the connection of second large arm one end, the middle part of the second large arm is connected in rotating shaft by revolute pair 41；Second large arm is another
One end is connected on the first contiguous block by revolute pair 70,
3rd support bar lower end is fixed in frame, and the 3rd post upper passes through revolute pair San Tong method and the 3rd triangle part first
Angle and the connection of the third-largest arm one end, the middle part of the third-largest arm is connected in rotating shaft by revolute pair 42；
4th support bar lower end is fixed in frame, and the 4th post upper passes through four and the 4th triangle part of revolute pair, first jiao of company
Connect；
First primary sliding sleeve is sleeved in first support bar,
Second primary sliding sleeve is sleeved in second support bar,
3rd primary sliding sleeve is sleeved on the 3rd support bar,
4th primary sliding sleeve is sleeved on the 4th support bar；
First time level sliding sleeve is sleeved in the first large arm,
Second subprime sliding sleeve is sleeved in the second large arm,
Third time level sliding sleeve is sleeved on the third-largest arm；
Forearm one end is connected on the first contiguous block by revolute pair 65, and the forearm other end is fixedly connected on the second contiguous block
On；Second final stage sliding sleeve, the 3rd final stage sliding sleeve, the 4th final stage sliding sleeve and the 5th final stage sliding sleeve are sleeved on forearm successively；First
Lower end of the guide rod is fixedly connected on the first contiguous block, and the first final stage sliding sleeve is sleeved on the first guide rod；
First connecting rod one end is connected on the first final stage sliding sleeve by revolute pair 13,
The first connecting rod other end is connected by revolute pair 14 with second connecting rod one end,
The second connecting rod other end is fixedly connected on forearm；
First driving lever one end is connected in frame by revolute pair five,
The first driving lever other end is connected by revolute pair six with first primary follower lever one end,
The first primary follower lever other end is connected on the first primary sliding sleeve by revolute pair seven；
First level follower lever one end is connected to the first primary sliding sleeve by revolute pair eight,
First level follower lever other end is connected by second jiao of revolute pair nine and the first triangle part；
First three-level follower lever one end is connected by revolute pair ten with the third angle of the first triangle part,
The first three-level follower lever other end is connected on first level sliding sleeve by revolute pair 11；
First final stage follower lever one end is connected on first level sliding sleeve by revolute pair 12,
The first final stage follower lever other end is connected on the 4th final stage sliding sleeve by revolute pair 15；
Lead to revolute pair 16 between 4th final stage sliding sleeve and the 5th final stage sliding sleeve to connect,
Third connecting rod one end is connected on the 5th final stage sliding sleeve by revolute pair 17,
The third connecting rod other end is connected on the 6th final stage sliding sleeve by revolute pair 18,
6th final stage sliding sleeve is sleeved in fourth link,
Fourth link one end is connected on the second contiguous block by revolute pair 19,
The fourth link other end by revolute pair 20 on first jiao of the 5th triangle part,
5th connecting rod one end is connected on the 6th final stage sliding sleeve by revolute pair 21,
The 5th connecting rod other end is connected to second jiao of the 5th triangle part by revolute pair 22,
Six-bar linkage one end is connected to the third angle of the 5th triangle part by revolute pair 23,
The six-bar linkage other end is connected on the 7th final stage sliding sleeve by revolute pair 24,
7th final stage sliding sleeve is sleeved on seven-link assembly,
Second driving lever one end is connected in frame by revolute pair 43,
The second driving lever other end is connected by revolute pair 44 with second primary follower lever one end,
The second primary follower lever other end is connected on the second primary sliding sleeve by revolute pair 45；
Second subprime follower lever one end is connected to the second primary sliding sleeve by revolute pair 46,
The second subprime follower lever other end is connected by second jiao of revolute pair 47 and the second triangle part；
Second three-level follower lever one end is connected by revolute pair 48 with the third angle of the second triangle part,
The second three-level follower lever other end is connected on second subprime sliding sleeve by revolute pair 49,
Second final stage follower lever one end is connected on second subprime sliding sleeve by revolute pair 50；
The second final stage follower lever other end is connected on the first final stage sliding sleeve by revolute pair 66,
3rd driving lever one end is connected in frame by revolute pair 51,
The 3rd driving lever other end is connected by revolute pair 52 with the 3rd primary follower lever one end,
The 3rd primary follower lever other end is connected on the 3rd primary sliding sleeve by revolute pair 53；
Third time level follower lever one end is connected to the 3rd primary sliding sleeve by revolute pair 54,
The third time level follower lever other end is connected by second jiao of revolute pair 55 and the 3rd triangle part；
3rd three-level follower lever one end is connected by revolute pair 56 with the third angle of the 3rd triangle part,
The 3rd three-level follower lever other end is connected on third time level sliding sleeve by revolute pair 57,
3rd final stage follower lever one end is connected on third time level sliding sleeve by revolute pair 58；
The 3rd final stage follower lever other end is connected on the second final stage sliding sleeve by revolute pair 25,
Lead to revolute pair 26 between second final stage sliding sleeve and the 3rd final stage sliding sleeve to connect,
8th connecting rod one end is connected on the 3rd final stage sliding sleeve by revolute pair 27,
The 8th connecting rod other end is connected on the 8th final stage sliding sleeve by revolute pair 28,
8th final stage sliding sleeve is sleeved on the 9th connecting rod,
9th connecting rod one end is connected on the second contiguous block by revolute pair 29,
The 9th connecting rod other end is connected on the tenth connecting rod by revolute pair 30,
11st connecting rod one end is connected on the 8th final stage sliding sleeve by revolute pair 31,
The 11st connecting rod other end is connected to the tenth connecting rod one end by revolute pair 32,
The tenth connecting rod other end is connected on seven-link assembly by revolute pair 33,
Seven-link assembly one end is connected to first jiao of the 5th triangle part also by revolute pair 20,
The seven-link assembly other end is connected on the 3rd contiguous block by revolute pair 34,
Second guide rod is fixedly connected on the 3rd contiguous block,
9th final stage sliding sleeve is sleeved on the second guide rod；
12nd connecting rod one end is connected on the 7th final stage sliding sleeve by revolute pair 35,
The 12nd connecting rod other end is connected on the 9th final stage sliding sleeve by revolute pair 36,
13rd connecting rod one end is connected on the 3rd contiguous block by revolute pair 37,
The 13rd connecting rod other end is fixedly connected on actuator,
Tenth double leval jib one end is connected on the 9th final stage sliding sleeve by revolute pair 38,
The tenth double leval jib other end is connected on the 15th connecting rod by revolute pair 39,
The 15th connecting rod other end is fixedly connected on the 13rd connecting rod.
