CN103737207A - Parallel-serial welding robot mechanism with six degrees of freedom - Google Patents
Parallel-serial welding robot mechanism with six degrees of freedom Download PDFInfo
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Abstract
本发明涉及一种六自由度混联焊接机器人机构,包括腰部回转机构、肩摆动机构、肘回转机构、前臂扭转机构、腕回转机构、焊枪卡座回转机构、机座及回转平台;通过由肩摆动机构和肘回转机构组成并联机构,实现平面的二维平动,将前臂执行末端焊枪卡座送达预定的区域;转动平台的整周转动实现了空间范围内执行末端的位置调整,获得较大的工作空间;前臂扭转机构、腕回转机构和焊枪卡座回转机构组成串联机构,三维转动实现了焊枪姿态的调整。本发明能够灵活而简捷地将焊枪送至空间不同点工作,而且获得较好的动力学性能,降低肩关节的承载载荷,达到高精度、高可靠性和便于维护保养优良特性。
The invention relates to a six-degree-of-freedom hybrid welding robot mechanism, including a waist rotation mechanism, a shoulder swing mechanism, an elbow rotation mechanism, a forearm rotation mechanism, a wrist rotation mechanism, a welding torch holder rotation mechanism, a machine base and a rotation platform; The swing mechanism and the elbow rotation mechanism form a parallel mechanism to realize the two-dimensional translation of the plane, and deliver the forearm executive end welding torch holder to the predetermined area; the full circle rotation of the rotating platform realizes the position adjustment of the executive end within the space range, and obtains better Large working space; the forearm torsion mechanism, the wrist rotation mechanism and the torch holder rotation mechanism form a series mechanism, and the three-dimensional rotation realizes the adjustment of the welding torch posture. The invention can flexibly and simply send the welding torch to work at different points in the space, obtain better dynamic performance, reduce the bearing load of the shoulder joint, and achieve high precision, high reliability and excellent characteristics of easy maintenance.
Description
技术领域technical field
本发明涉及工业机器人领域,具体是一种六自由度混联焊接机器人机构。The invention relates to the field of industrial robots, in particular to a six-degree-of-freedom hybrid welding robot mechanism.
背景技术Background technique
工业机器人是面向工业领域的多关节机械手或多自由度的机器人。工业机器人是自动执行工作的机器装置,是靠自身动力和控制能力来实现各种功能的一种机器。中国到2014年将成为全球最大的工业机器人消费国,专家表示,2011年,中国工业机器人销售量同比增长51%,未来3年中国工业机器人市场复合增速可达30%,中国或成为全球最大的机器人需求市场。由于现代计算机技术的迅速发展,多轴运动控制技术不断成熟,工业机器人的成本逐渐降低,目前已进入爆发式增长阶段。而焊接机器人作为工业机器人的一种,占据较大的比重。国际上的焊接机器人基本属于关节式机器人,绝大部分有六个轴,其中三个轴将执行末端安装工具送至空间可达位置,而另外的三个轴实现执行末端焊接工具的空间姿态调整。传统的关节式焊接机器人都将电机安装在关节处,使得机械手臂显得笨重,存在转动惯量大、刚度差以及累积误差大等不足。机构的动力学性能较差,难以满足日益高速高精度要求。串联机构在机构设计方面具有较好的运动学性能,而动力学性能较低;和串联机器人相比较,并联机构具有无累积误差,精度较高,驱动装置可置于定平台上或接近定平台的位置,这样运动部分重量轻,速度高,动态响应好,结构紧凑,刚度高,承载能力大,根据这些特点,并联机器人可以应用于高承载能力的场合,但由于并联机器人受结构限制,工作空间往往很小,一般用于驾驶模拟平台、雷达天线底座、数控车床等领域,较难应用于焊接机器人等对工作空间要求大的领域。而且,现有机器人腰关节既支撑整个机器人的重量,又承受整个机器人运动所带来的冲击,故障率较高,可靠性差,无故障运行时间短,而且较易造成较大的关节误差,对机器人的精度影响较大,由于这诸多缺点,现有机器人结构很难兼顾作业灵活性及高精度的特性,很难满足大工作空间、高精度、高可靠性的作业要求,成为大型机器人设计制造的一个瓶颈。所以怎样在保证机器人作业灵活性、高精度、高可靠性的前提下,满足大型机器人结构要求,成为了许多学者和机构探讨的重要问题。Industrial robots are multi-joint manipulators or robots with multiple degrees of freedom for the industrial field. An industrial robot is a machine device that performs work automatically, and is a machine that realizes various functions by its own power and control capabilities. China will become the world's largest consumer of industrial robots by 2014. According to experts, in 2011, China's industrial robot sales increased by 51% year-on-year. In the next three years, the compound growth rate of China's industrial robot market will reach 30%. China may become the world's largest robot demand market. Due to the rapid development of modern computer technology and the continuous maturity of