CN102514001A - Spatial eight-degrees-of-freedom welding robot mechanism - Google Patents
Spatial eight-degrees-of-freedom welding robot mechanism Download PDFInfo
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- CN102514001A CN102514001A CN2011104453191A CN201110445319A CN102514001A CN 102514001 A CN102514001 A CN 102514001A CN 2011104453191 A CN2011104453191 A CN 2011104453191A CN 201110445319 A CN201110445319 A CN 201110445319A CN 102514001 A CN102514001 A CN 102514001A
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Abstract
The invention discloses a spatial eight-degrees-of-freedom welding robot mechanism, which comprises a two-dimensional rotating large arm mechanism, a three-dimensional rotating small arm mechanism and an end effector platform mechanism which are connected in series. The connected parts are parallelly driven by two linear drivers, three linear drivers and three linear drivers respectively to realize the large-working-space and flexible track output of the mechanism; and the whole mechanism has a simple and compact structure and a good error compensation effect; and the end effector platform is used for accommodating a welding gun or an electrode holder and other equipment. The spatial eight-degrees-of-freedom welding robot mechanism can be applied to industrial production such as carrying, stacking, assembly, cutting and the like, and also can be applied to the fields such as engineering machinery such as excavators, bionic mechanisms such as bionic arms and bionic legs, and the like.
Description
Technical field
The present invention relates to the industrial robot field, particularly a kind of space eight mobility welding robot robot mechanisms.
Background technology
Robot is widely used in the middle of the operations such as industrial welding, carrying, piling, assembling, cutting.The robot that is wherein better used all belongs to articulated robot basically, is mostly 6 axles, through 1,2,3 teamwork end-of-arm tooling is delivered to different spatial positions, and is aided with 4,5,6 interlock to satisfy the demands of different of instrument attitude.This 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 serial machine robot mechanism is because of the restriction of himself structure, exists problems such as mechanism's heaviness, poor rigidity, inertia are big, joint error accumulation, and dynamic performance is relatively poor, is difficult to satisfy the high-speed, high precision job requirements of increasingly stringent.Parallel robot mechanism is that a kind of moving platform is connected through at least two independent motion chains with fixed platform; Mechanism has two or more frees degree; And closed loop mechanism with the parallel way driving; Advantage such as have compact conformation, deviation accumulation is little, precision is high, operating speed is high, dynamic response is good, but also have shortcomings such as working space is less, action underaction.
Summary of the invention
The object of the present invention is to provide a kind of space eight mobility welding robot robot mechanisms; Have that working space is big, track output flexibly, rigidity is big, stability is strong, little, the precision advantages of higher of cumulative errors; Can solve effectively that traditional fisher's formula serial machine human arm weight is big, poor rigidity, big, the joint error accumulation of inertia; And the parallel robot working space is less, the problem separately of action underaction etc.; The environmental limitations that is applicable to dangerous operations such as receiving frock clamp, HTHP makes and occasions such as the manually-operated difficulty is big can effectively improve work quality, efficient, reduces hand labor intensity.
The present invention achieves the above object through following technical scheme: a kind of space eight mobility welding robot robot mechanisms comprise the big arm mechanism of two dimension rotation, the little arm mechanism of Three dimensional rotation and the terminal platform mechanism of carrying out.
Said two dimension is rotated big arm mechanism and is made up of frame, the big arm of two dimension rotation, first linear actuator and second linear actuator; Two dimension is rotated big arm and is connected on the frame through first Hooke's hinge; First linear actuator, one end is connected on the frame through first spherical pair, and the other end is connected to two dimension through second spherical pair and rotates on the big arm; Second linear actuator, one end is connected on the frame through the 3rd spherical pair, and the other end is connected to two dimension through the 4th spherical pair and rotates on the big arm.First linear actuator and second linear actuator single driving two dimension separately rotate big arm realization one dimension rotation output, also can parallel way drive the two dimension rotation output that the big arm of two dimension rotation is realized relative frame.
