CN104552255B - A kind of multi-freedom-degreecontrollable controllable mechanism type welding robot - Google Patents
A kind of multi-freedom-degreecontrollable controllable mechanism type welding robot Download PDFInfo
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- CN104552255B CN104552255B CN201410814209.1A CN201410814209A CN104552255B CN 104552255 B CN104552255 B CN 104552255B CN 201410814209 A CN201410814209 A CN 201410814209A CN 104552255 B CN104552255 B CN 104552255B
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Abstract
A kind of multi-freedom-degreecontrollable controllable mechanism type welding robot, column one end is connected with car body by revolute pair, the other end is connected with principal arm one end and first link of the first rocking arm respectively, first second, rocking arm link is connected with first connecting rod one end, the first connecting rod other end and second link of the second rocking arm connect, second first, rocking arm link is connected with the principal arm other end, the 3rd link of second rocking arm is connected with second connecting rod one end, the second connecting rod other end and the 3rd link of the first rocking arm connect, the 4th link in third connecting rod one end and the second rocking arm is connected, the third connecting rod other end is connected with fourth link one end, the fourth link other end welds executor with end and is connected, slide block one end is connected with column by moving sets, and the other end and the 5th connecting rod connect, and the 5th connecting rod, six-bar linkage, seven-link assembly and the 3rd link of principal arm are sequentially connected with. the present invention has the advantage that work space is big, rigidity is high, bearing capacity is strong and execution precision is high.
Description
Technical field
The present invention relates to robot field, particularly a kind of multi-freedom-degreecontrollable controllable mechanism type welding robot.
Background technology
Serial manipulator rigidity is relatively low, it is impossible to the occasion being applied at a high speed, carrying greatly; And parallel robot is compared with traditional serial manipulator, have without cumulative error, precision compared with high, compact conformation, bearing capacity is big, rigidity is high and the end welding features such as executor's inertia is little, driving device is 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 it is little complicated with structure that the distinct disadvantage of parallel robot is work space. In engineering, the existing operation machine such as MOTOMAN-K10 with local closed chain does not solve industrial robot Problems existing.
Summary of the invention
The technical problem to be solved is in that to provide a kind of multi-freedom-degreecontrollable controllable mechanism type welding robot, solves conventional serial robot big about required moment, the shortcoming that rigidity is low and work space is little.
This invention address that the technical scheme that above-mentioned technical problem is taked is as follows:
A kind of multi-freedom-degreecontrollable controllable mechanism type welding robot, executor is welded including car body, column, principal arm, the first rocking arm, the second rocking arm, first connecting rod, second connecting rod, third connecting rod, fourth link, slide block, the 5th connecting rod, six-bar linkage, seven-link assembly and end
Described column bottom is connected with car body by the 14th revolute pair, column top is connected with first link of principal arm and first link of the first rocking arm 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 second link of the 4th revolute pair and the second rocking arm, second first, rocking arm link is connected by second link of the 5th revolute pair and principal arm, the 3rd link of second rocking arm is connected with second connecting rod one end by the 6th revolute pair, the second connecting rod other end is connected by the 3rd link of the 3rd revolute pair and the first rocking arm, third connecting rod one end is connected by the 4th link of the 7th revolute pair and the second rocking arm, the third connecting rod other end is connected with fourth link one end by the 8th revolute pair, the fourth link other end welds executor by the 9th revolute pair with end and is connected,
Described column side is provided with moving sets, slide block one end is connected with column by moving sets, 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 11st revolute pair, the six-bar linkage other end is connected with seven-link assembly one end by the 12nd revolute pair, and the seven-link assembly other end is connected with the 3rd link of principal arm by the 13rd revolute pair.
The present invention has the prominent advantages that:
1, the subchain of an actuator motor 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 is greatly improved the work space of robot, it is avoided that the dead-centre position of mechanism, the sphere of action of Neng Shi robot is bigger, and Neng Shi mechanism better keeps balance;
2, motor is arranged on rocking arm joint, drives closed loop chain movement by the revolute pair on four-bar mechanism, thus indirectly driving tail end connecting rod, making the mobility of end welding executor and activity space bigger, can reduce active moment;
3, motor is arranged on after principal arm, reduces the center of gravity of whole mechanism, and can the bigger motor of installation power in mechanism, make end welding executor be adapted in the complex jobs such as welding, spraying, carrying, handling, assembling, piling;
4, linkage welds with end and is connected with a with gemel connecting rod and end welding executor between executor, make executor's flexibility ratio higher, work space is bigger than conventional robot, and lighter bar made by with gemel connecting rod, whole mechanism power performance can be made better and easily controllable, end welding executor can also being made to rotate 360 degree of round angles in little scope, make mechanism can be suitably used for more occasion, precision is higher;
5, lighter bar made by connecting rod, makes mechanism kinematic inertia little, and dynamic performance is good;
6 compared with the robot mechanism of same type, and under equal-wattage, work is more.
