CN103737578B - A kind of space multi-freedom-degreecontrollable controllable mechanism type fine setting welding robot - Google Patents

A kind of space multi-freedom-degreecontrollable controllable mechanism type fine setting welding robot Download PDF

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Publication number
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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China
Prior art keywords
rod
revolute pair
link
driven
space
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CN201310675114.1A
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Chinese (zh)
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CN103737578A (en
Inventor
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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Priority to CN201310675114.1A priority Critical patent/CN103737578B/en
Publication of CN103737578A publication Critical patent/CN103737578A/en
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Publication of CN103737578B publication Critical patent/CN103737578B/en

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Abstract

A kind of space multi-freedom-degreecontrollable controllable mechanism type fine setting welding robot, comprises executing agency's subchain of three controlled fine setting four-bar mechanism closed-loop subchain in parallel and a series connection.Described four-bar mechanism closed-loop subchain can control four-bar mechanism closed-loop subchain place, first connecting rod place move in plane, and the motion of connecting rod in parallel and fuselage can realize the spatial movement of moving platform.The present invention realizes by the resultant motion of three closed-loop subchain and fuselage the spatial movement controlling end effector, end effector movement inertia is little, and dynamic performance is good, and reliability is high, mechanism has compact conformation, control simple advantage, controlled by connecting rod, rod member can make lighter bar, and the working space of mechanism is large, move after making mechanism's center of gravity, maintaining body balances, and can act on more occasion.

Description

A kind of space multi-freedom-degreecontrollable controllable mechanism type fine setting welding robot
Technical field
The present invention relates to robot field, particularly a kind of space multi-freedom-degreecontrollable controllable mechanism type fine setting welding robot.
Background technology
Traditional serial manipulator has the advantages such as structure is simple, cost is low, working space is large, and serial manipulator rigidity is low comparatively speaking, can not be applied at a high speed, the occasion of large carrying; Parallel robot is compared with traditional serial manipulator, have without accumulated error, precision compared with high, compact conformation, bearing capacity is large, rigidity is high and end effector inertia is little etc. feature, drive unit can be placed on fixed platform or close to the position of fixed platform, such motion parts is lightweight, 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 above-mentioned industrial robot Problems existing.
Summary of the invention
The object of the present invention is to provide a kind of space multi-freedom-degreecontrollable controllable mechanism type fine setting welding robot, solve conventional serial robot large about required moment, the shortcoming that rigidity is low and working space is little.
The present invention achieves the above object by the following technical programs: a kind of space multi-freedom-degreecontrollable 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, double leval jib, 5th connecting rod, six-bar linkage, seven-link assembly, 8th connecting rod, 9th connecting rod, tenth connecting rod and end effector, fuselage first link is connected in frame by the first revolute pair, fuselage is driven by the first revolute pair, first revolute pair is driven by motor, fuselage second link is connected with first connecting rod by the second revolute pair, first connecting rod is driven 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 revolute pair and third connecting rod first link, third connecting rod second link and fuselage the 3rd link is connected by the 5th revolute pair, 5th revolute pair is driven by motor, third connecting rod the 3rd link is connected by the 6th revolute pair and double leval jib first link, third connecting rod the 4th link is connected by the 7th revolute pair and the 5th connecting rod first link, 7th revolute pair is driven by motor, double leval jib second link is connected with six-bar linkage one end by the 8th revolute pair, the six-bar linkage other end is connected by the 9th revolute pair and the 5th connecting rod second link, double leval jib the 3rd link is connected by the tenth revolute pair with seven-link assembly one end, the seven-link assembly other end is connected by the 11 revolute pair and the 5th connecting rod the 3rd link, 5th the 4th, connecting rod link to be 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, 9th connecting rod is driven by the 12 revolute pair, 12 revolute pair is driven by motor, the 9th connecting rod other end is connected with the tenth connecting rod one end by the 13 revolute pair, tenth connecting rod is driven by the 13 revolute pair, 13 revolute pair is driven by motor, the tenth connecting rod other end is connected with end effector by the 14 revolute pair, end effector is driven by the 14 revolute pair, 14 revolute pair is driven by motor,
Described 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, improve the rigidity of robot mechanism, and the design of closed-loop subchain mechanism type improves the working space of robot greatly, the dead-centre position of mechanism can be avoided, the sphere of action of micromatic setting Neng Shi robot is larger, and Neng Shi mechanism better keeps balance;
2, compared with the industrial robot being mounted in each joint with traditional motor, the motor of the robot that mechanism is connected by two parallel closed loop subchains is mounted on four-bar mechanism joint, closed loop chain movement is driven by the kinematic pair on four-bar mechanism, thus indirectly drive tail end connecting rod, make the mobility of end effector and activity space larger, can active moment be reduced;
3, compared with robot mechanism of the same type, under equal-wattage, work is more;
4, motor is arranged on after the 5th connecting rod, reduces the center of gravity of whole mechanism, and can the larger motor of installation power in mechanism, make end effector can adapt in the complex jobs such as welding, spraying, carrying, handling, assembling, piling;
5, robot mechanism is controlled by mechanism type at end effector, and precision can be made higher;
6, mechanism type mechanism is connected with a with gemel connecting rod and end effector between performing with end, make actuator flexibility ratio higher, working space is larger than robot in the past, and lighter bar made by with gemel connecting rod, whole mechanism power performance can be made better and be easy to control, end effector can be made among a small circle to rotate 360 degree of round angles, make mechanism can be applicable to more occasions;
7, in two parallel closed loop subchains, lighter bar made by rod member, 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, and robot mechanism can be made to 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 multi-freedom-degreecontrollable controllable mechanism type fine setting welding robot.
Fig. 2 is the airframe structure schematic diagram of a kind of space of the present invention multi-freedom-degreecontrollable 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 multi-freedom-degreecontrollable controllable mechanism type fine setting welding robot.
Fig. 4 is the double leval jib schematic diagram of a kind of space of the present invention multi-freedom-degreecontrollable 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 multi-freedom-degreecontrollable 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 multi-freedom-degreecontrollable 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 multi-freedom-degreecontrollable controllable mechanism type fine setting welding robot.
Fig. 8 is the part body connection diagram of a kind of space of the present invention multi-freedom-degreecontrollable controllable mechanism type fine setting welding robot.
Fig. 9 is the operating diagram of a kind of space of the present invention multi-freedom-degreecontrollable controllable mechanism type fine setting welding robot.
Detailed description of the invention
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 multi-freedom-degreecontrollable 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, double leval jib 6, 5th connecting rod 7, six-bar linkage 8, seven-link assembly 9, 8th connecting rod 10, 9th connecting rod 11, 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 is driven by the first revolute pair 14, fuselage 2 second links are connected with first connecting rod 3 by the second revolute pair 15, first connecting rod 3 is driven by the second revolute pair 15, first connecting rod 3 other end is connected with second connecting rod 4 one end by the 3rd revolute pair 16, second connecting rod 4 other end is connected by the 4th revolute pair 17 and third connecting rod 5 first links, third connecting rod 5 second links and fuselage 2 the 3rd link is connected by the 5th revolute pair 18, third connecting rod 5 the 3rd link is connected by the 6th revolute pair 19 and double leval jib 6 first links, third connecting rod 5 the 4th link is connected by the 7th revolute pair 22 and the 5th connecting rod 7 first links, double leval jib 6 second links are connected with six-bar linkage 8 one end by the 8th revolute pair 20, six-bar linkage 8 other end is connected by the 9th revolute pair 23 and the 5th connecting rod 7 second links, double leval jib 6 the 3rd link is connected by the tenth revolute pair 21 with seven-link assembly 9 one end, seven-link assembly 9 other end is connected by the 11 revolute pair 24 and the 5th connecting rod 7 the 3rd link, 5th the 4th, connecting rod 7 link to be connected with the 8th connecting rod 10 one end by being rigidly connected, 8th connecting rod 10 other end is connected with the 9th connecting rod 11 one end by the 12 revolute pair 26, 9th connecting rod 11 is driven by the 12 revolute pair 26, 9th connecting rod 11 other end is connected with the tenth connecting rod 12 one end by the 13 revolute pair 27, tenth connecting rod 12 is driven by the 13 revolute pair 27, tenth connecting rod 12 other end performs 13 devices by the 14 revolute pair 28 and end and is connected, end effector 13 is driven by the 14 revolute pair 28.
Described first revolute pair 14 is perpendicular to frame 1, and 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 the 21 and the 11 revolute pair 24 rotation are parallel to each other.
Described fuselage 2 and first connecting rod 3 motion planar can realize the spatial movement of end effector 13.

