CN103737578B - A spatial multi-DOF fine-tuning means controlled welding robot - Google Patents

Abstract

A spatial multi-DOF fine-tuning means controlled welding robot comprising three parallel four controllable fine adjustment mechanism and the actuator loop daughter strand daughter strand in series. The four sub-loop chain means may control the first four link mechanism is located within the plane of movement of the closed loop chain, and the body movement of the parallel link may be implemented spatial motion of the moving platform. The present invention is achieved by a composite moving body and three closed-loop control of daughter strand end effector spatial movement, the small inertia of the end effector movement, good kinetic performance, high reliability, with a compact mechanism, the advantage of simple control, by the after the control rod, the lever rod can be made lighter, and a large working space agencies, the center of gravity shift mechanism, retaining the balance mechanism can be applied to more applications.

Description

A spatial multi-DOF fine-tuning means controlled welding robot

FIELD

[0001] The present invention relates to the field of robotics, in particular to a spatial multi-DOF fine-tuning means controlled welding robot.

Background technique

[0002] The conventional series robot has a simple structure, low cost, large workspaces, etc., relatively low stiffness of the robot in series, can not be applied to high-speed, large carrying case; parallel robot and a serial robot as compared to the conventional, with no cumulative error, high precision, compact structure, large carrying capacity, stiffness and the end effector inertia characteristics of the drive means may be placed on a given platform or near the predetermined position of the platform, so that moving light weight part, high speed, dynamic good response; however significant disadvantage parallel robot working space is small and complicated structure. Engineering machine operating with a conventional local closed chain does not solve the problem of the industrial robot.

SUMMARY

[0003] The object of the present invention is to provide a spatial multi-DOF fine-tuning means controlled welding robot, solve the drawbacks of the conventional serial robot on the desired torque, low rigidity and small working space.

[0004] The following aspect of the present invention to achieve the above object is achieved by: A spatial multi-DOF fine-tuning means controlled welding robot, its structure and connection for:

[0005] The robot includes a chassis, body, a first link, second link, third link, the fourth link, the fifth link, a sixth link, seventh link, the eighth link, a ninth link, a tenth link and the end effector, a first body connected by a first end rotatably coupled to the sub-chassis, the sub-body is rotated by a first drive, the first sub-rotation by a motor drive, a second body rotatably connected to a second end of the first link is connected through the sub, the first link is rotated by a second drive sub, and the other end connected to the first link through a third turning pair and an end of the second link , the other end of the second link by a fourth turning pair and a third link connected to a first end connected to the third link connected to the second end of the body through a fifth terminal connected to the third sub-rotatably connected to the fifth rotation of the counter driven by a motor, the third link are connected by a third connection terminal and the sixth turning pair fourth link connected to a first end of the third link by a fourth connecting terminal connected to the fifth sub-seventh rotary connecting a first end of the rod is connected, via a seventh swivel joint drive motor, the fourth link through the second connecting end The eighth sub-rotatably connected with one end of the sixth link, the sixth link and the other end connected through the fifth link and the ninth sub-rotatably connected to the second terminal, a fourth terminal connected to the third link and the seventh link end by rotation of the tenth sub connector, a seventh through eleventh link and the other end rotatably connected to the fifth sub-link of the third connection terminal, a fifth terminal connected to the fourth rod via a rigid connecting rod having one end connected to the eighth the eighth through twelfth link and the other end rotatably connected to an end of the sub-ninth link, the ninth through twelfth link rotatably drive the sub, the sub twelfth rotated by a motor driven by the other end of the ninth link thirteen sub rotatable rod end connected to the tenth, eleventh through thirteenth link rotatably drive the sub, the sub thirteenth rotated by a motor drive, the tenth through fourteenth link and the other end rotatably connected with the end sub , the end effector is driven by rotation of the sub-XIV fourteenth sub rotated by a motor drive;

[0006] The first sub-rotation perpendicular to the frame, the second sub-rotation, a third turning pair, a fourth turning pair, a fifth turning pair, a sixth turning pair, the seventh sub-rotation, rotation of the sub-eighth, of nine sub-rotation, rotation of the tenth and eleventh sub-sub rotation axis of rotation parallel to each other.