Accompanying drawing explanation
Fig. 1 is the first work front view of a kind of multi-freedom-degreecontrollable controllable mechanism type welding robot of the present invention.
Fig. 2 is the first work axonometric chart of a kind of multi-freedom-degreecontrollable controllable mechanism type welding robot of the present invention.
Fig. 3 is the first work rearview of a kind of multi-freedom-degreecontrollable controllable mechanism type welding robot of the present invention.
Fig. 4 is the first work top view of a kind of multi-freedom-degreecontrollable controllable mechanism type welding robot of the present invention.
Fig. 5 is the first rocker structure schematic diagram of a kind of multi-freedom-degreecontrollable controllable mechanism type welding robot of the present invention.
Fig. 6 is the second rocker structure schematic diagram of a kind of multi-freedom-degreecontrollable controllable mechanism type welding robot of the present invention.
Fig. 7 is the main arm structure schematic diagram of a kind of multi-freedom-degreecontrollable controllable mechanism type welding robot of the present invention.
Fig. 8 is the third connecting rod structural representation of a kind of multi-freedom-degreecontrollable controllable mechanism type welding robot of the present invention.
Fig. 9 is the slide block structure schematic diagram of a kind of multi-freedom-degreecontrollable controllable mechanism type welding robot of the present invention.
Figure 10 is the pillar construction schematic diagram of a kind of multi-freedom-degreecontrollable controllable mechanism type welding robot of the present invention.
Figure 11 is the second work front view of a kind of multi-freedom-degreecontrollable controllable mechanism type welding robot of the present invention.
Figure 12 is the 3rd work front view of a kind of multi-freedom-degreecontrollable controllable mechanism type welding robot of the present invention.
Detailed description of the invention
Below in conjunction with drawings and Examples, technical scheme is described further.
As shown in Fig. 1-Figure 12, a kind of multi-freedom-degreecontrollable controllable mechanism type welding robot, welds executor 10 including car body 1, column 2, principal arm the 4, first rocking arm the 3, second rocking arm 7, first connecting rod 5, second connecting rod 6, third connecting rod 8, fourth link 9, slide block the 23, the 5th connecting rod 25, six-bar linkage 12, seven-link assembly 11 and end.
Described column 2 bottom is connected with car body 1 by the 14th revolute pair 29, column 2 top is connected with 4 first links of principal arm and 3 first links of the first rocking arm 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 7 second links of the 4th revolute pair 17 and the second rocking arm, second 7 first, rocking arm link is connected by 4 second links of the 5th revolute pair 16 and principal arm, the 3rd link of second rocking arm 7 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 link of the 3rd revolute pair 15 and the first rocking arm 3, third connecting rod 8 one end is connected by the 4th link of the 7th revolute pair 19 and the second rocking arm 7, third connecting rod 8 other end is connected with fourth link 9 one end by the 8th revolute pair 20, fourth link 9 other end welds executor 10 by the 9th revolute pair 21 with end and is connected.
Described column 2 side is provided with moving sets 22, slide block 23 one end is connected with column 2 by moving sets 22, the other end is connected with the 5th connecting rod 25 one end by the tenth revolute pair 24,5th connecting rod 25 other end is connected with six-bar linkage 12 one end by the 11st revolute pair 26, six-bar linkage 12 other end is connected with seven-link assembly 11 one end by the 12nd revolute pair 27, and seven-link assembly 11 other end is connected with the 3rd link of principal arm 4 by the 13rd revolute pair 28.
The rotation of described principal arm the 4, second rocking bar 7, third connecting rod 8 and fourth link 9 is driven by motor.
A kind of multi-freedom-degreecontrollable controllable mechanism type welding robot provided by the invention, there is work space big, rigidity is high, bearing capacity is strong, inertia is little welds executor's precision advantages of higher with end, welding can be applied in, spraying, carrying, handling, assembling, in the complex jobs such as piling, effectively raise labour efficiency, improve a lot in product quality and stability, and this mechanism machine driving precision is high, machine driving loss is little, bigger power can be exported without cumulative error, there is good control function, adopt indirect drive manner, can also effectively reduce the moment driven required for joint.
