CN104526216A - Multi-degree of freedom fine-adjustment wheel-type movable welding robot - Google Patents
Multi-degree of freedom fine-adjustment wheel-type movable welding robot Download PDFInfo
- Publication number
- CN104526216A CN104526216A CN201410773279.7A CN201410773279A CN104526216A CN 104526216 A CN104526216 A CN 104526216A CN 201410773279 A CN201410773279 A CN 201410773279A CN 104526216 A CN104526216 A CN 104526216A
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- CN
- China
- Prior art keywords
- connecting rod
- revolute pair
- connecting portion
- welding robot
- fuselage
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
- B23K37/0294—Transport carriages or vehicles
-
- 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
Abstract
The invention provides a multi-degree of freedom fine-adjustment wheel-type movable welding robot. The multi-degree of freedom fine-adjustment wheel-type movable welding robot comprises a plurality of controllable four-bar mechanism closed-loop executing mechanism subchains that are in parallel connection, an executing mechanism main chain that is in series connection and a movable platform. The four-bar mechanism closed-loop subchains can control main chain connecting rods to move in planes where the four-bar mechanism closed-loop subchains are located, and space movement of the movable platform can be achieved by means of movements of a first connecting rod, a machine body and the movable platform. According to the multi-degree of freedom fine-adjustment wheel-type movable welding robot, controlling is achieved through resultant movement of the four closed-loop subchains and the machine body, space movement of a tail end executor is achieved through connection of a plurality of connecting rods, the machine body and the movable platform, moving and operating functions of mechanisms can be simultaneously achieved, the robot can have nearly infinite working space and high moving redundancy, the moving inertia of the tail end executor is small, dynamics performances are good, the reliability is high, the mechanisms have advantages of compact structure and simple controlling, and the robot can be applied to numerous occasions.
Description
[technical field]
The present invention relates to robot field, be specifically related to a kind of multiple free degree micro regulation wheeled mobile welding robot.
[background technology]
Mobile robot, is one and integrates multi-functional integrated system such as environment sensing, dynamic decision and planning, Behavior-Based control and execution etc.It has concentrated the multi-disciplinary achievements in research such as sensor technology, information processing, electronic engineering, computer engineering, automation control engineering and artificial intelligence, and representing the most overachievement of electromechanical integration, is one of most active field of current scientific technological advance.Along with robot performance is constantly perfect, the range of application of mobile robot is greatly expanded, not only be widely used in the industries such as industry, agricultural, medical treatment, service, and harmfully in urban safety, national defence and space exploration field etc. well applied with dangerous situation.Therefore, mobile robot technology has obtained the common concern of countries in the world.
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, existing manipulator such as the MOTOMAN-K10 with local closed chain does not solve industrial robot Problems existing.
The robot of the technical program is provided with the closed-loop subchain of symmetrical structure therefore the general parallel institution of Performance Ratio is more superior, have that working space is large, rigidity is high, bearing capacity is strong, inertia is little and end effector precision advantages of higher, can be applied in the complex jobs such as welding, spraying, carrying, handling, assembling, piling, effective raises labour efficiency, and improves a lot in product quality and stability; The manipulator of circular cylindrical coordinate type and joint coordinates type is adopted effectively and efficiently to control tail house, and this mechanism structure good rigidity, machine driving precision are high, working space large, machine driving loss is little, can export larger power without accumulated error, have and have good controlling functions; This robot containing parallel closed loop subchain adopts indirect drive manner, effectively can also reduce the moment required for driving joint.
[summary of the invention]
For the variety of problems faced described in background technology, the object of the present invention is to provide a kind of multiple free degree micro regulation wheeled mobile welding robot.
