CN103737207A - Parallel-serial welding robot mechanism with six degrees of freedom - Google Patents

Parallel-serial welding robot mechanism with six degrees of freedom Download PDF

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Publication number
CN103737207A
CN103737207A CN201310675195.5A CN201310675195A CN103737207A CN 103737207 A CN103737207 A CN 103737207A CN 201310675195 A CN201310675195 A CN 201310675195A CN 103737207 A CN103737207 A CN 103737207A
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CN
China
Prior art keywords
revolute pair
mechanism
connecting rod
connected
slew gear
Prior art date
Application number
CN201310675195.5A
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Chinese (zh)
Inventor
蔡敢为
范雨
张�林
杨洁丹
王少龙
关卓怀
李岩舟
温芳
杨旭娟
Original Assignee
广西大学
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Application filed by 广西大学 filed Critical 广西大学
Priority to CN201310675195.5A priority Critical patent/CN103737207A/en
Publication of CN103737207A publication Critical patent/CN103737207A/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02Carriages for supporting the welding or cutting element
    • B23K37/0252Steering means

Abstract

The invention relates to a parallel-serial welding robot mechanism with six degrees of freedom. The parallel-serial welding robot mechanism comprises a waist rotary mechanism, a shoulder swing mechanism, an elbow rotary mechanism, a forearm twisting mechanism, a wrist rotary mechanism, a welding gun clamping seat rotary mechanism, a machine base and a rotary platform. A parallel mechanism is formed by the shoulder swing mechanism and the elbow rotary mechanism to achieve the two-dimensional translation of a plane, and a forearm execution tail end welding gun clamping seat is sent to a preset area. The position of an execution tail end within a space range is adjusted through the whole circle rotation of the rotary platform, and large work space is obtained. A serial mechanism is formed by the forearm twisting mechanism, the wrist rotary mechanism and the welding gun clamping seat rotary mechanism, and a welding gun posture is adjusted through the three-dimensional rotation. The parallel-serial welding robot mechanism can flexibly and conveniently send a welding gun to different space points to work, good dynamics performance is obtained, the bearing loads of shoulder joints are reduced, and the excellent characteristics of high precision, high reliability and convenient maintenance are achieved.

Description

A kind of six degree of freedom series-parallel connection welding robot robot mechanism

Technical field

The present invention relates to industrial robot field, specifically a kind of six degree of freedom series-parallel connection welding robot robot mechanism.

Background technology

Industrial robot is towards the multi-joint manipulator of industrial circle or multivariant robot.Industrial robot is the installations that automatically perform work, is to lean on self power and control ability to realize a kind of machine of various functions.China will become the maximum industrial robot country of consumption in the whole world by 2014, expert represents, 2011, Chinese industrial robot sales volume increased by 51% on a year-on-year basis, following 3 years compound increasing scooters 30% of Chinese industrial robot market, China or become the maximum robot market in the whole world.Due to developing rapidly of the present computer technology, multiaxial motion control technology is constantly ripe, and the cost of industrial robot reduces gradually, has entered at present the explosive growth stage.And welding robot is as the one of industrial robot, occupy larger proportion.International welding robot belongs to prosthetic robot substantially, and the overwhelming majority has six axles, and wherein three axles are delivered to Ke Da position, space by execution end erecting tools, and three other axles are realized the spatial attitude adjustment of carrying out end soldering appliance.Traditional articulated type welding robot is all arranged on joint by motor, makes mechanical arm seem heavy, has that rotary inertia is large, poor rigidity and a deficiency such as accumulated error is large.The dynamic performance of mechanism is poor, is difficult to meet high-speed, high precision requirement day by day.Serial mechanism has good kinematics performance aspect mechanism design, and dynamic performance is lower, people compares with serial machine, parallel institution has without accumulated error, precision is higher, drive unit can be placed on fixed platform or approach the position of fixed platform, motion parts is lightweight like this, speed is high, dynamic response is good, compact conformation, rigidity is high, bearing capacity is large, according to these features, parallel robot can be applied to the occasion of high bearing capacity, but because parallel robot is subject to structural limitations, working space is often very little, be generally used for drive simulation platform, radar antenna base, the fields such as numerically controlled lathe, the more difficult fields large to working space requirement such as welding robot that are applied to.And, existing robot waist joint had both supported the weight of whole robot, bear again the impact that whole robot motion brings, fault rate is higher, poor reliability, non-failure operation time is short, and more easily cause larger joint error, Accuracy to robot is larger, due to this shortcomings, existing robot architecture is difficult to take into account operating flexibility and high-precision characteristic, is difficult to meet the job requirements of large working space, high accuracy, high reliability, becomes the bottleneck that large-scale robot manufactures and designs.So how guaranteeing, under the prerequisite of robot manipulating task flexibility, high accuracy, high reliability, to meet large-scale robot structural requirement, become the major issue that many scholars and mechanism are inquired into.

