CN103737209A - Welding robot with symmetrical mechanisms - Google Patents

Abstract

It has a symmetrical mechanical welding robot, including multiple parallel mechanism closed-loop actuator sub-chains and a serial actuator main chain. The closed-loop sub-chain of the mechanism can control the movement of the connecting rod of the main chain in the plane where the closed-loop sub-chain of the four-bar mechanism is located, and the movement of multiple parallel-connected sub-chains and the fuselage can realize the spatial movement of the moving platform. The present invention realizes the control through the synthetic motion of four closed-loop sub-chains and the fuselage, and realizes the spatial movement of the end effector through the connection of multiple connecting rods with the fuselage. The end effector has small motion inertia, good dynamic performance and reliability. High performance, the mechanism has the advantages of compact structure and simple control. The rod can be made into a light rod, and the working space of the mechanism is large, so that the center of gravity of the mechanism can be moved back, and the balance of the mechanism can be maintained, which can be used in more occasions.

Description

Welding robot with symmetrical mechanism

technical field

The invention relates to the field of robots, in particular to welding robots with symmetrical mechanisms.

Background technique

The traditional series robot has the advantages of simple structure, low cost, and large working space. Relatively speaking, the series robot has low rigidity and cannot be applied to high-speed and large-load occasions; compared with the traditional series robot, the parallel robot has no cumulative error, High precision, compact structure, large bearing capacity, high rigidity and small inertia of the end effector, etc., the driving device can be placed on the fixed platform or close to the fixed platform, so that the moving part is light in weight, high in speed and good in dynamic response; However, the obvious disadvantages of parallel robots are small working space and complex structure. The existing manipulators with partial closed chains in engineering, such as MOTOMAN-K10, did not solve the problems of industrial robots, but the performance of parallel robots with closed-loop sub-chains with symmetrical mechanisms is superior to that of ordinary parallel mechanisms. With the advantages of large space, high rigidity, strong bearing capacity, small inertia and high precision of the end effector, it can be used in complex operations such as welding, spraying, handling, loading and unloading, assembly, palletizing, etc., effectively improving labor efficiency and improving product quality. and stability have been greatly improved. Cylindrical coordinate and joint coordinate manipulators can effectively and quickly control the end mechanism, and this kind of mechanism has good structural rigidity, high mechanical transmission precision, large working space, small mechanical transmission loss, and large output without cumulative error. Power, with a good control function. The robot with parallel closed-loop sub-chains adopts an indirect drive mode, which can effectively reduce the torque required to drive the joints.

Contents of the invention

The purpose of the present invention is to provide a welding robot with a symmetrical mechanism, which solves the shortcomings of the traditional serial robot about the large torque required, low rigidity and small working space.

The present invention achieves the above-mentioned purpose through the following technical solutions: a symmetrical mechanical welding robot, whose structure and connection mode are:

The actuator chain is composed of fuselage 2, first connecting rod 3, second connecting rod 13, third connecting rod 7, fourth connecting rod 11, fifth connecting rod 5, sixth connecting rod 9, seventh connecting rod 14. Eighth connecting rod 31, ninth connecting rod 17, tenth connecting rod 18, eleventh connecting rod 19, twelfth connecting rod 33, thirteenth connecting rod 35, end effector 21 and frame 1 are connected The first connecting end 22 of the fuselage 2 is connected to the frame 1 through the first rotating pair 22, the fuselage 2 is driven by the first rotating pair 22, the first rotating pair 22 is driven by a motor, and the second connecting end of the fuselage 1 The connecting end 25 is connected to the first connecting end 25 of the first connecting rod 3 through the second rotating pair 25, the first connecting rod 3 is driven by the second rotating pair 25, and the third connecting end 15 of the fuselage 2 is driven by the third rotating pair 15 is connected with the first connecting end 15 of the second connecting rod 13, the second connecting end 26 of the second connecting rod 13 is connected with the first connecting end 26 of the third connecting rod 7 through the fourth rotating pair 26, and the second connecting rod 13 The third connecting end 27 is connected to the first connecting end 27 of the fourth connecting rod 11 through the fifth rotating pair 27, and the fourth connecting end 32 of the second connecting rod 3 is connected to the twelfth connecting rod through the fifteen rotating pair 32 33 is connected at one end, the other end of the twelfth connecting rod 33 is connected to one end of the thirteenth connecting rod 35 through the sixteenth rotating pair 34, and the other end of the thirteenth connecting rod 35 is connected to the second One end of the fifth connecting rod 5 is connected to the second connecting end 4 of the first connecting rod 3 through the sixth rotating pair 4, and the other end of the fifth connecting rod 5 is connected to the third connecting rod through the seventh rotating pair 6. 7 The second connecting end 6 is connected, one end of the sixth connecting rod 9 is connected to the second connecting end 6 of the third connecting rod 7 through the seventh rotating pair 6, and the other end of the sixth connecting rod 9 is connected to the second connecting rod 9 through the eighth rotating pair 10 The second connecting end 10 of the four connecting rods 11 is connected, one end of the seventh connecting rod 14 is connected to the third connecting end 16 of the first connecting rod 3 through the ninth rotating pair 16, and the other end of the seventh connecting rod 14 is connected through the tenth rotating pair 8 is connected to the third connecting end 8 of the third connecting rod 7, one end of the eighth connecting rod 31 is connected to the third connecting end 8 of the third connecting rod 7 through the tenth rotating pair 8, and the other end of the eighth connecting rod 31 is connected through the The eleventh rotating pair 12 is connected to the third connecting end 12 of the fourth connecting rod 11, the fourth connecting end 28 of the fourth connecting rod 11 is connected to one end of the ninth connecting rod 17 through a rigid connection, and the other end of the ninth connecting rod 17 is connected through The twelfth rotating pair 29 is connected to one end of the tenth connecting rod 18, the tenth connecting rod 18 is driven by the twelfth rotating pair 29, the twelfth rotating pair 29 is driven by a motor, and the other end of the tenth connecting rod 18 is driven by the thirteenth connecting rod. The rotating pair 30 is connected to one end of the eleventh connecting rod 19, the eleventh connecting rod 19 is driven by the thirteenth rotating pair 30, the thirteenth rotating pair is driven by a motor, and the other end of the eleventh connecting rod 19 is driven by the fourteenth connecting rod. The rotary pair 20 is connected to the end effector 21, the end effector 21 is driven by the fourteenth rotary pair 20, and the fourteenth rotary pair 20 is driven by a motor,

The first turning pair is perpendicular to the frame, the second turning pair, the third turning pair, the fourth turning pair, the fifth turning pair, the sixth turning pair, the seventh turning pair, the eighth turning pair, and the ninth turning pair , the tenth revolving pair, the eleventh revolving pair, the twelfth revolving pair and the thirteenth revolving pair are parallel to each other.

The outstanding advantages of the present invention are:

1. Through two parallel closed-loop sub-chains, the rigidity of the robot mechanism is improved, and the design of the closed-loop sub-chain mechanism greatly improves the working space of the robot, which can avoid the dead point position of the mechanism, and the fine-tuning device can make the robot have a larger range of action , and can better maintain the balance of the organization;

2. Compared with the traditional industrial robot whose motor is installed at each joint, the motor of the robot whose mechanism is connected by two parallel closed-loop sub-chains is installed on the joint of the four-bar mechanism, driven by the motion pair on the four-bar mechanism Closed-loop chain movement, thereby indirectly driving the end link, making the end effector more movable and moving space, and can reduce the active moment;

3. Compared with the same type of robot mechanism, it can do more work under the same power;

4. The motor is installed behind the connecting rod, which lowers the center of gravity of the entire mechanism, and can install a motor with a larger power on the mechanism, so that the end effector can be adapted to welding, spraying, handling, loading and unloading, assembly, palletizing and other complex working;

5. The robot mechanism is controlled by the mechanism at the end effector, which can make the precision higher;

6. A hinged connecting rod is used to connect the mechanism and the end effector to the end effector, which makes the actuator more flexible, and the working space is larger than the previous robot, and the hinged connecting rod is made into a light rod , can make the dynamic performance of the whole mechanism better and easy to control, and can make the end effector rotate 360 degrees in a small range, so that the mechanism can be applied to more occasions;

7. On the two parallel closed-loop sub-chains, the rods are made of light rods, the mechanism has a small moment of inertia and good dynamic performance;

8. The fine-tuning device on the mechanism is compared with the traditional manipulator with partial closed chain, the center of gravity is concentrated on the fine-tuning device, the mechanism is well balanced, and the robot mechanism can bear greater force and moment;

9. Six degrees of freedom enable the mechanism to be applied to more occasions;

Description of drawings

Fig. 1 is a schematic diagram of the first structure of a welding robot with a symmetrical mechanism according to the present invention.