The little arm mechanism of said Three dimensional rotation is made up of Three dimensional rotation forearm, the 3rd linear actuator, the 4th linear actuator and the 5th linear actuator; The Three dimensional rotation forearm is connected to two dimension through the 5th spherical pair and rotates on the big arm; The 3rd linear actuator one end is connected to two dimension through the 6th spherical pair and rotates on the big arm; The other end is connected on the Three dimensional rotation forearm through the 7th spherical pair; The 4th linear actuator one end is connected to two dimension through the 8th spherical pair and rotates on the big arm, and the other end is connected on the Three dimensional rotation forearm through the 9th spherical pair; The 5th linear actuator one end is connected to two dimension through the tenth spherical pair and rotates on the big arm, and the other end is connected on the Three dimensional rotation forearm through the 11 spherical pair.The 3rd linear actuator, the 4th linear actuator, the 5th linear actuator single driving Three dimensional rotation forearm are separately realized one dimension rotation output, also can parallel way drive the Three dimensional rotation forearm realization Three dimensional rotation output of the big arm of two dimension rotation relatively.
Said terminal execution platform mechanism is carried out platform, the 6th linear actuator, the 7th linear actuator and the 8th linear actuator by end and is formed; The terminal platform of carrying out is connected on the Three dimensional rotation forearm through the 12 spherical pair; The 6th linear actuator one end is connected on the Three dimensional rotation forearm through the 13 spherical pair; The other end is connected to terminal the execution on the platform through the 14 spherical pair; The 7th linear actuator one end is connected on the Three dimensional rotation forearm through the 15 spherical pair, and the other end is connected to terminal the execution on the platform through the 16 spherical pair; The 8th linear actuator one end is connected on the Three dimensional rotation forearm through the 17 spherical pair, and the other end is connected to terminal the execution on the platform through the 18 spherical pair.The 6th linear actuator, the 7th linear actuator and the 8th the linear actuator terminal Platform Implementation one dimension of carrying out of single driving separately rotate output, also can parallel way drive the terminal Three dimensional rotation output of carrying out the relative Three dimensional rotation forearm of Platform Implementation.
Outstanding advantage of the present invention is:
1, the big arm of two dimension rotation, Three dimensional rotation forearm, the terminal platform of carrying out are connected in series; The junction is driven by two linear actuators, three linear actuators, three linear actuator parallel connections respectively; Realize the big working space of mechanism, track output flexibly, and overall structure compact, error compensation are good.
2, through carrying out the end effector that various different purposes are installed on the platform endways; The present invention may be used on also can be applicable to engineering machinery and fields such as bio-mechanism such as bionic arm, bionic leg such as excavator in the middle of the commercial production such as carrying, piling, assembling, cutting.
Description of drawings
Fig. 1 is the structural representation of space according to the invention eight mobility welding robot robot mechanisms.
Fig. 2 rotates big arm mechanism sketch map for the two dimension of space according to the invention eight mobility welding robot robot mechanisms.
Fig. 3 is the Three dimensional rotation forearm structural scheme of mechanism of space according to the invention eight mobility welding robot robot mechanisms.
Fig. 4 is that the end of space according to the invention eight mobility welding robot robot mechanisms is carried out the platform mechanism sketch map.
Fig. 5 is first kind of working state schematic representation of space according to the invention eight mobility welding robot robot mechanisms.
Fig. 6 is second kind of working state schematic representation of space according to the invention eight mobility welding robot robot mechanisms.
Fig. 7 is the third working state schematic representation of space according to the invention eight mobility welding robot robot mechanisms.
Fig. 8 is the 4th a kind of working state schematic representation of space according to the invention eight mobility welding robot robot mechanisms.
Fig. 9 is the 5th a kind of working state schematic representation of space according to the invention eight mobility welding robot robot mechanisms.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment technical scheme of the present invention is described further.
