CN102514001A - Spatial eight-degrees-of-freedom welding robot mechanism - Google Patents
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Abstract
一种空间八活动度焊接机器人机构，包括二维转动大臂机构、三维转动小臂机构和末端执行平台机构，上述三个部分串联连接，连接处分别由两个直线驱动器、三个直线驱动器、三个直线驱动器并联驱动，实现机构大工作空间、灵活的轨迹输出，且整体结构简单紧凑、误差补偿好。末端执行平台用于安装焊枪或焊钳等设备。本发明可应用到搬运、码垛、装配、切割等工业生产当中，也可应用于挖掘机等工程机械和仿生手臂、仿生腿等仿生机构等领域。
A welding robot mechanism with eight activities in space, including a two-dimensional rotating arm mechanism, a three-dimensional rotating small arm mechanism and an end actuator platform mechanism, the above three parts are connected in series, and the connection is respectively composed of two linear drivers, three linear drivers, Three linear drives are driven in parallel to realize a large working space of the mechanism and flexible track output, and the overall structure is simple and compact, and the error compensation is good. The end effector platform is used to install equipment such as welding torches or welding tongs. The invention can be applied to industrial production such as handling, palletizing, assembling, cutting, etc., and can also be applied to engineering machinery such as excavators and bionic mechanisms such as bionic arms and bionic legs.
Description
技术领域 technical field
本发明涉及工业机器人领域，特别是一种空间八活动度焊接机器人机构。The invention relates to the field of industrial robots, in particular to a welding robot mechanism with eight degrees of activity in space.
背景技术 Background technique
机器人广泛应用于工业生产的焊接、搬运、码垛、装配、切割等作业当中。其中已得到较好应用的机器人基本上都属于关节机器人，多为6个轴，通过1、2、3轴的联合动作将末端工具送到不同的空间位置，并辅以4、5、6轴的联动以满足工具姿态的不同要求。这种机器人本体机械结构主要有平行四边形结构和侧置式结构两种形式，因其具有较大工作空间和较为灵活的动作得到了广泛应用。但这类传统开链式串联机器人机构因其自身结构的限制，存在着机构笨重、刚性差、惯量大、关节误差累积等问题，动力学性能较差，难以满足日益严格的高速高精度作业要求。并联机器人机构是一种动平台和定平台通过至少两个独立的运动链相连接，机构具有两个或两个以上自由度，且以并联方式驱动的闭环机构，具有结构紧凑、误差累计小、精度高、作业速度高、动态响应好等优点，但也存在工作空间较小、动作不够灵活等缺点。Robots are widely used in welding, handling, palletizing, assembly, cutting and other operations in industrial production. Among them, the robots that have been better applied are basically articulated robots, mostly with 6 axes, and the end tools are sent to different spatial positions through joint actions of 1, 2, and 3 axes, supplemented by 4, 5, and 6 axes. The linkage to meet the different requirements of the tool attitude. The mechanical structure of the robot body mainly has two forms: a parallelogram structure and a side-mounted structure, and it has been widely used because of its large working space and relatively flexible movements. However, due to the limitation of its own structure, this kind of traditional open-chain series robot mechanism has problems such as bulky mechanism, poor rigidity, large inertia, accumulation of joint errors, etc., and poor dynamic performance, which makes it difficult to meet the increasingly stringent high-speed and high-precision operation requirements. . The parallel robot mechanism is a closed-loop mechanism with a moving platform and a fixed platform connected by at least two independent kinematic chains. The mechanism has two or more degrees of freedom and is driven in parallel. It has compact structure, small error accumulation, It has the advantages of high precision, high operating speed, and good dynamic response, but it also has disadvantages such as small working space and inflexible movements.
发明内容 Contents of the invention
本发明的目的在于提供一种空间八活动度焊接机器人机构，具有工作空间大、轨迹输出灵活、刚度大、稳定性强、累计误差小、精度高等优点，能有效解决传统开链式串联机器人手臂重量大、刚性差、惯量大、关节误差累积，以及并联机器人工作空间较小、动作不够灵活等的各自问题，适用于受到工装夹具、高温高压等危险作业的环境限制使得人工操作难度大等场合，可有效提高工作质量、效率，降低人工劳动强度。The object of the present invention is to provide a welding robot mechanism with eight activities in space, which has the advantages of large working space, flexible trajectory output, high rigidity, strong stability, small cumulative error, and high precision, and can effectively solve the problem of traditional open-chain series robot arms. Large weight, poor rigidity, large inertia, accumulation of joint errors, small working space and inflexible movements of parallel robots, etc., are suitable for situations where manual operation is difficult due to environmental restrictions such as fixtures, high temperature and high pressure, and other dangerous operations. , can effectively improve work quality, efficiency, and reduce labor intensity.
