CN107414363A - A kind of combination drive multiple degrees of freedom spot welding manipulator - Google Patents
A kind of combination drive multiple degrees of freedom spot welding manipulator Download PDFInfo
- Publication number
- CN107414363A CN107414363A CN201710344722.2A CN201710344722A CN107414363A CN 107414363 A CN107414363 A CN 107414363A CN 201710344722 A CN201710344722 A CN 201710344722A CN 107414363 A CN107414363 A CN 107414363A
- Authority
- CN
- China
- Prior art keywords
- forearm
- connecting rod
- drive rod
- arm link
- electric pushrod
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Manipulator (AREA)
Abstract
A kind of combination drive multiple degrees of freedom spot welding manipulator, it is characterised in that：Including large arm, big arm link, large arm drive rod, forearm, small arm link, forearm drive rod, electric pushrod, wrist connecting rod, wrist, welding gun, base, rotatable platform and servo drive；Forearm one end is connected on wrist connecting rod; the forearm other end is connected with small arm link one end, and small arm link is connected with forearm drive rod one end, and the forearm drive rod other end is connected on base; electric pushrod one end is connected on forearm, and the electric pushrod other end is connected on wrist connecting rod.Two motors are arranged on workbench by the present invention, it is big to overcome cascaded structure articulated robot rotary inertia, dynamic performance is poor, complicated, the shortcomings that degree of modularity is low, the advantages of combining constant speed motor and servomotor, have and be easily controlled, be quick on the draw, manufacturing the advantages of maintenance cost is low.
Description
Technical field
The present invention relates to mechanical engineering field, more particularly to a kind of combination drive multiple degrees of freedom spot welding manipulator.
Background technology
Most of currently manufactured general mash welder tool hand of industry is the cascaded structure joint type motor driving machine for open form
Tool hand, it is mainly characterized in that motor is all arranged on each joint of manipulator, each by motor driven manipulator
The rotation in individual joint, realize the various actions of manipulator.Due to the driving electricity of the cascaded structure articulated robot of open form
Machine is all arranged on the position in joint, and this frame mode has problems with：Manipulator arm needs the weight of carrying motor simultaneously
Rigidity requirement need to be met, arm sectional dimension needs to be made larger, can so increase the load of motor, increase the fortune of arm
Dynamic inertia, causes manipulator dynamic property to decline, while motor all causes the accumulation of manipulator to miss installed in joint position
Difference is big, bearing capacity is small, complicated, the degree of modularity is low.It is in parallel with the development of motor technology and the raising of control technology
Mechanism provides extensive development space for manipulator, and the multiple freedom parallel mechanism driven by controlled motor not only has work
Space is big, flexible movements, can complete the movement locus output of complexity, while also has manufacturing cost is low, maintaining is simple etc.
Advantage.
Hybrid Input Five―bar Mechanism is driven using two kinds of motors (constant speed motor and servomotor) of different nature, in machinery
There is a good compromise in performance and cost, to adapt to working flexibility feature, it is controllable, adjustable to be well positioned to meet modern mechanical
It is required that in the epoch of flexible production, combination drive manipulator has very big application space.
The content of the invention
It is an object of the invention to solve the motor of cascaded structure joint type spot welding manipulator all installed in joint
Position, cause the problem of manipulator rotary inertia is big, dynamic property declines, and accumulated error is big, and bearing capacity is small, complicated.
The present invention is achieved through the following technical solutions function above：A kind of combination drive multiple degrees of freedom spot welding manipulator, it is characterised in that：
Including large arm, big arm link, large arm drive rod, forearm, small arm link, forearm drive rod, electric pushrod, wrist connecting rod, wrist,
Welding gun, base, rotatable platform and servo drive；Forearm one end is connected on wrist connecting rod, the forearm other end and forearm
Connecting rod one end is connected, and small arm link is connected with forearm drive rod one end, and the forearm drive rod other end is connected on base, electronic to push away
Bar one end is connected on forearm, and the electric pushrod other end is connected on wrist connecting rod, and wrist connecting rod one end is connected on forearm, institute
State big arm link one end to be connected in the middle part of large arm, the big arm link other end is connected with large arm drive rod one end, and large arm drive rod is another
One end is connected on rotatable platform, and servo drive includes the first servomotor and the second servomotor, the first servo electricity
Machine is connected with large arm drive rod, and the second servomotor is connected with forearm drive rod.
