CN104552268A - Six-freedom-degree rotation movable type welding robot - Google Patents
Six-freedom-degree rotation movable type welding robot Download PDFInfo
- Publication number
- CN104552268A CN104552268A CN201410814494.7A CN201410814494A CN104552268A CN 104552268 A CN104552268 A CN 104552268A CN 201410814494 A CN201410814494 A CN 201410814494A CN 104552268 A CN104552268 A CN 104552268A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- revolute pair
- link
- connection
- rocking arm
- Prior art date
- 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.)
- Pending
Links
Abstract
The invention discloses a six-freedom-degree rotation movable type welding robot. One end of a stand column is connected with a vehicle body through a rotation pair; the other end of the stand column is connected with one end of a main arm and a first connection end of a first rocker arm; a second connection end of the first rocker arm is connected with one end of a first connection rod; the other end of the first connection rod is connected with a second connection end of a second rocker arm; a first connection end of the second rocker arm is connected with the other end of the main arm; a third connection end of the second rocker arm is connected with one end of a second connection rod; the other end of the second connection rod is connected with a third connection end of the first rocker arm; one end of a third connection rod is connected with a fourth connection end of the second rocker arm; the other end of the third connection rod is connected with one end of a fourth connection rod; the other end of the fourth connection rod is connected with a tail end welding actuator; one end of a sliding block is connected with the stand column through a movable pair; the other end of the sliding block is connected with a fifth connection rod; the fifth connection rod, a sixth connection rod, a seventh connection rod and the second connection end of the main arm are sequentially connected with one another. The six-freedom-degree rotation type movable welding robot has the advantages of large working space, high rigidity, high bearing capability and high execution accuracy.
Description
Technical field
The present invention relates to robot field, particularly a kind of six degree of freedom rotary moving welding robot.
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 a kind of six degree of freedom rotary moving welding robot, solves conventional serial robot large about required moment, the shortcoming that rigidity is low and working space is little.
It is as follows that the present invention solves the problems of the technologies described above taked technical scheme:
A kind of six degree of freedom rotary moving welding robot, comprise car body, column, principal arm, the first rocking arm, the second rocking arm, first connecting rod, second connecting rod, third connecting rod, double leval jib, slide block, the 5th connecting rod, six-bar linkage, seven-link assembly and end welding actuator
Described column bottom is connected with car body by 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 welds actuator 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 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.
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 of a kind of six degree of freedom rotary moving welding robot of the present invention.
Fig. 2 is the first work front view of a kind of six degree of freedom rotary moving welding robot of the present invention.
Fig. 3 is the first work rearview of a kind of six degree of freedom rotary moving welding robot of the present invention.
Fig. 4 is the second work front view of a kind of six degree of freedom rotary moving welding robot of the present invention.
Fig. 5 is the 3rd work front view of a kind of six degree of freedom rotary moving welding robot of the present invention.
Fig. 6 is the 4th work front view of a kind of six degree of freedom rotary moving welding robot of the present invention.
Fig. 7 is the first rocker structure schematic diagram of a kind of six degree of freedom rotary moving welding robot of the present invention.
Fig. 8 is the second rocker structure schematic diagram of a kind of six degree of freedom rotary moving welding robot of the present invention.
Fig. 9 is the main arm structure schematic diagram of a kind of six degree of freedom rotary moving welding robot of the present invention.
Figure 10 is the third connecting rod structural representation of a kind of six degree of freedom rotary moving welding robot of the present invention.
Figure 11 is the slide block structure schematic diagram of a kind of six degree of freedom rotary moving welding robot of the present invention.
Figure 12 is the pillar construction schematic diagram of a kind of six degree of freedom rotary moving welding robot 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, a kind of six degree of freedom rotary moving welding robot, comprises car body 1, column 2, principal arm 4, first rocking arm 3, second rocking arm 7, first connecting rod 5, second connecting rod 6, third connecting rod 8, double leval jib 9, slide block 22, the 5th connecting rod 26, six-bar linkage 12, seven-link assembly 11 and end welding actuator 10.
Described column 2 bottom is connected with car body 1 by the 13 revolute pair 28, 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 provided with moving sets 27, slide block 22 one end is connected with column 2 by moving sets 27, 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.
The rotation of described principal arm 4, second rocking bar 7, third connecting rod 8 and double leval jib 9 is driven by motor.
A kind of six degree of freedom rotary moving welding robot provided by the invention, there is working space large, rigidity is high, bearing capacity is strong, inertia is little welds actuator 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, larger power can be exported without accumulated error, there is good controlling functions, adopt indirect drive manner, effectively can also reduce the moment required for driving joint.