Summary of the invention

The object of the invention is to the problem existing in order to overcome prior art, a kind of welding robot robot mechanism of hybrid mechanism is provided, comprehensive serial mechanism and parallel institution advantage separately, both guaranteeing robot manipulating task flexibility, high accuracy, high reliability, give full play under the prerequisite of advantage of serial parallel mechanism, as much as possible motor is placed on support or by motor reasonable Arrangement near complete cycle turning cylinder, reduce as much as possible the servo-actuated radius of rotation of motor, significantly improve the reliability of robot shoulder joint, reduce maintenance cost, realize the good dynamic performance of robot.

The present invention is achieved through the following technical solutions above object:

A kind of six degree of freedom series-parallel connection welding robot robot mechanism, comprises waist slew gear, shoulder swing mechanism, elbow slew gear, forearm twist mechanism, wrist slew gear, welding gun deck slew gear, support and revolving dial;

Described waist slew gear is arranged on support by the first revolute pair by rotatable platform, and the first revolute pair is by the first driven by servomotor;

Described shoulder swing mechanism comprises rotatable platform, the first driving lever, first connecting rod and second connecting rod, rotatable platform is connected by the second revolute pair with the first driving lever, the first driving lever is connected by the 3rd revolute pair with first connecting rod, first connecting rod is connected by the 4th revolute pair with second connecting rod, second connecting rod is connected by the 5th revolute pair with rotatable platform, and the first driving lever is by the second driven by servomotor;

Described elbow slew gear comprises the second driving lever, third connecting rod and the 4th connecting rod, the second driving lever is connected by the 6th revolute pair with second connecting rod, the second driving lever is connected by the 7th revolute pair with third connecting rod, third connecting rod is connected by the 8th revolute pair with the 4th connecting rod, and the 4th connecting rod is connected by the 9th revolute pair with second connecting rod; The second driving lever is by the 3rd driven by servomotor;

Described forearm twist mechanism, wrist slew gear and welding gun seat slew gear composition three-dimensional revolving gear, forearm twist mechanism is connected by the tenth revolute pair with the 4th connecting rod by forearm, by the 4th driven by servomotor being arranged on the 4th connecting rod; Wrist slew gear is connected by the 11 revolute pair with wrist by forearm, by the 5th driven by servomotor being arranged on forearm; Welding gun deck slew gear is connected by the 12 revolute pair with welding gun deck by wrist, by the 6th driven by servomotor being arranged in wrist.

The first described revolute pair axis is perpendicular to support, the second revolute pair, the 3rd revolute pair, the 4th revolute pair, the 5th revolute pair, the 6th revolute pair, the 7th revolute pair, the 8th revolute pair and the 9th revolute pair axis are parallel to each other, wherein the 5th revolute pair is coaxial with the 6th revolute pair, the tenth revolute pair is mutually vertical with the 9th revolute pair axis, the 11 revolute pair is mutually vertical with the 9th revolute pair axis, and the 12 revolute pair is mutually vertical with the 11 revolute pair axis.

The present invention realizes waist complete cycle by waist slew gear and rotates; The parallel institution of the two-freedom of shoulder swing mechanism and elbow slew gear composition is realized two-dimensional translation, is driven respectively by the motor being arranged on rotatable platform; By interconnective three the mutually orthogonal rotating shafts of forearm twist mechanism, wrist slew gear and welding gun deck slew gear, by three motors drive respectively, realized the Three Degree Of Freedom attitude adjustment of carrying out end welding gun.Compared with prior art, the present invention has following outstanding advantages:

1, adopt hybrid mechanism, have the large and large advantage of serial mechanism working space of parallel institution rigidity concurrently, as much as possible drive unit is placed in to support position, has reduced the bearing load of arm rod member, reduced the rotary inertia of complete machine, quality is light, accumulated error is little, has good dynamic performance, and the strong point of large arm is drawn and driven separately with motor by little parallel-crank mechanism, reduce the bearing capacity of motor shaft, be conducive to the raising of precision;

2, by parallel-crank mechanism, increase a carrying pin joint more, improved that traditional mechanism brings on same shoulder motor shaft because whole load is all applied to that bearing capacity is poor, precision is low, is not easy to maintaining, the shortcoming of low reliability;

3, by the drive unit reasonable Arrangement of mechanisms in series part, improve the balance quality of integrated model, further improved the dynamic performance of mechanism;

4, mechanism is simple, is convenient to the solving of positive inverse kinematics, trajectory planning, error compensation, conveniently accurately controls.In addition, execution end is installed different devices and can be realized different industrial uses, as piling, cutting, assembling, spraying and carrying etc.

