CN104589309A - Multi-freedom-degree parallel mechanism type controllable mobile welding robot - Google Patents
Multi-freedom-degree parallel mechanism type controllable mobile welding robot Download PDFInfo
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- CN104589309A CN104589309A CN201410767855.7A CN201410767855A CN104589309A CN 104589309 A CN104589309 A CN 104589309A CN 201410767855 A CN201410767855 A CN 201410767855A CN 104589309 A CN104589309 A CN 104589309A
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Abstract
The invention provides a multi-freedom-degree parallel mechanism type controllable mobile welding robot which comprises multiple parallel mechanism closed loop subchains, a series connected actuator main chain and a movable platform. The parallel mechanism closed loop subchains can control series connected actuator main chain connecting rods to move in a plane where four-link mechanism closed loop subchains formed by a seventh connecting rod, an eighth connecting rod, a ninth connecting rod, a tenth connecting rod and an eleventh connecting rod are located, and movement of the parallel mechanism closed loop subchains, movement of a robot body and movement of the movable platform can achieve space movement of the movable platform. The resultant movement of the four parallel mechanism closed loop subchains and the robot body achieves control, the space motion of a tail end actuator is achieved through connection of the multiple connecting rods and the robot body, the robot has the advantages of being compact in structure and easy to control, the structure enables the robot to have almost infinite working space and high movement redundancy and have the movement and operation function, a work space is large, and the multi-freedom-degree parallel mechanism type controllable mobile welding robot can be applied to more occasions.
Description
[technical field]
The present invention relates to robot field, be specifically related to the controlled mobile welding robot of a kind of multiple freedom parallel mechanism formula.
[background technology]
The research of mobile robot starts from the latter stage sixties.The people such as Nils Nilssen and CharlesRosen of Stanford Research Institute (SRI), have developed the autonomous mobile robot being named Shakey in 1966 to 1972.Object is research using artificial intellectual technology, in the autonomous reasoning of robot in complicated environment system, planning and control.
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 the controlled mobile welding robot of a kind of multiple freedom parallel mechanism formula.
For achieving the above object, the technical scheme that the controlled mobile welding robot of a kind of multiple freedom parallel mechanism of the present invention formula adopts is: the controlled mobile welding robot of a kind of multiple freedom parallel mechanism formula, 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, the 13 connecting rod, the tenth double leval jib, end effector, the 5th connecting portion that seven-link assembly 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, fuselage upper end is connected with first connecting rod one end by the second revolute pair, the vertical rod of fuselage upper end is connected with the 5th connecting portion of seven-link assembly by the 3rd revolute pair, and vertical rod is provided with the longitudinal elongated slot running through opposite flank, the first connecting rod other end is connected with second connecting rod lower end by the 4th revolute pair, is connected in the middle part of second connecting rod by the 5th revolute pair with third connecting rod one end, and second connecting rod upper end is connected with the first connecting portion of seven-link assembly by the 6th revolute pair, third connecting rod is through longitudinal elongated slot of fuselage vertical rod, its other end relatively connecting second connecting rod is connected with double leval jib lower end by the 7th revolute pair, double leval jib upper end is connected with the 3rd connecting portion of seven-link assembly by the 8th revolute pair, be connected with the 5th connecting rod lower end by the 9th revolute pair in the middle part of double leval jib, 5th small end is connected with six-bar linkage lower end by the tenth revolute pair, and six-bar linkage upper end is connected with the second connecting portion of seven-link assembly by the 11 revolute pair, be connected with the second connecting portion of seven-link assembly by the 11 revolute pair in the middle part of 8th connecting rod, be connected with the 4th connecting portion of seven-link assembly by the 12 revolute pair in the middle part of 9th connecting rod, tenth connecting rod is connected with the 8th connecting rod one end by the 13 revolute pair in its one end, seven-link assembly side, the tenth connecting rod other end is connected with the 9th connecting rod one end by the 14 revolute pair, 11 connecting rod is connected with the 8th connecting rod other end by the 15 revolute pair in relative tenth its one end of connecting rod opposite side of seven-link assembly, the 11 connecting rod other end is connected with the 9th connecting rod other end by the 16 revolute pair, 9th connecting rod medial side has connecting portion to extended, and this connecting portion and the 12 connecting rod one end are formed and be rigidly connected, 13 connecting rod one end is connected with the 12 connecting rod other end by the 17 revolute pair, and the 13 connecting rod other end is connected with the tenth double leval jib one end by the 18 revolute pair, and the tenth double leval jib other end is connected with end effector by the 19 revolute pair, 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, the 13 revolute pair, the 14 revolute pair and the 15 revolute pair rotation are parallel to each other.
