CN103737578A - Controllable mechanism type fine-adjusting welding robot with multiple degrees of spatial freedom - Google Patents
Controllable mechanism type fine-adjusting welding robot with multiple degrees of spatial freedom Download PDFInfo
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- CN103737578A CN103737578A CN201310675114.1A CN201310675114A CN103737578A CN 103737578 A CN103737578 A CN 103737578A CN 201310675114 A CN201310675114 A CN 201310675114A CN 103737578 A CN103737578 A CN 103737578A
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Abstract
A controllable mechanism type fine-adjusting welding robot with multiple degrees of spatial freedom comprises three controllable fine-adjusting four-rod mechanism closed-loop subchains connected in parallel and an execution mechanism subchain in series connection. The four-rod mechanism closed-loop subchains can control a first connecting rod to move in the plane where the four-rod mechanism closed-loop subchains are located, and the spatial movement of a platform can be achieved through the movement of parallel connecting rods and a machine body. The spatial movement of a tail end executor can be controlled through the resultant movement of the three closed-loop subchains and the machine body, the movement inertia of the tail end executor is small, dynamics performance is good, reliability is high, the mechanism has the advantages of being compact in structure and easy to control, the connecting rods are used for control, rod pieces can be made into light rods, the work space of the mechanism is large, the gravity of the mechanism moves backwards, the mechanism is kept balanced, and the mechanism can act on more occasions.
Description
Technical field
The present invention relates to robot field, particularly a kind of space multiple degrees of freedom controllable-mechanism type fine setting welding robot.
Background technology
Traditional serial machine people has the advantages such as simple in structure, cost is low, working space is large, and serial machine people rigidity is low comparatively speaking, can not be applied at a high speed the occasion of large carrying; Parallel robot and traditional serial machine people compare, have without accumulated error, precision compared with high, compact conformation, the feature such as bearing capacity is large, rigidity is high and end effector inertia is little, drive unit can be placed on fixed platform or approach the position of fixed platform, motion parts is lightweight like this, speed is high, and dynamic response is good; But the distinct disadvantage of the parallel robot little and complex structure that is working space.In engineering, the existing manipulator with local closed chain does not solve the problem that above-mentioned industrial robot exists.
Summary of the invention
The object of the present invention is to provide a kind of space multiple degrees of freedom controllable-mechanism type fine setting welding robot, solve traditional serial machine people large about required moment, the low and little shortcoming of working space of rigidity.
The present invention achieves the above object by the following technical programs: a kind of space multiple degrees of freedom controllable-mechanism type fine setting welding robot, and its structure and connected mode are:
Described robot comprises frame, fuselage, first connecting rod, second connecting rod, third connecting rod, the 4th connecting rod, the 5th connecting rod, the 6th connecting rod, seven-link assembly, the 8th connecting rod, the 9th connecting rod, the tenth connecting rod and end effector, first link of fuselage is connected in frame by the first revolute pair, fuselage drives by the first revolute pair, the first revolute pair drives by motor, second link of fuselage is connected with first connecting rod by the second revolute pair, first connecting rod drives by the second revolute pair, the first connecting rod other end is connected with second connecting rod one end by the 3rd revolute pair, the second connecting rod other end is connected by the 4th first link of revolute pair and third connecting rod, the 3rd link of second link of third connecting rod and fuselage is connected by the 5th revolute pair, the 5th revolute pair drives by motor, the 3rd link of third connecting rod is connected with the 4th first link of connecting rod by the 6th revolute pair, the 4th link of third connecting rod is connected with the 5th first link of connecting rod by the 7th revolute pair, the 7th revolute pair drives by motor, the 4th second, connecting rod link is connected with the 6th connecting rod one end by the 8th revolute pair, the 6th connecting rod other end is connected by second link of the 9th revolute pair and the 5th connecting rod, the 4th the 3rd, connecting rod link is connected by the tenth revolute pair with seven-link assembly one end, the seven-link assembly other end is connected by the 3rd link of the 11 revolute pair and the 5th connecting rod, the 5th the 4th, connecting rod link is connected with the 8th connecting rod one end by being rigidly connected, the 8th connecting rod other end is connected with the 9th connecting rod one end by the 12 revolute pair, the 9th connecting rod drives by the 12 revolute pair, the 12 revolute pair drives by motor, the 9th connecting rod other end is connected with the tenth connecting rod one end by the 13 revolute pair, the tenth connecting rod drives by the 13 revolute pair, the 13 revolute pair drives by motor, the tenth connecting rod other end is connected with end effector by the 14 revolute pair, end effector drives by the 14 revolute pair, the 14 revolute pair drives by motor,
Described the first revolute pair is perpendicular to frame, and 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, the 9th revolute pair, the tenth revolute pair and the 11 revolute pair rotation are parallel to each other.
