CN107088875A - A kind of high-precision controllable-mechanism type welding robot of multiple degrees of freedom - Google Patents

A kind of high-precision controllable-mechanism type welding robot of multiple degrees of freedom Download PDF

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Publication number
CN107088875A
CN107088875A CN201710538889.2A CN201710538889A CN107088875A CN 107088875 A CN107088875 A CN 107088875A CN 201710538889 A CN201710538889 A CN 201710538889A CN 107088875 A CN107088875 A CN 107088875A
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CN
China
Prior art keywords
revolute pair
final stage
rod
primary
sliding sleeve
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Pending
Application number
CN201710538889.2A
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Chinese (zh)
Inventor
蔡敢为
韦为
王湘
叶兵
吴承亮
李洪汉
吴长逸
何桂尖
谢声扬
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Guangxi University
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Guangxi University
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Publication date
Application filed by Guangxi University filed Critical Guangxi University
Priority to CN201710538889.2A priority Critical patent/CN107088875A/en
Publication of CN107088875A publication Critical patent/CN107088875A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12Programme-controlled manipulators characterised by positioning means for manipulator elements electric

Abstract

A kind of high-precision controllable-mechanism type welding robot of multiple degrees of freedom, first servomotor drives the 4th final stage to slide over and moved forward and backward on forearm by the driving-chain including the first driving lever, large arm is one with lever of the revolute pair ten for fulcrum, second servomotor applies power by the driving-chain including the second driving lever to the power arm of big arm bar, 3rd servomotor drives forearm to be rotated centered on revolute pair 26 by the driving-chain including the 3rd driving lever, the Plane of rotation of revolute pair 26 is parallel to forearm radial section, 4th servomotor drives the second final stage to slide over and moved forward and backward on forearm by the driving-chain including the 4th driving lever, driving actuator does the adjustment at the elevation angle after second final stage sliding sleeve and the 4th final stage sliding sleeve are transmitted by the driving-chain being made up of first connecting rod to the 15th connecting rod.Instant invention overcomes existing most of linkage can only plane driving transmission and the shortcomings of space stiffness poor, with motor need not be installed on joint and decelerator realizes the characteristics of space is driven.

Description

A kind of high-precision controllable-mechanism type welding robot of multiple degrees of freedom
Technical field
The present invention relates to mechanical field, specifically a kind of high-precision controllable-mechanism type welding robot of multiple degrees of freedom.
Background technology
Since 1980s, people wish to reduce the quality of robot motion's part always to improve its dynamic Can, and achieve gratifying achievement.But these work are all around the rod member quality expansion of mitigation robot.And installed in cascade machine Motor, decelerator at device person joint is actually very big to Robotic Dynamic performance impact.Moreover, in order to ensure that motor output is big Power, its output speed is very high, it is necessary to which the decelerator of big speed ratio is decelerated to the speed of suitable robot work.And grind Small volume processed, the speed reducer with high transmission ratio of light weight are also the comparison stubborn problem that robot of China industry runs into.At present, state Robot motor and one of decelerator and the robot motor of international most advanced level, the gap of decelerator are produced, is exactly quality (weight) and volume are big, and this can cause, and the rotary inertia of robot is big, Robotic Dynamic performance is not good, be also easy to produce larger vibration etc. Problem.If motor, decelerator can be arranged in frame, joint is not mounted within manipulator motion, then is not rotated Big the brought various problems of inertia.
The content of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of high-precision controllable-mechanism type welding robot of multiple degrees of freedom.
To achieve these goals, present invention employs following technical scheme:
A kind of high-precision controllable-mechanism type welding robot of multiple degrees of freedom, the first primary chute, the second primary chute, the 3rd Primary chute, the 4th primary chute, the first driving lever, the second driving lever, the 3rd driving lever, the 4th driving lever, first it is primary from Lever, the second primary follower lever, the 3rd primary follower lever, the 4th primary follower lever, the first primary sliding block, the second primary sliding block, 3rd primary sliding block, the 4th primary sliding block, first level follower lever, second subprime follower lever, third time level follower lever, the 4th time Level follower lever, first level chute, third time level chute, the 4th level chute, first level sliding block, third time level sliding block, the Four level sliding blocks, the first final stage follower lever, the 3rd final stage follower lever, the 4th final stage follower lever, the first three-level follower lever, three or three Level follower lever, the 4th three-level follower lever, the first triangle part, the 3rd triangle part, the 4th triangle part, be fixedly connected block, rotate connection Block, the first final stage sliding sleeve, the second final stage sliding sleeve, the 3rd final stage sliding sleeve, the 4th final stage sliding sleeve, the 5th final stage sliding sleeve, the 6th final stage Sliding sleeve, the 7th final stage sliding sleeve, the 8th final stage sliding sleeve, the 9th final stage sliding sleeve, the first guide rod, the second guide rod, first connecting rod, second connect Bar, third connecting rod, fourth link, the 5th connecting rod, six-bar linkage, seven-link assembly, the 8th connecting rod, the 9th connecting rod, the tenth connecting rod, 11 connecting rods, the 12nd connecting rod, the 13rd connecting rod, the tenth double leval jib, the 15th connecting rod, frame, support bar, large arm, forearm and Actuator;
Concrete structure and annexation are as follows:
The axial direction of support bar is primary sliding provided with the first primary chute, the second primary chute, the 3rd primary chute and the 4th Groove;
The axial direction of large arm is provided with first level chute, third time level chute and the 4th level chute;
First primary sliding block is inlaid in the first primary chute,
Second primary sliding block is inlaid in the second primary chute,
3rd primary sliding block is inlaid in the 3rd primary chute,
4th primary sliding block is inlaid in the 4th primary chute,
First level sliding block is inlaid in first level chute,
Third time level sliding block is inlaid in third time level chute,
4th level sliding block is inlaid in the 4th level chute,
Support bar lower end is fixed in frame,
Post upper is connected in large arm by revolute pair ten,
