CN105834576A - Redundant-driven friction stir welding parallel robot - Google Patents
Redundant-driven friction stir welding parallel robot Download PDFInfo
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- CN105834576A CN105834576A CN201610289804.7A CN201610289804A CN105834576A CN 105834576 A CN105834576 A CN 105834576A CN 201610289804 A CN201610289804 A CN 201610289804A CN 105834576 A CN105834576 A CN 105834576A
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- revolute pair
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- 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
- B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
- B23K20/12—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding
- B23K20/122—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding
- B23K20/1245—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding characterised by the apparatus
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Pressure Welding/Diffusion-Bonding (AREA)
Abstract
The invention relates to a redundant-driven friction stir welding parallel robot. A provided parallel mechanism can guarantee high rigidity and machining precision and has the advantages of being simple in associated movement, simple in structure, easy to machine and assemble, easy to control and the like. According to the technical scheme, the redundant-driven friction stir welding parallel robot is characterized in that the parallel mechanism comprises a movable platform, a rack and four branch mechanisms connected between the rack and the movable platform, wherein the first branch mechanism and the third branch mechanism are symmetrically arranged with respect to the movable platform, and the second branch mechanism and the fourth branch mechanism are symmetrically arranged with respect to the movable platform; the central hinging point of the first branch mechanism with the movable platform, the central hinging point of the second branch mechanism with the movable platform, the central hinging point of the third branch mechanism with the movable platform and the central hinging point of the fourth branch mechanism with the movable platform are evenly distributed around the movable platform and form 90-degree included angles with one another.
Description
Technical field
The present invention relates to agitating friction welding technology field, the agitating friction weldering parallel connection of a kind of redundant drive
Robot.
Background technology
Agitating friction weldering (FSW) is to be connected in the novel solid phase of one of invention in 1991 by Britain's institute of welding
Connection technology.Compared with traditional melting welding, agitating friction soldering set has plurality of advantages, such as: welding deformation is little, machine
Tool is functional, therefore easily realizes through engineering approaches, automation, and belongs to green manufacturing, and steady quality is reliable
Property high.
Parallel institution (PM), can be defined as moving platform (end effector) and fixed platform (frame) leads to
The kinematic chain crossing at least two independence is connected, and a kind of close loop mechanism driven with parallel way.Compared to
Traditional serial mechanism, parallel institution has bigger rigidity, load and higher precision.Therefore parallel machine
Structure is widely used in the industries such as industry, medical treatment, food.Concrete application relates to positioner, micro-
Manipulator, motion simulator, machining center main tapping, multi-axis NC Machine Tools etc..Make with redundant drive
It is possible not only to overcome unusual for type of drive so that the orientation capability of moving platform increases, and also has and improves mechanism
Mechanical property and improve parallel institution rigidity and the advantage of precision property, so redundant drive is also parallel machine
The common type of drive of structure.In view of the feature of agitating friction weldering, the lathe carrying stirring-head needs fabulous
Rigidity property, therefore general industry robot is unable to reach this requirement, and the parallel institution of redundant drive can profit
Its work requirements is met by the advantage of high rigidity.
From the beginning of Steward mechanism successful Application on Tire testing and flight simulator, parallel institution one
Directly become the object of many scholar's research.But in general actual application, be not required to multivariant also
Online structure.For simplified operation effectively, control and reduce manufacturing cost, it is possible to realize corresponding behaviour
The minority carrier generation lifetime made is researched and developed.Wherein, two turn one is moved parallel institution is lower-mobility parallel machine
An important class in structure, is the class that in minority carrier generation lifetime, great engineer applied is worth.
There is now similar configuration 3DOF Invention Announce patent (as CN104625198A, CN104551714A,
CN104772628A), there is the problem that working space is less, rigidity is relatively low, and use redundant drive
Mode may utilize redundancy properties to overcome these problems.So proposing a kind of rigidity height, precision height, structure
The agitating friction weldering of compact, low-cost, can to meet agitating friction weldering need of work redundant drive is in parallel
Robot is necessary.
