CN104476053A - Welding construction method through six-degree-of-freedom controllable mechanism type connecting rod mechanism - Google Patents
Welding construction method through six-degree-of-freedom controllable mechanism type connecting rod mechanism Download PDFInfo
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- CN104476053A CN104476053A CN201410814399.7A CN201410814399A CN104476053A CN 104476053 A CN104476053 A CN 104476053A CN 201410814399 A CN201410814399 A CN 201410814399A CN 104476053 A CN104476053 A CN 104476053A
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- China
- Prior art keywords
- connecting rod
- revolute pair
- link
- arm
- rocking arm
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
Abstract
The invention relates to a welding construction method through a six-degree-of-freedom controllable mechanism type connecting rod mechanism. According to the welding construction method through the six-degree-of-freedom controllable mechanism type connecting rod mechanism, an execution main chain is formed by a vertical column, a main arm, a first rocker arm, a second rocker arm, a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod; an execution sub-chain is formed by a fifth connecting rod, a sixth connecting rod, a seventh connecting rod, the vertical column and the main arm; during the welding operation, the main arm is driven by a motor to enable the main arm to perform rotational movement, the fifth connecting rod, the sixth connecting rod and the seventh connecting rod support the main arm, and the fifth connecting rod, the sixth connecting rod, the seventh connecting rod and the main arm perform motion synthesis; the motor drives the second rocker arm to enable the second rocker arm to control the third connecting rod in a rocker arm mode; the motor drives the third connecting rod and the fourth connecting rod to perform rotational motion to enable the connecting rod mechanism to achieve the welding operation. The welding construction method through the six-degree-of-freedom controllable mechanism type connecting rod mechanism has the advantages of being large in working space, high in rigidity, strong in bearing capability and high in execution accuracy.
Description
Technical field
The present invention relates to robot field, particularly utilize six degree of freedom controllable-mechanism type linkage to carry out the method for welding procedure.
Background technology
Serial manipulator rigidity is lower, the occasion that can not be applied at a high speed, carry greatly; And 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 welding actuator 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, existing manipulator such as the MOTOMAN-K10 with local closed chain does not solve industrial robot Problems existing.
Summary of the invention
Technical problem to be solved by this invention is to provide the method utilizing six degree of freedom controllable-mechanism type linkage to carry out welding procedure, solves conventional serial robot large about required moment, the shortcoming that rigidity is low and working space is little.
The present invention solves the problems of the technologies described above taked technical scheme: utilize six degree of freedom controllable-mechanism type linkage to carry out the method for welding procedure,
Described six degree of freedom controllable-mechanism type linkage comprises column, principal arm, first rocking arm, second rocking arm, first connecting rod, second connecting rod, third connecting rod, double leval jib, contiguous block, 5th connecting rod, six-bar linkage and seven-link assembly, described column bottom connects the 13 revolute pair, column top is connected with principal arm first link and the first rocking arm first link respectively by the first revolute pair, first second, rocking arm link is connected with first connecting rod one end by the second revolute pair, the first connecting rod other end is connected by the 4th revolute pair and the second rocking arm second link, second first, rocking arm link is connected by the 5th revolute pair and principal arm second link, second rocking arm the 3rd link is connected with second connecting rod one end by the 6th revolute pair, the second connecting rod other end is connected by the 3rd revolute pair and the first rocking arm the 3rd link, third connecting rod one end is connected by the 7th revolute pair and the second rocking arm the 4th link, the third connecting rod other end is connected with double leval jib one end by the 8th revolute pair, the double leval jib other end is used for connecting welding executing agency, described column side is connected and fixed pair, contiguous block one end is connected with column by fixed joint, the other end is connected with the 5th connecting rod one end by the tenth revolute pair, the 5th connecting rod other end is connected with six-bar linkage one end by the 11 revolute pair, the six-bar linkage other end is connected with seven-link assembly one end by the 12 revolute pair, and the seven-link assembly other end is connected with second link of principal arm by the 5th revolute pair,
Before weld job, car body and column bottom the 13 revolute pair are coupled together, welding executing agency the 9th revolute pair and double leval jib are coupled together;
When weld job carries out, drive principal arm by motor, principal arm is rotated, meanwhile, the 5th connecting rod, six-bar linkage and seven-link assembly support principal arm, and carry out motion with principal arm and synthesize; Drive the second rocking arm by motor again, thus make the second rocking arm carry out rocker-arm control to third connecting rod; Driven by motor, third connecting rod and double leval jib are rotated, thus make linkage complete weld job.