First jiao of first triangle part is connected in large arm by revolute pair 53,
First jiao of 3rd triangle part is connected in large arm by revolute pair 25,
First jiao of 4th triangle part is connected in large arm by revolute pair 56,
First lower end of the guide rod is fixedly connected in large arm,
First final stage sliding sleeve is sleeved on the first guide rod;
First connecting rod one end is connected on the first final stage sliding sleeve by revolute pair 50,
The first connecting rod other end is connected by revolute pair 51 with second connecting rod one end,
The second connecting rod other end is fixed on forearm;
Second final stage sliding sleeve, the 3rd final stage sliding sleeve, the 4th final stage sliding sleeve and the 5th final stage sliding sleeve are sleeved on forearm successively;
First driving lever one end is connected in frame by revolute pair one,
The first driving lever other end is connected by revolute pair two with the first primary follower lever,
The first primary follower lever other end is connected on the first primary sliding block by revolute pair three,
First level follower lever one end is connected on the first primary sliding block also by revolute pair three,
First level follower lever other end is connected to second jiao of the first triangle part by revolute pair 52,
First three-level follower lever one end is connected to the third angle of the first triangle part by revolute pair 57,
The first three-level follower lever other end is connected on first level sliding block by revolute pair four,
First final stage follower lever one end is connected on first level sliding block also by revolute pair four,
The first final stage follower lever other end is connected on the 4th final stage sliding sleeve by revolute pair five;
Second driving lever one end is connected in frame by revolute pair six,
The second driving lever other end is connected by revolute pair seven with second primary follower lever one end,
The second primary follower lever other end is connected on the second primary sliding block by revolute pair eight,
Second subprime follower lever one end is connected on the second primary sliding block also by revolute pair eight,
The second subprime follower lever other end is connected by revolute pair nine with large arm one end,
The large arm other end is connected by revolute pair 26 with forearm one end,
The forearm other end, which is fixedly connected on, to be fixedly connected on block;
3rd driving lever one end is connected in frame by revolute pair 11,
The 3rd rotating bar other end is connected by revolute pair 12 with the 3rd primary follower lever one end,
The 3rd primary follower lever other end is connected on the 3rd primary sliding block by revolute pair 13,
Third time level follower lever one end is connected on the 3rd primary sliding block also by revolute pair 13,
The third time level follower lever other end is connected to second jiao of the 3rd triangle part by revolute pair 14, the 3rd three-level from Lever one end is connected to the third angle of the 3rd triangle part by revolute pair 15,
The 3rd three-level follower lever other end is connected on third time level sliding block by revolute pair 16,
3rd final stage follower lever one end is connected on the 3rd primary sliding block also by revolute pair 16,
The 3rd final stage follower lever other end is connected on the first final stage sliding sleeve by revolute pair 40;
4th driving lever one end is connected in frame by revolute pair 41,
The 4th driving lever other end is connected by revolute pair 42 with the 4th primary follower lever,
The 4th primary follower lever other end is connected on the 4th primary sliding block by revolute pair 43,
4th level follower lever one end is connected on the 4th primary sliding block also by revolute pair 43,
The 4th level follower lever other end is connected to second jiao of the 4th triangle part by revolute pair 55,
4th three-level follower lever one end is connected to the third angle of the 4th triangle part by revolute pair 57,
The 4th three-level follower lever other end is connected on the 4th level sliding block by revolute pair 44,
4th final stage follower lever one end is connected on the 4th level sliding block also by revolute pair 44,
The 4th final stage follower lever other end is connected on the second final stage sliding sleeve by revolute pair 45;
Connected between 4th final stage sliding sleeve and the 5th final stage sliding sleeve by revolute pair 48,
Third connecting rod one end is connected on the 5th final stage sliding sleeve by revolute pair 17,
The third connecting rod other end is connected on the 6th final stage sliding sleeve by revolute pair 18,
6th final stage sliding sleeve is sleeved in fourth link,
Fourth link one end is connected to by revolute pair 19 and is fixedly connected on block,
The fourth link other end by revolute pair 20 on first jiao of the 5th triangle part,
5th connecting rod one end is connected on the 6th final stage sliding sleeve by revolute pair 21,
The 5th connecting rod other end is connected to second jiao of the 5th triangle part by revolute pair 22,
Six-bar linkage one end is connected to the third angle of the 5th triangle part by revolute pair 23,
The six-bar linkage other end is connected on the 7th final stage sliding sleeve by revolute pair 24,
7th final stage sliding sleeve is sleeved on seven-link assembly;
Connected between second final stage sliding sleeve and the 3rd final stage sliding sleeve by revolute pair 49,
8th connecting rod one end is connected on the 3rd final stage sliding sleeve by revolute pair 27,
The 8th connecting rod other end is connected on the 8th final stage sliding sleeve by revolute pair 28,
8th final stage sliding sleeve is sleeved on the 9th connecting rod,
9th connecting rod one end is connected to by revolute pair 29 to be fixedly connected on block,
The 9th connecting rod other end is connected on the tenth connecting rod by revolute pair 30,
11st connecting rod one end is connected on the 8th final stage sliding sleeve by revolute pair 31,
The 11st connecting rod other end is connected to the tenth connecting rod one end by revolute pair 32,
The tenth connecting rod other end is connected on seven-link assembly by revolute pair 33,
Seven-link assembly one end is connected to first jiao of the 5th triangle part also by revolute pair 20,
The seven-link assembly other end is connected on rotation contiguous block by revolute pair 34;
Second guide rod is fixedly connected on rotation contiguous block,
9th final stage sliding sleeve is sleeved on the second guide rod;
12nd connecting rod one end is connected on the 7th final stage sliding sleeve by revolute pair 35,
The 12nd connecting rod other end is connected on the 9th final stage sliding sleeve by revolute pair 36,
13rd connecting rod one end is connected on rotation contiguous block by revolute pair 37,
The 13rd connecting rod other end is fixedly connected on actuator,
Tenth double leval jib one end is connected on the 9th final stage sliding sleeve by revolute pair 38,
The tenth double leval jib other end is connected on the 15th connecting rod by revolute pair 39,
The 15th connecting rod other end is fixedly connected on the 13rd connecting rod.