For achieving the above object, the technical scheme that a kind of multiple free degree micro regulation of the present invention wheeled mobile welding robot adopts is: a kind of multiple free degree micro regulation wheeled mobile welding robot, comprises mobile platform, 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, the 11 connecting rod, the 12 connecting rod, end effector, the 5th connecting portion that 5th connecting rod is from left to right disposed with the first connecting portion, the second connecting portion, the 3rd connecting portion, the 4th connecting portion and is positioned at below the second connecting portion, fuselage lower end is connected on a mobile platform by the first revolute pair, and fuselage upper end is connected with first connecting rod one end by the second revolute pair, and the vertical rod of fuselage upper end is connected with the 5th connecting portion of the 5th connecting rod by the 3rd revolute pair, the first connecting rod other end is connected with the lower end of third connecting rod by the 4th revolute pair in fuselage vertical rod side, and the upper end of third connecting rod is connected with the first connecting portion of the 5th connecting rod by the 5th revolute pair, second connecting rod one end is connected with fuselage upper end by the second revolute pair at the relative third connecting rod opposite side of fuselage vertical rod, the second connecting rod other end is connected with double leval jib lower end by the 6th revolute pair, and double leval jib upper end is connected with the 3rd connecting portion of the 5th connecting rod by the 7th revolute pair, be connected with the second connecting portion of the 5th connecting rod by the 8th revolute pair in the middle part of six-bar linkage, be connected with the 4th connecting portion of the 5th connecting rod by the 9th revolute pair in the middle part of seven-link assembly, 8th connecting rod is connected with six-bar linkage one end by the tenth revolute pair in the 5th its one end, connecting rod side, the 8th connecting rod other end is connected with seven-link assembly one end by the 11 revolute pair, 9th connecting rod is connected with the six-bar linkage other end by the 12 revolute pair in relative 8th its one end of connecting rod opposite side of the 5th connecting rod, the 9th connecting rod other end is connected with the seven-link assembly other end by the 13 revolute pair, seven-link assembly medial side has connecting portion to extended, and this connecting portion and the tenth connecting rod one end are formed and be rigidly connected, 11 connecting rod one end is connected with the tenth connecting rod other end by the 14 revolute pair, and the 11 connecting rod other end is connected with the 12 connecting rod one end by the 15 revolute pair, and the 12 connecting rod other end is connected with end effector by the 16 revolute pair, described first revolute pair is perpendicular to moveable platform, 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, the 11 revolute pair, the 12 revolute pair and the 13 revolute pair rotation are parallel to each other.
Further, the first revolute pair, the second revolute pair, the 8th revolute pair, the 14 revolute pair, the 15 revolute pair, the 16 revolute pair are separately installed with drive motors.
Further, the angle being formed and be greater than 90 degree is intersected in the 8th rotation vice division chief in six-bar linkage two ends; Seven-link assembly two ends are rotated vice division chief the 9th and are intersected the angle being formed and be greater than 90 degree.
Further, described tenth connecting rod is hollow circular cylinder, and outside the connecting portion being set in seven-link assembly and the 11 connecting rod.
Further, mobile platform is moved by the wheel be arranged on bottom it.
Further, the vertical rod of third connecting rod and fuselage is parallel to each other.
The present invention has following beneficial effect:
1. the present invention is by arranging mobile platform, robot is made to have the motion redundancy of almost infinitely-great working space and height, and there is mobile and operating function simultaneously, in the environment work replacing people to be engaged under danger, adverse circumstances less than operation and people, there are larger mobility, flexibility, more occasion can be acted on;
2. compared with the industrial robot being mounted in each joint with traditional drive motors, the drive motors of the robot that the present invention 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 end effector motion, make the mobility of end effector and activity space larger, can active moment be reduced;
3. the present invention is by two parallel closed loop subchains, improve the rigidity of robot mechanism, and the design of parallel closed loop subchain mechanism type improves the working space of robot greatly, the dead-centre position of robot can be avoided, the sphere of action being made up of micromatic setting Neng Shi robot each connecting rod is larger, and Neng Shi mechanism better keeps balance
4. the micromatic setting that consists of each connecting rod of robot of the present invention is compared with traditional robot with local closed chain, and center of gravity of the present invention concentrates on micromatic setting, thus makes robot balance good, can bear larger force and moment;
5. six-freedom degree makes mechanism can be applied to more occasions.
Your juror all can there be further understanding and understanding to object of the present invention, shape, structure, feature and effect thereof for ease of, and elaborate in conjunction with the embodiments.
