CN106956251A - A kind of nine connecting rod closed linkage spot welding manipulators - Google Patents
A kind of nine connecting rod closed linkage spot welding manipulators Download PDFInfo
- Publication number
- CN106956251A CN106956251A CN201710345209.5A CN201710345209A CN106956251A CN 106956251 A CN106956251 A CN 106956251A CN 201710345209 A CN201710345209 A CN 201710345209A CN 106956251 A CN106956251 A CN 106956251A
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- CN
- China
- Prior art keywords
- connecting rod
- driving lever
- lever
- articulated
- hinged
- 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.)
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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
- 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
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
- B25J9/0048—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-rotary-rotary
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Resistance Welding (AREA)
Abstract
The invention provides a kind of nine connecting rods closed linkage spot welding manipulator, including base, rotatable platform, telescoping mechanism, luffing mechanism, elevating mechanism, welding gun, rotatable wrist and drive device；Telescoping mechanism includes：First driving lever, the second driving lever, large arm, first connecting rod and second connecting rod, one end of first driving lever is articulated with rotatable platform, one end of second driving lever is articulated with rotatable platform, one end of large arm and the other end of the first driving lever are hinged, one end of first connecting rod and the other end of large arm are hinged, second connecting rod is in bending, and one end of second connecting rod and the other end of the second driving lever are hinged, and the other end of second connecting rod is articulated with the middle part of first connecting rod；Drive device is three servomotors, and the present invention improves manipulator traveling comfort and reliability, and no accumulated error, precision is higher；Compact conformation, rigidity is high, and large carrying capacity, inertia are low, dynamic property is good.
Description
Technical field
The present invention relates to mechanical engineering field, more particularly to a kind of nine connecting rods closed linkage spot welding manipulator.
Background technology
Most of currently manufactured general mash welder tool hand of industry is the cascaded structure joint type motor driving machine for open form
Tool hand, it is mainly characterized in that motor is all arranged on each joint of manipulator, each by motor driving mechanical hand
The rotation in individual joint, realizes the various actions of manipulator.Due to the driving electricity of the cascaded structure articulated robot of open form
Machine is all arranged on the position in joint, and this frame mode has problems with：Manipulator arm needs the weight of carrying motor simultaneously
Rigidity requirement need to be met, arm sectional dimension needs to be made larger, can so increase the load of motor, increase the fortune of arm
Dynamic inertia, causes manipulator dynamic property to decline, while the accumulation that motor all causes manipulator installed in joint position is missed
Poor big, small bearing capacity, complex structure, the degree of modularity are low.It is in parallel with the development and the raising of control technology of motor technology
Mechanism provides extensive development space for manipulator, and the multiple freedom parallel mechanism driven by controlled motor not only has work
Space is big, flexible movements, can complete the movement locus output of complexity, while also have low cost of manufacture, maintaining simple etc.
Advantage.
The content of the invention
It is an object of the invention to provide one kind many bar welding manipulators in parallel, cascaded structure articulated robot is solved
Motor is all arranged on the position in joint, causes that manipulator rotary inertia is big, dynamic property declines, and accumulated error is big, carrying
Ability is small, complex structure the problem of.To achieve the above object, the technical scheme that provides of the present invention is：A kind of nine connecting rod closed chain knots
Structure spot welding manipulator, including base, rotatable platform, telescoping mechanism, luffing mechanism, elevating mechanism, welding gun, rotatable wrist with
And drive device；Telescoping mechanism includes：First driving lever, the second driving lever, large arm, first connecting rod and second connecting rod, first
One end of driving lever is articulated with rotatable platform, and one end of the second driving lever is articulated with rotatable platform, one end of large arm
It is hinged with the other end of the first driving lever, one end of first connecting rod and the other end of large arm are hinged, second connecting rod is in bending, the
One end of two connecting rods and the other end of the second driving lever are hinged, and the other end of second connecting rod is articulated with the middle part of first connecting rod；Bow
Mechanism is faced upward including pitch lever and wrist connecting rod, one end of pitch lever and the other end of first connecting rod are hinged, wrist connecting rod it is upper
The other end of portion and pitch lever is hinged；Elevating mechanism includes the 3rd driving lever and elevating lever, and one end of the 3rd driving lever is hinged
In in rotatable platform, one end of elevating lever is articulated with the lever arm of second connecting rod, and elevating lever is in bending, the 3rd driving lever
The other end is articulated with the middle part of the lever arm of elevating lever, the other end of elevating lever and the lower hinge of wrist connecting rod；Drive device is three
Individual servomotor, servomotor is arranged on rotatable platform, respectively with the first driving lever, the second driving lever and the 3rd actively
Bar is connected, to drive corresponding rotation, is each responsible for driving the pendulum of the first driving lever, the second driving lever and the 3rd driving lever
It is dynamic.