multi-axis motion control technology, the cost of industrial robots has gradually decreased, and has now entered a stage of explosive growth. As a kind of industrial robot, welding robot occupies a large proportion. The welding robots in the world are basically articulated robots, and most of them have six axes, three of which will send the end-mounting tools to the space accessible position, and the other three axes will realize the spatial attitude adjustment of the end-end welding tools . The traditional articulated welding robot installs the motor at the joint, which makes the robot arm appear cumbersome, and has disadvantages such as large moment of inertia, poor stiffness, and large cumulative error. The dynamic performance of the mechanism is poor, and it is difficult to meet the increasingly high-speed and high-precision requirements. The series mechanism has better kinematic performance in terms of mechanism design, but the dynamic performance is lower; compared with the series robot, the parallel mechanism has no cumulative error and high precision, and the driving device can be placed on or close to the fixed platform. The position of the moving part is light, the speed is high, the dynamic response is good, the structure is compact, the rigidity is high, and the carrying capacity is large. The space is often small, and it is generally used in driving simulation platforms, radar antenna bases, CNC lathes and other fields, and it is difficult to apply to welding robots and other fields that require a large working space. Moreover, the waist joints of existing robots not only support the weight of the entire robot, but also bear the impact brought by the movement of the entire robot, which has a high failure rate, poor reliability, short trouble-free running time, and is easy to cause large joint errors. The accuracy of the robot is greatly affected. Due to these shortcomings, the existing robot structure is difficult to take into account the characteristics of operating flexibility and high precision, and it is difficult to meet the operating requirements of large working space, high precision, and high reliability. a bottleneck. Therefore, how to meet the structural requirements of large-scale robots under the premise of ensuring the flexibility, high precision and high reliability of robot operations has become an important issue discussed by many scholars and institutions.
发明内容Contents of the invention
本发明的目的在于为了克服现有技术存在的问题,提供一种混联机构的焊接机器人机构,综合串联机构和并联机构各自的优点,既在保证机器人作业灵活性、高精度、高可靠性,充分发挥串并联机构的优点的前提下,尽可能的将电机安置于机座上或将电机合理布置在整周转动轴附近,即尽可能的减小电机的转动随动半径,大幅提高机器人肩关节的可靠性,降低维护成本,实现机器人较好的动力学性能。The purpose of the present invention is to provide a welding robot mechanism of a hybrid mechanism in order to overcome the problems existing in the prior art, which integrates the respective advantages of the serial mechanism and the parallel mechanism to ensure the flexibility, high precision and high reliability of the robot operation, Under the premise of giving full play to the advantages of the series-parallel mechanism, the motor should be placed on the machine base as much as possible or the motor should be reasonably arranged near the rotation axis of the entire circumference, that is, the rotation radius of the motor can be reduced as much as possible, and the shoulder of the robot can be greatly improved. The reliability of the joints reduces maintenance costs and achieves better dynamic performance of the robot.