Summary of the invention
The technical problem to be solved is the deficiency overcoming background technology to exist, it is provided that a kind of redundancy is driven
Dynamic agitating friction weldering parallel robot, this parallel institution can ensure that higher stiffness and machining accuracy, and
Have that associated movement is simple, simple in construction, processing assemble the advantages such as easy and easily controllable.
Present invention provide the technical scheme that
A kind of agitating friction weldering parallel robot of redundant drive, it is characterised in that: this parallel institution includes moving
Platform, frame and four branches being connected between frame and moving platform, wherein the first branch and
Three branches are symmetrical in moving platform and arrange, the second branch and the 4th branch are symmetrical in moving platform and arrange, the first branch,
Second branch, the 3rd branch and the 4th branch and the hinged central point of moving platform are uniform and mutual around moving platform
Between arrange in 90 ° of deciles；
Described first branch and the 3rd branch include the first shifting being connected between frame and moving platform the most successively
Dynamic pair, the first revolute pair, first connecting rod and ball pivot；Described second branch and the 4th branch wrap the most successively
Include the second moving sets, the second revolute pair, second connecting rod and the universal hinge being connected between frame and moving platform；
The first moving sets axis in described first branch, the 3rd branch and second in the second branch, the 4th branch
Moving sets axis is parallel to each other；In described first branch, the 3rd branch, the first revolute pair axis is parallel to each other,
And it is perpendicular to the first moving sets axis；In described second branch, the 4th branch, the second revolute pair axis is mutual
Parallel, and it is perpendicular to the second moving sets axis, also with the first revolute pair axis and the 3rd in the first branch
The first revolute pair axis in branch is orthogonal；In described second branch and the 4th branch one article of universal hinge
Axis lies mutually in line, and another axis is parallel to the second revolute pair.
The ball screw framework that the drive mechanism of described parallel institution is servomotor, driven by servomotor with
And ball screw framework drives the first moving sets.
A kind of agitating friction weldering parallel robot of redundant drive, it is characterised in that: this parallel institution includes moving
Platform, frame and four branches being connected between frame and moving platform, wherein the first branch and
Three branches are symmetrical in moving platform and arrange, the second branch and the 4th branch are symmetrical in moving platform and arrange, the first branch,
Second branch, the 3rd branch and the 4th branch and the hinged central point of moving platform are uniform and mutual around moving platform
Between arrange in 90 ° of deciles；
Described first branch and the 3rd branch include first turn be connected between frame and moving platform the most successively
Dynamic pair, the first moving sets, the first guide rod and ball pivot；Described second branch and the 4th branch wrap the most successively
Include the second revolute pair, the second moving sets, the second guide rod and the universal hinge being connected between frame and moving platform；
In described first branch, the 3rd branch, the first revolute pair axis is parallel to each other and mutual with the first moving sets axis
Perpendicular；Second branch is with the 4th branch, and the second revolute pair axis is parallel to each other and moves countershaft with second
Line is orthogonal, also with the first revolute pair axis in the first branch and the first revolute pair in the 3rd branch
Axis is orthogonal；In described second branch and the 4th branch, one article of axis of universal hinge lies mutually in line, another
Axis is parallel to the second revolute pair.
The ball screw framework that the drive mechanism of described parallel institution is servomotor, driven by servomotor with
And ball screw framework drives the first moving sets.
A kind of agitating friction weldering parallel robot of redundant drive, it is characterised in that: this parallel institution includes moving
Platform, frame and four branches being connected between frame and moving platform, wherein the first branch and
Three branches are symmetrical in moving platform and arrange, the second branch and the 4th branch are symmetrical in moving platform and arrange, the first branch,
Second branch, the 3rd branch and the 4th branch and the hinged central point of moving platform are uniform and mutual around moving platform
Between arrange in 90 ° of deciles；
Described first branch and the 3rd branch include the 3rd turn be connected between frame and moving platform the most successively
Dynamic pair, third connecting rod, the 4th revolute pair, fourth link and ball pivot；Described second branch and the 4th branch
The 5th revolute pair that includes the most successively being connected between frame and moving platform, the 5th connecting rod, the 6th revolute pair,
Six-bar linkage and universal hinge；In described first branch, the 3rd branch, the 3rd revolute pair and the 4th revolute pair
Axis is parallel to each other；In second branch, the 4th branch, the 5th revolute pair is put down mutually with the 6th revolute pair axis
OK, and orthogonal with the 3rd revolute pair in the first branch, the 3rd branch and the 4th revolute pair axis；
In described second branch and the 4th branch, one article of axis of universal hinge lies mutually in line, and another axis is parallel to the 5th
Revolute pair.