4th driving lever one end is connected in frame by revolute pair 59,
The 4th driving lever other end is connected by revolute pair 60 with the 4th primary follower lever one end,
The 4th primary follower lever other end is connected on the 4th primary sliding sleeve by revolute pair 61；
4th level follower lever one end is connected to the 4th primary sliding sleeve by revolute pair 62,
The 4th level follower lever other end is connected by second jiao of revolute pair 63 and the 4th triangle part,
The third angle of 4th triangle part is connected in rotating shaft by revolute pair 64.
2. lightweight Six-freedom-degree space controllable-mechanism type high-speed welding robot as claimed in claim 1, it is characterised in that
The revolute pair 13, revolute pair 14, revolute pair 16, revolute pair 26 are parallel with the rotational plane of revolute pair 65
In the radial section of forearm.
3. lightweight Six-freedom-degree space controllable-mechanism type high-speed welding robot as claimed in claim 1, it is characterised in that
The rotational plane of the revolute pair 37, revolute pair 38 and revolute pair 39 is cut parallel to the radial direction of the 13rd connecting rod
Face.
4. lightweight Six-freedom-degree space controllable-mechanism type high-speed welding robot as claimed in claim 1, it is characterised in that
The revolute pair one, revolute pair two, revolute pair three, revolute pair four, revolute pair five, revolute pair six, revolute pair seven, revolute pair eight,
Revolute pair nine, revolute pair ten, revolute pair 11, revolute pair 12, revolute pair 15, revolute pair 17, revolute pair 18, rotation
Pair 19, revolute pair 20, revolute pair 21, revolute pair 22, revolute pair 23, revolute pair 24, revolute pair
25, revolute pair 27, revolute pair 28, revolute pair 29, revolute pair 30, revolute pair 31, revolute pair
32, revolute pair 33, revolute pair 34, revolute pair 35, revolute pair 36, revolute pair 40, revolute pair
41, revolute pair 42, revolute pair 43, revolute pair 44, revolute pair 45, revolute pair 46, rotation
Pair 47, revolute pair 48, revolute pair 49, revolute pair 50, revolute pair 51, revolute pair 52, rotation
Pair 53, revolute pair 54, revolute pair 55, revolute pair 56, revolute pair 57, revolute pair 58, turn
Dynamic pair 59, revolute pair 60, revolute pair 61, revolute pair 62, revolute pair 63, revolute pair 64, turn
Axial cross section of the rotational plane of dynamic pair 66 and revolute pair 70 parallel to forearm.
5. lightweight Six-freedom-degree space controllable-mechanism type high-speed welding robot as claimed in claim 1, it is characterised in that
First guide rod is perpendicular to forearm.
6. lightweight Six-freedom-degree space controllable-mechanism type high-speed welding robot as claimed in claim 1, it is characterised in that
Second guide rod is perpendicular to the 13rd connecting rod.
7. lightweight Six-freedom-degree space controllable-mechanism type high-speed welding robot as claimed in claim 1, it is characterised in that
Also include the first servomotor, the second servomotor, the 3rd servomotor and the 4th servomotor, revolute pair five is by the first servo
Motor is driven, and revolute pair 43 is driven by the second servomotor, and revolute pair 51 is driven by the 3rd servomotor, revolute pair
59 are driven by the 4th servomotor.
8. lightweight Six-freedom-degree space controllable-mechanism type high-speed welding robot as claimed in claim 1, it is characterised in that
The frame is connected on base by revolute pair.
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| CN201710539358.5A CN107116322A (en) | 2017-07-04 | 2017-07-04 | A kind of lightweight Six-freedom-degree space controllable-mechanism type high-speed welding robot |
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| CN201710539358.5A CN107116322A (en) | 2017-07-04 | 2017-07-04 | A kind of lightweight Six-freedom-degree space controllable-mechanism type high-speed welding robot |
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| CN107116322A true CN107116322A (en) | 2017-09-01 |
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| CN109794714A (en) * | 2019-03-27 | 2019-05-24 | 广西大学 | A kind of controllable parasitic mechanisms formula welding robot of six degree of freedom |
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Application publication date: 20170901 |