Claims (1)
1. a multi-freedom-degreecontrollable controllable mechanism type welding robot, including principal arm, first rocking arm, second rocking arm, first connecting rod, second connecting rod, executor is welded with end, 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 second link of the 4th revolute pair and the second rocking arm, second first, rocking arm link is connected by second link of the 5th revolute pair and principal arm, the 3rd link of second rocking arm is connected with second connecting rod one end by the 6th revolute pair, the second connecting rod other end is connected by the 3rd link of the 3rd revolute pair and the first rocking arm, it is characterized in that:
Described robot also includes car body, column, third connecting rod, fourth link, slide block, the 5th connecting rod, six-bar linkage and seven-link assembly; Described column bottom is connected with car body by the 14th revolute pair, column top is connected with first link of principal arm and first link of the first rocking arm respectively by the first revolute pair, third connecting rod one end is connected by the 4th link of the 7th revolute pair and the second rocking arm, the third connecting rod other end is connected with fourth link one end by the 8th revolute pair, and the fourth link other end welds executor by the 9th revolute pair with end and is connected;
Described column side is provided with moving sets, slide block one end is connected with column by moving sets, 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 11st revolute pair, the six-bar linkage other end is connected with seven-link assembly one end by the 12nd revolute pair, and the seven-link assembly other end is connected with the 3rd link of principal arm by the 13rd revolute pair.
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| CN201410814209.1A CN104552255B (en) | 2014-12-23 | 2014-12-23 | A kind of multi-freedom-degreecontrollable controllable mechanism type welding robot |
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| CN201410814209.1A CN104552255B (en) | 2014-12-23 | 2014-12-23 | A kind of multi-freedom-degreecontrollable controllable mechanism type welding robot |
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| CN104552255A CN104552255A (en) | 2015-04-29 |
| CN104552255B true CN104552255B (en) | 2016-06-15 |
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| EP1015192B1 (en) * | 1997-05-30 | 2003-03-26 | Pellenc (Société Anonyme) | Robotized machine equipped with arm with symmetrical pantograph, for example for fruit picking or sorting diverse objects |
| EP2134514B1 (en) * | 2007-03-09 | 2011-09-21 | Pal-tec Automation Gmbh | Manipulator for charging at least one machine, in particular a tool machine, and charging device for said type of machine |
| CN203357446U (en) * | 2013-07-12 | 2013-12-25 | 中国石油大学(华东) | Drill rod handling mechanical arm |
| CN103612253A (en) * | 2013-11-28 | 2014-03-05 | 东莞职业技术学院 | Large-stroke industrial robot |
| CN103693340A (en) * | 2013-12-07 | 2014-04-02 | 广西大学 | Large-working-space multi-degree-of-freedom controllable mechanism-type shovel-loading integrated transport car |
| 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 |
| WO2014171642A1 (en) * | 2013-04-19 | 2014-10-23 | 서울대학교 산학협력단 | Method for forming redundantly-actuated mechanism and actuator force distribution system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2806025B1 (en) * | 2000-03-09 | 2002-08-02 | Christian Salesse | LOAD HANDLING DEVICE WITH CONTROLLED CONTROL |
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2014
- 2014-12-23 CN CN201410814209.1A patent/CN104552255B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1015192B1 (en) * | 1997-05-30 | 2003-03-26 | Pellenc (Société Anonyme) | Robotized machine equipped with arm with symmetrical pantograph, for example for fruit picking or sorting diverse objects |
| EP2134514B1 (en) * | 2007-03-09 | 2011-09-21 | Pal-tec Automation Gmbh | Manipulator for charging at least one machine, in particular a tool machine, and charging device for said type of machine |
| WO2014171642A1 (en) * | 2013-04-19 | 2014-10-23 | 서울대학교 산학협력단 | Method for forming redundantly-actuated mechanism and actuator force distribution system |
| CN203357446U (en) * | 2013-07-12 | 2013-12-25 | 中国石油大学(华东) | Drill rod handling mechanical arm |
| CN103612253A (en) * | 2013-11-28 | 2014-03-05 | 东莞职业技术学院 | Large-stroke industrial robot |
| CN103693340A (en) * | 2013-12-07 | 2014-04-02 | 广西大学 | Large-working-space multi-degree-of-freedom controllable mechanism-type shovel-loading integrated transport car |
| 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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| CN104552255A (en) | 2015-04-29 |
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