The drive mechanism of described parallel institution be servomotor and by the 3rd revolute pair of driven by servomotor with
And the 5th revolute pair.
The invention has the beneficial effects as follows:
The present invention can realize two rotational freedoms in space and an one-movement-freedom-degree.Owing to this mechanism exists
Four drive pair, and the type of drive of its redundancy improves parallel institution rigidity and precision property.This mechanism has
It is easy and easily controllable etc. that machining accuracy is high, rigidity high, associated movement is simple, simple in construction, processing assemble
Advantage, can meet the job requirement of agitating friction weldering.Coordinate other device can realize some complex parts
Processing.
Accompanying drawing explanation
Fig. 1 is the perspective view of the embodiment of the present invention 1.
Fig. 2 is the perspective view of the embodiment of the present invention 2.
Fig. 3 is the perspective view of the embodiment of the present invention 3.
Detailed description of the invention
Below in conjunction with Figure of description, the invention will be further described, but the invention is not limited in following
Embodiment.
Embodiment one
As shown in Figure 1: a kind of 3DOF parallel institution for agitating friction weldering, including frame 11, move
Platform 5, four branches between stirring-head 6 and connection frame and moving platform；Wherein stirring for processing
Mix head to be fixed on moving platform；First branch (this branches into PRS type movement branched chain) and the 3rd branch are symmetrical
Arrange in moving platform；Second branch (this branches into PRU type movement branched chain) and the 4th branch are symmetrical in dynamic flat
The tablecloth is put；First branch, the second branch, the 3rd branch and the 4th branch and the hinged central point ring of moving platform
Uniform around moving platform and arrange in 90 ° of deciles each other；Described first branch and the 3rd branch are the most successively
(include slide block 12 including the first moving sets 1P being connected between frame 11 and moving platform and be fixed on frame
Guide rod on 11), the first revolute pair 1R, first connecting rod 13, ball pivot 1S；Described second branch and the 4th
Branch includes that the second moving sets 2P being connected between frame 11 and moving platform (includes slide block 22 the most successively
With the guide rod in frame 11), the second revolute pair 2R, second connecting rod 23, universal hinge 2U；Described first point
, the first moving sets axis in the 3rd branch and the second moving sets axis in the second branch, the 4th branch
Parallel to each other；Described first branch is with the 3rd branch, and the first revolute pair axis is parallel to each other, and is perpendicular to
First moving sets axis；Described second branch is with the 4th branch, and the second revolute pair axis is parallel to each other, and
It is perpendicular to the second moving sets axis, also hangs down mutually with the first revolute pair axis in the 3rd branch with the first branch
Directly.In described second branch and the 4th branch, one article of axis of universal hinge lies mutually in line, and another axis is parallel to
Second revolute pair.
In the present embodiment, driving pair is the moving sets in each branch, and type of drive is driven by servomotor
Ball screw framework (omits in figure)；When driving secondary motion, mechanism makees two turn one and moves 3DOF motion.