Fig. 2 is a schematic diagram of the fuselage structure of the welding robot with symmetrical mechanism according to the present invention.

Fig. 3 is a schematic diagram of the second connecting rod of the symmetrical mechanism welding robot according to the present invention.

Fig. 4 is a schematic diagram of the third connecting rod of the symmetrical mechanism welding robot according to the present invention.

Fig. 5 is a schematic diagram of the fourth connecting rod of the symmetrical mechanism welding robot according to the present invention.

Fig. 6 is a schematic diagram of the fifth connecting rod of the symmetrical mechanism welding robot according to the present invention.

Fig. 7 is a schematic diagram of the twelfth connecting rod of the symmetrical mechanism welding robot according to the present invention.

Fig. 8 is a schematic diagram of the thirteenth connecting rod of the symmetrical mechanism welding robot according to the present invention.

Fig. 9 is a schematic diagram of part of the mechanism connection of the symmetrical mechanism-type welding robot of the present invention.

Fig. 10 is a schematic diagram of the first working of the welding robot with symmetrical mechanism according to the present invention.

Fig. 11 is a second working diagram of the welding robot with symmetrical mechanism according to the present invention.

Fig. 12 is a schematic diagram of the third working of the welding robot with symmetrical mechanism according to the present invention.

Detailed ways

The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

Referring to Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5 and Fig. 6, there is a symmetrical mechanical welding robot, and its structure and connection method are as follows:

The actuator chain is composed of fuselage 2, first connecting rod 3, second connecting rod 13, third connecting rod 7, fourth connecting rod 11, fifth connecting rod 5, sixth connecting rod 9, seventh connecting rod 14. Eighth connecting rod 31, ninth connecting rod 17, tenth connecting rod 18, eleventh connecting rod 19, twelfth connecting rod 33, thirteenth connecting rod 35, end effector 21 and frame 1 are connected The first connecting end 22 of the fuselage 2 is connected to the frame 1 through the first rotating pair 22, the fuselage 2 is driven by the first rotating pair 22, the first rotating pair 22 is driven by a motor, and the second connecting end of the fuselage 1 The connecting end 25 is connected to the first connecting end 25 of the first connecting rod 3 through the second rotating pair 25, the first connecting rod 3 is driven by the second rotating pair 25, and the third connecting end 15 of the fuselage 2 is driven by the third rotating pair 15 is connected with the first connecting end 15 of the second connecting rod 13, the second connecting end 26 of the second connecting rod 13 is connected with the first connecting end 26 of the third connecting rod 7 through the fourth rotating pair 26, and the second connecting rod 13 The third connecting end 27 is connected to the first connecting end 27 of the fourth connecting rod 11 through the fifth rotating pair 27, and the fourth connecting end 32 of the second connecting rod 3 is connected to the twelfth connecting rod through the fifteen rotating pair 32 33 is connected at one end, the other end of the twelfth connecting rod 33 is connected to one end of the thirteenth connecting rod 35 through the sixteenth rotating pair 34, and the other end of the thirteenth connecting rod 35 is connected to the second One end of the fifth connecting rod 5 is connected to the second connecting end 4 of the first connecting rod 3 through the sixth rotating pair 4, and the other end of the fifth connecting rod 5 is connected to the third connecting rod through the seventh rotating pair 6. 7 The second connecting end 6 is connected, one end of the sixth connecting rod 9 is connected to the second connecting end 6 of the third connecting rod 7 through the seventh rotating pair 6, and the other end of the sixth connecting rod 9 is connected to the second connecting rod 9 through the eighth rotating pair 10 The second connecting end 10 of the four connecting rods 11 is connected, one end of the seventh connecting rod 14 is connected to the third connecting end 16 of the first connecting rod 3 through the ninth rotating pair 16, and the other end of the seventh connecting rod 14 is connected through the tenth rotating pair 8 is connected to the third connecting end 8 of the third connecting rod 7, one end of the eighth connecting rod 31 is connected to the third connecting end 8 of the third connecting rod 7 through the tenth rotating pair 8, and the other end of the eighth connecting rod 31 is connected through the The eleventh rotating pair 12 is connected with the third connecting end 12 of the fourth connecting rod 11, the fourth connecting end 28 of the fourth connecting rod 11 is connected with one end of the ninth connecting rod 17 through a rigid connection, and the other end of the ninth connecting rod 17 is connected by The twelfth rotating pair 29 is connected to one end of the tenth connecting rod 18, the tenth connecting rod 18 is driven by the twelfth rotating pair 29, the twelfth rotating pair 29 is driven by a motor, and the other end of the tenth connecting rod 18 is driven by the thirteenth connecting rod. The rotating pair 30 is connected to one end of the eleventh connecting rod 19, the eleventh connecting rod 19 is driven by the thirteenth rotating pair 30, the thirteenth rotating pair is driven by a motor, and the other end of the eleventh connecting rod 19 is driven by the fourteenth connecting rod. The rotary pair 20 is connected to the end effector 21, the end effector 21 is driven by the fourteenth rotary pair 20, and the fourteenth rotary pair 20 is driven by a motor,