[accompanying drawing explanation]
Fig. 1 is structural representation of the present invention;
Fig. 2 is the structural representation of mobile platform of the present invention;
Fig. 3 is the structural representation of fuselage of the present invention;
Fig. 4 is the structural representation of the present invention the 5th connecting rod;
Fig. 5 is the structural representation of the present invention's six-bar linkage;
Fig. 6 is the structural representation of the present invention's seven-link assembly;
Fig. 7 is the structural representation of the present invention the 11 connecting rod;
Fig. 8 is the structural representation of the present invention the 12 connecting rod;
Fig. 9 is the structural representation that part body of the present invention connects;
Figure 10 is operating diagram of the present invention.
The drawing reference numeral of detailed description of the invention illustrates:
Mobile platform 1 fuselage 2 first connecting rod 3
Second connecting rod 19 third connecting rod 5 double leval jib 17
5th connecting rod 10 six-bar linkage 8 seven-link assembly 13
8th connecting rod 11 the 9th connecting rod 15 the tenth connecting rod 21
11 connecting rod 22 the 12 connecting rod 24 first revolute pair 27
Second revolute pair 28 the 3rd revolute pair 20 the 4th revolute pair 4
5th revolute pair 6 the 6th revolute pair 18 the 7th revolute pair 16
8th revolute pair 29 the 9th revolute pair 30 the tenth revolute pair 7
11 revolute pair 14 the 12 revolute pair 9 the 13 revolute pair 12
14 revolute pair 32 the 15 revolute pair 23 the 16 revolute pair 26
Connecting portion 31 end effector 25
[detailed description of the invention]
Below in conjunction with the drawings and specific embodiments, a kind of multiple free degree micro regulation wheeled mobile welding robot of the present invention is described further.
Refer to Fig. 1 to Figure 10, for a kind of multiple free degree micro regulation wheeled mobile welding robot of the present invention, comprise mobile platform 1, fuselage 2, first connecting rod 3, second connecting rod 19, third connecting rod 5, double leval jib 17, the 5th connecting rod 10, six-bar linkage 8, seven-link assembly 13, the 8th connecting rod 11, the 9th connecting rod 15, the tenth connecting rod the 21, the 11 connecting rod the 22, the 12 connecting rod 24, end effector 25;
Mobile platform 1 is moved by the wheel be arranged on bottom it;
The 5th connecting portion that 5th connecting rod 10 is from left to right disposed with the first connecting portion, the second connecting portion, the 3rd connecting portion, the 4th connecting portion and is positioned at below the second connecting portion;
Fuselage 2 lower end is connected on mobile platform 1 by the first revolute pair 27, and fuselage 2 upper end is connected with first connecting rod 3 one end by the second revolute pair 28, and the vertical rod of fuselage 2 upper end is connected with the 5th connecting portion of the 5th connecting rod 10 by the 3rd revolute pair 20;
First connecting rod 3 other end is connected with the lower end of third connecting rod 5 by the 4th revolute pair 4 in fuselage 2 vertical rod side, the upper end of third connecting rod 5 is connected by first connecting portion of the 5th revolute pair 6 with the 5th connecting rod 10, and third connecting rod 5 is parallel to each other with the vertical rod of fuselage 2;
Second connecting rod 19 one end is connected with fuselage 2 upper end by the second revolute pair 28 at fuselage 2 vertical rod relative third connecting rod 5 opposite side, second connecting rod 19 other end is connected with double leval jib 17 lower end by the 6th revolute pair 18, and double leval jib 17 upper end is connected with the 3rd connecting portion of the 5th connecting rod 10 by the 7th revolute pair 16;
Be connected with the second connecting portion of the 5th connecting rod 10 by the 8th revolute pair 29 in the middle part of six-bar linkage 8, be connected with the 4th connecting portion of the 5th connecting rod 10 by the 9th revolute pair 30 in the middle part of seven-link assembly 13, 8th connecting rod 11 is connected with six-bar linkage 8 one end by the tenth revolute pair 7 in the 5th its one end, connecting rod 10 side, 8th connecting rod 11 other end is connected with seven-link assembly 13 one end by the 11 revolute pair 14, 9th connecting rod 15 is connected with six-bar linkage 8 other end by the 12 revolute pair 9 in relative 8th its one end of connecting rod 11 opposite side of the 5th connecting rod 10, 9th connecting rod 15 other end is connected with seven-link assembly 13 other end by the 13 revolute pair 12,