Further, the revolute pair one, revolute pair two, revolute pair three, revolute pair four, revolute pair five, revolute pair six, turn Dynamic pair seven, revolute pair eight, revolute pair nine, revolute pair ten, revolute pair 11, revolute pair 12, revolute pair 13, revolute pair ten 4th, revolute pair 15, revolute pair 16, revolute pair 25, revolute pair 40, revolute pair 41, revolute pair 42, turn Dynamic pair 43, revolute pair 44, revolute pair 45, revolute pair 52, revolute pair 53, revolute pair 54, The Plane of rotation of revolute pair 55, revolute pair 56 and revolute pair 57 is parallel to each other, and perpendicular to the radial direction of large arm Section.
Further, the revolute pair 17, revolute pair 18, revolute pair 19, revolute pair 20, revolute pair 20 First, revolute pair 22, revolute pair 23, revolute pair 24, revolute pair 27, revolute pair 28, revolute pair two 19, revolute pair 30, revolute pair 31, revolute pair 32, revolute pair 33, revolute pair 34, revolute pair three 15 and the Plane of rotation of revolute pair 36 be parallel to each other, and perpendicular to the radial section of forearm.
Further, the revolute pair 26, revolute pair 48, revolute pair 49, revolute pair 50 and rotation Radial section of the Plane of rotation of pair 51 parallel to forearm.
Further, the seven-link assembly and the 13rd connecting rod are coaxial, revolute pair 37, revolute pair 38 and rotation Axial cross section of the rotational plane of pair 39 parallel to the 13rd connecting rod.
Further, in addition to the first servomotor, the second servomotor, the 3rd servomotor and the 4th servomotor, Revolute pair one is driven by the first servomotor, and revolute pair six is driven by the second servomotor, and revolute pair 11 is by the 3rd servo electricity Machine is driven, and revolute pair 41 is driven by the 4th servomotor.
Further, the large arm and forearm are coaxial, and the first guide rod connects perpendicular to large arm, the second guide rod perpendicular to the 13rd Bar.
Further, the second final stage sliding sleeve, the 3rd final stage sliding sleeve, the 4th final stage sliding sleeve and the 5th final stage sliding sleeve is just Hexahedron simultaneously offers axial manhole, and remaining four face is the mounting surface of revolute pair;Forearm is cylindrical bar, and forearm is located at institute State in axial manhole.
Further, the frame is arranged on base by revolute pair.
Compared with prior art, the beneficial effect that the present invention possesses:
The present invention realizes that the centre of gravity lightweight structure being installed to whole motors and decelerator near pedestal is designed, motor Large Amplitude Motion is not done with decelerator with motion rod member.Overcome existing welding robot and motor and decelerator are arranged on pass On section, produced movement inertia is big, residual oscillation obvious and the low shortcoming of high speed operation positioning precision, with structural reliability High, stability is good and the low feature of cost.
The present invention hangs down two two sets be mutually perpendicular on working face slider-crank mechanisms by two of square sliding block Straight surface structure is linked to together, realizes two driving being mutually perpendicular on working face transmissions.Overcome existing most of connecting rod machine Structure can only plane driving transmission and the shortcomings of space stiffness poor, with that need not install motor and decelerator on joint, just in fact The characteristics of having showed space driving transmission.
Two sets of slider-crank mechanisms, are realized crank block machine by the present invention by same slide bar symmetrical serial together Structure tandem sequence, overcomes that traditional four bars transmission mechanism integral rigidity is low and the big shortcoming of space-consuming, tight with drive mechanism Gather with reliability it is high the characteristics of.
The present invention realizes being total to for sliding block rotation and sliding block slip by the way that two sliding blocks through same axis are connected Axle is driven.
Brief description of the drawings
Fig. 1 is that the assembling of the large arm and forearm of the high-precision controllable-mechanism type welding robot of multiple degrees of freedom of the present invention is shown It is intended to one.
Fig. 2 is that the assembling of the large arm and forearm of the high-precision controllable-mechanism type welding robot of multiple degrees of freedom of the present invention is shown It is intended to two.
Fig. 3 is that the first driving-chain and second of the high-precision controllable-mechanism type welding robot of multiple degrees of freedom of the present invention is passed The attachment structure schematic diagram of dynamic chain.
Fig. 4 is the connection knot of the 3rd driving-chain of the high-precision controllable-mechanism type welding robot of multiple degrees of freedom of the present invention Structure schematic diagram.
Fig. 5 is the connection knot of the 4th driving-chain of the high-precision controllable-mechanism type welding robot of multiple degrees of freedom of the present invention Structure schematic diagram.
Fig. 6 is the biography of the control actuator motions of the high-precision controllable-mechanism type welding robot of multiple degrees of freedom of the present invention Dynamic chain structure schematic diagram one.
Fig. 7 is the biography of the control actuator motions of the high-precision controllable-mechanism type welding robot of multiple degrees of freedom of the present invention Dynamic chain structure schematic diagram two.
Fig. 8 is the biography of the control actuator motions of the high-precision controllable-mechanism type welding robot of multiple degrees of freedom of the present invention Dynamic chain structure schematic diagram three.
Fig. 9 is the biography of the control actuator motions of the high-precision controllable-mechanism type welding robot of multiple degrees of freedom of the present invention Dynamic chain structure schematic diagram four.
Figure 10 is the control actuator motions of the high-precision controllable-mechanism type welding robot of multiple degrees of freedom of the present invention Driving-chain structural representation five.
Figure 11 is the 13rd connecting rod of the high-precision controllable-mechanism type welding robot of multiple degrees of freedom of the present invention, the 14th Assembling structure schematic diagram between connecting rod and the 15th connecting rod.