The first turning pair is perpendicular to the frame, the second turning pair, the third turning pair, the fourth turning pair, the fifth turning pair, the sixth turning pair, the seventh turning pair, the eighth turning pair, and the ninth turning pair , the tenth revolving pair, the eleventh revolving pair, the twelfth revolving pair and the thirteenth revolving pair are parallel to each other.

Referring to Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6 and Fig. 7, the movement of the fuselage and the first connecting rod in the plane can realize the spatial movement of the end effector.

Claims (1)

1. It has a symmetrical mechanical welding robot, and its structure and connection method are: The actuator chain consists of the fuselage, the first connecting rod, the second connecting rod, the third connecting rod, the fourth connecting rod, the fifth connecting rod, the sixth connecting rod, the seventh connecting rod, the eighth connecting rod, the The nine connecting rods, the tenth connecting rod, the eleventh connecting rod, the twelfth connecting rod, the thirteenth connecting rod, the end effector and the frame are connected. The frame is connected, the fuselage is driven by the first rotary pair, the first rotary pair is driven by the motor, the second connection end of the fuselage is connected with the first connection end of the first connecting rod through the second rotary pair, and the first connecting rod is connected by Driven by the second rotating pair, the third connecting end of the fuselage is connected to the first connecting end of the second connecting rod through the third rotating pair, and the second connecting end of the second connecting rod is connected to the first connecting end of the third connecting rod through the fourth rotating pair. One connecting end is connected, the third connecting end of the second connecting rod is connected to the first connecting end of the fourth connecting rod through the fifth rotating pair, and the fourth connecting end of the second connecting rod is connected to the twelfth connecting rod through fifteen rotating pairs. One end of the connecting rod is connected, the other end of the twelfth connecting rod is connected to one end of the thirteenth connecting rod through the sixteenth rotating pair, and the other end of the thirteenth connecting rod is connected to the second connecting end of the fuselage through the second rotating pair. One end of the fifth connecting rod is connected to the second connecting end of the first connecting rod through the sixth rotating pair, the other end of the fifth connecting rod is connected to the second connecting end of the third connecting rod through the seventh rotating pair, and one end of the sixth connecting rod The seventh connecting rod is connected to the second connecting end of the third connecting rod, the other end of the sixth connecting rod is connected to the second connecting end of the fourth connecting rod through the eighth rotating pair, and one end of the seventh connecting rod is connected through the ninth rotating pair It is connected with the second connecting end of the first connecting rod, the other end of the seventh connecting rod is connected with the third connecting end of the third connecting rod through the tenth rotating pair, and one end of the eighth connecting rod is connected with the third connecting rod through the tenth rotating pair The third connecting end is connected, the other end of the eighth connecting rod is connected to the third connecting end of the fourth connecting rod through the eleventh rotating pair, and the fourth connecting rod is connected to one end of the ninth connecting rod through a rigid connection , the other end of the ninth connecting rod is connected to one end of the tenth connecting rod through the twelfth revolving pair, the tenth connecting rod is driven by the twelfth revolving pair, the twelfth revolving pair is driven by a motor, and the other end of the tenth connecting rod is passed through the The thirteenth rotating pair is connected to one end of the eleventh connecting rod, the eleventh connecting rod is driven by the thirteenth rotating pair, the thirteenth rotating pair is driven by a motor, the other end of the eleventh connecting rod is connected to the end by the fourteenth rotating pair The actuator is connected, the end effector is driven by the fourteenth revolving pair, and the fourteenth revolving pair is driven by the motor, The first turning pair is perpendicular to the frame, the second turning pair, the third turning pair, the fourth turning pair, the fifth turning pair, the sixth turning pair, the seventh turning pair, the eighth turning pair, and the ninth turning pair , the rotation axes of the tenth revolving pair and the eleventh revolving pair are parallel to each other.

Images