CN101862928B - Robot parallel mechanism with rotation and lifting two degrees of freedom - Google Patents
Robot parallel mechanism with rotation and lifting two degrees of freedom Download PDFInfo
- Publication number
- CN101862928B CN101862928B CN2010101991520A CN201010199152A CN101862928B CN 101862928 B CN101862928 B CN 101862928B CN 2010101991520 A CN2010101991520 A CN 2010101991520A CN 201010199152 A CN201010199152 A CN 201010199152A CN 101862928 B CN101862928 B CN 101862928B
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- guide rod
- nut
- fixed disk
- bearing
- lifting platform
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Abstract
The invention relates to a robot parallel mechanism with rotation and lifting two degrees of freedom, which belongs to the technical field of welding robots. The mechanism comprises a frame, a rotation mechanism and a lifting mechanism. The rotation mechanism is implemented by gear transmission, and the lifting mechanism is implemented by screws. The two mechanisms are decoupled via a bearing and do not affect lifting action when rotating in the welding process, and vice versa. The robot parallel mechanism with rotation and lifting two degrees of freedom has simple structure, is convenient to process and is easy to assemble and disassemble. The rotation and the lifting two degrees of freedom of the mechanism are independent without interference, and the implementation of control is convenient. Additionally, in the welding process, because the motor which controls the two degrees of freedom is fixed relative to the world coordinates, the problems of conductor twining due to rotation is avoided.
Description
Technical field
The invention provides a kind of robot parallel mechanism, belong to the Technology of Welding Robot field with rotation and lifting two degrees of freedom.
Background technology
During welding was produced in modern times, the intubate welding was very general a kind of type of attachment in the industries such as chemical industry and boiler.General factory is still accomplished by manual welding, and the manufacturing cycle is long, and labour intensity is big, and the low welding quality of production efficiency is difficult to keep stable.In welding is produced, adopt Robotics, can boost productivity, improve working conditions, stablize and guarantee the automation welding of welding quality, realization intersection weld seam.
At present, existing welding robot adopts prosthetic robot mostly.This type welding robot will be accomplished weld task, must the interlock of all joints, employing be serial mechanism.And the interlock of each parts is neither directly perceived for the control of welding robot in welding process, and is also inconvenient.
Summary of the invention
The objective of the invention is to overcome the above-mentioned defective of existing welding robot, provide a kind of welding gun that can make to accomplish rotation and elevating movement, guaranteed the rotation of welding gun and the two-freedom-degree parallel mechanism welding robot that up-down is independent of each other simultaneously.
The technical scheme that the present invention adopts is following: a kind of parallel institution with rotation and lifting two degrees of freedom; Comprise frame, rotating mechanism, elevating mechanism; Frame wherein comprises fixed disk, lower fixed disk, connecting rod, support; Wherein go up fixed disk and be connected through 8 connecting rods with lower fixed disk, respectively there is a through hole at upper and lower fixed disk center, and card respectively has 2 to be mutually 90 degree, to be used for bearings mounted through hole; The centre bore of lower fixed disk cooperates with support, support and workpiece anchoring;
Rotating mechanism comprises gear shaft I, drive motors I, rotary barrel, lifting platform guide rod seat, lifting platform guide rod, internal gear; Wherein drive motors I links to each other with gear shaft I, engagement in gear shaft I and the internal gear, and gear shaft I is installed in through bearing in the through hole of upper and lower fixed disk card of frame, and internal gear is installed on the rotary barrel inwall; Rotary barrel is installed on the support through bearing, and can rotate around support; The rotary barrel outer wall is equipped with lifting platform guide rod seat longitudinally, and the guide rod seat is equipped with two lifting platform guide rods;
Described elevating mechanism comprises gear shaft II, drive motors II, bearing outside, leading screw, nut guide rod, feed screw nut, nut guide rod seat, lifting platform, gear II, rigidity axle sleeve, connecting rod; Wherein drive motors II links to each other with gear shaft II, gear shaft and gear II external toothing, and gear shaft II is installed in through bearing in another through hole of upper and lower fixed disk card of frame; The installation shaft of gear II and leading screw combine as a whole with the rigidity axle sleeve; Be installed in through bearing in the centre bore of the upper and lower fixed disk of frame, nut is housed on the leading screw, nut is done elevating movement along two nut guide rods; The nut guide rod is fixed on the nut guide rod seat, and the guide rod seat is installed on the fixed disk; The outer wall of nut is installed in the inner ring of bearing, and bearing outer ring is contained in the bearing outside, and bearing outside links to each other with lifting platform through connecting rod, and can drive lifting platform and move up and down along the lifting platform guide rod.
