CN102085659A - Space-controlled five degree of freedom twelve-rod welding robot mechanism - Google Patents

Space-controlled five degree of freedom twelve-rod welding robot mechanism Download PDF

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Publication number
CN102085659A
CN102085659A CN 201010591352 CN201010591352A CN102085659A CN 102085659 A CN102085659 A CN 102085659A CN 201010591352 CN201010591352 CN 201010591352 CN 201010591352 A CN201010591352 A CN 201010591352A CN 102085659 A CN102085659 A CN 102085659A
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China
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driving lever
rod
chain
pair
spherical pair
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CN 201010591352
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Chinese (zh)
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CN102085659B (en
Inventor
蔡敢为
潘宇晨
王红州
李岩舟
周晓蓉
王汝贵
温芳
陈渊
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Guangxi University
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Guangxi University
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Publication of CN102085659A publication Critical patent/CN102085659A/en
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Publication of CN102085659B publication Critical patent/CN102085659B/en
Expired - Fee Related legal-status Critical Current
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Abstract

The invention relates to a space-controlled five degree of freedom twelve-rod welding robot mechanism which comprises a plane two degree of freedom controlled mechanism branch chain, three gesture regulating branch chains, a movable platform with a flange plate, and a stand, wherein the back of the movable platform is respectively connected with the four branch chains through a first spherical pair, a third spherical pair, a fifth spherical pair and a seventh spherical pair; and the flange plate on the movable platform is used for installing equipment, such as a welding gun or welding tongs and the like. All servo motors are arranged on the stand, and a lever can be made into a light rod, thus the robot has small motion inertia and good dynamic property, and can better satisfy the requirement for high-speed accurate welding.