Accompanying drawing explanation

Fig. 1 is the structural representation of described series-parallel connection welding robot robot mechanism.

Fig. 2 is the shoulder swing mechanism schematic diagram of described series-parallel connection welding robot robot mechanism.

Fig. 3 is the elbow slew gear schematic diagram of described series-parallel connection welding robot robot mechanism.

Fig. 4 is forearm twist mechanism, wrist slew gear and the welding gun deck slew gear schematic diagram of described series-parallel connection welding robot robot mechanism.

Fig. 5 is the first working state schematic representation of described series-parallel connection welding robot robot mechanism.

Fig. 6 is the second working state schematic representation of described series-parallel connection welding robot robot mechanism.

Fig. 7 is the third working state schematic representation of described series-parallel connection welding robot robot mechanism.

Fig. 8 is the 4th kind of working state schematic representation of described series-parallel connection welding robot robot mechanism.

The specific embodiment

Below in conjunction with drawings and Examples, technical scheme of the present invention is described further.

Contrast Fig. 1,2,3 and 4, a kind of six degree of freedom series-parallel connection welding robot robot mechanism, consists of waist slew gear, shoulder swing mechanism, elbow slew gear, forearm twist mechanism, wrist slew gear, welding gun deck slew gear, support 1 and revolving dial 2.

Contrast Fig. 1, the waist slew gear of mechanism is connected on support 1 by the first revolute pair 12 by rotatable platform 2, and has the first driven by servomotor to realize complete cycle gyration.

Contrast Fig. 1,2, shoulder swing mechanism is formed by connecting by rotatable platform 2, the first driving lever 3, first connecting rod 4 and second connecting rod 5.The first driving lever 3 is connected by the second revolute pair 13 with rotatable platform 2, the second revolute pair 13 is connected with the motor shaft that is arranged on the second servomotor on rotatable platform 2, the first driving lever 3 is connected by the 3rd revolute pair 14 with first connecting rod 4, first connecting rod 4 is connected by the 4th revolute pair 15 with second connecting rod 5, and second connecting rod 5 is connected by the 5th revolute pair 16 with rotatable platform 2.

Contrast Fig. 1,3, elbow slew gear consists of the second driving lever 6, third connecting rod 7 and the 4th connecting rod 8.The second driving lever 6 is connected with rotatable platform 2 by the 6th revolute pair 17, and the 6th revolute pair 17 is connected with the motor shaft that is arranged on the 3rd servomotor on rotatable platform 2, thereby drives the second driving lever 6; Third connecting rod 7 is connected by the 7th revolute pair 18 with the second driving lever 6, and the other end of third connecting rod 7 is connected by the 8th revolute pair 19 with the 4th connecting rod 8, and the 4th connecting rod 8 is connected by the 9th revolute pair 20 with second connecting rod 5.

Contrast Fig. 1,4, forearm twist mechanism, wrist slew gear and welding gun seat slew gear composition three-dimensional revolving gear, forearm twist mechanism is connected by the tenth revolute pair 21 with the 4th connecting rod 8 by forearm 9, by the 4th driven by servomotor being arranged on the 4th connecting rod 8 front ends, the installation site of the 4th servomotor is conducive to balance each other with the load of forearm 9 front ends, guarantees good dynamic performance; Wrist slew gear is connected by the 11 revolute pair 22 with wrist 10 by forearm 9, by the 5th driven by servomotor being arranged on forearm 9; Welding gun deck slew gear is connected by the 12 revolute pair 23 with welding gun deck 11 by wrist 10, by the 6th driven by servomotor being arranged in wrist, realizes the rotation of welding gun.

Forearm twist mechanism, wrist slew gear and welding gun deck slew gear have three servomotor drive, have realized Three dimensional rotation, and then have realized posture of welding torch adjustment.