Compared with prior art, the present invention has following beneficial effect: rotation and lifting two degrees of freedom parallel institution welding robot provided by the invention is simple in structure, easy to process, is convenient to installation and removal.Separate, the mutually noninterfere of rotation and lifting two degrees of freedom of welding robot, the realization of being convenient to control.In welding process,, the problems such as lead winding that produce because of rotation have also been avoided in addition because this binary motor of control is fixed with respect to world coordinates.
Below in conjunction with the description of drawings and the specific embodiment the present invention is done further explain.
Description of drawings
Fig. 1: rotation and lifting mechanism shaft side view
Fig. 2: the in-house structure chart of rotation and lifting
Fig. 3: rotary freedom forward cutaway view
Fig. 4: up-down free degree side sectional view
Fig. 5: frame axis side view
Fig. 6: rotating mechanism axonometric drawing
Fig. 7: elevating mechanism axonometric drawing
Among the figure: 1, connecting rod, 2, go up fixed disk, 3, connecting rod nut, 4, bearing cap I, 5, bolt of bearing cap, 6, gear shaft I, 7, drive motors I; 8, bearing cap II, 9, gear shaft II, 10, drive motors II, 11, rotary barrel, 12, bearing outside, 13, the nut bearing; 14, top cover, 15, leading screw, 16, the nut guide rod, 17, feed screw nut, 18, lifting platform guide rod seat, 19, the lifting platform guide rod; 20, bolt, 21, the leading screw bearing, 22, nut guide rod seat, 23, lifting platform, 24, gear II, 25, internal gear; 26, rigidity axle sleeve, 27, bearing, 28, locking nut, 29, lower fixed disk, 30, support, 31, connecting rod.
The specific embodiment
Embodiment of the present invention by Fig. 1 to Fig. 7 can know that mechanism provided by the present invention has the rotation and two frees degree of going up and down.Rotating tee is crossed engagement realization in the gear, goes up and down and realizes through leading screw.Two frees degree are through 13 decoupling zeros of nut bearing, and the two is independent mutually, and mutually noninterfere becomes parallel institution.Frame is fixed with respect to world coordinate system, and it is threaded through connecting rod 1 by last fixed disk 2, lower fixed disk 29, and frame lower is equipped with support 30, and entire mechanism is anchored on the workpiece.
When drive motors I7 starts; Drive motors I7 will rotatablely move and be passed to gear shaft I6, and gear shaft I6 is installed in the installing hole of frame, engagement in gear shaft I6 and the internal gear 25; Thereby driving internal gear 25 rotates; And internal gear 25 usefulness bolts are installed on the rotary barrel 11, and rotary barrel 11 bottoms have bearing to be installed on the support 30, therefore can realize rotary freedom with internal gear 25.
When drive motors II10 starts; Drive motors II10 will rotatablely move and be passed to gear shaft II9; Gear shaft II9 and gear II24 engagement; The bottom of gear II24 is installed on the lower fixed disk 29 with bearing, and top links to each other through rigidity axle sleeve 26 with leading screw 15, so the rotation of gear II24 causes moving up and down of screw mandrel 15.Feed screw nut 17 is arranged on the leading screw 15, and the drive nut 17 that moves up and down of screw mandrel 15 slides up and down on nut guide rod 16.Nut guide rod 16 is installed on the nut guide rod seat 22; Be installed on the lower fixed disk 29, nut 17 is enclosed within the inner ring of nut bearing 13 again, and bearing outer ring is with bearing outside 12; Connecting rod 31 is contained in the hole of bearing outside 12; The other end of connecting rod 31 is equipped with lifting platform 23, and lifting platform 23 slides on lifting platform guide rod 19, and lifting platform guide rod 19 is installed on the rotary barrel 11 through lifting platform guide rod seat 18.Therefore, moving up and down and can passing through nut bearing 13, bearing outside 12, connecting rod 31 successively of nut 17 finally is passed to lifting platform 23, thereby realizes the elevating movement of lifting platform 23.