Description

The controlled five degree of freedom 12 bar welding robot robot mechanisms in space
Technical field
The present invention relates to the industrial robot field, the controlled five degree of freedom 12 bar welding robot robot mechanisms in particularly a kind of space.
Background technology
According to incompletely statistics, the whole world the industrial robot of labour have near half be welding robot, be widely used in the middle of the operations such as industrial welding, carrying, piling, assembling, cutting.Welding robot is a kind ofly to equip welding systems such as wire-feed motor, flexible pipe, welding gun, welding torch or soldering turret on industrial robot, and is equipped with the automation welding jig of the corresponding source of welding current.Existing welding robot all belongs to articulated robot basically, mostly is 6 axles, by 1,2,3 teamwork end-of-arm tooling is delivered to different locus, and is aided with 4,5,6 interlock to satisfy the different requirements of instrument attitude.Robot body frame for movement mainly contains parallelogram sturcutre and two kinds of forms of side located structure, has obtained extensive use because of it has big working space and moves comparatively flexibly.But this quasi-tradition fisher's formula series welding welding robot mechanism is because of the restriction of himself structure, motor all needs to be installed in the junction, can cause that arm weight is big, problems such as poor rigidity, inertia are big, joint error accumulation, the mechanism dynamic poor-performing is difficult to satisfy the high-speed, high precision welding requirements of increasingly stringent.
The multiple degrees of freedom controllable mechanism is the product that mechanical technique and electronic technology organically combine, and it is made up of multiple-degree-of-freedom mechanism and a plurality of servomotor.Its output movement is determined jointly by a plurality of driving links, is the function of many independents variable.And each independent variable, promptly the angular displacement of servomotor or rotating speed are controlled by computer.Therefore, just can realize the complicated characteristics of motion easily by working out suitable computer-controlled program, comprise and realize any track, gearratio, and speed, acceleration requirement etc., and, change the output movement that control program can change mechanism like a cork, the flexibility of promptly so-called mechanism output.The dynamic performance of this generation mechanism also conventional robot than the open kinematic chain form is much superior, the drive motors of this class generation mechanism all is installed on the frame, avoided the drive unit of each connecting rod of traditional fisher's formula serial machine robot mechanism mostly to be installed in its hinge place, problem such as the poor rigidity that causes, inertia are big.
Summary of the invention
The object of the present invention is to provide the controlled five degree of freedom 12 bar welding robot robot mechanisms in a kind of space, the motor that solves traditional fisher's formula series welding welding robot mechanism is installed in its hinge place, problems such as the arm heaviness that causes, poor rigidity, inertia are big, joint error accumulation, this mechanism has better dynamics.
The present invention achieves the above object by the following technical programs: the controlled five degree of freedom 12 bar welding robot robot mechanisms in a kind of space comprise that plane two degrees of freedom controllable mechanism side chain, attitude adjust the moving platform and the frame of side chain, flanged dish.Described frame is installed on the revolving dial, realizes the six-freedom motion of entire machine people spatial three-dimensional translational Three dimensional rotation.
Described plane two degrees of freedom controllable mechanism side chain is formed by connecting by first driving lever, second driving lever, first connecting rod, second connecting rod and frame.First driving lever, one end is connected on the frame by first revolute pair, and the other end is connected with first connecting rod by second revolute pair.Second driving lever, one end is connected on the 3rd revolute pair of frame, and the other end is connected with second connecting rod by the 4th revolute pair.Described second connecting rod is a pole, and middle bending part has the 5th revolute pair, is connected with first connecting rod by the 5th revolute pair, and second connecting rod is terminal to be connected with the moving platform middle part by first spherical pair.Described first driving lever is by first driven by servomotor.Described second driving lever is by second driven by servomotor.
Described first attitude is adjusted side chain and is made up of the 3rd driving lever, third connecting rod.The 3rd driving lever one end is connected on the frame by the 6th revolute pair, and the other end is connected with third connecting rod by second spherical pair.The third connecting rod front end is connected with the moving platform right lower quadrant by the 3rd spherical pair.Described the 3rd driving lever is by the 3rd driven by servomotor.
Described second attitude is adjusted side chain and is made up of the 4th driving lever, the 4th connecting rod.The 4th driving lever one end is connected on the frame by the 7th revolute pair, and the other end is connected with the 4th connecting rod by the 4th spherical pair.The 4th connecting rod front end is connected with moving platform top by the 5th spherical pair.Described the 4th driving lever is by the 4th driven by servomotor.
Described the 3rd attitude is adjusted side chain and is made up of the 5th driving lever, the 5th connecting rod.The 5th driving lever one end is connected on the frame by the 8th revolute pair, and the other end is connected with the 5th driving lever by the 6th spherical pair.The 5th driving lever front end is connected with the moving platform lower left quarter by the 7th spherical pair.Described the 5th driving lever is by the 5th driven by servomotor.
On the described moving platform ring flange is arranged, the back is adjusted side chain and is connected with plane two degrees of freedom controllable mechanism side chain, first attitude adjustment side chain, second attitude adjustment side chain, the 3rd attitude respectively by first spherical pair, the 3rd spherical pair, the 5th spherical pair, the 7th spherical pair.Equipment such as welding gun or soldering turret are installed on the described ring flange.
First servomotor, second servomotor, the 3rd servomotor, the 4th servomotor, the 5th servomotor are installed on the described frame.Frame is installed on the revolving dial, realizes the six-freedom motion that entire machine people space three-translational three rotates.