Outstanding advantages of the present invention is:
1, by two parallel closed loop subchains, improved the rigidity of robot mechanism, and the design of closed loop subchain mechanism type improves the working space of robot greatly, can avoid the dead-centre position of mechanism, the sphere of action of micromatic setting Neng Shi robot is larger, and Neng Shi mechanism better keeps balance;
2, the industrial robot that is mounted in each joint with traditional motor is compared, the motor of the robot that mechanism connects by two parallel closed loop subchains is mounted on four-bar mechanism joint, by the kinematic pair on four-bar mechanism, drive closed loop chain movement, thereby indirectly drive tail end connecting rod, make mobility and the activity space of end effector larger, can reduce active moment;
3, compare with robot mechanism of the same type, under equal-wattage, work is more;
4, motor be arranged on the 5th connecting rod after, reduced the center of gravity of whole mechanism, and can installation power larger motor is in mechanism, and end effector can be adapted in the complex jobs such as welding, spraying, carrying, handling, assembling, piling;
5, robot mechanism endways actuator by mechanism type, controlled, can make precision higher;
6, mechanism type mechanism is connected with end effector with a with gemel connecting rod between carrying out with end, make actuator flexibility ratio higher, working space is larger than robot in the past, and with gemel connecting rod is made lighter bar, can make whole mechanism power performance better and be easy to control, can make end effector among a small circle, rotate 360 degree round angles, make mechanism can be applicable to more occasions;
7, in two parallel closed loop subchains, rod member is made lighter bar, and mechanism kinematic inertia is little, and dynamic performance is good;
8, the micromatic setting in mechanism is compared with traditional manipulator with local closed chain, and center of gravity concentrates on micromatic setting, and balance of mechanism is good, can make robot mechanism bear larger force and moment;
9, six-freedom degree makes mechanism can be applied to more occasions.
Accompanying drawing explanation
Fig. 1 is the first structural representation of a kind of space of the present invention multiple degrees of freedom controllable-mechanism type fine setting welding robot.
Fig. 2 is the airframe structure schematic diagram of a kind of space of the present invention multiple degrees of freedom controllable-mechanism type fine setting welding robot.
Fig. 3 is the third connecting rod schematic diagram of a kind of space of the present invention multiple degrees of freedom controllable-mechanism type fine setting welding robot.
Fig. 4 is the 4th connecting rod schematic diagram of a kind of space of the present invention multiple degrees of freedom controllable-mechanism type fine setting welding robot.
Fig. 5 is the 5th connecting rod schematic diagram of a kind of space of the present invention multiple degrees of freedom controllable-mechanism type fine setting welding robot.
Fig. 6 is the 9th connecting rod schematic diagram of a kind of space of the present invention multiple degrees of freedom controllable-mechanism type fine setting welding robot.
Fig. 7 is the tenth connecting rod schematic diagram of a kind of space of the present invention multiple degrees of freedom controllable-mechanism type fine setting welding robot.
Fig. 8 is the part body connection diagram of a kind of space of the present invention multiple degrees of freedom controllable-mechanism type fine setting welding robot.
Fig. 9 is the work schematic diagram of a kind of space of the present invention multiple degrees of freedom controllable-mechanism type fine setting welding robot.
The specific embodiment
Below in conjunction with drawings and Examples, technical scheme of the present invention is described further.