本发明通过以下技术方案实现以上目的:The present invention realizes the above object through the following technical solutions:
一种六自由度混联焊接机器人机构,包括腰部回转机构、肩摆动机构、肘回转机构、前臂扭转机构、腕回转机构、焊枪卡座回转机构、机座及回转平台;A six-degree-of-freedom hybrid welding robot mechanism, including a waist rotation mechanism, a shoulder swing mechanism, an elbow rotation mechanism, a forearm rotation mechanism, a wrist rotation mechanism, a welding torch holder rotation mechanism, a machine base and a rotation platform;
所述的腰部回转机构通过转动平台由第一转动副安装在机座上,第一转动副由第一伺服电机驱动;The waist turning mechanism is installed on the machine base by the first rotating pair through the rotating platform, and the first rotating pair is driven by the first servo motor;
所述肩摆动机构包括转动平台、第一主动杆、第一连杆和第二连杆,转动平台与第一主动杆由第二转动副连接,第一主动杆与第一连杆由第三转动副连接,第一连杆与第二连杆由第四转动副连接,第二连杆与转动平台由第五转动副连接,第一主动杆由第二伺服电机驱动;The shoulder swing mechanism includes a rotating platform, a first active rod, a first connecting rod and a second connecting rod. The rotating platform and the first active rod are connected by a second rotating pair, and the first active rod and the first connecting rod are connected by a third connecting rod. The rotating pair is connected, the first connecting rod and the second connecting rod are connected by the fourth rotating pair, the second connecting rod and the rotating platform are connected by the fifth rotating pair, and the first active rod is driven by the second servo motor;
所述肘回转机构包括第二主动杆、第三连杆和第四连杆,第二主动杆与第二连杆由第六转动副连接,第二主动杆与第三连杆由第七转动副连接,第三连杆与第四连杆由第八转动副连接,第四连杆与第二连杆由第九转动副连接;第二主动杆由第三伺服电机驱动;The toggle mechanism includes a second active rod, a third connecting rod and a fourth connecting rod, the second active rod and the second connecting rod are connected by the sixth rotating pair, and the second active rod and the third connecting rod are connected by the seventh rotating pair. Secondary connection, the third connecting rod and the fourth connecting rod are connected by the eighth rotating pair, the fourth connecting rod and the second connecting rod are connected by the ninth rotating pair; the second active rod is driven by the third servo motor;
所述前臂扭转机构、腕回转机构和焊枪座回转机构组成三维转动机构,前臂扭转机构由前臂与第四连杆通过第十转动副连接,由安装在第四连杆上的第四伺服电机驱动;腕回转机构由前臂与手腕通过第十一转动副连接,由安装在在前臂上的第五伺服电机驱动;焊枪卡座回转机构由手腕与焊枪卡座通过第十二转动副连接,由安装在手腕上的第六伺服电机驱动。The forearm twisting mechanism, the wrist turning mechanism and the welding torch seat turning mechanism form a three-dimensional turning mechanism. The forearm twisting mechanism is connected by the forearm and the fourth connecting rod through the tenth rotating pair, and is driven by the fourth servo motor installed on the fourth connecting rod. The wrist rotation mechanism is connected by the forearm and the wrist through the eleventh rotation pair, driven by the fifth servo motor installed on the forearm; the welding torch holder rotation mechanism is connected by the wrist and the welding torch holder through the twelfth rotation pair, and is installed Driven by a sixth servo motor on the wrist.
所述的第一转动副轴线垂直于机座,第二转动副、第三转动副、第四转动副、第五转动副、第六转动副、第七转动副、第八转动副和第九转动副轴线相互平行,其中第五转动副与第六转动副同轴,第十转动副与第九转动副轴线相互垂直,第十一转动副与第九转动副轴线相互垂直,第十二转动副与第十一转动副轴线相互垂直。The axis of the first rotary pair is perpendicular to the machine base, the second rotary pair, the third rotary pair, the fourth rotary pair, the fifth rotary pair, the sixth rotary pair, the seventh rotary pair, the eighth rotary pair and the ninth rotary pair The axes of the rotating pairs are parallel to each other, the fifth rotating pair is coaxial with the sixth rotating pair, the axes of the tenth rotating pair and the ninth rotating pair are perpendicular to each other, the axes of the eleventh rotating pair and the ninth rotating pair are perpendicular to each other, and the axes of the twelfth rotating pair The axes of the auxiliary and the eleventh rotating auxiliary are perpendicular to each other.