The invention discloses a kind of combination drive multiple degrees of freedom spot welding manipulator, and two motors are arranged on into workbench
On, the angular dimension that an electric pushrod is used to control wrist pitching is employed, two motors are arranged on workbench, gram
The shortcomings that cascaded structure articulated robot rotary inertia is big, and dynamic performance is poor, complicated, the degree of modularity is low has been taken,
The advantages of combining constant speed motor and servomotor, have and be easily controlled, be quick on the draw, manufacturing the advantages of maintenance cost is low.
Brief description of the drawings
Fig. 1 is a kind of structural scheme of mechanism of combination drive multiple degrees of freedom spot welding manipulator of the present invention.
Embodiment
A kind of combination drive multiple degrees of freedom spot welding manipulator, including large arm 6, big arm link 4, large arm drive rod 5, forearm 7,
Small arm link 8, forearm drive rod 9, electric pushrod 3, wrist connecting rod 11, wrist 12, welding gun 10, base 2, rotatable platform 1 and
Servo drive, the one end of forearm 7 are connected on wrist connecting rod 11, and the other end of forearm 7 is connected with small one end of arm link 8, forearm
Connecting rod 8 is connected with the one end of forearm drive rod 9, and the other end of forearm drive rod 9 is connected on base 2, and the one end of electric pushrod 3 is connected to
On forearm 7, the other end of electric pushrod 3 is connected on wrist connecting rod 11, and the one end of wrist connecting rod 11 is connected on forearm 7, described big
The one end of arm link 4 is connected in large arm 6, and the big other end of arm link 4 is connected with the one end of large arm drive rod 5, and large arm drive rod 5 is another
End is connected on rotatable platform 1, and servo drive includes the first servomotor and the second servomotor, the first servomotor
It is connected with large arm drive rod 5, the second servomotor is connected with forearm drive rod 9.
In use, the large arm drive rod 5 is driven by the first Serve Motor Control, forearm drive rod 9 by the second servomotor
Dynamic, the electric pushrod 3 is controlled by a direct current constant-seed motor in itself.By in servo drive motor and electric pushrod
The combination drive of constant speed direct current generator, which coordinates, realizes corresponding action, passes through turning for two servomotors to servo drive
Angle controls and the control of the telescopic displacement of electric pushrod, realizes the abundant track motion of welding gun flexible and diverse.
A kind of nine connecting rod closed linkage spot welding manipulators, including base, rotatable platform, telescoping mechanism, luffing mechanism, liter
Descending mechanism, welding gun, rotatable wrist and drive device；Telescoping mechanism includes：First driving lever, the second driving lever, large arm,
One connecting rod and second connecting rod, one end of the first driving lever are articulated with rotatable platform, and one end of the second driving lever is articulated with
In rotatable platform, one end of large arm and the other end of the first driving lever are hinged, one end of first connecting rod and the other end of large arm
Be hinged, second connecting rod is in bending, and one end of second connecting rod and the other end of the second driving lever are hinged, the other end of second connecting rod
It is articulated with the middle part of first connecting rod；Luffing mechanism includes pitch lever and wrist connecting rod, one end of pitch lever and first connecting rod
The other end is hinged, and the top of wrist connecting rod and the other end of pitch lever are hinged；Elevating mechanism includes the 3rd driving lever and lifting
Bar, one end of the 3rd driving lever are articulated with rotatable platform, and one end of elevating lever is articulated with the lever arm of second connecting rod, lifting
Bar is in bending, and the other end of the 3rd driving lever is articulated with the middle part of the lever arm of elevating lever, the other end and the wrist connecting rod of elevating lever
Lower hinge；Drive device is three servomotors, and servomotor is arranged on rotatable platform, respectively with first actively
Bar, the second driving lever and the connection of the 3rd driving lever, with rotation corresponding to driving, it is each responsible for driving the first driving lever, second
The swing of driving lever and the 3rd driving lever.
Controllable drive motor is arranged on revolving dial by the present invention, simplifies the complexity of structure, reducing mechanism
Each connecting rod rod member is made lighter bar by weight, volume and cost, mechanical arm of the invention, so that whole mechanism kinematic inertia
Small, dynamic performance is good, easily controllable, by setting revolving dial, the revolution working space that makes mechanical arm possess 360 degree, and work
It is big to make spatial dimension.