Outstanding advantage of the present invention is:
1, adopt the outer secondary mode that drives the closed chain transmission, the robot stiffness characteristics is good, bearing capacity is strong, error accumulation is little, control accuracy is high;
2, all servomotors are installed on the frame, and rod member is made lighter bar, and robot motion's inertia is little, and dynamic performance is good, can better satisfy at a high speed accurately requirement of welding;
3, by the end effector of various different purposes is installed on moving platform, this mechanism may be used in other work such as carrying, piling, assembling, cutting.
Description of drawings
Fig. 1 is the structural representation of the controlled five degree of freedom 12 bar welding robot robot mechanisms in space of the present invention.
Fig. 2 is the plane two degrees of freedom controllable mechanism branched structure schematic diagram of the controlled five degree of freedom 12 bar welding robot robot mechanisms in space of the present invention.
Fig. 3 is that first attitude of the controlled five degree of freedom 12 bar welding robot robot mechanisms in space of the present invention is adjusted the branched structure schematic diagram.
Fig. 4 is that second attitude of the controlled five degree of freedom 12 bar welding robot robot mechanisms in space of the present invention is adjusted the branched structure schematic diagram.
Fig. 5 is that the 3rd attitude of the controlled five degree of freedom 12 bar welding robot robot mechanisms in space of the present invention is adjusted the branched structure schematic diagram.
Fig. 6 is that the controlled five degree of freedom 12 bar welding robot robot mechanisms in space of the present invention are installed in first kind of working state schematic representation on the revolving dial.
Fig. 7 is that the controlled five degree of freedom 12 bar welding robot robot mechanisms in space of the present invention are installed in second kind of working state schematic representation on the revolving dial.
Fig. 8 is that the controlled five degree of freedom 12 bar welding robot robot mechanisms in space of the present invention are installed in the third working state schematic representation on the revolving dial.
Fig. 9 is that the controlled five degree of freedom 12 bar welding robot robot mechanisms in space of the present invention are installed in the 4th kind of working state schematic representation on the revolving dial.
The specific embodiment
Below in conjunction with drawings and Examples technical scheme of the present invention is described further.
Contrast Fig. 1,6,7,8 and 9, the controlled welding robot robot mechanism of a kind of space five-freedom 12 bars comprises that a plane two degrees of freedom controllable mechanism side chain, first attitude adjust side chain, second attitude and adjust moving platform 11 and the frame 13 that side chain, the 3rd attitude are adjusted side chain, flanged dish 12.Described frame 13 is installed on the revolving dial 14, realizes the six-freedom motion of entire machine people spatial three-dimensional translational Three dimensional rotation.
Contrast Fig. 1,2, described plane two degrees of freedom controllable mechanism side chain is formed by connecting by first driving lever 1, second driving lever 4, first connecting rod 2, second connecting rod 3 and frame 13.First driving lever, 1 one ends are connected on the frame 13 by first revolute pair 15, and the other end is connected with first connecting rod 2 by second revolute pair 16.Second driving lever, 4 one ends are connected on the 3rd revolute pair 18 of frame 13, and the other end is connected with second connecting rod 3 by the 4th revolute pair 19.Described second connecting rod 3 is a pole, and middle bending part has the 5th revolute pair 17, is connected with first connecting rod 2 by the 5th revolute pair 17, and second connecting rod 3 terminal first spherical pairs 29 of passing through are connected with moving platform 11 middle parts.Described first driving lever 1 is driven by first servomotor 30.Described second driving lever 4 is driven by second servomotor 31.
Contrast Fig. 1,3, described first attitude is adjusted side chain and is made up of the 3rd driving lever 5, third connecting rod 6.The 3rd driving lever 5 one ends are connected on the frame 13 by the 6th revolute pair 20, and the other end is connected with third connecting rod 6 by second spherical pair 21.Third connecting rod 6 front ends are connected with moving platform 11 right lower quadrants by the 3rd spherical pair 22.Described the 3rd driving lever 5 is driven by the 3rd servomotor 32.
Contrast Fig. 1,4, described second attitude is adjusted side chain and is made up of the 4th driving lever 7, the 4th connecting rod 8.The 4th driving lever 7 one ends are connected on the frame 13 by the 7th revolute pair 23, and the other end is connected with the 4th connecting rod 8 by the 4th spherical pair 24.The 4th connecting rod 8 front ends are connected with moving platform 11 tops by the 5th spherical pair 25.Described the 4th driving lever 7 is driven by the 4th servomotor 33.
Contrast Fig. 1,5, described the 3rd attitude is adjusted side chain and is made up of the 5th driving lever 9, the 5th connecting rod 10.The 5th driving lever 9 one ends are connected on the frame 13 by the 8th revolute pair 26, and the other end is connected with the 5th driving lever 9 by the 6th spherical pair 27.The 5th driving lever 9 front ends are connected with moving platform 11 lower left quarters by the 7th spherical pair 28.Described the 5th driving lever 9 is driven by the 5th servomotor 34.
Contrast Fig. 1,2,3,4 and 5, on the described moving platform 11 ring flange 12 is arranged, the back is adjusted side chain and is connected with plane two degrees of freedom controllable mechanism side chain, first attitude adjustment side chain, second attitude adjustment side chain, the 3rd attitude respectively by first spherical pair 29, the 3rd spherical pair 22, the 5th spherical pair 25, the 7th spherical pair 28.Equipment such as welding gun or soldering turret are installed on the described ring flange 12.First servomotor 30, second servomotor 31, the 3rd servomotor 32, the 4th servomotor 33 and the 5th servomotor 34 are installed on the described frame 13.Described frame 13 is installed on the revolving dial 14.
Contrast Fig. 6,7,8 and 9, the be linked rotation of revolving dial 14 of five servomotors of the controlled welding robot robot mechanism of described space five-freedom 12 bars, realize the six-freedom motion of robot spatial three-dimensional translational Three dimensional rotation, finish the welding job of various requirement.

