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

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

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CN103737578B
CN103737578B CN201310675114.1A CN201310675114A CN103737578B CN 103737578 B CN103737578 B CN 103737578B CN 201310675114 A CN201310675114 A CN 201310675114A CN 103737578 B CN103737578 B CN 103737578B
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link
sub
end
connected
rotation
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CN201310675114.1A
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CN103737578A (en
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蔡敢为
胥刚
张�林
石慧
王麾
范雨
关卓怀
王少龙
王小纯
李岩舟
温芳
杨旭娟
周晓蓉
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广西大学
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Abstract

一种空间多自由度可控机构式微调焊接机器人,包括并联的三个可控微调四杆机构闭环子链和一个串联的执行机构子链。 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. 所述四杆机构闭环子链可控制第一连杆所在四杆机构闭环子链所在平面内运动,并联连杆和机身的运动可实现动平台的空间运动。 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. 本发明通过三个闭环子链和机身的合成运动实现控制末端执行器的空间运动,末端执行器运动惯量小,动力学性能好,可靠性高,机构具有结构紧凑,控制简单的优点,由连杆进行控制,杆件能做成轻杆,并且机构的工作空间大,使机构重心后移,保持机构平衡,能作用于更多的场合。 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

一种空间多自由度可控机构式微调焊接机器人 A spatial multi-DOF fine-tuning means controlled welding robot

技术领域 FIELD

[0001 ] 本发明涉及机器人领域,特别是一种空间多自由度可控机构式微调焊接机器人。 [0001] The present invention relates to the field of robotics, in particular to a spatial multi-DOF fine-tuning means controlled welding robot.

背景技术 Background technique

[0002] 传统的串联机器人具有结构简单、成本低、工作空间大等优点,相对而言串联机器人刚度低,不能应用于高速,大承载的场合;并联机器人和传统的串联机器人相比较,具有无累积误差、精度较高、结构紧凑、承载能力大、刚度高且末端执行器惯性小等特点,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;但是并联机器人的明显缺点是工作空间小和结构复杂。 [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. 工程上现有的带有局部闭链的操作机并没有解决上述工业机器人存在的问题。 Engineering machine operating with a conventional local closed chain does not solve the problem of the industrial robot.

发明内容 SUMMARY

[0003] 本发明的目的在于提供一种空间多自由度可控机构式微调焊接机器人,解决传统串联机器人关于所需力矩大,刚度低和工作空间小的缺点。 [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] 本发明通过以下技术方案达到上述目的:一种空间多自由度可控机构式微调焊接机器人,其结构和连接方式为: [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] 所述机器人包括机架、机身、第一连杆、第二连杆、第三连杆、第四连杆、第五连杆、第六连杆、第七连杆、第八连杆、第九连杆、第十连杆和末端执行器,机身第一个连接端通过第一转动副连接在机架上,机身通过第一转动副驱动,第一转动副通过电机驱动,机身第二个连接端通过第二转动副与第一连杆连接,第一连杆通过第二转动副驱动,第一连杆另一端通过第三转动副与第二连杆一端连接,第二连杆另一端通过第四转动副与第三连杆第一个连接端连接,第三连杆第二个连接端与机身第三个连接端通过第五转动副连接,第五转动副通过电机驱动,第三连杆第三个连接端通过第六转动副与第四连杆第一个连接端连接,第三连杆第四个连接端通过第七转动副与第五连杆第一个连接端连接,第七转动副通过电机驱动,第四连杆第二个连接端通过 [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 第八转动副与第六连杆一端连接,第六连杆另一端通过第九转动副与第五连杆第二个连接端连接,第四连杆第三个连接端与第七连杆一端通过第十转动副连接,第七连杆另一端通过第十一转动副与第五连杆第三个连接端连接,第五连杆第四个连接端通过刚性连接与第八连杆一端连接,第八连杆另一端通过第十二转动副与第九连杆一端连接,第九连杆通过第十二转动副驱动,第十二转动副通过电机驱动,第九连杆另一端通过第十三转动副与第十连杆一端连接,第十连杆通过第十三转动副驱动,第十三转动副通过电机驱动,第十连杆另一端通过第十四转动副与末端执行器连接,末端执行器通过第十四转动副驱动,第十四转动副通过电机驱动; 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] 所述第一转动副垂直于机架,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、第九转动副、第十转动副和第十一转动副旋转轴线相互平行。 [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] 本发明的突出优点在于: [0007] The outstanding advantages of the present invention:

[0008] 1、通过两个并联闭环子链,提高了机器人机构的刚度,并且闭环子链机构式的设计大大提高机器人的工作空间,能避免机构的死点位置,微调装置能使机器人的作用范围更大,并且能使机构更好的保持平衡; [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、与传统的电机是安装在每个关节处的工业机器人相比,机构通过两个并联闭环子链连接的机器人的电机是安装在四杆机构关节上,通过四杆机构上的运动副驱动闭环链运动,从而间接驱动末端连杆,使末端执行器的活动度和活动空间更大,能减小能动力矩; [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、与同类型的机器人机构相比较,相同功率下做的功更多; [0010] 3, compared with the same type of robot mechanism, to do more work at the same power;

[0011] 4、电机安装在第五连杆的后面,降低了整个机构的重心,而且可以安装功率较大的电机在机构上,使末端执行器可以适应在焊接、喷涂、搬运、装卸、装配、码垛等复杂作业中; [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、机器人机构在末端执行器由机构式控制,能使精度更高; [0012] 5, robot means controlled by the end effector means in the formula, enables higher accuracy;

[0013] 6、机构式机构与末端执行之间用一个带铰链的连杆和末端执行器连接,使执行器灵活度更高,工作空间比以往的机器人更大,而且带铰链的连杆做成轻杆,可以使整个机构动力性能更好且易于控制,可以使末端执行器在小范围内转动360度周角,使机构能适用于更多场合; [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、在两个并联闭环子链上,杆件做成轻杆,机构运动惯量小,动力学性能好; [0014] 7, two daughter strand in the parallel loop, the lever bar is made light, small inertia movement mechanism, good kinetic properties;

[0015] 8、机构上的微调装置与传统的带有局部闭链的操作机相比,重心集中在微调装置上,机构平衡性好,能使机器人机构承受更大的力和力矩; [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、六个自由度使机构能应用于更多场合。 [0016] 9, six degrees of freedom so that means can be used in more applications.

附图说明 BRIEF DESCRIPTION

[0017]图1为本发明所述一种空间多自由度可控机构式微调焊接机器人的第一结构示意图。 [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] 图2为本发明所述一种空间多自由度可控机构式微调焊接机器人的机身结构示意图。 [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] 图3为本发明所述一种空间多自由度可控机构式微调焊接机器人的第三连杆示意图。 [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] 图4为本发明所述一种空间多自由度可控机构式微调焊接机器人的第四连杆示意图。 [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] 图5为本发明所述一种空间多自由度可控机构式微调焊接机器人的第五连杆示意图。 [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] 图6为本发明所述一种空间多自由度可控机构式微调焊接机器人的第九连杆示意图。 [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]图7为本发明所述一种空间多自由度可控机构式微调焊接机器人的第十连杆示意图。 [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] 图8为本发明所述一种空间多自由度可控机构式微调焊接机器人的部分机构连接示意图。 [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] 图9为本发明所述一种空间多自由度可控机构式微调焊接机器人的工作示意图。 [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.

具体实施方式 Detailed ways

[0026] 下面结合附图及实施例对本发明的技术方案作进一步说明。 [0026] accompanying drawings and the following technical solutions of embodiments of the present invention will be further described.