Embodiment two, as shown in Figure 2: a kind of 3DOF parallel institution for agitating friction weldering, including
Frame 11, moving platform 5, four branches between stirring-head 6 and connection frame and moving platform；Wherein use
Stirring-head in processing is fixed on moving platform；First branch (this branches into RPS type movement branched chain) and
Three branches are symmetrical in moving platform and arrange；Second branch and the 4th branch are symmetrical in moving platform and arrange；First branch,
Second branch, the 3rd branch and the 4th branch and the hinged central point of moving platform are uniform and mutual around moving platform
Between arrange in 90 ° of deciles；Described first branch and the 3rd branch include being connected to frame 11 He the most successively
The first revolute pair 1R between moving platform, the first moving sets 1P (including slide block 12 and the first guide rod 15),
First guide rod 15 and ball pivot 1S；Described second branch and the 4th branch include being connected to frame the most successively
The second revolute pair 2R between 11 and moving platform, the second moving sets 2P (including slide block 26 and the second guide rod 25),
Second guide rod 25 and universal hinge 2U；In described first branch, the 3rd branch, the first revolute pair axis is mutual
Parallel and orthogonal with the first moving sets axis；In second branch, the 4th branch, the second revolute pair axis
Parallel to each other and orthogonal with the second moving sets axis, also with the first branch, the first rotation of the 3rd branch
Secondary axis is orthogonal；In described second branch and the 4th branch, one article of axis of universal hinge lies mutually in line, separately
One axis is parallel to the second revolute pair.
In the present embodiment, driving pair is the moving sets in each branch, and type of drive is driven by servomotor
Ball screw framework (omits in figure)；When driving secondary motion, mechanism makees two turn one and moves 3DOF motion.
Embodiment three, as shown in Figure 3: a kind of 3DOF parallel institution for agitating friction weldering, including
Frame 11, moving platform 5, four branches between stirring-head 6 and connection frame and moving platform；Wherein use
Stirring-head in processing is fixed on moving platform；First branch (this branches into RRS type movement branched chain) and
Three branches are symmetrical in moving platform and arrange；Second branch and the 4th branch are symmetrical in moving platform and arrange；First branch,
Second branch, the 3rd branch and the 4th branch and the hinged central point of moving platform are uniform and mutual around moving platform
Between arrange in 90 ° of deciles；Described first branch and the 3rd branch include being connected to frame 11 He the most successively
The 3rd revolute pair 1R between moving platform1, third connecting rod the 17, the 4th revolute pair 1R2, fourth link 18 with
And ball pivot 1S；Described second branch and the 4th branch include being connected between frame 11 and moving platform the most successively
The 5th revolute pair 2R1, the 5th connecting rod the 27, the 6th revolute pair 2R2, six-bar linkage 28 and universal hinge 2U；
In described first branch, the 3rd branch, the 3rd revolute pair is parallel to each other with the 4th revolute pair axis；Second point
In Zhi Yu tetra-branch, the 5th revolute pair is parallel to each other with the 6th revolute pair axis, and with the first branch,
The 3rd revolute pair and the 4th revolute pair axis in 3rd branch are orthogonal；Described second branch and the 4th point
In Zhi, an axis of universal hinge lies mutually in line, and another axis is parallel to the 5th revolute pair.
In the present embodiment, driving pair is the revolute pair that each branch is connected with fixed platform, and type of drive is servo electricity
Machine (omitting in figure) drives；When driving secondary motion, mechanism makees two turn one and moves 3DOF motion.
Claims (6)
1. the agitating friction weldering parallel robot of a redundant drive, it is characterised in that: this parallel institution includes
Moving platform (5), frame (11) and four branches being connected between frame and moving platform, wherein
First branch and the 3rd branch are symmetrical in moving platform and arrange, the second branch and the 4th branch are symmetrical in moving platform cloth
Putting, the first branch, the second branch, the 3rd branch and the 4th branch and the hinged central point of moving platform are around dynamic
Platform is uniform and arranges in 90 ° of deciles each other；
Described first branch and the 3rd branch include the first shifting being connected between frame and moving platform the most successively
Dynamic secondary (1P), the first revolute pair (1R), first connecting rod (13) and ball pivot (1S)；Described second branch
And the 4th branch include the most successively being connected between frame and moving platform the second moving sets (2P), second turn
Dynamic secondary (2R), second connecting rod (23) and universal hinge (2U)；In described first branch, the 3rd branch
The second moving sets axis in first moving sets axis and the second branch, the 4th branch is parallel to each other；Described
In one branch, the 3rd branch, the first revolute pair axis is parallel to each other, and is perpendicular to the first moving sets axis；Institute
Stating in the second branch, the 4th branch, the second revolute pair axis is parallel to each other, and is perpendicular to the second moving sets axis,
Also hang down mutually with the first revolute pair axis in the first branch and the first revolute pair axis in the 3rd branch
Directly；In described second branch and the 4th branch, one article of axis of universal hinge lies mutually in line, and another axis is parallel to
Second revolute pair.
