CN102357879A - Eight-degree-of-freedom series-parallel combined automatic welding robot - Google Patents
Eight-degree-of-freedom series-parallel combined automatic welding robot Download PDFInfo
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- CN102357879A CN102357879A CN2011102611576A CN201110261157A CN102357879A CN 102357879 A CN102357879 A CN 102357879A CN 2011102611576 A CN2011102611576 A CN 2011102611576A CN 201110261157 A CN201110261157 A CN 201110261157A CN 102357879 A CN102357879 A CN 102357879A
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Abstract
The invention discloses an eight-degree-of-freedom series-parallel combined automatic welding robot, which consists of two parts of a six-degree-of-freedom parallel robot and a double-degree-of-freedom direction regulation mechanism which are connected in series through a movable platform to form the eight-degree-of-freedom series-parallel combined robot, wherein the six-degree-of-freedom parallel robot comprises a base, the movable platform and a mechanical leg which is arranged between the base and the movable platform, and the two ends of the mechanical leg are respectively hinged with the base and the movable platform; the double-degree-of-freedom direction regulation mechanism is installed on a mechanism static platform, the mechanism static platform is designed in consistence with the movable platform and is connected with the movable platform in series, the double-degree-of-freedom direction regulation mechanism is driven with a linear drive mode, a connection plate is arranged on the mechanism static platform, two direction drive motors are installed on a box body of the mechanism static platform on the connection plate, and are connected with a connection part of a welding output mechanism in a linear drive transmission way. The eight-degree-of-freedom series-parallel combined automatic welding robot has higher bearing capacity and control precision, the movement space of the parallel robot is prevented from being limited, and the welding performance with higher quality is further improved.
Description
Technical field
The present invention relates to the robot field, be specifically related to a kind of series parallel type automatic welding machine people with eight degrees of freedom.
Background technology
Welding robot is as the term suggests just be meant the industrial robot of being engaged in the weld job in comprising cutting and being sprayed on.Along with the development of electronic technology, computer technology, numerical control and Robotics, since the automatic welding machine people was used for producing since the sixties, its technology was increasingly mature; Owing to have stability and higher welding quality preferably, greatly improved labor productivity, improved labor strength; And can be in operation under the hostile environment; Reduced requirement, shortened the preparatory period that product remodeling is regenerated, reduced corresponding apparatus investment or the like workman's operating technology; Owing to have above plurality of advantages, therefore obtain application more and more widely in all trades and professions.The current industrial robot mainly contains series connection and two kinds of parallel connections, and the serial machine people studies comparatively ripely, has simple in structurely, and cost is low; Advantages such as control is simple, and space is big have been successfully applied to a lot of fields, like various lathes; Assembly shop etc., the research of parallel robot and serial machine physiognomy are later compared with the step, but since its to have rigidity big, bearing capacity is strong; Advantages such as precision is high, and end piece inertia is little are in high speed; The occasion of big bearing capacity has clear superiority with serial machine physiognomy ratio, is therefore more and more favored.The robot product of in the automatic welding technique field, using at present almost all is the serial machine people; It is each hinge and driver element formation open loop connected in series mechanical arm; Shortcomings such as this kind robot has that bearing capacity is low, low precision, power consumption are big are not suitable for high accuracy welding location.
Summary of the invention
The present invention provides a kind of eight degrees of freedom series parallel type automatic welding machine people, has solved that the welding robot bearing capacity is low, low precision and power consumption be big, and can not satisfy the problem of high accuracy weld job.
For realizing above-mentioned purpose, adopt following technical scheme:
A kind of eight degrees of freedom series parallel type automatic welding machine people; Form by two parts: the two degrees of freedom orientation governor motion that six-degree-of-freedom parallel robot and series connection with it are installed; Said six-degree-of-freedom parallel robot comprises pedestal, moving platform and the six roots of sensation pedipulator between the two; The parallel connection of six roots of sensation pedipulator, each pedipulator two ends and pedestal and moving platform are hinged, and every pedipulator is furnished with a drive motors; Said two degrees of freedom orientation governor motion is installed on the mechanism's silent flatform on the six-degree-of-freedom parallel robot moving platform; The moving platform structure of said mechanism silent flatform and affiliated six-degree-of-freedom parallel robot is consistent and to be connected the pedipulator of six-degree-of-freedom parallel robot terminal; Said mechanism silent flatform is provided with connecting plate; One group of moving platform casing is installed on it; Two orientation drive motors are installed on the moving platform casing relatively, and the orientation drive motors drives the welding output mechanism connector that is in transmission connection through line.