The angle being formed and be greater than 90 degree is intersected at six-bar linkage 8 two ends at the 8th revolute pair 29 place; The angle being formed and be greater than 90 degree is intersected at seven-link assembly 13 two ends at the 9th revolute pair 30 place;
Seven-link assembly 13 medial side has connecting portion 31 to extended, and this connecting portion 31 and the tenth connecting rod 21 one end are formed and be rigidly connected;
11 connecting rod 22 one end is connected with the tenth connecting rod 21 other end by the 14 revolute pair 32,11 connecting rod 22 other end is connected with the 12 connecting rod 24 one end by the 15 revolute pair 23,12 connecting rod 24 other end is connected with end effector 25 by the 16 revolute pair 26, wherein, described tenth connecting rod 21 is hollow circular cylinder, and outside the connecting portion being set in seven-link assembly 13 and the 11 connecting rod 22;
Wherein, first revolute pair 27, second revolute pair 28, the 8th revolute pair the 29, the 14 revolute pair the 32, the 15 revolute pair the 23, the 16 revolute pair 26 are separately installed with drive motors, described first revolute pair 27 is perpendicular to moveable platform 1, and the second revolute pair 28, the 3rd revolute pair 20, the 4th revolute pair 4, the 5th revolute pair 6, the 6th revolute pair 18, the 7th revolute pair 16, the 8th revolute pair 29, the 9th revolute pair 30, the tenth revolute pair the 7, the 11 revolute pair the 14, the 12 revolute pair the 9 and the 13 revolute pair 12 rotation are parallel to each other.
During work, fuselage 2 is driven by the first revolute pair 27, first connecting rod 3 and second connecting rod 19 are driven by the second revolute pair 28, six-bar linkage 8 is driven by the 8th revolute pair 29,11 connecting rod 22 is driven by the 14 revolute pair 32,12 connecting rod 24 is driven by the 15 revolute pair 23, and end effector 25 is driven by the 16 revolute pair 26, make fuselage 2 and first connecting rod 3 motion planar can realize the spatial movement of end effector 25.
In sum, the present invention has following beneficial effect:
1. the present invention is by arranging mobile platform, robot is made to have the motion redundancy of almost infinitely-great working space and height, and there is mobile and operating function simultaneously, in the environment work replacing people to be engaged under danger, adverse circumstances less than operation and people, there are larger mobility, flexibility, more occasion can be acted on;
2. compared with the industrial robot being mounted in each joint with traditional drive motors, the drive motors of the robot that the present invention 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 end effector motion, make the mobility of end effector and activity space larger, can active moment be reduced;
3. the present invention is by two parallel closed loop subchains, improve the rigidity of robot mechanism, and the design of parallel closed loop subchain mechanism type improves the working space of robot greatly, the dead-centre position of robot can be avoided, the sphere of action being made up of micromatic setting Neng Shi robot each connecting rod is larger, and Neng Shi mechanism better keeps balance
4. the micromatic setting that consists of each connecting rod of robot of the present invention is compared with traditional robot with local closed chain, and center of gravity of the present invention concentrates on micromatic setting, thus makes robot balance good, can bear larger force and moment;
5. six-freedom degree makes mechanism can be applied to more occasions.
Above-mentioned explanation is the detailed description for the better possible embodiments of the present invention, but embodiment is also not used to limit patent claim of the present invention, the equal change completed under technical spirit suggested by all the present invention or modification are changed, and all should belong to the present invention and contain the scope of the claims.