The agitating friction weldering parallel robot of redundant drive the most according to claim 1, it is characterised in that:
The drive mechanism of described parallel institution is servomotor, the servomotor ball screw framework driven and rolling
Screw mechanism drives the first moving sets.
3. the agitating friction weldering parallel robot of a redundant drive, it is characterised in that: this parallel institution includes
Moving platform (5), frame (11) and four branches being connected between frame and moving platform, wherein
First branch and the 3rd branch are symmetrical in moving platform and arrange, the second branch and the 4th branch are symmetrical in moving platform cloth
Putting, the first branch, the second branch, the 3rd branch and the 4th branch and the hinged central point of moving platform are around dynamic
Platform is uniform and arranges in 90 ° of deciles each other；
Described first branch and the 3rd branch include first turn be connected between frame and moving platform the most successively
Dynamic secondary (1R), the first moving sets (1P), the first guide rod (15) and ball pivot (1S)；Described second branch
And the 4th branch include the most successively being connected between frame and moving platform the second revolute pair (2R), second move
Dynamic secondary (2P), the second guide rod (25) and universal hinge (2U)；In described first branch, the 3rd branch,
First revolute pair axis is parallel to each other and orthogonal with the first moving sets axis；Second branch and the 4th branch
In, the second revolute pair axis is parallel to each other and orthogonal with the second moving sets axis, also with in the first branch
The first revolute pair axis and the 3rd branch in the first revolute pair axis orthogonal；Described second branch
Lying mutually in line with one article of axis of universal hinge in the 4th branch, another axis is parallel to the second revolute pair.
The agitating friction weldering parallel robot of redundant drive the most according to claim 3, it is characterised in that:
The drive mechanism of described parallel institution is servomotor, the servomotor ball screw framework driven and rolling
Screw mechanism drives the first moving sets.
5. the agitating friction weldering parallel robot of a redundant drive, it is characterised in that: this parallel institution includes
Moving platform (5), frame (11) and four branches being connected between frame and moving platform, wherein
First branch and the 3rd branch are symmetrical in moving platform and arrange, the second branch and the 4th branch are symmetrical in moving platform cloth
Putting, the first branch, the second branch, the 3rd branch and the 4th branch and the hinged central point of moving platform are around dynamic
Platform is uniform and arranges in 90 ° of deciles each other；
Described first branch and the 3rd branch include the 3rd turn be connected between frame and moving platform the most successively
Dynamic secondary (1R1), third connecting rod (17), the 4th revolute pair (1R2), fourth link (18) and ball pivot (1S)；
Described second branch and the 4th branch include the 5th revolute pair being connected between frame and moving platform the most successively
(2R1), the 5th connecting rod (27), the 6th revolute pair (2R2), six-bar linkage (28) and universal hinge (2U)；
In described first branch, the 3rd branch, the 3rd revolute pair is parallel to each other with the 4th revolute pair axis；Second point
, in the 4th branch, the 5th revolute pair is parallel to each other with the 6th revolute pair axis, and with the first branch,
The 3rd revolute pair and the 4th revolute pair axis in 3rd branch are orthogonal；Described second branch and the 4th point
In Zhi, an axis of universal hinge lies mutually in line, and another axis is parallel to the 5th revolute pair.
The agitating friction weldering parallel robot of redundant drive the most according to claim 5, it is characterised in that:
The drive mechanism of described parallel institution is servomotor and by the 3rd revolute pair and of driven by servomotor
Five revolute pairs.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610289804.7A CN105834576A (en) | 2016-05-03 | 2016-05-03 | Redundant-driven friction stir welding parallel robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610289804.7A CN105834576A (en) | 2016-05-03 | 2016-05-03 | Redundant-driven friction stir welding parallel robot |
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| CN201610289804.7A Pending CN105834576A (en) | 2016-05-03 | 2016-05-03 | Redundant-driven friction stir welding parallel robot |
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