本发明通过腰部回转机构实现腰部整周转动;肩摆动机构和肘回转机构组成的两自由度的并联机构实现二维平动,分别由安装在转动平台上的电机驱动;由前臂扭转机构、腕回转机构和焊枪卡座回转机构相互连接的三个相互正交的旋转轴由三个电机分别独立驱动,实现了执行末端焊枪的三自由度姿态调整。与现有技术相比,本发明具有以下突出优点:The invention realizes the whole circle rotation of the waist through the waist rotation mechanism; the two-degree-of-freedom parallel mechanism composed of the shoulder swing mechanism and the elbow rotation mechanism realizes two-dimensional translation, which are respectively driven by motors installed on the rotation platform; The three mutually orthogonal rotation axes connected by the rotary mechanism and the rotary mechanism of the welding torch holder are independently driven by three motors, which realizes the three-degree-of-freedom attitude adjustment of the welding torch at the execution end. Compared with the prior art, the present invention has the following outstanding advantages:
1、采用混联机构,兼有并联机构刚度大和串联机构工作空间大的优点,尽可能的将驱动装置安放在机座位置,降低了手臂杆件的承载负荷,降低了整机的转动惯量,质量轻,累积误差小,具有良好的动力学性能,将大臂的支撑点通过小平行四边形机构引出用电机单独驱动,降低了电机轴的承载量,有利于精度的提高;1. The hybrid mechanism is adopted, which has the advantages of high rigidity of the parallel mechanism and large working space of the series mechanism. The driving device is placed on the machine base as much as possible, which reduces the load of the arm rod and the moment of inertia of the whole machine. Light weight, small cumulative error, and good dynamic performance. The support point of the boom is led out through a small parallelogram mechanism and driven by a motor alone, which reduces the load capacity of the motor shaft and is conducive to the improvement of precision;
2、通过平行四边形机构多增加一个承载铰接点,改进了传统的机构因全部载荷都施加在同一个肩部电机轴上带来承载能力差、精度低、不便于维护保养、低可靠性的缺点;2. An additional load-bearing hinge point is added through the parallelogram mechanism, which improves the shortcomings of the traditional mechanism, such as poor load-carrying capacity, low precision, inconvenient maintenance, and low reliability because all loads are applied to the same shoulder motor shaft. ;
3、将机构串联部分的驱动装置合理布置,提高整体机构的平衡性能,进一步提高了机构的动力学性能;3. Reasonably arrange the driving device of the series part of the mechanism, improve the balance performance of the overall mechanism, and further improve the dynamic performance of the mechanism;
4、机构简单,便于正逆运动学的求解、轨迹规划、误差补偿,方便精确控制。此外,执行末端安装不同的装置可以实现不同的工业用途,如码垛、切割、装配、喷涂及搬运等。4. The structure is simple, which is convenient for the solution of forward and reverse kinematics, trajectory planning, error compensation, and convenient and precise control. In addition, different devices installed at the end can realize different industrial uses, such as palletizing, cutting, assembling, spraying and handling, etc.
附图说明Description of drawings
图1为所述混联焊接机器人机构的结构示意图。Fig. 1 is a structural schematic diagram of the hybrid welding robot mechanism.
图2为所述混联焊接机器人机构的肩摆动机构示意图。Fig. 2 is a schematic diagram of the shoulder swing mechanism of the hybrid welding robot mechanism.
图3为所述混联焊接机器人机构的肘回转机构示意图。Fig. 3 is a schematic diagram of the elbow turning mechanism of the hybrid welding robot mechanism.
图4为所述混联焊接机器人机构的前臂扭转机构、腕回转机构和焊枪卡座回转机构示意图。Fig. 4 is a schematic diagram of the forearm twisting mechanism, the wrist turning mechanism and the welding torch holder turning mechanism of the hybrid welding robot mechanism.
图5为所述混联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 hybrid welding robot mechanism.
图6为所述混联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 hybrid welding robot mechanism.
图7为所述混联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 hybrid welding robot mechanism.
图8为所述混联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 hybrid welding robot mechanism.