Figure 12 is the 13rd connecting rod of the high-precision controllable-mechanism type welding robot of multiple degrees of freedom of the present invention, the 7th company Assembling structure schematic diagram between bar and the second guide rod.
Figure 13 is the 12nd connecting rod and the 9th of the high-precision controllable-mechanism type welding robot of multiple degrees of freedom of the present invention Assembling structure schematic diagram between final stage sliding sleeve.
Figure 14 is the first guide rod of the high-precision controllable-mechanism type welding robot of multiple degrees of freedom of the present invention, the first final stage Assemble mechanism schematic diagram one between sliding sleeve, first connecting rod and second connecting rod.
Figure 15 is the overall structure diagram three of the high-precision controllable-mechanism type welding robot of multiple degrees of freedom of the present invention.
Figure 16 is the overall structure diagram four of the high-precision controllable-mechanism type welding robot of multiple degrees of freedom of the present invention.
In figure:
First servomotor 1a, the second servomotor 2a, the 3rd servomotor 3a, the 4th servomotor 4a,
First primary chute 1b, the second primary chute 2b, the 3rd primary chute 3b, the 4th primary chute 4b,
First driving lever 1d, the second driving lever 2d, the 3rd driving lever 3d, the 4th driving lever 4d,
First primary follower lever 1e, the second primary follower lever 2e, the 3rd primary follower lever 3e, the 4th primary follower lever 4e,
First primary sliding block 1f, the second primary sliding block 2f, the 3rd primary sliding block 3f, the 4th primary sliding block 4f,
First level follower lever 1g, second subprime follower lever 2g, third time level follower lever 3g, the 4th level follower lever 4g,
First level chute 1c, third time level chute 3c, the 4th level chute 4c,
First level sliding block 1j, third time level sliding block 3j, the 4th level sliding block 4j,
First final stage follower lever 1k, the 3rd final stage follower lever 3k, the 4th final stage follower lever 4k,
First three-level follower lever 1i, the 3rd three-level follower lever 3i, the 4th three-level follower lever 3i,
First triangle part 1h, the 3rd triangle part 3h, the 4th triangle part 4h,
Be fixedly connected block 2n, rotate contiguous block 3n,
First final stage sliding sleeve 1p, the second final stage sliding sleeve 2p, the 3rd final stage sliding sleeve 3p, the 4th final stage sliding sleeve 4p,
5th final stage sliding sleeve 5p, the 6th final stage sliding sleeve 6p, the 7th final stage sliding sleeve 7p, the 8th final stage sliding sleeve 8p,
9th final stage sliding sleeve 9p,
First guide rod 1q, the second guide rod 2q,
First connecting rod 1, second connecting rod 2, third connecting rod 3, fourth link 4, the 5th connecting rod 5,
Six-bar linkage 6, seven-link assembly 7, the 8th connecting rod 8, the 9th connecting rod 9, the tenth connecting rod 10,
11st connecting rod 11, the 12nd connecting rod 12, the 13rd connecting rod 13, the tenth double leval jib 14, the 15th connecting rod 15,
Frame 99, support bar 96, large arm 97, forearm 100, actuator 98.
Embodiment
Technical scheme is further elaborated below by embodiment.
Embodiment 1
A kind of high-precision controllable-mechanism type welding robot of multiple degrees of freedom, the first primary chute 1b, the second primary chute 2b, 3rd primary chute 3b, the 4th primary chute 4b, the first driving lever 1d, the second driving lever 2d, the 3rd driving lever 3d, the 4th are actively Bar 4d, the first primary follower lever 1e, the second primary follower lever 2e, the 3rd primary follower lever 3e, the 4th primary follower lever 4e, first Primary sliding block 1f, the second primary sliding block 2f, the 3rd primary sliding block 3f, the 4th primary sliding block 4f, first level follower lever 1g, second Secondary follower lever 2g, third time level follower lever 3g, the 4th level follower lever 4g, first level chute 1c, third time level chute 3c, 4th level chute 4c, first level sliding block 1j, third time level sliding block 3j, the 4th level sliding block 4j, the first final stage follower lever 1k, 3rd final stage follower lever 3k, the 4th final stage follower lever 4k, the first three-level follower lever 1i, the 3rd three-level follower lever 3i, the 4th three-level Follower lever 3i, the first triangle part 1h, the 3rd triangle part 3h, the 4th triangle part 4h, it is fixedly connected with block 2n, rotates contiguous block 3n, the One final stage sliding sleeve 1p, the second final stage sliding sleeve 2p, the 3rd final stage sliding sleeve 3p, the 4th final stage sliding sleeve 4p, the 5th final stage sliding sleeve 5p, the 6th Final stage sliding sleeve 6p, the 7th final stage sliding sleeve 7p, the 8th final stage sliding sleeve 8p, the 9th final stage sliding sleeve 9p, the first guide rod 1q, the second guide rod 2q, first connecting rod 1, second connecting rod 2, third connecting rod 3, fourth link 4, the 5th connecting rod 5, six-bar linkage 6, seven-link assembly the 7, the 8th Connecting rod 8, the 9th connecting rod 9, the tenth connecting rod 10, the 11st connecting rod 11, the 12nd connecting rod 12, the 13rd connecting rod 13, the tenth double leval jib 14th, the 15th connecting rod 15, frame 99, support bar 96, large arm 97, forearm 100 and actuator 98;
Concrete structure and annexation are as follows:
As illustrated in fig. 1 and 2:
The axial direction of support bar 96 is provided with the first primary chute 1b, the second primary chute 2b, the 3rd primary chute 3b and the Four primary chute 4b;
The axial direction of large arm 97 is provided with first level chute 1c, third time level chute 3c and the 4th level chute 4c;
First primary sliding block 1f is inlaid in the first primary chute 1b,
Second primary sliding block 2f is inlaid in the second primary chute 2b,