As a preferred version, said six-degree-of-freedom parallel robot has 6 identical pedipulators, and its two ends are connected respectively to pedestal and moving platform through spherical hinge; Said pedipulator adopts ball-screw nut mechanism to drive, and each pedipulator is furnished with a drive motors, and said drive motors is connected through gear drive with the interior leading screw of pedipulator.
As further preferred version; Said pedipulator adopts double-layer sleeve structure, and outer sleeve runs through the whole piece pedipulator, and the limit switch install bin is installed on the outer sleeve; Limit switch is installed on it; Said outer sleeve lower end is provided with connector, and the one of which end is through screw and said outer sleeve lower ends, and the other end is connected to the spherical hinge of pedestal; In the said outer sleeve inner sleeve is arranged, be set with the linear slide bearing between its upper end and the outer sleeve, the lower end is set with the limit rotation sleeve; Inner sleeve slides the interior front and back of sleeve outside, and leading screw is arranged in the inner sleeve, and nut is arranged on the leading screw; There is the leading screw supports support said leading screw upper end; The lower end is set with a pair of angular contact ball bearing, and said angular contact ball bearing is installed in the bearing housing in the outer sleeve, and leading screw screw gear and the motor output gear of drive motors bottom is in transmission connection; The connector of said inner sleeve upper end is connected on the spherical hinge of moving platform; Two relative orientation drive motors and bevel-gear setts are installed in the mechanism's silent flatform casing on the connecting plate of said two degrees of freedom orientation governor motion; Said bevel gear is installed on the casing on two relative gear shafts; Axle head is equipped with pulley; Be in transmission connection through steel wire between the pulley on itself and the orientation drive motors output shaft; Between mechanism two relative bevel gears in silent flatform casing upper end an Intermediate bevel gears is installed, it is connected with two Bevel Gear Transmission, and said Intermediate bevel gears upper end is equipped with the welding output mechanism connector of center for sky.
The present invention mixes series connection through six-DOF robot and the two degrees of freedom orientation governor motion with a parallel connection; Form a series-parallel robot with eight frees degree; Six-DOF robot just has 6 pedipulators to support output stage simultaneously, make it have higher bearing capacity, and the error between each pedipulator can be cancelled each other; Had higher control accuracy, the location is produced in the welding that is suitable for high-precision requirement; Two degrees of freedom orientation governor motion adopts the line type of drive, can realize the front and back pitching swing and the rotation of executing agency through differential gear, is applicable to the welding operation of different angles for the welding user provides convenience; And the design of this series-parallel robot is that the welding output mechanism provides accurate location by six-degree-of-freedom parallel robot; When needs some specific position of welding or special angle, two degrees of freedom orientation governor motion can carry out local modulation to the welding output mechanism, because total space motion only needs six degree of freedom; The design of this eight degrees of freedom robot can provide bigger dexterous robot property; Thereby make that robot can have better isotropism, and has avoided the parallel robot activity space limited when carrying out the same weld function; Owing to have eight frees degree; Can the better optimize operating attitude, with respect to traditional 6DOF welding robot complete operation more easily, and then higher-quality welding performance is provided.
Description of drawings
According to embodiment and accompanying drawing the present invention is done further explain below.
Fig. 1 is a general structure sketch map of the present invention;
Fig. 2 is the structural representation of part 1 among Fig. 1;
Fig. 3 is the structural representation of part 2 among Fig. 1;
Fig. 4 is that part 106 is formed the structure cutaway view among Fig. 1.