[0027] 对照图1-图9,一种空间多自由度可控机构式微调焊接机器人,其结构和连接方式为: [0027] FIGS 9 controls a mechanism controllable spatial multi-DOF fine-tuning welding robot, its structure and connection for:

[0028] 所述执行机构子链由机身2、第一连杆3、第二连杆4、第三连杆5、第四连杆6、第五连杆7、第六连杆8、第七连杆9、第八连杆10、第九连杆11、第十连杆12、末端执行器13及机架1连接而成,机身2第一个连接端通过第一转动副14连接在机架1上,机身2通过第一转动副14驱动,机身2第二个连接端通过第二转动副15与第一连杆3连接,第一连杆3通过第二转动副15驱动,第一连杆3另一端通过第三转动副16与第二连杆4 一端连接,第二连杆4另一端通过第四转动副17与第三连杆5第一个连接端连接,第三连杆5第二个连接端与机身2第三个连接端通过第五转动副18连接,第三连杆5第三个连接端通过第六转动副19与第四连杆6第一个连接端连接,第三连杆5第四个连接端通过第七转动副22与第五连杆7第一个连接端连接,第四连杆6第二个连接端通过第八转动副20与第六连杆8 一 [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 端连接,第六连杆8另一端通过第九转动副23与第五连杆7第二个连接端连接,第四连杆6第三个连接端与第七连杆9 一端通过第十转动副21连接,第七连杆9另一端通过第十一转动副24与第五连杆7第三个连接端连接,第五连杆7第四个连接端通过刚性连接与第八连杆10 —端连接,第八连杆10另一端通过第十二转动副26与第九连杆11 一端连接,第九连杆11通过第十二转动副26驱动,第九连杆11另一端通过第十三转动副27与第十连杆12 一端连接,第十连杆12通过第十三转动副27驱动,第十连杆12另一端通过第十四转动副28与末端执行13器连接,末端执行器13通过第十四转动副28驱动。 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] 所述第一转动副14垂直于机架1,第二转动副15、第三转动副16、第四转动副17、第五转动副18、第六转动副19、第七转动副22、第八转动副20、第九转动副23、第十转动副21和第十一转动副24旋转轴线相互平行。 [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] 所述机身2和第一连杆3在所在平面内的运动可实现末端执行器13的空间运动。 [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)

1.一种空间多自由度可控机构式微调焊接机器人,其特征在于:包括机架、机身、第一连杆、第二连杆、第三连杆、第四连杆、第五连杆、第六连杆、第七连杆、第八连杆、第九连杆、第十连杆和末端执行器, 机身第一个连接端通过第一转动副连接在机架上,机身通过第一转动副驱动,第一转动副通过电机驱动,机身第二个连接端通过第二转动副与第一连杆一端连接,第一连杆通过第二转动副驱动,第一连杆另一端通过第三转动副与第二连杆一端连接,第二连杆另一端通过第四转动副与第三连杆第一个连接端连接,第三连杆第二个连接端与机身第三个连接端通过第五转动副连接,第五转动副通过电机驱动,第三连杆第三个连接端通过第六转动副与第四连杆第一个连接端连接,第三连杆第四个连接端通过第七转动副与第五连杆第一个连接端连接,第七 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 转动副通过电机驱动,第四连杆第二个连接端通过第八转动副与第六连杆一端连接,第六连杆另一端通过第九转动副与第五连杆第二个连接端连接,第四连杆第三个连接端与第七连杆一端通过第十转动副连接,第七连杆另一端通过第十一转动副与第五连杆第三个连接端连接,第五连杆第四个连接端通过刚性连接与第八连杆一端连接,第八连杆另一端通过第十二转动副与第九连杆一端连接,第九连杆通过第十二转动副驱动,第十二转动副通过电机驱动,第九连杆另一端通过第十三转动副与第十连杆一端连接,第十连杆通过第十三转动副驱动,第十三转动副通过电机驱动,第十连杆另一端通过第十四转动副与末端执行器连接,末端执行器通过第十四转动副驱动,第十四转动副通过电机驱动; 所述第一转动副垂直于机架,第二转动副、第三转动副、第四 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 转动副、第五转动副、第六转动副、第七转动副、第八转动副、第九转动副、第十转动副和第十一转动副旋转轴线相互平行。 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.
CN201310675114.1A 2013-12-07 2013-12-07 A spatial multi-DOF fine-tuning means controlled welding robot CN103737578B (en)

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