3rd primary sliding block 3f is inlaid in the 3rd primary chute 3b,
4th primary sliding block 4f is inlaid in the 4th primary chute 4b,
First level sliding block 1j is inlaid in first level chute 1c,
Third time level sliding block 2j is inlaid in third time level chute 3c,
4th level sliding block 4j is inlaid in the 4th level chute 4c,
The lower end of support bar 96 is fixed in frame 99,
The upper end of support bar 96 is connected in large arm 97 by revolute pair 10,
First jiao of first triangle part 1h is connected in large arm 97 by revolute pair 53,
First jiao of 3rd triangle part 3h is connected in large arm 97 by revolute pair 25,
First jiao of 4th triangle part 4h is connected in large arm 97 by revolute pair 56,
As shown in figure 14:
First guide rod 1q lower ends are fixedly connected in large arm 97,
First final stage sliding sleeve 1p is sleeved on the first guide rod 1q;
The one end of first connecting rod 1 is connected on the first final stage sliding sleeve 1p by revolute pair 50,
The other end of first connecting rod 1 is connected by revolute pair 51 with the one end of second connecting rod 2,
The other end of second connecting rod 2 is fixed on forearm 100;
As shown in Figure 6:
Second final stage sliding sleeve 2p, the 3rd final stage sliding sleeve 3p, the 4th final stage sliding sleeve 4p and the 5th final stage sliding sleeve 5p are set with successively On forearm 100;
As shown in Figure 3:
First driving lever 1d one end is connected in frame 99 by revolute pair 1,
The first driving lever 1d other ends are connected by revolute pair 2 102 with the first primary follower lever 1e,
The first primary follower lever 1e other ends are connected on the first primary sliding block 1f by revolute pair 3 103,
First level follower lever 1g one end is connected on the first primary sliding block 1f also by revolute pair 3 103,
First level follower lever 1g other end is connected to second jiao of the first triangle part 1h by revolute pair 52,
First three-level follower lever 1i one end is connected to the first triangle part 1h the third angle by revolute pair 57,
The first three-level follower lever 1i other ends are connected on first level sliding block 1j by revolute pair 4 104,
First final stage follower lever 1k one end is connected on first level sliding block 1j also by revolute pair 4 104,
The first final stage follower lever 1k other ends are connected on the 4th final stage sliding sleeve 4p by revolute pair 5 105;
As shown in Figure 3:
Second driving lever 2d one end is connected in frame 99 by revolute pair 6 106,
The second driving lever 2d other ends are connected by revolute pair 7 107 with second primary follower lever 2e one end,
The second primary follower lever 2e other ends are connected on the second primary sliding block 2f by revolute pair 8 108,
Second subprime follower lever 2g one end is connected on the second primary sliding block 2f also by revolute pair 8 108,
The second subprime follower lever 2g other ends are connected by revolute pair 9 109 with the one end of large arm 97,
The other end of large arm 97 is connected by revolute pair 26 with the one end of forearm 100,
The other end of forearm 100, which is fixedly connected on, to be fixedly connected on block 2n;
As shown in Figure 5:
3rd driving lever 3d one end is connected in frame 99 by revolute pair 11,
The 3rd rotating bar 3d other ends are connected by revolute pair 12 with the 3rd primary follower lever 3e one end,
The 3rd primary follower lever 3e other ends are connected on the 3rd primary sliding block 3f by revolute pair 13,
Third time level follower lever 3g one end is connected on the 3rd primary sliding block 3f also by revolute pair 13,
The third time level follower lever 3g other ends are connected to second jiao of the 3rd triangle part 3h by revolute pair 14,
3rd three-level follower lever 3i one end is connected to the 3rd triangle part 3h the third angle by revolute pair 15,
The 3rd three-level follower lever 3i other ends are connected on third time level sliding block 3j by revolute pair 16,
3rd final stage follower lever 3k one end is connected on the 3rd primary sliding block 3j also by revolute pair 16,
The 3rd final stage follower lever 3k other ends are connected on the first final stage sliding sleeve 1p by revolute pair 40;
As shown in Figure 5:
4th driving lever 4d one end is connected in frame 99 by revolute pair 41,
The 4th driving lever 4d other ends are connected by revolute pair 42 with the 4th primary follower lever 4e,
The 4th primary follower lever 4e other ends are connected on the 4th primary sliding block 4f by revolute pair 43,
4th level follower lever 4g one end is connected on the 4th primary sliding block 4f also by revolute pair 43,
The 4th level follower lever 4g other end is connected to second jiao of the 4th triangle part 4h by revolute pair 55,
4th three-level follower lever 4i one end is connected to the 4th triangle part 4h the third angle by revolute pair 57,
The 4th three-level follower lever 4i other ends are connected on the 4th level sliding block 4j by revolute pair 44,
4th final stage follower lever 4k one end is connected on the 4th level sliding block 4j also by revolute pair 44,
The 4th final stage follower lever 4k other ends are connected on the second final stage sliding sleeve 2p by revolute pair 45;
As shown in Figures 6 and 7:
Connected between 4th final stage sliding sleeve 4p and the 5th final stage sliding sleeve 5p by revolute pair 48,
The one end of third connecting rod 3 is connected on the 5th final stage sliding sleeve 5p by revolute pair 17,
The other end of third connecting rod 3 is connected on the 6th final stage sliding sleeve 6p by revolute pair 18,
6th final stage sliding sleeve 6p is sleeved in fourth link 4,
The one end of fourth link 4 is connected to by revolute pair 19 and is fixedly connected on block 2n,
The other end of fourth link 4 by revolute pair 20 on first jiao of the 5th triangle part 5h,