Contrast Fig. 1,5,6,7,8, a kind of six degree of freedom series-parallel connection welding robot robot mechanism, by the two-dimensional translation of the winding machine plane that is comprised of shoulder swing mechanism and elbow slew gear, carries out end welding gun deck by forearm and sends to predetermined region; The complete cycle of rotatable platform rotates has realized the position adjustment of carrying out end in spatial dimension, obtains larger working space; The Three dimensional rotation of forearm twist mechanism, wrist slew gear and welding gun deck slew gear has realized the adjustment of posture of welding torch.Above mechanism characteristics has been realized mechanism's various position and attitudes as shown in Figure 5-Figure 8, flexibly and quickly and easily welding gun is delivered to space difference work, and obtain good dynamic performance, and reduce the bearing load of shoulder joint, reach high accuracy, high reliability and be convenient to the good characteristic of maintaining.

Claims (2)

1. a six degree of freedom series-parallel connection welding robot robot mechanism, comprises waist slew gear, shoulder swing mechanism, elbow slew gear, forearm twist mechanism, wrist slew gear, welding gun deck slew gear, support and revolving dial; It is characterized in that:
Described waist slew gear is arranged on support by the first revolute pair by rotatable platform, and the first revolute pair is by the first driven by servomotor;
Described shoulder swing mechanism comprises rotatable platform, the first driving lever, first connecting rod and second connecting rod, rotatable platform is connected by the second revolute pair with the first driving lever, the first driving lever is connected by the 3rd revolute pair with first connecting rod, first connecting rod is connected by the 4th revolute pair with second connecting rod, second connecting rod is connected by the 5th revolute pair with rotatable platform, and the first driving lever is by the second driven by servomotor;
Described elbow slew gear comprises the second driving lever, third connecting rod and the 4th connecting rod, the second driving lever is connected by the 6th revolute pair with second connecting rod, the second driving lever is connected by the 7th revolute pair with third connecting rod, third connecting rod is connected by the 8th revolute pair with the 4th connecting rod, and the 4th connecting rod is connected by the 9th revolute pair with second connecting rod; The second driving lever is by the 3rd driven by servomotor;
Described forearm twist mechanism, wrist slew gear and welding gun seat slew gear composition three-dimensional revolving gear, forearm twist mechanism is connected by the tenth revolute pair with the 4th connecting rod by forearm, by the 4th driven by servomotor being arranged on the 4th connecting rod; Wrist slew gear is connected by the 11 revolute pair with wrist by forearm, by the 5th driven by servomotor being arranged on forearm; Welding gun deck slew gear is connected by the 12 revolute pair with welding gun deck by wrist, by the 6th driven by servomotor being arranged in wrist.
2. series-parallel connection welding robot robot mechanism according to claim 1, it is characterized in that, the first described revolute pair axis is perpendicular to support, the second revolute pair, the 3rd revolute pair, the 4th revolute pair, the 5th revolute pair, the 6th revolute pair, the 7th revolute pair, the 8th revolute pair and the 9th revolute pair axis are parallel to each other, wherein the 5th revolute pair is coaxial with the 6th revolute pair, the tenth revolute pair is mutually vertical with the 9th revolute pair axis, the 11 revolute pair is mutually vertical with the 9th revolute pair axis, and the 12 revolute pair is mutually vertical with the 11 revolute pair axis.
CN201310675195.5A 2013-12-07 2013-12-07 Parallel-serial welding robot mechanism with six degrees of freedom CN103737207A (en)

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Cited By (21)