Outstanding advantages of the present invention is:
1, the subchain of executing agency's motion control is formed by column, the 5th connecting rod, six-bar linkage, seven-link assembly and principal arm, improve the rigidity of robot, and the design of rocking arm movable type improves the working space of robot greatly, the dead-centre position of mechanism can be avoided, the sphere of action of Neng Shi robot is larger, and Neng Shi mechanism better keeps balance;
2, motor is arranged on rocking arm joint, drives closed loop chain movement, thus indirectly drive tail end connecting rod by revolute pair on four-bar mechanism, make end weld the mobility of actuator and activity space larger, can active moment be reduced;
3, motor is arranged on after principal arm, reduces the center of gravity of whole mechanism, and can the larger motor of installation power in mechanism, make end weld actuator and can adapt in the complex jobs such as welding, spraying, carrying, handling, assembling, piling;
4, linkage and end weld and weld actuator with a with gemel connecting rod and end between actuator and be connected, 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 can also be made to weld actuator among a small circle, rotate 360 degree of round angles, make mechanism can be applicable to more occasions, precision is higher;
5, lighter bar made by connecting rod, and make mechanism kinematic inertia little, dynamic performance is good;
6, compared with robot mechanism of the same type, under equal-wattage, work is more.
Accompanying drawing explanation
Fig. 1 is the first work stereogram that six degree of freedom controllable-mechanism type linkage of the present invention carries out weld job.
Fig. 2 is the first work front view that six degree of freedom controllable-mechanism type linkage of the present invention carries out weld job.
Fig. 3 is the first work rearview that six degree of freedom controllable-mechanism type linkage of the present invention carries out weld job.
Fig. 4 is the second work front view that six degree of freedom controllable-mechanism type linkage of the present invention carries out weld job.
Fig. 5 is the 3rd work front view that six degree of freedom controllable-mechanism type linkage of the present invention carries out weld job.
Fig. 6 is the 4th work front view that six degree of freedom controllable-mechanism type linkage of the present invention carries out weld job.
Fig. 7 is the first rocker structure schematic diagram of six degree of freedom controllable-mechanism type linkage of the present invention.
Fig. 8 is the second rocker structure schematic diagram of six degree of freedom controllable-mechanism type linkage of the present invention.
Fig. 9 is the main arm structure schematic diagram of six degree of freedom controllable-mechanism type linkage of the present invention.
Figure 10 is the third connecting rod structural representation of six degree of freedom controllable-mechanism type linkage of the present invention.
Figure 11 is the connecting block structure schematic diagram of six degree of freedom controllable-mechanism type linkage of the present invention.
Figure 12 is the pillar construction schematic diagram of six degree of freedom controllable-mechanism type linkage of the present invention.
Detailed description of the invention
Below in conjunction with drawings and Examples, technical scheme of the present invention is described further.
As shown in Fig. 1-Figure 12, utilize six degree of freedom controllable-mechanism type linkage to carry out the method for welding procedure, first according to following method of attachment, welding tractor be connected and installed:
Described column 2 bottom is connected with car body 1 by the 13 revolute pair 27, column 2 top is connected with principal arm 4 first links and the first rocking arm 3 first links respectively by the first revolute pair 13, first 3 second, rocking arm link is connected with first connecting rod 5 one end by the second revolute pair 14, first connecting rod 5 other end is connected by the 4th revolute pair 17 and the second rocking arm 7 second links, second 7 first, rocking arm link is connected by the 5th revolute pair 16 and principal arm 4 second links, second rocking arm 7 the 3rd link is connected with second connecting rod 6 one end by the 6th revolute pair 18, second connecting rod 6 other end is connected by the 3rd revolute pair 15 and the first rocking arm 3 the 3rd link, third connecting rod 8 one end is connected by the 7th revolute pair 19 and the second rocking arm 7 the 4th link, third connecting rod 8 other end is connected with double leval jib 9 one end by the 8th revolute pair 20, double leval jib 9 other end welds actuator 10 by the 9th revolute pair 21 and end and is connected.
Described column 2 side is connected and fixed pair, contiguous block 22 one end is connected with column 2 by fixed joint, the other end is connected with the 5th connecting rod 26 one end by the tenth revolute pair 23,5th connecting rod 26 other end is connected with six-bar linkage 12 one end by the 11 revolute pair 25, six-bar linkage 12 other end is connected with seven-link assembly 11 one end by the 12 revolute pair 24, and seven-link assembly 11 other end is connected with second link of principal arm 4 by the 5th revolute pair 16.