Map 1,2,3 and 4, said space eight mobility welding robot robot mechanisms are rotated big arm mechanism, the little arm mechanism of Three dimensional rotation and the terminal platform mechanism of carrying out by two dimension and are formed.
Map 1,2; Said two dimension is rotated big arm mechanism and is rotated big arm 6, first linear actuator 4 and second linear actuator 30 by frame 1, two dimension and form; Two dimension is rotated big arm 6 and is connected on the frame 1 through first Hooke's hinge 2; First linear actuator, 4 one ends are connected on the frame 1 through first spherical pair 3; The other end is connected to two dimension through second spherical pair 5 and rotates on the big arm 6, and second linear actuator, 30 1 ends are connected on the frame 1 through the 3rd spherical pair 31, and the other end is connected to two dimension through the 4th spherical pair 29 and rotates on the big arm 6.First linear actuator 4 and second linear actuator 30 single driving two dimension separately rotate big arm 6 and realize that one dimensions rotate output, also can parallel way drive two dimension and rotate big arm 6 and realize that the two dimension of relative frame 1 rotates output.
Map 1,3; The little arm mechanism of said Three dimensional rotation is made up of Three dimensional rotation forearm 11, the 3rd linear actuator 9, the 4th linear actuator 26 and the 5th linear actuator 27; Three dimensional rotation forearm 11 is connected to two dimension through the 5th spherical pair 12 and rotates on the big arm 6; The 3rd linear actuator 9 one ends are connected to two dimension through the 6th spherical pair 8 and rotate on the big arm 6; The other end is connected on the Three dimensional rotation forearm 11 through the 7th spherical pair 10, and the 4th linear actuator 26 1 ends are connected to two dimension through the 8th spherical pair 28 and rotate on the big arm 6, and the other end is connected on the Three dimensional rotation forearm 11 through the 9th spherical pair 25; The 5th linear actuator 27 1 ends are connected to two dimension through the tenth spherical pair 7 and rotate on the big arm 6, and the other end is connected on the Three dimensional rotation forearm 11 through the 11 spherical pair 13.The 3rd linear actuator 9, the 4th linear actuator 26, the 5th linear actuator 27 single driving Three dimensional rotation forearm 11 separately realize that one dimensions rotate output, also can parallel way drive Three dimensional rotation forearm 11 and realize that two dimension relatively rotates the Three dimensional rotation output of big arm 6.
Map 1,4; The said terminal platform mechanism of carrying out is carried out platform 17, the 6th linear actuator 15, the 7th linear actuator 22 and the 8th linear actuator 20 by end and is formed; The terminal platform 17 of carrying out is connected on the Three dimensional rotation forearm 11 through the 12 spherical pair 19; The 6th linear drives 15 devices one end is connected on the Three dimensional rotation forearm 11 through the 13 spherical pair 14; The other end is connected to terminal the execution on the platform 17 through the 14 spherical pair 16, and the 7th linear actuator 22 1 ends are connected on the Three dimensional rotation forearm 11 through the 15 spherical pair 24, and the other end is connected to terminal the execution on the platform 17 through the 16 spherical pair 21; The 8th linear actuator 20 1 ends are connected on the Three dimensional rotation forearm 11 through the 17 spherical pair 23, and the other end is connected to terminal the execution on the platform 17 through the 18 spherical pair 18.The 6th linear actuator 15, the 7th linear actuator 22 and the 8th the linear actuator 20 terminal platform 17 of carrying out of single driving separately realize that one dimensions rotate output, also can parallel way drive the terminal Three dimensional rotation output that platform 17 is realized relative Three dimensional rotation forearm 11 of carrying out.
Map 5,6,7,8 and 9, said space eight mobility welding robot robot mechanisms realize the sketch map of terminal various flexible and changeable positions of mechanism and attitude output through totally eight the linear actuator parallel connection drivings of each joint.