Claims (1)

1. a space multi-freedom-degreecontrollable controllable mechanism type fine setting welding robot, it is characterized in that: comprise frame, fuselage, first connecting rod, second connecting rod, third connecting rod, double leval jib, the 5th connecting rod, six-bar linkage, seven-link assembly, the 8th connecting rod, the 9th connecting rod, the tenth connecting rod and end effector
Fuselage first link is connected in frame by the first revolute pair, fuselage is driven by the first revolute pair, first revolute pair is driven by motor, fuselage second link is connected with first connecting rod one end by the second revolute pair, first connecting rod is driven 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 revolute pair and third connecting rod first link, third connecting rod second link and fuselage the 3rd link is connected by the 5th revolute pair, 5th revolute pair is driven by motor, third connecting rod the 3rd link is connected by the 6th revolute pair and double leval jib first link, third connecting rod the 4th link is connected by the 7th revolute pair and the 5th connecting rod first link, 7th revolute pair is driven by motor, double leval jib second link is connected with six-bar linkage one end by the 8th revolute pair, the six-bar linkage other end is connected by the 9th revolute pair and the 5th connecting rod second link, double leval jib the 3rd link is connected by the tenth revolute pair with seven-link assembly one end, the seven-link assembly other end is connected by the 11 revolute pair and the 5th connecting rod the 3rd link, 5th the 4th, connecting rod link to be 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, 9th connecting rod is driven by the 12 revolute pair, 12 revolute pair is driven by motor, the 9th connecting rod other end is connected with the tenth connecting rod one end by the 13 revolute pair, tenth connecting rod is driven by the 13 revolute pair, 13 revolute pair is driven by motor, the tenth connecting rod other end is connected with end effector by the 14 revolute pair, end effector is driven by the 14 revolute pair, 14 revolute pair is driven by motor,
Described 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.
CN201310675114.1A 2013-12-07 2013-12-07 A kind of space multi-freedom-degreecontrollable controllable mechanism type fine setting welding robot CN103737578B (en)

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