Contrast Fig. 1-Fig. 9, a kind of space multiple degrees of freedom controllable-mechanism type fine setting welding robot, its structure and connected mode are:
Described executing agency subchain is by fuselage 2, first connecting rod 3, second connecting rod 4, third connecting rod 5, the 4th connecting rod 6, the 5th connecting rod 7, the 6th connecting rod 8, seven-link assembly 9, the 8th connecting rod 10, the 9th connecting rod 11, the tenth connecting rod 12, end effector 13 and frame 1 are formed by connecting, fuselage 2 first links are connected in frame 1 by the first revolute pair 14, fuselage 2 drives by the first revolute pair 14, 2 second links of fuselage are connected with first connecting rod 3 by the second revolute pair 15, first connecting rod 3 drives by the second revolute pair 15, first connecting rod 3 other ends are connected with second connecting rod 4 one end by the 3rd revolute pair 16, second connecting rod 4 other ends are connected with third connecting rod 5 first links by the 4th revolute pair 17, the 3rd link of 5 second links of third connecting rod and fuselage 2 is connected by the 5th revolute pair 18, the 3rd link of third connecting rod 5 is connected with the 4th connecting rod 5 first links by the 6th revolute pair 19, the 4th link of third connecting rod 5 is connected with the 5th connecting rod 7 first links by the 7th revolute pair 22, the 4th 6 second, connecting rod link is connected with the 6th connecting rod 8 one end by the 8th revolute pair 20, the 6th connecting rod 8 other ends are connected by 7 second links of the 9th revolute pair 23 and the 5th connecting rod, the 4th the 3rd, connecting rod 6 link is connected by the tenth revolute pair 21 with seven-link assembly 9 one end, seven-link assembly 9 other ends are connected by the 3rd link of the 11 revolute pair 24 and the 5th connecting rod 7, the 5th the 4th, connecting rod 7 link is connected with the 8th connecting rod 10 one end by being rigidly connected, the 8th connecting rod 10 other ends are connected with the 9th connecting rod 11 one end by the 12 revolute pair 26, the 9th connecting rod 11 drives by the 12 revolute pair 26, the 9th connecting rod 11 other ends are connected with the tenth connecting rod 12 one end by the 13 revolute pair 27, the tenth connecting rod 12 drives by the 13 revolute pair 27, the tenth connecting rod 11 other ends are carried out 13 devices by the 14 revolute pair 28 and end and are connected, end effector 13 drives by the 14 revolute pair 28.
Described the first revolute pair 14 is parallel to each other perpendicular to frame 1, the second revolute pair 15, the 3rd revolute pair 16, the 4th revolute pair 17, the 5th revolute pair 18, the 6th revolute pair 19, the 7th revolute pair 22, the 8th revolute pair 20, the 9th revolute pair 23, the tenth revolute pair 21 and the 11 revolute pair 24 rotations.
Described fuselage 2 and first connecting rod 3 motion planar can realize the spatial movement of end effector 13.
Claims (1)
1. a space multiple degrees of freedom controllable-mechanism type is finely tuned welding robot, it is characterized in that: comprise frame, fuselage, first connecting rod, second connecting rod, third connecting rod, the 4th connecting rod, the 5th connecting rod, the 6th connecting rod, seven-link assembly, the 8th connecting rod, the 9th connecting rod, the tenth connecting rod and end effector
First link of fuselage is connected in frame by the first revolute pair, fuselage drives by the first revolute pair, the first revolute pair drives by motor, second link of fuselage is connected with first connecting rod by the second revolute pair, first connecting rod drives by the second revolute pair, the first connecting rod other end is connected with second connecting rod one end by the 3rd revolute pair, the second connecting rod other end is connected by the 4th first link of revolute pair and third connecting rod, the 3rd link of second link of third connecting rod and fuselage is connected by the 5th revolute pair, the 5th revolute pair drives by motor, the 3rd link of third connecting rod is connected with the 4th first link of connecting rod by the 6th revolute pair, the 4th link of third connecting rod is connected with the 5th first link of connecting rod by the 7th revolute pair, the 7th revolute pair drives by motor, the 4th second, connecting rod link is connected with the 6th connecting rod one end by the 8th revolute pair, the 6th connecting rod other end is connected by second link of the 9th revolute pair and the 5th connecting rod, the 4th the 3rd, connecting rod link is connected by the tenth revolute pair with seven-link assembly one end, the seven-link assembly other end is connected by the 3rd link of the 11 revolute pair and the 5th connecting rod, the 5th the 4th, connecting rod link is connected with the 8th connecting rod one end by being rigidly connected, the 8th connecting rod other end is connected with the 9th connecting rod one end by the 12 revolute pair, the 9th connecting rod drives by the 12 revolute pair, the 12 revolute pair drives by motor, the 9th connecting rod other end is connected with the tenth connecting rod one end by the 13 revolute pair, the tenth connecting rod drives by the 13 revolute pair, the 13 revolute pair drives by motor, the tenth connecting rod other end is connected with end effector by the 14 revolute pair, end effector drives by the 14 revolute pair, the 14 revolute pair drives by motor,
Described the first revolute pair is perpendicular to frame, and 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, the 9th revolute pair, the tenth revolute pair and the 11 revolute pair rotation are parallel to each other.
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| CN201310675114.1A CN103737578B (en) | 2013-12-07 | 2013-12-07 | A kind of space multi-freedom-degreecontrollable controllable mechanism type fine setting welding robot |
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| CN201310675114.1A CN103737578B (en) | 2013-12-07 | 2013-12-07 | A kind of space multi-freedom-degreecontrollable controllable mechanism type fine setting welding robot |
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| CN103737578A true CN103737578A (en) | 2014-04-23 |
| CN103737578B CN103737578B (en) | 2016-01-20 |
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