Further, the first revolute pair, the second revolute pair, the 17 revolute pair, the 18 revolute pair, the 19 revolute pair are separately installed with drive motors.
Further, the angle being formed and be greater than 90 degree is intersected in the 11 rotation vice division chief in the 8th connecting rod two ends; 9th connecting rod two ends are rotated vice division chief the 12 and are intersected the angle being formed and be greater than 90 degree.
Further, the 5th connection portion of seven-link assembly is divided and is entered in longitudinal elongated slot of fuselage vertical rod.
Further, described 12 connecting rod is hollow circular cylinder, and outside the connecting portion being set in the 9th connecting rod and the 13 connecting rod.
Further, mobile platform is moved by the wheel be arranged on bottom it.
Further, the lighter bar of thinner thickness made by each connecting rod.
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. robot of the present invention utilizes a with gemel connecting rod to be connected end effector between fuselage with end effector, thus end effector flexibility ratio can be made higher, working space increases, and lighter bar made by each connecting rod, whole mechanism power performance can be made better, 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;
3. 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;
4. rod member is made lighter bar by robot of the present invention, thus makes robot motion's inertia little, and dynamic performance is good;
5. drive motors is arranged in the first revolute pair, the second revolute pair, the 17 revolute pair, the 18 revolute pair, the 19 revolute pair by the present invention respectively, thus reduce the center of gravity of whole mechanism, can also the larger motor of installation power in robot, make end effector can adapt in the complex jobs such as welding, spraying, carrying, handling, assembling, piling;
6. the subchain that the present invention is consisted of each connecting rod controls end effector, and precision can be made higher.
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 second connecting rod of the present invention;
Fig. 5 is the structural representation of the present invention's seven-link assembly;
Fig. 6 is the structural representation of the present invention the 8th connecting rod;
Fig. 7 is the structural representation of the present invention the 9th connecting rod;
Fig. 8 is the structural representation of the present invention the 13 connecting rod;
Fig. 9 is the structural representation of the present invention the tenth double leval jib;
Figure 10 is part body connection diagram of the present invention;
Figure 11 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 7 third connecting rod 5 double leval jib 20
5th connecting rod 23 six-bar linkage 21 seven-link assembly 11
8th connecting rod 12 the 9th connecting rod 18 the tenth connecting rod 14
11 connecting rod 15 the 12 connecting rod 26 the 13 connecting rod 27
Tenth double leval jib 29 first revolute pair 31 second revolute pair 32
3rd revolute pair 8 the 4th revolute pair 4 the 5th revolute pair 6
6th revolute pair 9 the 7th revolute pair 25 the 8th revolute pair 19
9th revolute pair 24 the tenth revolute pair 22 the 11 revolute pair 33
12 revolute pair 34 the 13 revolute pair 10 the 14 revolute pair 16
15 revolute pair 13 the 16 revolute pair 17 the 17 revolute pair 36
18 revolute pair 28 the 19 revolute pair 37 connecting portion 35
End effector 30
[detailed description of the invention]
Below in conjunction with the drawings and specific embodiments, the controlled mobile welding robot of a kind of multiple freedom parallel mechanism formula of the present invention is described further.