The present invention uses controllable many bar parallel institutions, and whole motors are all arranged on rotatable platform to enter driving lever
Row driving, compared with Serial manipulator, reduces the movement inertia of arm, improves manipulator dynamic property, improve machinery
Hand traveling comfort and reliability, no accumulated error, compact conformation, rigidity are high, and large carrying capacity, inertia are low, dynamic property
Good, Robotic Manipulator Motion Trajectory flexible and diverse.
Brief description of the drawings
Fig. 1 is the structural representation according to the present invention.
Embodiment
A kind of nine connecting rod closed linkage spot welding manipulators, including：Base 12, rotatable platform 1, telescoping mechanism, pitching machine
Structure, elevating mechanism, welding gun 10, rotatable wrist 13 and drive device；Telescoping mechanism includes：First driving lever 2, second is actively
Bar 3, large arm 4, first connecting rod 6 and second connecting rod 5, one end of the first driving lever 2 are articulated with rotatable platform 1, the second master
One end of lever 3 is articulated with rotatable platform 1, and one end of large arm 4 and the other end of the first driving lever 2 are hinged, first connecting rod 6
One end and the other end of large arm 4 be hinged, second connecting rod 5 is another in bending and one end of second connecting rod 5 and the second driving lever 3
One end is hinged, and the other end of the second connecting rod 5 is articulated with the middle part of the lever arm of first connecting rod 6；When the first driving lever 2 turns left
When, large arm 4 is moved downward, so as to drive the motion, and when the second driving lever 3 turns right upwards of first connecting rod 6, second connecting rod
5 motions upwards so that first connecting rod 6 obtains the amplitude of bigger upward motion, otherwise then moves downward first connecting rod 6.Bow
Facing upward mechanism includes pitch lever 9 and wrist connecting rod 11, and one end of pitch lever 9 and the other end of first connecting rod 6 are hinged, wrist connecting rod
11 top and the other end of pitch lever 9 are hinged；When first connecting rod 6 is moved upwards, the also motion upwards of pitch lever 9, so that
Obtaining wrist connecting rod 11 drives rotatable wrist and welding gun to move downward, otherwise wrist connecting rod 11 is driven rotatable wrist and weldering
Rifle is moved upwards.Elevating mechanism includes the 3rd driving lever 7 and elevating lever 8, and one end of the 3rd driving lever 7 is articulated with rotatable put down
On platform 1, one end of elevating lever 8 is articulated with the lever arm of second connecting rod 5, the elevating lever 8 be in bending, the 3rd driving lever 7 it is another
One end is articulated with the middle part of the lever arm of elevating lever 8, the other end of elevating lever 8 and the lower hinge of wrist connecting rod 11；When the 3rd active
When bar 7 is to left movement, elevating lever 8 can be driven to decline, so that wrist connecting rod 11 declines, otherwise then made on wrist connecting rod 11
Rise.Drive device is three servomotors, is connected respectively with the first driving lever 2, the second driving lever 3 and the 3rd driving lever 7, with
Driving is corresponding to be rotated, the swing for being each responsible for driving the first driving lever 2, the second driving lever 3 and the 3rd driving lever 7.