本发明通过以下技术方案达到上述目的：一种空间八活动度焊接机器人机构，包括二维转动大臂机构、三维转动小臂机构和末端执行平台机构。The present invention achieves the above object through the following technical solutions: a welding robot mechanism with eight activities in space, including a two-dimensional rotating arm mechanism, a three-dimensional rotating small arm mechanism and an end actuator platform mechanism.
所述二维转动大臂机构由机架、二维转动大臂、第一直线驱动器和第二直线驱动器组成，二维转动大臂通过第一虎克铰连接到机架上，第一直线驱动器一端通过第一球面副连接到机架上，另一端通过第二球面副连接到二维转动大臂上；第二直线驱动器一端通过第三球面副连接到机架上，另一端通过第四球面副连接到二维转动大臂上。第一直线驱动器和第二直线驱动器可各自单独驱动二维转动大臂实现一维转动输出，也可以并联方式驱动二维转动大臂实现相对机架的二维转动输出。The two-dimensional rotating arm mechanism is composed of a frame, a two-dimensional rotating arm, a first linear driver and a second linear driver, the two-dimensional rotating arm is connected to the frame through a first Hooke hinge, and the first linear One end of the line driver is connected to the frame through the first spherical pair, and the other end is connected to the two-dimensional rotating boom through the second spherical pair; one end of the second linear driver is connected to the frame through the third spherical pair, and the other end is connected to the frame through the second spherical pair. The four spherical pairs are connected to the two-dimensional rotating boom. The first linear driver and the second linear driver can individually drive the two-dimensional rotating arm to realize the one-dimensional rotating output, and can also drive the two-dimensional rotating arm in parallel to realize the two-dimensional rotating output relative to the frame.
所述三维转动小臂机构由三维转动小臂、第三直线驱动器、第四直线驱动器和第五直线驱动器组成，三维转动小臂通过第五球面副连接到二维转动大臂上，第三直线驱动器一端通过第六球面副连接到二维转动大臂上，另一端通过第七球面副连接到三维转动小臂上，第四直线驱动器一端通过第八球面副连接到二维转动大臂上，另一端通过第九球面副连接到三维转动小臂上；第五直线驱动器一端通过第十球面副连接到二维转动大臂上，另一端通过第十一球面副连接到三维转动小臂上。第三直线驱动器、第四直线驱动器、第五直线驱动器可各自单独驱动三维转动小臂实现一维转动输出，也可以并联方式驱动三维转动小臂实现相对二维转动大臂的三维转动输出。The three-dimensional rotating arm mechanism is composed of a three-dimensional rotating arm, a third linear driver, a fourth linear driver and a fifth linear driver, the three-dimensional rotating arm is connected to the two-dimensional rotating arm through the fifth spherical pair, and the third linear One end of the driver is connected to the two-dimensional rotating arm through the sixth spherical pair, the other end is connected to the three-dimensional rotating arm through the seventh spherical pair, and one end of the fourth linear drive is connected to the two-dimensional rotating arm through the eighth spherical pair. The other end is connected to the three-dimensional rotating arm through the ninth spherical pair; one end of the fifth linear drive is connected to the two-dimensional rotating arm through the tenth spherical pair, and the other end is connected to the three-dimensional rotating arm through the eleventh spherical pair. The third linear driver, the fourth linear driver, and the fifth linear driver can individually drive the three-dimensional rotating arm to realize the one-dimensional rotating output, and can also drive the three-dimensional rotating arm in parallel to realize the three-dimensional rotating output relative to the two-dimensional rotating arm.