Refer to Fig. 1 to Figure 11, for the controlled mobile welding robot of a kind of multiple freedom parallel mechanism formula of the present invention, comprise mobile platform 1, fuselage 2, first connecting rod 3, second connecting rod 7, third connecting rod 5, double leval jib 20, the 5th connecting rod 23, six-bar linkage 21, seven-link assembly 11, the 8th connecting rod 12, the 9th connecting rod 18, the tenth connecting rod the 14, the 11 connecting rod the 15, the 12 connecting rod the 26, the 13 connecting rod 27, the tenth double leval jib 29, end effector 30;
Mobile platform 1 is moved by the wheel be arranged on bottom it;
The 5th connecting portion that seven-link assembly 11 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 31, fuselage 2 upper end is connected with first connecting rod 3 one end by the second revolute pair 32, the vertical rod of fuselage 2 upper end is connected with the 5th connecting portion of seven-link assembly 11 by the 3rd revolute pair 8, and vertical rod is provided with the longitudinal elongated slot running through opposite flank, the 5th connection portion of seven-link assembly 11 divide enter fuselage 2 vertical rod longitudinal elongated slot in;
First connecting rod 3 other end is connected with second connecting rod 7 lower end by the 4th revolute pair 4, is connected in the middle part of second connecting rod 7 by the 5th revolute pair 6 with third connecting rod 5 one end, and second connecting rod 7 upper end is connected with the first connecting portion of seven-link assembly 11 by the 6th revolute pair 9; Third connecting rod 5 is through longitudinal elongated slot of fuselage 2 vertical rod, its other end relatively connecting second connecting rod 7 is connected with double leval jib 20 lower end by the 7th revolute pair 25, double leval jib 20 upper end is connected with the 3rd connecting portion of seven-link assembly 11 by the 8th revolute pair 19, be connected with the 5th connecting rod 23 lower end by the 9th revolute pair 24 in the middle part of double leval jib 20,5th connecting rod 23 upper end is connected with six-bar linkage 21 lower end by the tenth revolute pair 22, and six-bar linkage 21 upper end is connected with the second connecting portion of seven-link assembly 11 by the 11 revolute pair 33;
The angle being formed and be greater than 90 degree is intersected at 8th connecting rod 12 two ends at the 11 revolute pair 33 place; The angle being formed and be greater than 90 degree is intersected at 9th connecting rod 18 two ends at the 12 revolute pair 34 place;
Be connected with the second connecting portion of seven-link assembly 11 by the 11 revolute pair 33 in the middle part of 8th connecting rod 12, be connected with the 4th connecting portion of seven-link assembly 11 by the 12 revolute pair 34 in the middle part of 9th connecting rod 18, tenth connecting rod 14 is connected with the 8th connecting rod 12 one end by the 13 revolute pair 10 in its one end, seven-link assembly 11 side, tenth connecting rod 14 other end is connected with the 9th connecting rod 18 one end by the 14 revolute pair 16, 11 connecting rod 15 is connected with the 8th connecting rod 12 other end by the 15 revolute pair 13 in relative tenth its one end of connecting rod 14 opposite side of seven-link assembly 11, 11 connecting rod 15 other end is connected with the 9th connecting rod 18 other end by the 16 revolute pair 17,
9th connecting rod 18 medial side has connecting portion 35 to extended, and this connecting portion the 35 and the 12 connecting rod 26 one end is formed and is rigidly connected; 13 connecting rod 27 one end is connected with the 12 connecting rod 26 other end by the 17 revolute pair 36,13 connecting rod 27 other end is connected with the tenth double leval jib 29 one end by the 18 revolute pair 28, and the tenth double leval jib 29 other end is connected with end effector 30 by the 19 revolute pair 37;
Described 12 connecting rod 26 is hollow circular cylinder, and is set in outside connecting portion the 35 and the 13 connecting rod 27 of the 9th connecting rod 18;
First revolute pair 31 is perpendicular to moveable platform 1, and the second revolute pair 32, the 3rd revolute pair 8, the 4th revolute pair 4, the 5th revolute pair 6, the 6th revolute pair 9, the 7th revolute pair 25, the 8th revolute pair 19, the 9th revolute pair 24, the tenth revolute pair the 22, the 11 revolute pair the 33, the 12 revolute pair the 34, the 13 revolute pair the 10, the 14 revolute pair the 16 and the 15 revolute pair 13 rotation are parallel to each other.