Claims (1)
1. space eight mobility welding robot robot mechanisms comprise the big arm mechanism of two dimension rotation, the little arm mechanism of Three dimensional rotation and the terminal platform mechanism of carrying out, and its structure and connected mode are:
Said two dimension is rotated big arm mechanism and is made up of frame, the big arm of two dimension rotation, first linear actuator and second linear actuator; Two dimension is rotated big arm and is connected on the frame through first Hooke's hinge; First linear actuator, one end is connected on the frame through first spherical pair, and the other end is connected to two dimension through second spherical pair and rotates on the big arm, and second linear actuator, one end is connected on the frame through the 3rd spherical pair; The other end is connected to two dimension through the 4th spherical pair and rotates on the big arm
The little arm mechanism of said Three dimensional rotation is made up of Three dimensional rotation forearm, the 3rd linear actuator, the 4th linear actuator and the 5th linear actuator; The Three dimensional rotation forearm is connected to two dimension through the 5th spherical pair and rotates on the big arm; The 3rd linear actuator one end is connected to two dimension through the 6th spherical pair and rotates on the big arm; The other end is connected on the Three dimensional rotation forearm through the 7th spherical pair; The 4th linear actuator one end is connected to two dimension through the 8th spherical pair and rotates on the big arm, and the other end is connected on the Three dimensional rotation forearm through the 9th spherical pair, and the 5th linear actuator one end is connected to two dimension through the tenth spherical pair and rotates on the big arm; The other end is connected on the Three dimensional rotation forearm through the 11 spherical pair
Said terminal execution platform mechanism is carried out platform, the 6th linear actuator, the 7th linear actuator and the 8th linear actuator by end and is formed; The terminal platform of carrying out is connected on the Three dimensional rotation forearm through the 12 spherical pair; The 6th linear actuator one end is connected on the Three dimensional rotation forearm through the 13 spherical pair; The other end is connected to terminal the execution on the platform through the 14 spherical pair; The 7th linear actuator one end is connected on the Three dimensional rotation forearm through the 15 spherical pair; The other end is connected to terminal the execution on the platform through the 16 spherical pair, and the 8th linear actuator one end is connected on the Three dimensional rotation forearm through the 17 spherical pair, and the other end is connected to terminal the execution on the platform through the 18 spherical pair.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011104453191A CN102514001A (en) | 2011-12-28 | 2011-12-28 | Spatial eight-degrees-of-freedom welding robot mechanism |
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| CN2011104453191A CN102514001A (en) | 2011-12-28 | 2011-12-28 | Spatial eight-degrees-of-freedom welding robot 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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| GB2143498A (en) * | 1983-07-21 | 1985-02-13 | Emi Ltd | Improvements in or relating to assembly robots |
| CN2187524Y (en) * | 1993-09-18 | 1995-01-18 | 中国科学院沈阳自动化研究所 | An artificial trunk flexible mechanism |
| JP2003172418A (en) * | 2001-12-07 | 2003-06-20 | Koji Kondo | Parallel mechanism robot arm (3) |
| US6766711B2 (en) * | 2000-02-10 | 2004-07-27 | Abb Ab | Industrial robot device |
| CN202480091U (en) * | 2011-12-28 | 2012-10-10 | 广西大学 | Welding robot mechanism with space eight motion degrees |
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2011
- 2011-12-28 CN CN2011104453191A patent/CN102514001A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2143498A (en) * | 1983-07-21 | 1985-02-13 | Emi Ltd | Improvements in or relating to assembly robots |
| CN2187524Y (en) * | 1993-09-18 | 1995-01-18 | 中国科学院沈阳自动化研究所 | An artificial trunk flexible mechanism |
| US6766711B2 (en) * | 2000-02-10 | 2004-07-27 | Abb Ab | Industrial robot device |
| JP2003172418A (en) * | 2001-12-07 | 2003-06-20 | Koji Kondo | Parallel mechanism robot arm (3) |
| CN202480091U (en) * | 2011-12-28 | 2012-10-10 | 广西大学 | Welding robot mechanism with space eight motion degrees |
Cited By (8)
| 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 |
| 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 |