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做进一步说明。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4,一种六自由度混联焊接机器人机构,由腰部回转机构、肩摆动机构、肘回转机构、前臂扭转机构、腕回转机构、焊枪卡座回转机构、机座1及回转平台2构成。Referring to Figures 1, 2, 3 and 4, a six-degree-of-freedom hybrid welding robot mechanism consists of a waist rotation mechanism, a shoulder swing mechanism, an elbow rotation mechanism, a forearm rotation mechanism, a wrist rotation mechanism, a welding torch holder rotation mechanism, and a machine base. 1 and a
对照图1,机构的腰部回转机构通过转动平台2由第一转动副12连接在机座1上,并有第一伺服电机驱动实现整周回转运动。Referring to Fig. 1, the waist turning mechanism of the mechanism is connected to the machine base 1 by the first
对照图1、2,肩摆动机构由转动平台2、第一主动杆3、第一连杆4和第二连杆5连接而成。第一主动杆3与转动平台2通过第二转动副13连接,第二转动副13与安装在转动平台2上的第二伺服电机的电机轴连接,第一主动杆3与第一连杆4通过第三转动副14连接,第一连杆4与第二连杆5通过第四转动副15连接,第二连杆5与转动平台2通过第五转动副16连接。1 and 2, the shoulder swing mechanism is formed by connecting the
对照图1、3,肘回转机构由第二主动杆6、第三连杆7和第四连杆8构成。第二主动杆6通过第六转动副17与转动平台2连接,第六转动副17与安装在转动平台2上的第三伺服电机的电机轴相连,从而驱动第二主动杆6;第三连杆7与第二主动杆6通过第七转动副18相连,第三连杆7的另一端与第四连杆8通过第八转动副19相连,第四连杆8与第二连杆5通过第九转动副20连接。Referring to Figs. 1 and 3, the toggle mechanism is composed of a second
对照图1、4,前臂扭转机构、腕回转机构和焊枪座回转机构组成三维转动机构,前臂扭转机构由前臂9与第四连杆8通过第十转动副21连接,由安装在第四连杆8前端上的第四伺服电机驱动,第四伺服电机的安装位置有利于与前臂9前端的负载相平衡,保证良好的动力学性能;腕回转机构由前臂9与手腕10通过第十一转动副22连接,由安装在在前臂9上的第五伺服电机驱动;焊枪卡座回转机构由手腕10与焊枪卡座11通过第十二转动副23连接,由安装在手腕上的第六伺服电机驱动,实现焊枪的转动。1 and 4, the forearm torsion mechanism, the wrist rotation mechanism and the welding torch seat rotation mechanism form a three-dimensional rotation mechanism. 8. Driven by the fourth servo motor on the front end, the installation position of the fourth servo motor is conducive to balancing the load on the front end of the
前臂扭转机构、腕回转机构和焊枪卡座回转机构共有三个伺服电机独立驱动,实现了三维转动,进而实现了焊枪姿态调整。The forearm torsion mechanism, the wrist rotation mechanism and the welding torch holder rotation mechanism are driven independently by three servo motors, which realize three-dimensional rotation, and then realize the adjustment of the welding torch posture.
对照图1、5、6、7、8,一种六自由度混联焊接机器人机构,通过由肩摆动机构和肘回转机构组成的机构实现平面的二维平动,将前臂执行末端焊枪卡座送达预定的区域;转动平台的整周转动实现了空间范围内执行末端的位置调整,获得较大的工作空间;前臂扭转机构、腕回转机构和焊枪卡座回转机构的三维转动实现了焊枪姿态的调整。以上机构特性实现了机构如图5-图8所示的各种位置姿态,灵活而简捷地将焊枪送至空间不同点工作,而且获得较好的动力学性能,降低肩关节的承载载荷,达到高精度、高可靠性和便于维护保养的优良特性。Referring to Figures 1, 5, 6, 7, and 8, a six-degree-of-freedom hybrid welding robot mechanism realizes two-dimensional translation of the plane through a mechanism composed of a shoulder swing mechanism and an elbow rotation mechanism, and the forearm executes the terminal welding torch holder Delivery to the predetermined area; the full circle rotation of the rotating platform realizes the position adjustment of the execution end within the space range, and obtains a larger working space; the three-dimensional rotation of the forearm twisting mechanism, the wrist turning mechanism and the welding torch holder turning mechanism realizes the welding torch posture adjustment. The above mechanism characteristics realize various positions and postures of the mechanism as shown in Figure 5-Figure 8, flexibly and simply send the welding torch to work at different points in space, and obtain better dynamic performance, reduce the bearing load of the shoulder joint, and achieve Excellent characteristics of high precision, high reliability and easy maintenance.
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