CN105834621A - 一种基于对称冗余并联机构的焊接机器人焊接机械手 - Google Patents
一种基于对称冗余并联机构的焊接机器人焊接机械手 Download PDFInfo
- Publication number
- CN105834621A CN105834621A CN201610348454.7A CN201610348454A CN105834621A CN 105834621 A CN105834621 A CN 105834621A CN 201610348454 A CN201610348454 A CN 201610348454A CN 105834621 A CN105834621 A CN 105834621A
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- China
- Prior art keywords
- welding
- wire feed
- wire
- side chain
- ear mount
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- Granted
Links
- 238000003466 welding Methods 0.000 title claims abstract description 123
- 230000007246 mechanism Effects 0.000 title claims abstract description 48
- 238000003860 storage Methods 0.000 claims abstract description 30
- 229910000831 Steel Inorganic materials 0.000 claims description 27
- 239000010959 steel Substances 0.000 claims description 27
- 238000013016 damping Methods 0.000 claims description 15
- 244000309464 bull Species 0.000 claims description 9
- 239000000463 material Substances 0.000 claims description 7
- 229920003023 plastic Polymers 0.000 claims description 5
- 239000004033 plastic Substances 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims 2
- 230000033001 locomotion Effects 0.000 description 24
- 238000013519 translation Methods 0.000 description 4
- 230000014616 translation Effects 0.000 description 4
- 208000027418 Wounds and injury Diseases 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000004899 motility Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000006378 damage Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010891 electric arc Methods 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000002341 toxic gas Substances 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (1)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610348454.7A CN105834621B (zh) | 2016-05-23 | 2016-05-23 | 一种基于对称冗余并联机构的焊接机器人焊接机械手 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610348454.7A CN105834621B (zh) | 2016-05-23 | 2016-05-23 | 一种基于对称冗余并联机构的焊接机器人焊接机械手 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN105834621A true CN105834621A (zh) | 2016-08-10 |
CN105834621B CN105834621B (zh) | 2017-11-24 |
Family
ID=56593348
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201610348454.7A Expired - Fee Related CN105834621B (zh) | 2016-05-23 | 2016-05-23 | 一种基于对称冗余并联机构的焊接机器人焊接机械手 |
Country Status (1)
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CN (1) | CN105834621B (zh) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113864578A (zh) * | 2021-08-24 | 2021-12-31 | 华人运通(江苏)技术有限公司 | 屏幕调节装置、显示装置和车辆 |
Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101298120A (zh) * | 2008-06-06 | 2008-11-05 | 无锡市南方电器制造有限公司 | 悬臂式数控火焰等离子切割机的机架 |
CN102658545A (zh) * | 2012-04-12 | 2012-09-12 | 山东科技大学 | 空间并联机器人机构 |
CN102922203A (zh) * | 2012-10-26 | 2013-02-13 | 晋江宝工机械有限公司 | 一种全角度焊接旋转设备及其控制装置和控制方式 |
CN103624363A (zh) * | 2013-11-22 | 2014-03-12 | 无锡三虹重工机械设备有限公司 | 一种悬臂焊接机 |
CN104014908A (zh) * | 2014-06-03 | 2014-09-03 | 丹阳市长江汽车部件有限公司 | 一种不间断焊接环形焊缝的设备 |
CN104369182A (zh) * | 2014-11-06 | 2015-02-25 | 燕山大学 | 一种4spr+2r型四自由度并联机构 |
CN204397890U (zh) * | 2015-01-06 | 2015-06-17 | 安徽理工大学 | 一种基于拓扑结构的可重构混联机器人 |
CN204997257U (zh) * | 2015-09-02 | 2016-01-27 | 哈尔滨工程大学 | 多功能五轴龙门式焊接一体机器人 |
CN105563467A (zh) * | 2016-02-02 | 2016-05-11 | 常州大学 | 一种四自由度姿态调平机构 |
-
2016
- 2016-05-23 CN CN201610348454.7A patent/CN105834621B/zh not_active Expired - Fee Related
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101298120A (zh) * | 2008-06-06 | 2008-11-05 | 无锡市南方电器制造有限公司 | 悬臂式数控火焰等离子切割机的机架 |
CN102658545A (zh) * | 2012-04-12 | 2012-09-12 | 山东科技大学 | 空间并联机器人机构 |
CN102922203A (zh) * | 2012-10-26 | 2013-02-13 | 晋江宝工机械有限公司 | 一种全角度焊接旋转设备及其控制装置和控制方式 |
CN103624363A (zh) * | 2013-11-22 | 2014-03-12 | 无锡三虹重工机械设备有限公司 | 一种悬臂焊接机 |
CN104014908A (zh) * | 2014-06-03 | 2014-09-03 | 丹阳市长江汽车部件有限公司 | 一种不间断焊接环形焊缝的设备 |
CN104369182A (zh) * | 2014-11-06 | 2015-02-25 | 燕山大学 | 一种4spr+2r型四自由度并联机构 |
CN204397890U (zh) * | 2015-01-06 | 2015-06-17 | 安徽理工大学 | 一种基于拓扑结构的可重构混联机器人 |
CN204997257U (zh) * | 2015-09-02 | 2016-01-27 | 哈尔滨工程大学 | 多功能五轴龙门式焊接一体机器人 |
CN105563467A (zh) * | 2016-02-02 | 2016-05-11 | 常州大学 | 一种四自由度姿态调平机构 |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113864578A (zh) * | 2021-08-24 | 2021-12-31 | 华人运通(江苏)技术有限公司 | 屏幕调节装置、显示装置和车辆 |
Also Published As
Publication number | Publication date |
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CN105834621B (zh) | 2017-11-24 |
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C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
CB03 | Change of inventor or designer information | ||
CB03 | Change of inventor or designer information |
Inventor after: Rao Lin Inventor before: Ding Shilin |
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TA01 | Transfer of patent application right | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20171030 Address after: 312400 Zhejiang city of Shaoxing province Shengzhou City Zhijie Lake Yan Shengzhou Building No. 37 North Street Applicant after: Shengzhou Northern Star Investment Limited company of science and technology of the public record Address before: 105, room 2, unit 119, Jade Rainbow Street, Daguan District, Anhui, Anqing 246001, China Applicant before: Ding Shilin |
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GR01 | Patent grant | ||
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TR01 | Transfer of patent right |
Effective date of registration: 20191206 Address after: 314200 No. 2111 Hing Road, Pinghu Economic Development Zone, Jiaxing, Zhejiang Patentee after: ZHEJIANG STEELRIX OFFICE FURNITURE CO.,LTD. Address before: 312400 Zhejiang city of Shaoxing province Shengzhou City Zhijie Lake Yan Shengzhou Building No. 37 North Street Patentee before: Shengzhou Northern Star Investment Limited company of science and technology of the public record |
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TR01 | Transfer of patent right | ||
CF01 | Termination of patent right due to non-payment of annual fee | ||
CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171124 |