Claims (1)

1. the controlled five degree of freedom 12 bar welding robot robot mechanisms in space is characterized in that, this mechanism comprises the moving platform and the frame of plane two degrees of freedom controllable mechanism side chain, attitude adjustment side chain, flanged dish, and its structure and connected mode are:
Described plane two degrees of freedom controllable mechanism side chain is by first driving lever, second driving lever, first connecting rod, second connecting rod and frame are formed by connecting, first driving lever, one end is connected on the frame by first revolute pair, the other end is connected with first connecting rod by second revolute pair, second driving lever, one end is connected on the 3rd revolute pair of frame, the other end is connected with second connecting rod by the 4th revolute pair, described second connecting rod is a pole, middle bending part has the 5th revolute pair, be connected with first connecting rod by the 5th revolute pair, second connecting rod is terminal to be connected with the moving platform middle part by first spherical pair, described first driving lever is by first driven by servomotor, second driving lever is by second driven by servomotor
Described first attitude is adjusted side chain and is made up of the 3rd driving lever, third connecting rod, the 3rd driving lever one end is connected on the frame by the 6th revolute pair, the other end is connected with third connecting rod by second spherical pair, the third connecting rod front end is connected with the moving platform right lower quadrant by the 3rd spherical pair, described the 3rd driving lever is by the 3rd driven by servomotor
Described second attitude is adjusted side chain and is made up of the 4th driving lever, the 4th connecting rod, the 4th driving lever one end is connected on the frame by the 7th revolute pair, the other end is connected with the 4th connecting rod by the 4th spherical pair, the 4th connecting rod front end is connected with moving platform top by the 5th spherical pair, described the 4th driving lever is by the 4th driven by servomotor
Described the 3rd attitude is adjusted side chain and is made up of the 5th driving lever, the 5th connecting rod, the 5th driving lever one end is connected on the frame by the 8th revolute pair, the other end is connected with the 5th driving lever by the 6th spherical pair, the 5th driving lever front end is connected with the moving platform lower left quarter by the 7th spherical pair, described the 5th driving lever is by the 5th driven by servomotor
On the described moving platform ring flange is arranged, the back is adjusted side chain, second attitude adjustment side chain and the 3rd attitude adjustment side chain with plane two degrees of freedom controllable mechanism side chain, first attitude respectively by first spherical pair, the 3rd spherical pair, the 5th spherical pair, the 7th spherical pair and is connected.
CN2010105913520A 2010-12-16 2010-12-16 Space-controlled five degree of freedom twelve-rod welding robot mechanism Expired - Fee Related CN102085659B (en)

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Cited By (14)

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CN102513754A (en) * 2011-12-16 2012-06-27 北京工业大学 Centering longitudinal-latitudinal attitude adjusting component
CN102535539A (en) * 2012-01-12 2012-07-04 广西大学 Space controllable mechanism loader with two-dimensional rotating movable arm and two-dimensional rotating bucket
CN102535540A (en) * 2012-01-12 2012-07-04 广西大学 Space controllable mechanism-type loader with three-dimensional rotational moving arm and two-dimensional rotational bucket
CN102535543A (en) * 2012-01-12 2012-07-04 广西大学 Space controllable mechanism-type loader with three-dimensional rotational moving arm and two-dimensional rotational bucket
CN103741737A (en) * 2013-12-16 2014-04-23 广西大学 High-flexibility nine-rod two-degree-of-freedom mechanical loading mechanism
CN103737583A (en) * 2013-12-17 2014-04-23 广西大学 Mechanical arm with symmetrical mechanisms
CN103752449A (en) * 2013-12-07 2014-04-30 广西大学 Spray-coating robot with parallel structure
CN103752448A (en) * 2013-12-07 2014-04-30 广西大学 Multi-degree-of-freedom spraying robot
CN104476538A (en) * 2014-12-12 2015-04-01 广西大学 Five-degree-of-freedom controllable mechanism mobile mechanical arm with ten connecting links
CN104802185A (en) * 2015-04-22 2015-07-29 上海交通大学 Five-degree-of-freedom mechanical arm
CN105171497A (en) * 2015-10-27 2015-12-23 北华航天工业学院 Variable-input reconfigurable mechanical shaper main motion mechanism
CN105904133A (en) * 2016-07-06 2016-08-31 苏州睿牛机器人技术有限公司 Vehicle-mounted parallel welding robot system
CN107049493A (en) * 2012-06-01 2017-08-18 直观外科手术操作公司 In terms of operating theater instruments executor
CN110063646A (en) * 2018-01-23 2019-07-30 李亚锐 A kind of the connecting rod charging device and cooking of cooking