Acted accordingly in use, being cooperated by telescoping mechanism, luffing mechanism and elevating mechanism, as the first master
When lever 2, the second driving lever 3 and the 3rd driving lever 7 are to left movement, you can that realizes wrist connecting rod 11 bends down motion, now,
If the 3rd driving lever 7 continues to move right, the ascending motion of wrist connecting rod 11 can be achieved, when the first driving lever 2, the second driving lever
3 and the 3rd driving lever 7 when moving right, then wrist connecting rod 11 realizes action of steeving.The motion of wrist connecting rod 11 drives welding gun
10 motion.
Controllable drive motor is arranged on revolving dial by the present invention, simplifies the complexity of structure, reducing mechanism
Each connecting rod rod member is made lighter bar by weight, volume and cost, mechanical arm of the invention, so that whole mechanism kinematic inertia
Small, dynamic performance is good, it is easy to control, by setting revolving dial, the revolution working space for making mechanical arm possess 360 degree, work
Make spatial dimension big.
Claims (1)
1. a kind of nine connecting rods closed linkage spot welding manipulator, it is characterised in that:Including base, rotatable platform, telescoping mechanism, bow
Face upward mechanism, elevating mechanism, welding gun, rotatable wrist and drive device；Telescoping mechanism includes：First driving lever, second are actively
Bar, large arm, first connecting rod and second connecting rod, one end of the first driving lever are articulated with rotatable platform, the second driving lever
One end is articulated with rotatable platform, and one end of large arm and the other end of the first driving lever are hinged, one end of first connecting rod with it is big
The other end of arm is hinged, and second connecting rod is in bending, and one end of second connecting rod and the other end of the second driving lever are hinged, and second connects
The other end of bar is articulated with the middle part of first connecting rod；Luffing mechanism include pitch lever and wrist connecting rod, one end of pitch lever with
The other end of first connecting rod is hinged, and the top of wrist connecting rod and the other end of pitch lever are hinged；Elevating mechanism includes the 3rd actively
Bar and elevating lever, one end of the 3rd driving lever are articulated with rotatable platform, and one end of elevating lever is articulated with second connecting rod
On lever arm, elevating lever is in bending, and the other end of the 3rd driving lever is articulated with the middle part of the lever arm of elevating lever, the other end of elevating lever
With the lower hinge of wrist connecting rod；Drive device is three servomotors, and servomotor is arranged on rotatable platform, respectively with
First driving lever, the second driving lever and the connection of the 3rd driving lever, to drive corresponding rotation, are each responsible for driving first actively
The swing of bar, the second driving lever and the 3rd driving lever.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710345209.5A CN106956251A (en) | 2017-05-16 | 2017-05-16 | A kind of nine connecting rod closed linkage spot welding manipulators |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710345209.5A CN106956251A (en) | 2017-05-16 | 2017-05-16 | A kind of nine connecting rod closed linkage spot welding manipulators |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106956251A true CN106956251A (en) | 2017-07-18 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710345209.5A Pending CN106956251A (en) | 2017-05-16 | 2017-05-16 | A kind of nine connecting rod closed linkage spot welding manipulators |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106956251A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107487496A (en) * | 2017-08-11 | 2017-12-19 | 濮阳市泰普胶粘制品有限公司 | A kind of belt packing thermoplastic film cutter device |
| CN112317925A (en) * | 2020-10-25 | 2021-02-05 | 苏州威尔汉姆堆焊技术有限公司 | In-pipe welding system |
-
2017
- 2017-05-16 CN CN201710345209.5A patent/CN106956251A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107487496A (en) * | 2017-08-11 | 2017-12-19 | 濮阳市泰普胶粘制品有限公司 | A kind of belt packing thermoplastic film cutter device |
| CN112317925A (en) * | 2020-10-25 | 2021-02-05 | 苏州威尔汉姆堆焊技术有限公司 | In-pipe welding system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170718 |