First revolute pair 31, second revolute pair the 32, the 17 revolute pair the 36, the 18 revolute pair the 28, the 19 revolute pair 37 is separately installed with drive motors, drive motors in first revolute pair 31 moves in order to drive fuselage 2, drive motors in second revolute pair 32 moves in order to drive first connecting rod 3, drive motors in 17 revolute pair 36 moves in order to drive the 13 connecting rod 27, drive motors in 18 revolute pair 28 moves in order to drive the tenth double leval jib 29, and the drive motors in the 19 revolute pair 37 moves in order to drive end effector 30.
During work, fuselage 2 is driven by the first revolute pair 31, first connecting rod 3 is driven by the second revolute pair 32,13 connecting rod 27 is driven by the 17 revolute pair 36, tenth double leval jib 29 is driven by the 18 revolute pair 28, end effector 30 is driven by the 19 revolute pair 37, make mobile platform 1, fuselage 2 and first connecting rod 3 motion planar can realize the spatial movement of end effector 30.
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. robot of the present invention utilizes a with gemel connecting rod to be connected end effector between fuselage with end effector, thus end effector flexibility ratio can be made higher, working space increases, and lighter bar made by each connecting rod, whole mechanism power performance can be made better, 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;
3. 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;
4. rod member is made lighter bar by robot of the present invention, thus makes robot motion's inertia little, and dynamic performance is good;
5. drive motors is arranged in the first revolute pair, the second revolute pair, the 17 revolute pair, the 18 revolute pair, the 19 revolute pair by the present invention respectively, thus reduce the center of gravity of whole mechanism, can also the larger motor of installation power in robot, make end effector can adapt in the complex jobs such as welding, spraying, carrying, handling, assembling, piling;
6. the subchain that the present invention is consisted of each connecting rod controls end effector, and precision can be made higher.
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 (7)
1. the controlled mobile welding robot of multiple freedom parallel mechanism formula, 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, the 13 connecting rod, the tenth double leval jib, end effector;
The 5th connecting portion that seven-link assembly 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, fuselage upper end is connected with first connecting rod one end by the second revolute pair, the vertical rod of fuselage upper end is connected with the 5th connecting portion of seven-link assembly by the 3rd revolute pair, and vertical rod is provided with the longitudinal elongated slot running through opposite flank;
The first connecting rod other end is connected with second connecting rod lower end by the 4th revolute pair, is connected in the middle part of second connecting rod by the 5th revolute pair with third connecting rod one end, and second connecting rod upper end is connected with the first connecting portion of seven-link assembly by the 6th revolute pair;
Third connecting rod is through longitudinal elongated slot of fuselage vertical rod, its other end relatively connecting second connecting rod is connected with double leval jib lower end by the 7th revolute pair, double leval jib upper end is connected with the 3rd connecting portion of seven-link assembly by the 8th revolute pair, be connected with the 5th connecting rod lower end by the 9th revolute pair in the middle part of double leval jib, 5th small end is connected with six-bar linkage lower end by the tenth revolute pair, and six-bar linkage upper end is connected with the second connecting portion of seven-link assembly by the 11 revolute pair;
Be connected with the second connecting portion of seven-link assembly by the 11 revolute pair in the middle part of 8th connecting rod, be connected with the 4th connecting portion of seven-link assembly by the 12 revolute pair in the middle part of 9th connecting rod, tenth connecting rod is connected with the 8th connecting rod one end by the 13 revolute pair in its one end, seven-link assembly side, the tenth connecting rod other end is connected with the 9th connecting rod one end by the 14 revolute pair, 11 connecting rod is connected with the 8th connecting rod other end by the 15 revolute pair in relative tenth its one end of connecting rod opposite side of seven-link assembly, the 11 connecting rod other end is connected with the 9th connecting rod other end by the 16 revolute pair,
9th connecting rod medial side has connecting portion to extended, and this connecting portion and the 12 connecting rod one end are formed and be rigidly connected;
13 connecting rod one end is connected with the 12 connecting rod other end by the 17 revolute pair, and the 13 connecting rod other end is connected with the tenth double leval jib one end by the 18 revolute pair, and the tenth double leval jib other end is connected with end effector by the 19 revolute pair;
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, the 13 revolute pair, the 14 revolute pair and the 15 revolute pair rotation are parallel to each other.