[0007] The outstanding advantages of the present invention:

[0008] 1, closed by two parallel chains, increases the rigidity of the robot mechanism, and the closed loop chain means a sub-formula greatly improve the design space of the robot, to avoid dead center position of the mechanism, the adjustment device can effect the robot larger, and to enable a better balance mechanism;

[0009] 2, and compared to conventional motor is mounted in each joint of the industrial robot, the robot mechanism by a motor two parallel sub-loop chain links are mounted on the four joint mechanism, by means of the four motion auxiliary drive chain loop movement, thereby indirectly driven end link, the end effector activity and activity of more space can be reduced dynamic moment;

[0010] 3, compared with the same type of robot mechanism, to do more work at the same power;

[0011] 4, the motor is mounted behind the fifth link, and lower center of gravity of the entire mechanism, and the motor may be mounted on the larger power mechanism, the end effector can be adapted in welding, painting, transport, handling, assembly , palletizing complex operations;

[0012] 5, robot means controlled by the end effector means in the formula, enables higher accuracy;

[0013] 6, between the mechanism and the end effector mechanism of Formula link and the end effector with a hinged connection, the actuator higher flexibility, the workspace is larger than a conventional robot, and the rod is hinged into a light pole, the power performance of the entire mechanism can be made better and easy to control, the end effector can be rotated 360 degrees peripheral corner in a small area, so that means can be applied to more applications;

[0014] 7, two daughter strand in the parallel loop, the lever bar is made light, small inertia movement mechanism, good kinetic properties;

[0015] 8, trimming means on the mechanism compared to the conventional manipulator with local closed chain, focused on the fine-tuning means, means well-balanced to make the robot mechanism to withstand greater forces and moments;

[0016] 9, six degrees of freedom so that means can be used in more applications.

BRIEF DESCRIPTION

[0017] FIG. 1 a first plurality of the one spatial configuration diagram of a controllable mechanism fine-tuning the degree of freedom of the welding robot of the present invention.

[0018] Fig 2 a schematic view of the multi-hull structure one sterically controlled fine-tuning mechanism of the present invention the degree of freedom of the welding robot.

[0019] FIG. 3 is the third one sterically multi-link diagram of a controllable welding robot mechanism fine-tuning the degree of freedom to the invention.

[0020] FIG 4 A spatial diagram of a controllable multi-link mechanism of the fourth fine-tuning the degree of freedom of the welding robot of the present invention.

[0021] FIG 5 A spatial diagram of a controllable fifth link mechanisms plurality fine-tuning the degree of freedom of the welding robot of the present invention.

[0022] FIG. 6 the one space diagram of a controllable multi-ninth link mechanism fine-tuning the degree of freedom of the welding robot of the present invention.

[0023] FIG 7 A spatial multi-tenth of the link mechanism diagram of a controllable degree of freedom in fine-tuning of the welding robot of the present invention.

[0024] FIG. 8 of the one part means controllable spatial multi-DOF fine-tuning mechanism of welding robot connection diagram of the present invention.

[0025] Figure 9 a schematic view of the one controllable spatial much work fine-tuning mechanism of the present invention the degree of freedom of the welding robot.

Detailed ways

[0026] accompanying drawings and the following technical solutions of embodiments of the present invention will be further described.

[0027] FIGS 9 controls a mechanism controllable spatial multi-DOF fine-tuning welding robot, its structure and connection for:

[0028] The actuator sub-body 2 by a chain, the first link 3, the second link 4, the third link 5, the fourth link 6, 7 fifth link, a sixth link 8, 9 the seventh link, the eighth link 10, link 11 of the ninth, tenth link 12, the end effector 13 and the frame 1 are connected together, the first body 2 through a first end rotatably connected to a sub-14 connected to the frame 1, the body 2 is rotated by a first drive sub 14, the second body 2 are connected by connecting end 15 of the second sub-rotation of the first link 3, the first link by a second revolute pairs 3 drive 15, the other end of the first link 3 is rotated by the sub 16 is connected to the third end of the second link 4, the other end of the second 4 link 5 is connected a first end of the fourth turning pair 17 are connected by the third link , third link 5 connected to the second end of the body 2 through the third connecting terminal connected to the fifth turning pair 18, the third link 5 through a third connecting terminal 19 and the sixth turning pair fourth link 6 a first connecting terminal connected to the third link 5 is connected through a fourth connecting terminal 22 and the fifth rotation of the seventh link 7 is connected to a first end of the secondary, a fourth link connected to the second end 6 is rotated by the eighth sub 20 and a sixth link 8 Terminal is connected, the other end of the sixth rod 8 by rotation of the ninth sub fifth link 23 is connected to the second connection terminal 7, the fourth link 6 connecting the third end of the one end of the seventh link 9 rotated by tenth sub 21 is connected, the other end of the seventh link 9 rotated by the eleventh sub fifth link 24 is connected to the third connection terminal 7, the fifth connecting rod 7 via a fourth connecting end 10 rigidly connected to the eighth link - terminals, the eighth through the twelfth link 10 the other end 26 rotatably connected to one end of the ninth sub-link 11, drive link 11 rotates the ninth through twelfth sub 26, the other end of the ninth link 11 through a first thirteen sub 27 rotatably connected to one end 12 a tenth link, the tenth through the thirteenth link 12 rotates the drive sub 27, the tenth through fourteenth link 12 the other end of the sub 28 rotatably connected with the end 13, the end actuator 13 rotates the drive sub 28 by a fourteenth.

[0029] The first turning pair 14 perpendicular to the frame 1, a second turning pair 15, a third turning pair 16, a fourth turning pair 17, a fifth turning pair 18, a sixth turning pair 19, the seventh rotary vice 22, the sub 20 is rotated an eighth, a ninth sub 23 is rotated, rotation of the tenth and the eleventh sub-sub 21 rotation axis 24 parallel to each other.

[0030] The body 2, and 3 in the plane of movement of the first link may be implemented spatial movement of the end effector 13.

Claims (1)

A space multi-DOF fine-tuning means controlled welding robot comprising: a chassis, body, a first link, second link, third link, the fourth link, even the fifth rod, a sixth rod, a seventh link, the eighth link, a ninth link, a tenth link and the end effector, a first body connected by a first end rotatably coupled to the sub-rack, the first sub-body rotatably driven by a motor driving a first sub-rotation, a second body connected by a second end rotatably connected to the first link one end of the sub, the first link is rotated by a second drive sub, a first even the other end of the rod is connected by a third turning pair and an end of the second link, the second link and the other end is connected through a fourth turning pair and a third link connecting the first end of the third link to the second connection terminal machine the third body rotatably connected through a fifth auxiliary connection terminal, the fifth sub-rotated by a motor drive, the third link are connected by a third connection terminal and the sixth turning pair fourth link connected to a first terminal, a third and even bars connected by a fourth connecting terminal and the seventh sub fifth link rotatably connected to a first terminal, a seventh Rotation of the counter driven by a motor, a fourth link connected to a second end rotatably connected through an eighth sub link with one end of the sixth, the other end of the sixth link and the ninth sub fifth link rotatably connected to a second end connected by a , fourth link connected to a third terminal of the seventh through tenth rotation of the sub-rod is connected at one end, the other end of the seventh link rotatably connected by the eleventh sub third and fifth link connection, even the fifth bars connected by a fourth connecting end rigidly connected to one end of the eighth link, the eighth link and the other end rotatably connected through twelfth sub link with one end of the ninth, twelfth ninth auxiliary drive rod is rotated by the first twelve sub rotated by a motor drive, the ninth through the thirteenth link and the other end rotatably connected to the sub-rod end of the tenth, eleventh through thirteenth link rotatably drive the sub, the sub thirteenth rotated by a motor drive, the first ten through fourteenth link and the other end rotatably connected with the end effector sub, rotation of the end effector through fourteenth auxiliary drive, a fourteenth sub-rotated by a motor drive; the first sub-rotation perpendicular to the frame, the second turning pair, a third turning pair, fourth Turning pair, a fifth turning pair, a sixth turning pair, the seventh sub-rotation, rotation of the sub-eighth, a ninth sub-rotation, rotation of the tenth and eleventh sub-sub rotation axis of rotation parallel to each other.