The one end of 5th connecting rod 5 is connected on the 6th final stage sliding sleeve 6p by revolute pair 21,
The other end of 5th connecting rod 5 is connected to second jiao of the 5th triangle part 5h by revolute pair 22,
The one end of six-bar linkage 6 is connected to the 5th triangle part 5h the third angle by revolute pair 23,
The other end of six-bar linkage 6 is connected on the 7th final stage sliding sleeve 7p by revolute pair 24,
7th final stage sliding sleeve 7p is sleeved on seven-link assembly 7;
As shown in figs. 8-10:
Connected between second final stage sliding sleeve 2p and the 3rd final stage sliding sleeve 3p by revolute pair 49,
The one end of 8th connecting rod 8 is connected on the 3rd final stage sliding sleeve 3p by revolute pair 27,
The other end of 8th connecting rod 8 is connected on the 8th final stage sliding sleeve 8p by revolute pair 28,
8th final stage sliding sleeve 8p is sleeved on the 9th connecting rod 9,
The one end of 9th connecting rod 9 is connected to by revolute pair 29 and is fixedly connected on block 2n,
The other end of 9th connecting rod 9 is connected on the tenth connecting rod 10 by revolute pair 30,
The one end of 11st connecting rod 11 is connected on the 8th final stage sliding sleeve 8p by revolute pair 31,
The other end of 11st connecting rod 11 is connected to the one end of the tenth connecting rod 10 by revolute pair 32,
The other end of tenth connecting rod 10 is connected on seven-link assembly 7 by revolute pair 33,
The one end of seven-link assembly 7 is connected to first jiao of the 5th triangle part 5h also by revolute pair 20,
The other end of seven-link assembly 7 is connected on rotation contiguous block 3n by revolute pair 34;
As shown in Figure 11~13:
Second guide rod 2q one end is fixedly connected on rotation contiguous block 3n,
9th final stage sliding sleeve 9p is sleeved on the second guide rod 2q;
The one end of 12nd connecting rod 12 is connected on the 7th final stage sliding sleeve 7p by revolute pair 35,
The other end of 12nd connecting rod 12 is connected on the 9th final stage sliding sleeve 9p by revolute pair 36,
The one end of 13rd connecting rod 13 is connected on rotation contiguous block 3n by revolute pair 37,
The other end of 13rd connecting rod 13 is fixedly connected on actuator 98,
The one end of tenth double leval jib 14 is connected on the 9th final stage sliding sleeve 9p by revolute pair 38,
The other end of tenth double leval jib 14 is connected on the 15th connecting rod 15 by revolute pair 39,
The other end of 15th connecting rod 15 is fixedly connected on the 13rd connecting rod 13.
Further,
Revolute pair 1, revolute pair 2 102, revolute pair 3 103, revolute pair 4 104, revolute pair 5 105, revolute pair six 106th, revolute pair 7 107, revolute pair 8 108, revolute pair 9 109, revolute pair 10, revolute pair 11, revolute pair 12 112nd, revolute pair 13, revolute pair 14, revolute pair 15, revolute pair 16, revolute pair 25, Revolute pair 40, revolute pair 41, revolute pair 42, revolute pair 43, revolute pair 44 144th, revolute pair 45, revolute pair 52, revolute pair 53, revolute pair 54, revolute pair five 15, the Plane of rotation of revolute pair 56 and revolute pair 57 is parallel to each other, and perpendicular to the radial direction of large arm Section.
Further,
Revolute pair 17, revolute pair 18, revolute pair 19, revolute pair 20, revolute pair 21 121st, revolute pair 22, revolute pair 23, revolute pair 24, revolute pair 27, revolute pair two 18, revolute pair 29, revolute pair 30, revolute pair 31, revolute pair 32, revolute pair 33, the Plane of rotation of revolute pair 34, revolute pair 35 and revolute pair 36 is parallel to each other, And perpendicular to the radial section of forearm 100.
Further,
The revolute pair 26, revolute pair 48, revolute pair 49, revolute pair 50 and turn Radial section of the Plane of rotation of dynamic pair 51 parallel to forearm 100.
Further,
The seven-link assembly 7 and the 13rd connecting rod 13 are coaxial, revolute pair 37, revolute pair 38 and rotation Axial cross section of the rotational plane of pair 39 parallel to the 13rd connecting rod 13.
Further,
Revolute pair 1 is driven by the first servomotor 1a,
Revolute pair 6 106 is driven by the second servomotor 2a,
Revolute pair 11 is driven by the 3rd servomotor 3a,
Revolute pair 41 is driven by the 4th servomotor 4a.
Further,
The large arm 97 and forearm 100 are coaxial, and the first guide rod 1q is perpendicular to large arm 97, and the second guide rod 2q is perpendicular to the 13rd Connecting rod 13.
Further,
Second final stage sliding sleeve 2p, the 3rd final stage sliding sleeve 3p, the 4th final stage sliding sleeve 4p and the 5th final stage sliding sleeve 5p are positive six face Body simultaneously offers axial manhole, and remaining four face is the mounting surface of revolute pair;Forearm is cylindrical bar, and forearm is located at the axle Into manhole.
Further, the frame is arranged on base by revolute pair.
First servomotor drives the 4th final stage to slide over and does front and rear on forearm by the driving-chain including the first driving lever Motion, large arm be one with lever of the revolute pair ten for fulcrum, the second servomotor is by including the driving-chain of the second driving lever Power is applied to the power arm of big arm bar, the 3rd servomotor drives forearm to turn by the driving-chain including the 3rd driving lever Rotated centered on dynamic pair 26, the Plane of rotation of revolute pair 26 is parallel to forearm radial section, and the 4th servomotor leads to Cross driving-chain including the 4th driving lever and drive the second final stage to slide over and moved forward and backward on forearm, the second final stage sliding sleeve and the 4th Driving actuator does the adjustment at the elevation angle after final stage sliding sleeve is transmitted by the driving-chain being made up of first connecting rod to the 15th connecting rod.