Among the figure:
1, six-degree-of-freedom parallel robot; 2, two degrees of freedom orientation governor motion; 100, pedestal; 101, first spherical hinge; 102, following connector; 103, motor is installed casing; 104, limit switch; 105, drive motors; 106, pedipulator; 107, inner sleeve; 108, second spherical hinge; 109, moving platform; 110, linear slide bearing; 111, ball-screw; 112, leading screw support member; 113, upper connector; 114, nut; 115, outer sleeve; 116, sleeve casing; 117, angular contact ball bearing; 118, bearing housing; 119, motor output gear; 120, screw gear; 121, limit switch install bin; 122, limit rotation sleeve; 200, mechanism's silent flatform; 201, connecting plate; 202, mechanism's silent flatform casing; 203, orientation drive motors; 204, gear-box; 205, bevel gear; 206, Intermediate bevel gears; 207, welding output mechanism connector; 208, motor code-disc output shaft.
The specific embodiment
Shown in Fig. 1 to 4; Provided a specific embodiment of the present invention, among the figure, a kind of eight degrees of freedom series parallel type automatic welding machine people; Be made up of two parts: six-degree-of-freedom parallel robot 1 and two degrees of freedom orientation governor motion 2, above two parts are through 200 series connection of mechanism's silent flatform.
Like Fig. 2, shown in Figure 4; Above-mentioned six-degree-of-freedom parallel robot 1 comprises pedestal 100, moving platform 109 and the pedipulator between the two 106; Have 6 identical pedipulators 106, its two ends through down connector 102, upper connector 113 respectively with pedestal 100 and moving platform 109 on first spherical hinge 101 and second spherical hinge 108 hinged; Pedipulator 106 adopts ball-screw nut mechanism to drive; Pedipulator 106 adopts double-layer sleeve structure; Wherein outer sleeve 115 runs through the whole piece pedipulator; Its bottom is installed in the sleeve casing 116; On the sleeve casing 116 of sleeve 115 1 sides drive motors 105 and supporting encoder are installed outside, ball-screw in drive motors 105 and the pedipulator 106 111 is connected through gear drive; Limit switch install bin 121 also is installed on the outer sleeve 115, limit switch 104 is installed on it, following connector 102 1 ends of outer sleeve 115 lower ends are installed in outer sleeve 115 lower ends through screw; The other end is connected to first spherical hinge 101 on the pedestal 100; Inner sleeve 107 is arranged in the outer sleeve 115, be set with linear slide bearing 110 between its upper end and the outer sleeve 115, the lower end is set with limit rotation sleeve 122; Inner sleeve 107 slides sleeve 115 interior front and back outside; Ball-screw 111 is arranged in the inner sleeve 107, nut 114 is arranged on the ball-screw 111, ball-screw 111 upper ends have leading screw support member 112 to support; Be set with a pair of angular contact ball bearing 117 in the bearing housing 118 of ball-screw 111 lower ends, ball-screw 111 screw gear 120 bottom is in transmission connection with the motor output gear 119 of drive motors 105; The upper connector 113 of inner sleeve 107 upper ends is connected on second spherical hinge 108 of mechanism's silent flatform 200.
As shown in Figure 3; Two degrees of freedom orientation governor motion 2 adopts Linear Driving; Its mechanism's silent flatform 200 is installed on the moving platform 109 of six-degree-of-freedom parallel robot 1; And it is consistent with moving platform 109 designs, so this two degrees of freedom orientation governor motion 2 is loaded in series motions on the moving platform 109 of six-degree-of-freedom parallel robot 1; Two relative orientation drive motors 203 and a pair of bevel gear 205 that is installed on mechanism's silent flatform casing 202 on two relative gear shafts are installed in the mechanism's silent flatform casing 202 on mechanism's silent flatform 200; The axle head of two bevel gears 205 all is equipped with pulley; It is in transmission connection through steel wire respectively and between the pulley on orientation drive motors 203 output shafts of homonymy; Mechanism silent flatform casing 202 tops; Cooperate in the middle of two bevel gears 205 Intermediate bevel gears 206 is installed; Receive the driven in common of two bevel gears 205, Intermediate bevel gears 206 upper ends pass the welding output mechanism connector 207 that mechanism's silent flatform casing 202 upsides are equipped with hollow, and welding actuating unit such as welding gun etc. are used to be installed; The pulley of above-mentioned orientation drive motors 203 axle heads and bevel gear 205 axle heads and transmission steel wire all are positioned at mechanism silent flatform casing 202 inboards, and motor code-disc output shaft 208 exposed portions serve of orientation drive motors 203 are used for connecting control line.