所述末端执行平台机构由末端执行平台、第六直线驱动器、第七直线驱动器和第八直线驱动器组成，末端执行平台通过第十二球面副连接到三维转动小臂上，第六直线驱动器一端通过第十三球面副连接到三维转动小臂上，另一端通过第十四球面副连接到末端执行平台上，第七直线驱动器一端通过第十五球面副连接到三维转动小臂上，另一端通过第十六球面副连接到末端执行平台上；第八直线驱动器一端通过第十七球面副连接到三维转动小臂上，另一端通过第十八球面副连接到末端执行平台上。第六直线驱动器、第七直线驱动器和第八直线驱动器可各自单独驱动末端执行平台实现一维转动输出，也可以并联方式驱动末端执行平台实现相对三维转动小臂的三维转动输出。The end effector mechanism is composed of an end effector, a sixth linear driver, a seventh linear driver and an eighth linear driver. The end effector is connected to the three-dimensional rotary arm through the twelfth spherical pair, and one end of the sixth linear driver is passed through The thirteenth spherical pair is connected to the three-dimensional rotary arm, and the other end is connected to the end effector platform through the fourteenth spherical pair. One end of the seventh linear drive is connected to the three-dimensional rotary arm through the fifteenth spherical pair. The sixteenth spherical pair is connected to the end effector platform; one end of the eighth linear drive is connected to the three-dimensional rotating arm through the seventeenth spherical pair, and the other end is connected to the end effector platform through the eighteenth spherical pair. The sixth linear driver, the seventh linear driver and the eighth linear driver can individually drive the end effector platform to achieve one-dimensional rotation output, and can also drive the end effector platform in parallel to achieve three-dimensional rotation output relative to the three-dimensional rotation arm.
本发明的突出优点在于：The outstanding advantages of the present invention are:
1、二维转动大臂、三维转动小臂、末端执行平台串联连接，连接处分别由两个直线驱动器、三个直线驱动器、三个直线驱动器并联驱动，实现机构大工作空间、灵活的轨迹输出，且整体结构简单紧凑、误差补偿好。1. The two-dimensional rotating arm, the three-dimensional rotating arm, and the end-execution platform are connected in series, and the connection points are respectively driven by two linear drives, three linear drives, and three linear drives in parallel to realize a large working space of the mechanism and flexible track output , and the overall structure is simple and compact, and the error compensation is good.
2、通过在末端执行平台上安装各种不同用途的末端执行器，本发明可应用到搬运、码垛、装配、切割等工业生产当中，也可应用于挖掘机等工程机械和仿生手臂、仿生腿等仿生机构等领域。2. By installing various end effectors for different purposes on the end execution platform, the present invention can be applied to industrial production such as handling, palletizing, assembling, cutting, etc., and can also be applied to engineering machinery such as excavators, bionic arms, bionic Legs and other bionic institutions and other fields.
附图说明 Description of drawings
图1为本发明所述空间八活动度焊接机器人机构的结构示意图。Fig. 1 is a structural schematic diagram of a welding robot mechanism with eight degrees of activity in space according to the present invention.
图2为本发明所述空间八活动度焊接机器人机构的二维转动大臂机构示意图。Fig. 2 is a schematic diagram of a two-dimensional rotating arm mechanism of a welding robot mechanism with eight degrees of activity in space according to the present invention.
图3为本发明所述空间八活动度焊接机器人机构的三维转动小臂机构示意图。Fig. 3 is a schematic diagram of the three-dimensional rotating arm mechanism of the welding robot mechanism with eight degrees of activity in space according to the present invention.
图4为本发明所述空间八活动度焊接机器人机构的末端执行平台机构示意图。Fig. 4 is a schematic diagram of the end effector mechanism of the space eight-degree-of-motion welding robot mechanism of the present invention.
图5为本发明所述空间八活动度焊接机器人机构的第一种工作状态示意图。Fig. 5 is a schematic diagram of the first working state of the space eight-degree-of-motion welding robot mechanism of the present invention.
图6为本发明所述空间八活动度焊接机器人机构的第二种工作状态示意图。Fig. 6 is a schematic diagram of the second working state of the space eight-degree-of-motion welding robot mechanism of the present invention.
图7为本发明所述空间八活动度焊接机器人机构的第三种工作状态示意图。Fig. 7 is a schematic diagram of the third working state of the space eight-degree-of-motion welding robot mechanism of the present invention.
图8为本发明所述空间八活动度焊接机器人机构的第四种工作状态示意图。Fig. 8 is a schematic diagram of the fourth working state of the space eight-degree-of-motion welding robot mechanism of the present invention.
图9为本发明所述空间八活动度焊接机器人机构的第五种工作状态示意图。Fig. 9 is a schematic diagram of the fifth working state of the space eight-degree-of-motion welding robot mechanism of the present invention.
具体实施方式 Detailed ways
下面结合附图及实施例对本发明的技术方案作进一步说明。The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.