Claims (6)
1. a multiple free degree micro regulation wheeled mobile welding robot, is characterized in that: comprise mobile platform, 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, the 11 connecting rod, the 12 connecting rod, end effector;
The 5th connecting portion that 5th connecting rod is from left to right disposed with the first connecting portion, the second connecting portion, the 3rd connecting portion, the 4th connecting portion and is positioned at below the second connecting portion;
Fuselage lower end is connected on a mobile platform by the first revolute pair, and fuselage upper end is connected with first connecting rod one end by the second revolute pair, and the vertical rod of fuselage upper end is connected with the 5th connecting portion of the 5th connecting rod by the 3rd revolute pair;
The first connecting rod other end is connected with the lower end of third connecting rod by the 4th revolute pair in fuselage vertical rod side, and the upper end of third connecting rod is connected with the first connecting portion of the 5th connecting rod by the 5th revolute pair;
Second connecting rod one end is connected with fuselage upper end by the second revolute pair at the relative third connecting rod opposite side of fuselage vertical rod, the second connecting rod other end is connected with double leval jib lower end by the 6th revolute pair, and double leval jib upper end is connected with the 3rd connecting portion of the 5th connecting rod by the 7th revolute pair;
Be connected with the second connecting portion of the 5th connecting rod by the 8th revolute pair in the middle part of six-bar linkage, be connected with the 4th connecting portion of the 5th connecting rod by the 9th revolute pair in the middle part of seven-link assembly, 8th connecting rod is connected with six-bar linkage one end by the tenth revolute pair in the 5th its one end, connecting rod side, the 8th connecting rod other end is connected with seven-link assembly one end by the 11 revolute pair, 9th connecting rod is connected with the six-bar linkage other end by the 12 revolute pair in relative 8th its one end of connecting rod opposite side of the 5th connecting rod, the 9th connecting rod other end is connected with the seven-link assembly other end by the 13 revolute pair,
Seven-link assembly medial side has connecting portion to extended, and this connecting portion and the tenth connecting rod one end are formed and be rigidly connected;
11 connecting rod one end is connected with the tenth connecting rod other end by the 14 revolute pair, and the 11 connecting rod other end is connected with the 12 connecting rod one end by the 15 revolute pair, and the 12 connecting rod other end is connected with end effector by the 16 revolute pair;
Described first revolute pair is perpendicular to moveable platform, 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, the 11 revolute pair, the 12 revolute pair and the 13 revolute pair rotation are parallel to each other.
2. a kind of multiple free degree micro regulation wheeled mobile welding robot as claimed in claim 1, is characterized in that: the first revolute pair, the second revolute pair, the 8th revolute pair, the 14 revolute pair, the 15 revolute pair, the 16 revolute pair are separately installed with drive motors.
3. a kind of multiple free degree micro regulation wheeled mobile welding robot as claimed in claim 1, is characterized in that: six-bar linkage two ends are rotated vice division chief the 8th and intersected the angle being formed and be greater than 90 degree; Seven-link assembly two ends are rotated vice division chief the 9th and are intersected the angle being formed and be greater than 90 degree.
4. a kind of multiple free degree micro regulation wheeled mobile welding robot as claimed in claim 1, is characterized in that: described tenth connecting rod is hollow circular cylinder, and outside the connecting portion being set in seven-link assembly and the 11 connecting rod.
5. a kind of multiple free degree micro regulation wheeled mobile welding robot as claimed in claim 1, is characterized in that: mobile platform is moved by the wheel be arranged on bottom it.
6. a kind of multiple free degree micro regulation wheeled mobile welding robot as claimed in claim 1, is characterized in that: the vertical rod of third connecting rod and fuselage is parallel to each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410773279.7A CN104526216A (en) | 2014-12-12 | 2014-12-12 | Multi-degree of freedom fine-adjustment wheel-type movable welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410773279.7A CN104526216A (en) | 2014-12-12 | 2014-12-12 | Multi-degree of freedom fine-adjustment wheel-type movable welding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104526216A true CN104526216A (en) | 2015-04-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410773279.7A Pending CN104526216A (en) | 2014-12-12 | 2014-12-12 | Multi-degree of freedom fine-adjustment wheel-type movable welding robot |
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| CN (1) | CN104526216A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108465994A (en) * | 2018-05-07 | 2018-08-31 | 成都科启新力科技有限公司 | A kind of sheet metal flat-face fillet weld picks |
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| CN103707289A (en) * | 2013-12-17 | 2014-04-09 | 广西大学 | Controllable multi-degree of freedom welding robot |
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| 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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| JPH07228353A (en) * | 1994-02-18 | 1995-08-29 | Okura Yusoki Co Ltd | Transfer equipment |
| AU2008200056A1 (en) * | 2007-01-29 | 2008-08-14 | Robotic Automation Pty Ltd | A robotic collator and palletiser |
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Application publication date: 20150422 |