* Cited by examiner, † Cited by third party
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CN104440867A (en) * 2014-12-25 2015-03-25 广西大学 Eight-freedom-degree movable robot palletizer
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
CN104476053A (en) * 2014-12-23 2015-04-01 广西大学 Welding construction method through six-degree-of-freedom controllable mechanism type connecting rod mechanism
CN104493817A (en) * 2014-12-25 2015-04-08 广西大学 Multi-degree-of-freedom industrial robot mechanism
CN104552274A (en) * 2014-12-25 2015-04-29 广西大学 Multi-degree-of-freedom controllable industrial robot mechanism
CN104551478A (en) * 2014-12-23 2015-04-29 广西大学 Method for carrying out welding construction by utilizing six-degree of freedom controllable mechanism type movable connecting rod mechanism
CN104552275A (en) * 2014-12-25 2015-04-29 广西大学 Simple controllable mechanical mobile manipulator
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
CN104626109A (en) * 2014-12-25 2015-05-20 广西大学 MDOF controllable mechanism type hybrid carrying robot
CN104625519A (en) * 2014-12-23 2015-05-20 广西大学 Welding construction method using multi-degree-of-freedom controllable movable type connecting rod mechanism
CN104625517A (en) * 2014-12-17 2015-05-20 广西大学 Seven-degree-of-freedom controllable mechanism type movable welding hand
CN104669252A (en) * 2015-02-28 2015-06-03 天津大学 Two-degree-of-freedom positioning mechanism and two-degree-of-freedom hybrid manipulator thereof
CN104999360A (en) * 2015-07-14 2015-10-28 马鞍山市同创机械设备制造有限公司 Grinding robot platform
CN105057148A (en) * 2015-07-28 2015-11-18 广西大学 Six-degree-of-freedom seven-rod series-parallel spraying robot
CN105058381A (en) * 2015-07-28 2015-11-18 广西凯纵机械制造有限公司 Six-freedom-degree eight-rod series-parallel connection spraying robot
CN105945918A (en) * 2016-06-23 2016-09-21 广西大学 Five-degree-of-freedom series-parallel mechanism type controllable welding robot
CN106027959A (en) * 2016-05-13 2016-10-12 深圳先进技术研究院 Video recognizing-tracking-positioning system based on position linear fitting
CN106609517A (en) * 2016-11-28 2017-05-03 广西大学 Multi-freedom-degree connecting rod mechanism novel wood grabbing machine driven by servo motors
CN107127502A (en) * 2017-07-04 2017-09-05 广西大学 A kind of six degree of freedom controllable-mechanism type high speed Bai Han robots
CN108127281A (en) * 2017-12-08 2018-06-08 安徽维力拓网络科技有限公司 A kind of automotive sheet welder
CN108130925A (en) * 2016-11-30 2018-06-08 广西大学 It is a kind of that dress operational method is grabbed using the simple link mechanism progress industrial waste of servo motor driving multiple degrees of freedom

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CN104625517A (en) * 2014-12-17 2015-05-20 广西大学 Seven-degree-of-freedom controllable mechanism type movable welding hand
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
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
CN104476053A (en) * 2014-12-23 2015-04-01 广西大学 Welding construction method through six-degree-of-freedom controllable mechanism type connecting rod mechanism
CN104625519A (en) * 2014-12-23 2015-05-20 广西大学 Welding construction method using multi-degree-of-freedom controllable movable type connecting rod mechanism
CN104551478A (en) * 2014-12-23 2015-04-29 广西大学 Method for carrying out welding construction by utilizing six-degree of freedom controllable mechanism type movable 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
CN104626109A (en) * 2014-12-25 2015-05-20 广西大学 MDOF controllable mechanism type hybrid carrying robot
CN104552274A (en) * 2014-12-25 2015-04-29 广西大学 Multi-degree-of-freedom controllable industrial robot mechanism
CN104493817A (en) * 2014-12-25 2015-04-08 广西大学 Multi-degree-of-freedom industrial robot mechanism
CN104440867A (en) * 2014-12-25 2015-03-25 广西大学 Eight-freedom-degree movable robot palletizer
CN104552275A (en) * 2014-12-25 2015-04-29 广西大学 Simple controllable mechanical mobile manipulator
CN104669252A (en) * 2015-02-28 2015-06-03 天津大学 Two-degree-of-freedom positioning mechanism and two-degree-of-freedom hybrid manipulator thereof
CN104999360A (en) * 2015-07-14 2015-10-28 马鞍山市同创机械设备制造有限公司 Grinding robot platform
CN105058381A (en) * 2015-07-28 2015-11-18 广西凯纵机械制造有限公司 Six-freedom-degree eight-rod series-parallel connection spraying robot
CN105057148A (en) * 2015-07-28 2015-11-18 广西大学 Six-degree-of-freedom seven-rod series-parallel spraying robot
CN106027959A (en) * 2016-05-13 2016-10-12 深圳先进技术研究院 Video recognizing-tracking-positioning system based on position linear fitting
CN105945918A (en) * 2016-06-23 2016-09-21 广西大学 Five-degree-of-freedom series-parallel mechanism type controllable welding robot
CN106609517A (en) * 2016-11-28 2017-05-03 广西大学 Multi-freedom-degree connecting rod mechanism novel wood grabbing machine driven by servo motors
CN108130925A (en) * 2016-11-30 2018-06-08 广西大学 It is a kind of that dress operational method is grabbed using the simple link mechanism progress industrial waste of servo motor driving multiple degrees of freedom
CN107127502A (en) * 2017-07-04 2017-09-05 广西大学 A kind of six degree of freedom controllable-mechanism type high speed Bai Han robots
CN108127281A (en) * 2017-12-08 2018-06-08 安徽维力拓网络科技有限公司 A kind of automotive sheet welder

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