When weld job carries out, drive principal arm 4 by motor, principal arm 4 is rotated, and meanwhile, the 5th connecting rod 26, six-bar linkage 12 and seven-link assembly 11 support principal arm 4, and carry out motion with principal arm 4 and synthesize; Drive the second rocking arm 7 by motor again, thus make the second rocking arm 7 pairs of third connecting rods 8 carry out rocker-arm control; Driven by motor, third connecting rod 8 and double leval jib 9 are rotated, thus make linkage complete weld job.
Claims (1)
1. utilize six degree of freedom controllable-mechanism type linkage to carry out the method for welding procedure, it is characterized in that,
Described six degree of freedom controllable-mechanism type linkage comprises column, principal arm, first rocking arm, second rocking arm, first connecting rod, second connecting rod, third connecting rod, double leval jib, contiguous block, 5th connecting rod, six-bar linkage and seven-link assembly, described column bottom connects the 13 revolute pair, column top is connected with principal arm first link and the first rocking arm first link respectively by the first revolute pair, first second, rocking arm link is connected with first connecting rod one end by the second revolute pair, the first connecting rod other end is connected by the 4th revolute pair and the second rocking arm second link, second first, rocking arm link is connected by the 5th revolute pair and principal arm second link, second rocking arm the 3rd link is connected with second connecting rod one end by the 6th revolute pair, the second connecting rod other end is connected by the 3rd revolute pair and the first rocking arm the 3rd link, third connecting rod one end is connected by the 7th revolute pair and the second rocking arm the 4th link, the third connecting rod other end is connected with double leval jib one end by the 8th revolute pair, the double leval jib other end is used for connecting welding executing agency, described column side is connected and fixed pair, contiguous block one end is connected with column by fixed joint, the other end is connected with the 5th connecting rod one end by the tenth revolute pair, the 5th connecting rod other end is connected with six-bar linkage one end by the 11 revolute pair, the six-bar linkage other end is connected with seven-link assembly one end by the 12 revolute pair, and the seven-link assembly other end is connected with second link of principal arm by the 5th revolute pair,
Before weld job, car body and column bottom the 13 revolute pair are coupled together, welding executing agency the 9th revolute pair and double leval jib are coupled together;
When weld job carries out, drive principal arm by motor, principal arm is rotated, meanwhile, the 5th connecting rod, six-bar linkage and seven-link assembly support principal arm, and carry out motion with principal arm and synthesize; Drive the second rocking arm by motor again, thus make the second rocking arm carry out rocker-arm control to third connecting rod; Driven by motor, third connecting rod and double leval jib are rotated, thus make linkage complete weld job.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410814399.7A CN104476053A (en) | 2014-12-23 | 2014-12-23 | Welding construction method through six-degree-of-freedom controllable mechanism type connecting rod mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410814399.7A CN104476053A (en) | 2014-12-23 | 2014-12-23 | Welding construction method through six-degree-of-freedom controllable mechanism type connecting rod mechanism |
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| CN104476053A true CN104476053A (en) | 2015-04-01 |
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| CN201410814399.7A Pending CN104476053A (en) | 2014-12-23 | 2014-12-23 | Welding construction method through six-degree-of-freedom controllable mechanism type connecting rod mechanism |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02168303A (en) * | 1988-12-21 | 1990-06-28 | Shin Meiwa Ind Co Ltd | Control method for robot |
| WO2011148386A1 (en) * | 2010-05-25 | 2011-12-01 | Systemantics India Pvt. Ltd | A hybrid serial-parallel linkage based six degrees of freedom robotic manipulator |
| CN103737207A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | Parallel-serial welding robot mechanism with six degrees of freedom |
| CN103737582A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | High-precision advanced welding robot mechanism with six degrees of freedom |
| CN103737578A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | Controllable mechanism type fine-adjusting welding robot with multiple degrees of spatial freedom |
-
2014
- 2014-12-23 CN CN201410814399.7A patent/CN104476053A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02168303A (en) * | 1988-12-21 | 1990-06-28 | Shin Meiwa Ind Co Ltd | Control method for robot |
| WO2011148386A1 (en) * | 2010-05-25 | 2011-12-01 | Systemantics India Pvt. Ltd | A hybrid serial-parallel linkage based six degrees of freedom robotic manipulator |
| CN103737207A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | Parallel-serial welding robot mechanism with six degrees of freedom |
| CN103737582A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | High-precision advanced welding robot mechanism with six degrees of freedom |
| CN103737578A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | Controllable mechanism type fine-adjusting welding robot with multiple degrees of spatial freedom |
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Application publication date: 20150401 |