Claims (1)
- A kind of 1. combination drive multiple degrees of freedom spot welding manipulator, it is characterised in that：Including large arm, big arm link, large arm drive rod, Forearm, small arm link, forearm drive rod, electric pushrod, wrist connecting rod, wrist, welding gun, base, rotatable platform and servo are driven Dynamic device；Forearm one end is connected on wrist connecting rod, and the forearm other end is connected with small arm link one end, and small arm link is driven with forearm Lever one end is connected, and the forearm drive rod other end is connected on base, and electric pushrod one end is connected on forearm, and electric pushrod is another One end is connected on wrist connecting rod, and wrist connecting rod one end is connected on forearm, and described big arm link one end is connected in the middle part of large arm, The big arm link other end is connected with large arm drive rod one end, and the large arm drive rod other end is connected on rotatable platform, and servo is driven Dynamic device includes the first servomotor and the second servomotor, and the first servomotor is connected with large arm drive rod, the second servo electricity Machine is connected with forearm drive rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710344722.2A CN107414363A (en) | 2017-05-16 | 2017-05-16 | A kind of combination drive multiple degrees of freedom spot welding manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710344722.2A CN107414363A (en) | 2017-05-16 | 2017-05-16 | A kind of combination drive multiple degrees of freedom spot welding manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107414363A true CN107414363A (en) | 2017-12-01 |
Family
ID=60425025
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710344722.2A Pending CN107414363A (en) | 2017-05-16 | 2017-05-16 | A kind of combination drive multiple degrees of freedom spot welding manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107414363A (en) |
-
2017
- 2017-05-16 CN CN201710344722.2A patent/CN107414363A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109604885A (en) | A kind of combination drive multiple degrees of freedom uses sealed joint structure type mash welder mechanism | |
| CN106956251A (en) | A kind of nine connecting rod closed linkage spot welding manipulators | |
| CN106945025A (en) | A kind of combination drive multiple degrees of freedom assembly manipulator | |
| CN107020621A (en) | A kind of combination drive multiple degrees of freedom assembly manipulator | |
| CN107414363A (en) | A kind of combination drive multiple degrees of freedom spot welding manipulator | |
| CN106985135A (en) | A kind of combination drive assembly manipulator in parallel | |
| CN107030683A (en) | A kind of many bar closed linkage make-up machinery arms | |
| CN109664288A (en) | It is a kind of to use combination drive multiple degrees of freedom blanking mechanical device | |
| CN109664266A (en) | It is a kind of to close chain structure blanking Work machine device using nine connecting rods | |
| CN106607932A (en) | Multi-rod closed chain structure mechanical arm for gas cutting blanking operation | |
| CN109590984A (en) | A kind of combination drive multiple degrees of freedom closed linkage assembly manipulator | |
| CN109605322A (en) | It is a kind of to use the more bar spraying operation special mechanisms of sealed joint structure type | |
| CN109604882A (en) | A kind of nine rod piece mechanism of sealed joint structure type for stitch welding machine | |
| CN109590138A (en) | It is a kind of to use closed linkage multi link automatic spraying mechanical arm | |
| CN108081238A (en) | A kind of two-freedom closed linkage make-up machinery arm | |
| CN109604094A (en) | It is a kind of to use closing chain structure multi link spray coating mechanical device | |
| CN109605326A (en) | It is a kind of to use closing chain structure combination drive multiple degrees of freedom spray coating mechanical device | |
| CN109605351A (en) | A kind of combination drive multiple degrees of freedom uses closed linkage feed automatic stacking machinery device | |
| CN106976068A (en) | A kind of nine connecting rod closed linkage assembly manipulators | |
| CN109590696A (en) | It is a kind of to use closed linkage multi link make-up machinery arm | |
| CN109664287A (en) | It is a kind of to use combination drive closed chain mechanism Dual Action degree blanking mechanical device | |
| CN109604093A (en) | It is a kind of to use closing chain mechanism combination drive parallel connection automatic spraying operating mechanical device | |
| CN109664284A (en) | It is a kind of to use more rod seal chain structure blanking Work machine devices | |
| CN109605353A (en) | It is a kind of to use nine connecting rod automatic spraying operating mechanical device of closed linkage form | |
| CN109604884A (en) | It is a kind of to use sealed joint structure type more rod piece stitch welding machines mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20171201 |
|
| WD01 | Invention patent application deemed withdrawn after publication |