对照图1、2、3和4，所述空间八活动度焊接机器人机构由二维转动大臂机构、三维转动小臂机构和末端执行平台机构组成。Referring to Figures 1, 2, 3 and 4, the welding robot mechanism with eight degrees of activity in space is composed of a two-dimensional rotating arm mechanism, a three-dimensional rotating forearm mechanism and an end-effector platform mechanism.
对照图1、2，所述二维转动大臂机构由机架1、二维转动大臂6、第一直线驱动器4和第二直线驱动器30组成，二维转动大臂6通过第一虎克铰2连接到机架1上，第一直线驱动器4一端通过第一球面副3连接到机架1上，另一端通过第二球面副5连接到二维转动大臂6上，第二直线驱动器30一端通过第三球面副31连接到机架1上，另一端通过第四球面副29连接到二维转动大臂6上。第一直线驱动器4和第二直线驱动器30可各自单独驱动二维转动大臂6实现一维转动输出，也可以并联方式驱动二维转动大臂6实现相对机架1的二维转动输出。Referring to Figures 1 and 2, the two-dimensional rotating boom mechanism is composed of a frame 1, a two-dimensional rotating boom 6, a first linear driver 4 and a second linear driver 30, and the two-dimensional rotating boom 6 passes through the first tiger The gram hinge 2 is connected to the frame 1, one end of the first linear drive 4 is connected to the frame 1 through the first spherical pair 3, and the other end is connected to the two-dimensional rotating arm 6 through the second spherical pair 5, and the second One end of the linear drive 30 is connected to the frame 1 through the third spherical pair 31 , and the other end is connected to the two-dimensional rotating arm 6 through the fourth spherical pair 29 . The first linear driver 4 and the second linear driver 30 can individually drive the two-dimensional rotating arm 6 to realize the one-dimensional rotating output, or drive the two-dimensional rotating arm 6 in parallel to realize the two-dimensional rotating output relative to the frame 1 .
对照图1、3，所述三维转动小臂机构由三维转动小臂11、第三直线驱动器9、第四直线驱动器26和第五直线驱动器27组成，三维转动小臂11通过第五球面副12连接到二维转动大臂6上，第三直线驱动器9一端通过第六球面副8连接到二维转动大臂6上，另一端通过第七球面副10连接到三维转动小臂11上，第四直线驱动器26一端通过第八球面副28连接到二维转动大臂6上，另一端通过第九球面副25连接到三维转动小臂11上，第五直线驱动器27一端通过第十球面副7连接到二维转动大臂6上，另一端通过第十一球面副13连接到三维转动小臂11上。第三直线驱动器9、第四直线驱动器26、第五直线驱动器27可各自单独驱动三维转动小臂11实现一维转动输出，也可以并联方式驱动三维转动小臂11实现相对二维转动大臂6的三维转动输出。1 and 3, the three-dimensional rotating arm mechanism is composed of the three-dimensional rotating arm 11, the third linear actuator 9, the fourth linear actuator 26 and the fifth linear actuator 27, and the three-dimensional rotating arm 11 passes through the fifth spherical pair 12 Connected to the two-dimensional rotating arm 6, one end of the third linear driver 9 is connected to the two-dimensional rotating arm 6 through the sixth spherical pair 8, and the other end is connected to the three-dimensional rotating arm 11 through the seventh spherical pair 10, One end of the four linear drivers 26 is connected to the two-dimensional rotating arm 6 through the eighth spherical pair 28, the other end is connected to the three-dimensional rotating arm 11 through the ninth spherical pair 25, and one end of the fifth linear driver 27 passes through the tenth spherical pair 7 It is connected to the two-dimensional rotating arm 6, and the other end is connected to the three-dimensional rotating arm 11 through the eleventh spherical pair 13. The third linear driver 9, the fourth linear driver 26, and the fifth linear driver 27 can separately drive the three-dimensional rotating arm 11 to realize the one-dimensional rotating output, and can also drive the three-dimensional rotating arm 11 in parallel to realize the relatively two-dimensional rotating arm 6 The three-dimensional rotation output of .