Claims (1)
1. parallel institution with rotation and lifting two degrees of freedom; Comprise frame, rotating mechanism, elevating mechanism; It is characterized in that: described frame comprises fixed disk (2), lower fixed disk (29), connecting rod (1), support (30); Wherein go up fixed disk (2) and be connected through 8 connecting rods (1) with lower fixed disk (29), respectively there is a through hole at upper and lower fixed disk center, and card respectively has 2 to be mutually 90 degree, to be used for bearings mounted through hole; The centre bore of lower fixed disk (29) cooperates with support (30), support (30) and workpiece anchoring;
Described rotating mechanism comprises gear shaft I (6), drive motors I (7), rotary barrel (11), lifting platform guide rod seat (18), lifting platform guide rod (19), internal gear (25); Wherein drive motors I (7) links to each other with gear shaft I (6); Gear shaft I (6) and the interior engagement of internal gear (25); Gear shaft I (6) is installed in through bearing in the through hole of upper and lower fixed disk (2,29) card of frame, and internal gear (25) is installed on rotary barrel (11) inwall; Rotary barrel (11) is installed on the support (30) through bearing, and can rotate around support; Rotary barrel (11) outer wall is equipped with lifting platform guide rod seat (18) longitudinally, and lifting platform guide rod seat (18) is equipped with two lifting platform guide rods (19);
Described elevating mechanism comprises gear shaft II (9), drive motors II (10), bearing outside (12), leading screw (15), nut guide rod (16), feed screw nut (17), nut guide rod seat (22), lifting platform (23), gear (24), rigidity axle sleeve (26), connecting rod (31); Wherein drive motors II (10) links to each other with gear shaft II (9); Gear shaft II (9) and gear (24) external toothing; Gear shaft II (9) is installed in through bearing in another through hole of upper and lower fixed disk (2,29) card of frame, and the installation shaft of gear (24) and leading screw (15) combine as a whole with rigidity axle sleeve (26), are installed in through bearing in the centre bore of the upper and lower fixed disk of frame (2,29); Nut (17) is housed on the leading screw; Nut is done elevating movement along two nut guide rods (16), and nut guide rod (16) is fixed on the nut guide rod seat (22), and nut guide rod seat (22) is installed on the fixed disk (2); The outer wall of nut is installed in the inner ring of bearing, and bearing outer ring is contained in the bearing outside (12), and bearing outside links to each other with lifting platform (23) through connecting rod (31), and can drive lifting platform (23) and move up and down along lifting platform guide rod (19).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101991520A CN101862928B (en) | 2010-06-04 | 2010-06-04 | Robot parallel mechanism with rotation and lifting two degrees of freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101991520A CN101862928B (en) | 2010-06-04 | 2010-06-04 | Robot parallel mechanism with rotation and lifting two degrees of freedom |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101862928A CN101862928A (en) | 2010-10-20 |
| CN101862928B true CN101862928B (en) | 2012-06-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2010101991520A Expired - Fee Related CN101862928B (en) | 2010-06-04 | 2010-06-04 | Robot parallel mechanism with rotation and lifting two degrees of freedom |
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| CN102000932B (en) * | 2010-12-03 | 2013-07-10 | 北京工业大学 | Parallel four-degree-of-freedom intersection line welding robot |
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| CN106001038B (en) * | 2016-05-22 | 2018-08-31 | 倪淑君 | A kind of adjustable height building guardrail cleaning Special rigid support equipment |
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| CN109406962A (en) * | 2018-10-29 | 2019-03-01 | 国网浙江平湖市供电有限公司 | The mobile mechanism of shelf depreciation crusing robot and shelf depreciation crusing robot |
| CN109434846A (en) * | 2018-10-29 | 2019-03-08 | 国网浙江平湖市供电有限公司 | A kind of substation's shelf depreciation crusing robot |
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| CN2514963Y (en) * | 2001-12-13 | 2002-10-09 | 天津鼎盛工程机械有限公司 | Lifting-rotating welding position shifting machine |
| CN2915401Y (en) * | 2006-03-29 | 2007-06-27 | 中国科学院电子学研究所 | Lifting and slewing mechanism |
| CN201010333Y (en) * | 2006-12-31 | 2008-01-23 | 王树生 | Movable rotating hanging device of bogie |
| CN101391354A (en) * | 2008-11-06 | 2009-03-25 | 哈尔滨工程大学 | Suspended type pipe-jointing welding robot |
| CN201446374U (en) * | 2009-05-07 | 2010-05-05 | 国水投资集团西安风电设备股份有限公司 | Automatic rotary table welding device of giant motor rotor |
| CN201728487U (en) * | 2010-06-04 | 2011-02-02 | 北京工业大学 | Parallel mechanism with two degrees of freedom of rotating and lifting for robots |
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2010
- 2010-06-04 CN CN2010101991520A patent/CN101862928B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2514963Y (en) * | 2001-12-13 | 2002-10-09 | 天津鼎盛工程机械有限公司 | Lifting-rotating welding position shifting machine |
| CN2915401Y (en) * | 2006-03-29 | 2007-06-27 | 中国科学院电子学研究所 | Lifting and slewing mechanism |
| CN201010333Y (en) * | 2006-12-31 | 2008-01-23 | 王树生 | Movable rotating hanging device of bogie |
| CN101391354A (en) * | 2008-11-06 | 2009-03-25 | 哈尔滨工程大学 | Suspended type pipe-jointing welding robot |
| CN201446374U (en) * | 2009-05-07 | 2010-05-05 | 国水投资集团西安风电设备股份有限公司 | Automatic rotary table welding device of giant motor rotor |
| CN201728487U (en) * | 2010-06-04 | 2011-02-02 | 北京工业大学 | Parallel mechanism with two degrees of freedom of rotating and lifting for robots |
Also Published As
| Publication number | Publication date |
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| CN101862928A (en) | 2010-10-20 |
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Granted publication date: 20120627 |