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CN102528356A (en) * 2012-03-05 2012-07-04 北京工业大学 Two-degree-of-freedom centering posture regulating component
CN104552243B (en) * 2014-12-12 2016-01-20 广西大学 A kind of controllable-mechanism type becomes born of the same parents' wheeled mobile welding robot

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CN201881377U (en) * 2010-12-16 2011-06-29 广西大学 Five-degree of freedom twelve-rod welded robot mechanism with controllable space

Cited By (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102513754A (en) * 2011-12-16 2012-06-27 北京工业大学 Centering longitudinal-latitudinal attitude adjusting component
CN102535539B (en) * 2012-01-12 2014-05-07 广西大学 Space controllable mechanism loader with two-dimensional rotating movable arm and two-dimensional rotating bucket
CN102535539A (en) * 2012-01-12 2012-07-04 广西大学 Space controllable mechanism loader with two-dimensional rotating movable arm and two-dimensional rotating bucket
CN102535540A (en) * 2012-01-12 2012-07-04 广西大学 Space controllable mechanism-type loader with three-dimensional rotational moving arm and two-dimensional rotational bucket
CN102535543A (en) * 2012-01-12 2012-07-04 广西大学 Space controllable mechanism-type loader with three-dimensional rotational moving arm and two-dimensional rotational bucket
CN102535543B (en) * 2012-01-12 2014-05-07 广西大学 Space controllable mechanism-type loader with three-dimensional rotational moving arm and two-dimensional rotational bucket
CN102535540B (en) * 2012-01-12 2014-05-07 广西大学 Space controllable mechanism-type loader with three-dimensional rotational moving arm and two-dimensional rotational bucket
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CN107049493A (en) * 2012-06-01 2017-08-18 直观外科手术操作公司 In terms of operating theater instruments executor
CN103752449A (en) * 2013-12-07 2014-04-30 广西大学 Spray-coating robot with parallel structure
CN103752449B (en) * 2013-12-07 2016-06-15 广西大学 A kind of side by side configuration spray robot
CN103752448A (en) * 2013-12-07 2014-04-30 广西大学 Multi-degree-of-freedom spraying robot
CN103741737A (en) * 2013-12-16 2014-04-23 广西大学 High-flexibility nine-rod two-degree-of-freedom mechanical loading mechanism
CN103737583A (en) * 2013-12-17 2014-04-23 广西大学 Mechanical arm with symmetrical mechanisms
CN104476538A (en) * 2014-12-12 2015-04-01 广西大学 Five-degree-of-freedom controllable mechanism mobile mechanical arm with ten connecting links
CN104476538B (en) * 2014-12-12 2016-03-30 广西大学 One has ten connecting rod five degree of freedom controllable-mechanism type mobile mechanical arms
CN104802185A (en) * 2015-04-22 2015-07-29 上海交通大学 Five-degree-of-freedom mechanical arm
CN105171497A (en) * 2015-10-27 2015-12-23 北华航天工业学院 Variable-input reconfigurable mechanical shaper main motion mechanism
CN105171497B (en) * 2015-10-27 2017-12-08 北华航天工业学院 Become input restructural shaping machine main motion mechanism
CN105904133A (en) * 2016-07-06 2016-08-31 苏州睿牛机器人技术有限公司 Vehicle-mounted parallel welding robot system
CN110063646A (en) * 2018-01-23 2019-07-30 李亚锐 A kind of the connecting rod charging device and cooking of cooking

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Application publication date: 20110608

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