2. the controlled mobile welding robot of a kind of multiple freedom parallel mechanism formula as claimed in claim 1, is characterized in that: the first revolute pair, the second revolute pair, the 17 revolute pair, the 18 revolute pair, the 19 revolute pair are separately installed with drive motors.
3. the controlled mobile welding robot of a kind of multiple freedom parallel mechanism formula as described in claim 1 and 2, is characterized in that: the 8th connecting rod two ends are rotated vice division chief the 11 and intersected the angle being formed and be greater than 90 degree; 9th connecting rod two ends are rotated vice division chief the 12 and are intersected the angle being formed and be greater than 90 degree.
4. the controlled mobile welding robot of a kind of multiple freedom parallel mechanism formula as claimed in claim 1, is characterized in that: the 5th connection portion of seven-link assembly is divided and entered in longitudinal elongated slot of fuselage vertical rod.
5. the controlled mobile welding robot of a kind of multiple freedom parallel mechanism formula as claimed in claim 1, is characterized in that: described 12 connecting rod is hollow circular cylinder, and outside the connecting portion being set in the 9th connecting rod and the 13 connecting rod.
6. the controlled mobile welding robot of a kind of multiple freedom parallel mechanism formula as claimed in claim 1, is characterized in that: mobile platform is moved by the wheel be arranged on bottom it.
7. the controlled mobile welding robot of a kind of multiple freedom parallel mechanism formula as claimed in claim 1, is characterized in that: the lighter bar of thinner thickness made by each connecting rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410767855.7A CN104589309A (en) | 2014-12-12 | 2014-12-12 | Multi-freedom-degree parallel mechanism type controllable mobile welding robot |
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| CN201410767855.7A CN104589309A (en) | 2014-12-12 | 2014-12-12 | Multi-freedom-degree parallel mechanism type controllable mobile welding robot |
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| CN104589309A true CN104589309A (en) | 2015-05-06 |
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| CN201410767855.7A Pending CN104589309A (en) | 2014-12-12 | 2014-12-12 | Multi-freedom-degree parallel mechanism type controllable mobile welding robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106608542A (en) * | 2016-11-28 | 2017-05-03 | 广西大学 | A servo motor-driven connecting rod type degree-of-freedom-variable simple fodder stacking manipulator |
| CN106607654A (en) * | 2016-11-28 | 2017-05-03 | 广西大学 | Connecting rod type variable freedom degree simple welding mechanical arm driven by servo motor |
| CN107322605A (en) * | 2017-07-04 | 2017-11-07 | 广西大学 | A kind of lightweight five degree of freedom high-speed welding robot |
| CN110405405A (en) * | 2019-07-09 | 2019-11-05 | 深圳市圣地保人防有限公司 | Connecting rod automatic welder |
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| CN106607654A (en) * | 2016-11-28 | 2017-05-03 | 广西大学 | Connecting rod type variable freedom degree simple welding mechanical arm driven by servo motor |
| CN107322605A (en) * | 2017-07-04 | 2017-11-07 | 广西大学 | A kind of lightweight five degree of freedom high-speed welding robot |
| CN110405405A (en) * | 2019-07-09 | 2019-11-05 | 深圳市圣地保人防有限公司 | Connecting rod automatic welder |
| CN110405405B (en) * | 2019-07-09 | 2021-07-13 | 深圳市圣地保人防有限公司 | Automatic welding machine for connecting rod |
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Application publication date: 20150506 |