The present invention is through six-degree-of-freedom parallel robot 1 and two degrees of freedom orientation governor motion 2 series connection with a parallel connection; Form a series-parallel robot with eight frees degree; Six-degree-of-freedom parallel robot 1 just has 6 pedipulators to support output stage simultaneously, make it have higher bearing capacity, and the error between each pedipulator can be cancelled each other; Had higher control accuracy, the location is produced in the welding that is suitable for high-precision requirement; Two degrees of freedom orientation governor motion 2 adopts the line type of drive, can realize the front and back pitching swing and the rotation of executing agency through differential gear, is suitable for the welding operations with different angles for the welding user provides convenience; And the design of this series-parallel robot provides accurate location by six-degree-of-freedom parallel robot 1 for the welding output mechanism; When needs some specific position of welding or special angle, two degrees of freedom orientation governor motion 2 can carry out local modulation to the welding output mechanism, because total space motion only needs six degree of freedom; The design of this eight degrees of freedom robot can provide bigger dexterous robot property; Thereby make that robot can have better isotropism, and has avoided the parallel robot activity space limited when carrying out the same weld function; Owing to have eight frees degree; Can the better optimize operating attitude, with respect to traditional six degree of freedom welding robot complete operation more easily, and then higher-quality welding performance is provided.
Claims (3)
1. eight degrees of freedom series parallel type automatic welding machine people; It is characterized in that; Form by two parts: the two degrees of freedom orientation governor motion that six-degree-of-freedom parallel robot and series connection with it are installed, said six-degree-of-freedom parallel robot comprises pedestal, moving platform and the six roots of sensation pedipulator between the two, the parallel connection of six roots of sensation pedipulator; Each pedipulator two ends and pedestal and moving platform are hinged, and every pedipulator is furnished with a drive motors; Said two degrees of freedom orientation governor motion is installed on the mechanism's silent flatform on the six-degree-of-freedom parallel robot moving platform; The moving platform structure of said mechanism silent flatform and affiliated six-degree-of-freedom parallel robot is consistent and to be connected the pedipulator of six-degree-of-freedom parallel robot terminal; Said mechanism silent flatform is provided with connecting plate; One group of moving platform casing is installed on it; Two orientation drive motors are installed on the moving platform casing relatively, and the orientation drive motors drives the welding output mechanism connector that is in transmission connection through line.
2. a kind of eight degrees of freedom series parallel type automatic welding machine people according to claim 1 is characterized in that said six-degree-of-freedom parallel robot has 6 identical pedipulators, and its two ends are connected respectively to pedestal and moving platform through spherical hinge; Said pedipulator adopts ball-screw nut mechanism to drive, and each pedipulator is furnished with a drive motors, and said drive motors is connected through gear drive with the interior leading screw of pedipulator.