Claims (1)
1. a six degree of freedom rotary moving welding robot, it is characterized in that, comprise car body, column, principal arm, the first rocking arm, the second rocking arm, first connecting rod, second connecting rod, third connecting rod, double leval jib, slide block, the 5th connecting rod, six-bar linkage, seven-link assembly and end welding actuator
Described column bottom is connected with car body by 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 welds actuator 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 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410814494.7A CN104552268A (en) | 2014-12-23 | 2014-12-23 | Six-freedom-degree rotation movable type welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410814494.7A CN104552268A (en) | 2014-12-23 | 2014-12-23 | Six-freedom-degree rotation movable type welding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104552268A true CN104552268A (en) | 2015-04-29 |
Family
ID=53069870
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410814494.7A Pending CN104552268A (en) | 2014-12-23 | 2014-12-23 | Six-freedom-degree rotation movable type welding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104552268A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62501896A (en) * | 1984-11-28 | 1987-07-30 | エス―ボラーグ・テイルバックスト・アクテイエボラーグ | Devices for carrying and adjusting tools |
| CN103015471A (en) * | 2012-12-28 | 2013-04-03 | 广西大学 | Self-adjusting controllable mechanism-type micro MDOF (multiple degrees of freedom) loading mechanism |
| CN103711157A (en) * | 2013-12-16 | 2014-04-09 | 广西大学 | High-rigidity nine-lever and two-freedom degree controllable mechanical loading mechanism |
| 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 |
| CN103737581A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | Multi-bar six-freedom-degree welding robot containing parallel closed loop sub chains and provided with controllable space |
-
2014
- 2014-12-23 CN CN201410814494.7A patent/CN104552268A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62501896A (en) * | 1984-11-28 | 1987-07-30 | エス―ボラーグ・テイルバックスト・アクテイエボラーグ | Devices for carrying and adjusting tools |
| CN103015471A (en) * | 2012-12-28 | 2013-04-03 | 广西大学 | Self-adjusting controllable mechanism-type micro MDOF (multiple degrees of freedom) loading mechanism |
| 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 |
| CN103737581A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | Multi-bar six-freedom-degree welding robot containing parallel closed loop sub chains and provided with controllable space |
| CN103711157A (en) * | 2013-12-16 | 2014-04-09 | 广西大学 | High-rigidity nine-lever and two-freedom degree controllable mechanical loading mechanism |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104552248A (en) | Multi-degree-of-freedom controllable mechanism type moving welding robot | |
| CN104476054A (en) | Welding construction method through utilizing six-degree-of-freedom five-rod moving type connecting rod mechanism | |
| CN104552258A (en) | Six-freedom-degree rocker arm type movable welding robot | |
| CN104552249A (en) | Six-freedom-degree five-rod movable welding robot | |
| CN104552254A (en) | Multi-degree-of-freedom rocker arm type welding robot | |
| CN104626106A (en) | Six-freedom-degree mechanism type movable welding frame | |
| CN104552255B (en) | A kind of multi-freedom-degreecontrollable controllable mechanism type welding robot | |
| CN104552268A (en) | Six-freedom-degree rotation movable type welding robot | |
| CN104552270A (en) | Multi-degree-of-freedom controllable moving type connecting rod mechanism | |
| CN104440890A (en) | Multi-degree-of-freedom rocker arm type moving connecting rod mechanism | |
| CN104552253A (en) | Six-freedom-degree controllable mechanism type movable welding robot | |
| CN104551476A (en) | Method for carrying out welding construction by using multi-freedom-degree rocker arm type connection rod mechanism | |
| CN104552264A (en) | Six-freedom-degree rocker arm type welding robot | |
| CN104552269A (en) | Six-freedom-degree controllable mechanism type welding robot | |
| CN204686870U (en) | A kind of seven-link assembly mechanism type mobile welding robot | |
| CN104552261A (en) | Six-freedom-degree movable welding robot | |
| CN104552266A (en) | Six-freedom-degree mechanism type movable welding robot | |
| CN104552256A (en) | Multi-degree-of-freedom rocker arm type moving welding robot | |
| CN104552265A (en) | Rotary rocker arm type welding robot | |
| CN104552252A (en) | Multi-degree-of-freedom controllable moving type welding robot | |
| CN104552262A (en) | Controllable mechanism type welding robot | |
| CN104625504A (en) | MDOF controllable rocker arm type welding robot | |
| CN104552271A (en) | Rotary controllable welding robot | |
| CN104552257A (en) | Mobile welding robot | |
| CN104625520A (en) | Method for carrying out welding construction through six-freedom-degree rocker arm type link mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20150429 |