Claims (9)

1. the high-precision controllable-mechanism type welding robot of a kind of multiple degrees of freedom, it is characterised in that the first primary chute, the second primary Chute, the 3rd primary chute, the 4th primary chute, the first driving lever, the second driving lever, the 3rd driving lever, the 4th driving lever, the At the beginning of one primary follower lever, the second primary follower lever, the 3rd primary follower lever, the 4th primary follower lever, the first primary sliding block, second Level sliding block, the 3rd primary sliding block, the 4th primary sliding block, first level follower lever, second subprime follower lever, third time level are driven Bar, the 4th level follower lever, first level chute, third time level chute, the 4th level chute, first level sliding block, third time Level sliding block, the 4th level sliding block, the first final stage follower lever, the 3rd final stage follower lever, the 4th final stage follower lever, the first three-level are driven Bar, the 3rd three-level follower lever, the 4th three-level follower lever, the first triangle part, the 3rd triangle part, the 4th triangle part, be fixedly connected block, Rotate contiguous block, the first final stage sliding sleeve, the second final stage sliding sleeve, the 3rd final stage sliding sleeve, the 4th final stage sliding sleeve, the 5th final stage sliding sleeve, 6th final stage sliding sleeve, the 7th final stage sliding sleeve, the 8th final stage sliding sleeve, the 9th final stage sliding sleeve, the first guide rod, the second guide rod, first connect Bar, second connecting rod, third connecting rod, fourth link, the 5th connecting rod, six-bar linkage, seven-link assembly, the 8th connecting rod, the 9th connecting rod, It is ten connecting rods, the 11st connecting rod, the 12nd connecting rod, the 13rd connecting rod, the tenth double leval jib, the 15th connecting rod, frame, support bar, big Arm, forearm and actuator;
Concrete structure and annexation are as follows:
The axial direction of support bar is provided with the first primary chute, the second primary chute, the 3rd primary chute and the 4th primary chute;
The axial direction of large arm is provided with first level chute, third time level chute and the 4th level chute;
First primary sliding block is inlaid in the first primary chute,
Second primary sliding block is inlaid in the second primary chute,
3rd primary sliding block is inlaid in the 3rd primary chute,
4th primary sliding block is inlaid in the 4th primary chute,
First level sliding block is inlaid in first level chute,
Third time level sliding block is inlaid in third time level chute,
4th level sliding block is inlaid in the 4th level chute,
Support bar lower end is fixed in frame,
Post upper is connected in large arm by revolute pair ten,
First jiao of first triangle part is connected in large arm by revolute pair 53,
First jiao of 3rd triangle part is connected in large arm by revolute pair 25,
First jiao of 4th triangle part is connected in large arm by revolute pair 56,
First lower end of the guide rod is fixedly connected in large arm,
First final stage sliding sleeve is sleeved on the first guide rod;
First connecting rod one end is connected on the first final stage sliding sleeve by revolute pair 50,
The first connecting rod other end is connected by revolute pair 51 with second connecting rod one end,
The second connecting rod other end is fixed on forearm;
Second final stage sliding sleeve, the 3rd final stage sliding sleeve, the 4th final stage sliding sleeve and the 5th final stage sliding sleeve are sleeved on forearm successively;
First driving lever one end is connected in frame by revolute pair one,
The first driving lever other end is connected by revolute pair two with the first primary follower lever,
The first primary follower lever other end is connected on the first primary sliding block by revolute pair three,
First level follower lever one end is connected on the first primary sliding block also by revolute pair three,
First level follower lever other end is connected to second jiao of the first triangle part by revolute pair 52,
First three-level follower lever one end is connected to the third angle of the first triangle part by revolute pair 57,
The first three-level follower lever other end is connected on first level sliding block by revolute pair four,
First final stage follower lever one end is connected on first level sliding block also by revolute pair four,
The first final stage follower lever other end is connected on the 4th final stage sliding sleeve by revolute pair five;
Second driving lever one end is connected in frame by revolute pair six,
The second driving lever other end is connected by revolute pair seven with second primary follower lever one end,
The second primary follower lever other end is connected on the second primary sliding block by revolute pair eight,
Second subprime follower lever one end is connected on the second primary sliding block also by revolute pair eight,
The second subprime follower lever other end is connected by revolute pair nine with large arm one end,
The large arm other end is connected by revolute pair 26 with forearm one end,
The forearm other end, which is fixedly connected on, to be fixedly connected on block;
3rd driving lever one end is connected in frame by revolute pair 11,
The 3rd rotating bar other end is connected by revolute pair 12 with the 3rd primary follower lever one end,
The 3rd primary follower lever other end is connected on the 3rd primary sliding block by revolute pair 13,
Third time level follower lever one end is connected on the 3rd primary sliding block also by revolute pair 13,
The third time level follower lever other end is connected to second jiao of the 3rd triangle part by revolute pair 14,
3rd three-level follower lever one end is connected to the third angle of the 3rd triangle part by revolute pair 15,
The 3rd three-level follower lever other end is connected on third time level sliding block by revolute pair 16,
3rd final stage follower lever one end is connected on the 3rd primary sliding block also by revolute pair 16,
The 3rd final stage follower lever other end is connected on the first final stage sliding sleeve by revolute pair 40;
4th driving lever one end is connected in frame by revolute pair 41,
The 4th driving lever other end is connected by revolute pair 42 with the 4th primary follower lever,
The 4th primary follower lever other end is connected on the 4th primary sliding block by revolute pair 43,
4th level follower lever one end is connected on the 4th primary sliding block also by revolute pair 43,
The 4th level follower lever other end is connected to second jiao of the 4th triangle part by revolute pair 55,
4th three-level follower lever one end is connected to the third angle of the 4th triangle part by revolute pair 57,