3. a kind of eight degrees of freedom series parallel type automatic welding machine people according to claim 2 is characterized in that, said pedipulator adopts double-layer sleeve structure; Outer sleeve runs through the whole piece pedipulator; The limit switch install bin is installed on the outer sleeve, limit switch is installed on it, said outer sleeve lower end is provided with connector; The one of which end is through screw and said outer sleeve lower ends, and the other end is connected to the spherical hinge of pedestal; In the said outer sleeve inner sleeve is arranged, be set with the linear slide bearing between its upper end and the outer sleeve, the lower end is set with the limit rotation sleeve; Inner sleeve slides the interior front and back of sleeve outside, and leading screw is arranged in the inner sleeve, and nut is arranged on the leading screw; There is the leading screw supports support said leading screw upper end; The lower end is set with a pair of angular contact ball bearing, and said angular contact ball bearing is installed in the bearing housing in the outer sleeve, and leading screw screw gear and the motor output gear of drive motors bottom is in transmission connection; The connector of said inner sleeve upper end is connected on the spherical hinge of moving platform; Two relative orientation drive motors and bevel-gear setts are installed in the mechanism's silent flatform casing on the connecting plate of said two degrees of freedom orientation governor motion; Said bevel gear is installed on the casing on two relative gear shafts; Axle head is equipped with pulley; Be in transmission connection through steel wire between the pulley on itself and the orientation drive motors output shaft; Between mechanism two relative bevel gears in silent flatform casing upper end an Intermediate bevel gears is installed, it is connected with two Bevel Gear Transmission, and said Intermediate bevel gears upper end is equipped with the welding output mechanism connector of center for sky.
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| CN2011102611576A CN102357879A (en) | 2011-09-05 | 2011-09-05 | Eight-degree-of-freedom series-parallel combined automatic welding robot |
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| CN2011102611576A CN102357879A (en) | 2011-09-05 | 2011-09-05 | Eight-degree-of-freedom series-parallel combined automatic welding robot |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102534462A (en) * | 2012-03-28 | 2012-07-04 | 青岛理工大学 | High melting point fast metal manufacture device for arc spraying mould |
| CN107322155A (en) * | 2017-08-21 | 2017-11-07 | 天津七所艾莘汽车焊接设备有限公司 | A kind of new flexible single-sided spot spot-welding welding system and technique |
| CN107322156A (en) * | 2017-08-21 | 2017-11-07 | 天津七所艾莘汽车焊接设备有限公司 | A kind of new single-side double-point spot-welding equipment |
| CN108639182A (en) * | 2018-06-07 | 2018-10-12 | 长安大学 | A kind of four-leg bionic robot based on six-degree-of-freedom parallel connection mechanism |
| CN109696930A (en) * | 2019-02-01 | 2019-04-30 | 北京众绘虚拟现实技术研究院有限公司 | A kind of six degree of freedom three-dimensional force feedback mechanism |
| CN110206428A (en) * | 2019-06-05 | 2019-09-06 | 中国科学院长春光学精密机械与物理研究所 | A kind of non-co-planar hinge of shaft and the robot with the hinge |
| CN114147692A (en) * | 2021-12-20 | 2022-03-08 | 江苏理工学院 | Parallel robot with adjustable working space |
| CN114770468A (en) * | 2021-12-27 | 2022-07-22 | 浩科机器人（苏州）有限公司 | Aeroengine welding pipeline detection robot |
| CN114952800A (en) * | 2022-06-30 | 2022-08-30 | 华中科技大学 | Series-parallel mechanical operating arm based on ball joint driving |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109696930A (en) * | 2019-02-01 | 2019-04-30 | 北京众绘虚拟现实技术研究院有限公司 | A kind of six degree of freedom three-dimensional force feedback mechanism |
| CN110206428A (en) * | 2019-06-05 | 2019-09-06 | 中国科学院长春光学精密机械与物理研究所 | A kind of non-co-planar hinge of shaft and the robot with the hinge |
| CN110206428B (en) * | 2019-06-05 | 2020-07-24 | 中国科学院长春光学精密机械与物理研究所 | Non-coplanar hinge of pivot and have robot of this hinge |
| CN114147692A (en) * | 2021-12-20 | 2022-03-08 | 江苏理工学院 | Parallel robot with adjustable working space |
| CN114147692B (en) * | 2021-12-20 | 2023-05-05 | 江苏理工学院 | Parallel robot with adjustable working space |
| CN114770468A (en) * | 2021-12-27 | 2022-07-22 | 浩科机器人（苏州）有限公司 | Aeroengine welding pipeline detection robot |
| CN114952800A (en) * | 2022-06-30 | 2022-08-30 | 华中科技大学 | Series-parallel mechanical operating arm based on ball joint driving |
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Application publication date: 20120222 |