对照图1、4，所述末端执行平台机构由末端执行平台17、第六直线驱动器15、第七直线驱动器22和第八直线驱动器20组成，末端执行平台17通过第十二球面副19连接到三维转动小臂11上，第六直线驱动15器一端通过第十三球面副14连接到三维转动小臂11上，另一端通过第十四球面副16连接到末端执行平台17上，第七直线驱动器22一端通过第十五球面副24连接到三维转动小臂11上，另一端通过第十六球面副21连接到末端执行平台17上，第八直线驱动器20一端通过第十七球面副23连接到三维转动小臂11上，另一端通过第十八球面副18连接到末端执行平台17上。第六直线驱动器15、第七直线驱动器22和第八直线驱动器20可各自单独驱动末端执行平台17实现一维转动输出，也可以并联方式驱动末端执行平台17实现相对三维转动小臂11的三维转动输出。Referring to Figures 1 and 4, the end effector mechanism is composed of an end effector 17, a sixth linear actuator 15, a seventh linear actuator 22 and an eighth linear actuator 20, and the end effector 17 is connected to the On the three-dimensional rotating arm 11, one end of the sixth linear driver 15 is connected to the three-dimensional rotating arm 11 through the thirteenth spherical pair 14, and the other end is connected to the end effector platform 17 through the fourteenth spherical pair 16. One end of the driver 22 is connected to the three-dimensional rotary arm 11 through the fifteenth spherical pair 24 , the other end is connected to the end effector platform 17 through the sixteenth spherical pair 21 , and one end of the eighth linear driver 20 is connected through the seventeenth spherical pair 23 to the three-dimensional rotary arm 11 , and the other end is connected to the end effector platform 17 through the eighteenth spherical pair 18 . The sixth linear actuator 15, the seventh linear actuator 22, and the eighth linear actuator 20 can individually drive the end effector 17 to achieve one-dimensional rotation output, and can also drive the end effector 17 in parallel to achieve three-dimensional rotation relative to the three-dimensional rotation arm 11 output.
对照图5、6、7、8和9，所述空间八活动度焊接机器人机构通过每个关节处共八个直线驱动器并联驱动，实现机构末端各种灵活多变位置和姿态输出的示意图。Referring to Figures 5, 6, 7, 8 and 9, the eight-degree-of-space welding robot mechanism is driven in parallel by a total of eight linear actuators at each joint to achieve various flexible position and attitude outputs at the end of the mechanism.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103737209A (en) * | 2013-12-17 | 2014-04-23 | 广西大学 | Welding robot with symmetrical mechanisms |
| CN103737208A (en) * | 2013-12-17 | 2014-04-23 | 广西大学 | Multi-degree-of-freedom welding robot |
| CN104476054A (en) * | 2014-12-23 | 2015-04-01 | 广西大学 | Welding construction method through utilizing six-degree-of-freedom five-rod moving type connecting rod mechanism |
| CN104551477A (en) * | 2014-12-23 | 2015-04-29 | 广西大学 | Method for carrying out welding construction by utilizing multi-degree of freedom controllable mechanism type connecting rod mechanism |
| CN114643445A (en) * | 2022-03-14 | 2022-06-21 | 南昌润浩精铸科技有限公司 | Automatic assembly production equipment for air conditioner refrigeration compressor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103737209A (en) * | 2013-12-17 | 2014-04-23 | 广西大学 | Welding robot with symmetrical mechanisms |
| CN103737208A (en) * | 2013-12-17 | 2014-04-23 | 广西大学 | Multi-degree-of-freedom welding robot |
| CN104476054A (en) * | 2014-12-23 | 2015-04-01 | 广西大学 | Welding construction method through utilizing six-degree-of-freedom five-rod moving type connecting rod mechanism |
| CN104551477A (en) * | 2014-12-23 | 2015-04-29 | 广西大学 | Method for carrying out welding construction by utilizing multi-degree of freedom controllable mechanism type connecting rod mechanism |
| CN104476054B (en) * | 2014-12-23 | 2016-07-06 | 广西大学 | Utilize the method that six degree of freedom five bar movable type linkage carries out welding procedure |
| CN104551477B (en) * | 2014-12-23 | 2016-08-24 | 广西大学 | Utilize the method that multi-freedom-degreecontrollable controllable mechanism type linkage carries out welding procedure |
| CN114643445A (en) * | 2022-03-14 | 2022-06-21 | 南昌润浩精铸科技有限公司 | Automatic assembly production equipment for air conditioner refrigeration compressor |
| CN114643445B (en) * | 2022-03-14 | 2023-12-08 | 南昌润浩精铸科技有限公司 | Automatic assembling production equipment for air conditioner refrigeration compressor |
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Application publication date: 20120627 |