The 4th three-level follower lever other end is connected on the 4th level sliding block by revolute pair 44,
4th final stage follower lever one end is connected on the 4th level sliding block also by revolute pair 44,
The 4th final stage follower lever other end is connected on the second final stage sliding sleeve by revolute pair 45;
Connected between 4th final stage sliding sleeve and the 5th final stage sliding sleeve by revolute pair 48,
Third connecting rod one end is connected on the 5th final stage sliding sleeve by revolute pair 17,
The third connecting rod other end is connected on the 6th final stage sliding sleeve by revolute pair 18,
6th final stage sliding sleeve is sleeved in fourth link,
Fourth link one end is connected to by revolute pair 19 and is fixedly connected on block,
The fourth link other end by revolute pair 20 on first jiao of the 5th triangle part,
5th connecting rod one end is connected on the 6th final stage sliding sleeve by revolute pair 21,
The 5th connecting rod other end is connected to second jiao of the 5th triangle part by revolute pair 22,
Six-bar linkage one end is connected to the third angle of the 5th triangle part by revolute pair 23,
The six-bar linkage other end is connected on the 7th final stage sliding sleeve by revolute pair 24,
7th final stage sliding sleeve is sleeved on seven-link assembly;
Connected between second final stage sliding sleeve and the 3rd final stage sliding sleeve by revolute pair 49,
8th connecting rod one end is connected on the 3rd final stage sliding sleeve by revolute pair 27,
The 8th connecting rod other end is connected on the 8th final stage sliding sleeve by revolute pair 28,
8th final stage sliding sleeve is sleeved on the 9th connecting rod,
9th connecting rod one end is connected to by revolute pair 29 to be fixedly connected on block,
The 9th connecting rod other end is connected on the tenth connecting rod by revolute pair 30,
11st connecting rod one end is connected on the 8th final stage sliding sleeve by revolute pair 31,
The 11st connecting rod other end is connected to the tenth connecting rod one end by revolute pair 32,
The tenth connecting rod other end is connected on seven-link assembly by revolute pair 33,
Seven-link assembly one end is connected to first jiao of the 5th triangle part also by revolute pair 20,
The seven-link assembly other end is connected on rotation contiguous block by revolute pair 34;
Second guide rod is fixedly connected on rotation contiguous block,
9th final stage sliding sleeve is sleeved on the second guide rod;
12nd connecting rod one end is connected on the 7th final stage sliding sleeve by revolute pair 35,
The 12nd connecting rod other end is connected on the 9th final stage sliding sleeve by revolute pair 36,
13rd connecting rod one end is connected on rotation contiguous block by revolute pair 37,
The 13rd connecting rod other end is fixedly connected on actuator,
Tenth double leval jib one end is connected on the 9th final stage sliding sleeve by revolute pair 38,
The tenth double leval jib other end is connected on the 15th connecting rod by revolute pair 39,
The 15th connecting rod other end is fixedly connected on the 13rd connecting rod.
2. the high-precision controllable-mechanism type welding robot of multiple degrees of freedom as claimed in claim 1, it is characterised in that the rotation Pair one, revolute pair two, revolute pair three, revolute pair four, revolute pair five, revolute pair six, revolute pair seven, revolute pair eight, revolute pair nine, Revolute pair ten, revolute pair 11, revolute pair 12, revolute pair 13, revolute pair 14, revolute pair 15, revolute pair 16, turn Dynamic pair 25, revolute pair 40, revolute pair 41, revolute pair 42, revolute pair 43, revolute pair 44, turn Dynamic pair 45, revolute pair 52, revolute pair 53, revolute pair 54, revolute pair 55, the and of revolute pair 56 The Plane of rotation of revolute pair 57 is parallel to each other, and perpendicular to the radial section of large arm.
3. the high-precision controllable-mechanism type welding robot of multiple degrees of freedom as claimed in claim 1, it is characterised in that the rotation Pair 17, revolute pair 18, revolute pair 19, revolute pair 20, revolute pair 21, revolute pair 22, revolute pair 20 3rd, revolute pair 24, revolute pair 27, revolute pair 28, revolute pair 29, revolute pair 30, revolute pair 30 First, the rotary flat of revolute pair 32, revolute pair 33, revolute pair 34, revolute pair 35 and revolute pair 36 Face is parallel to each other, and perpendicular to the radial section of forearm.
4. the high-precision controllable-mechanism type welding robot of multiple degrees of freedom as claimed in claim 1, it is characterised in that the rotation Secondary 26, the Plane of rotation of revolute pair 48, revolute pair 49, revolute pair 50 and revolute pair 51 is parallel to small The radial section of arm.
5. the high-precision controllable-mechanism type welding robot of multiple degrees of freedom as claimed in claim 1, it is characterised in that the described 7th Connecting rod and the 13rd connecting rod are coaxial, the rotational plane of revolute pair 37, revolute pair 38 and revolute pair 39 parallel to The axial cross section of 13rd connecting rod.
6. the high-precision controllable-mechanism type welding robot of multiple degrees of freedom as claimed in claim 1, it is characterised in that also including the One servomotor, the second servomotor, the 3rd servomotor and the 4th servomotor, revolute pair one are driven by the first servomotor Dynamic, revolute pair six is driven by the second servomotor, and revolute pair 11 is driven by the 3rd servomotor, and revolute pair 41 is by the 4th Servomotor drives.
7. the high-precision controllable-mechanism type welding robot of multiple degrees of freedom as claimed in claim 1, it is characterised in that the large arm Coaxial with forearm, the first guide rod is perpendicular to large arm, and the second guide rod is perpendicular to the 13rd connecting rod.
8. the high-precision controllable-mechanism type welding robot of multiple degrees of freedom as claimed in claim 1, it is characterised in that described second Final stage sliding sleeve, the 3rd final stage sliding sleeve, the 4th final stage sliding sleeve and the 5th final stage sliding sleeve are regular hexahedron and offered axially circular logical Hole, remaining four face are the mounting surface of revolute pair;Forearm is cylindrical bar, and forearm is located in the axial manhole.
9. the high-precision controllable-mechanism type welding robot of multiple degrees of freedom as claimed in claim 1, it is characterised in that the frame It is arranged on by revolute pair on base.
CN201710538889.2A 2017-07-04 2017-07-04 A kind of high-precision controllable-mechanism type welding robot of multiple degrees of freedom Pending CN107088875A (en)

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