CN107953046A - A kind of big working space Automobile Welding robot - Google Patents
A kind of big working space Automobile Welding robot Download PDFInfo
- Publication number
- CN107953046A CN107953046A CN201711268087.0A CN201711268087A CN107953046A CN 107953046 A CN107953046 A CN 107953046A CN 201711268087 A CN201711268087 A CN 201711268087A CN 107953046 A CN107953046 A CN 107953046A
- Authority
- CN
- China
- Prior art keywords
- arm
- revolute pair
- rocking arm
- subchain
- connecting rod
- 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
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
-
- 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
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/006—Vehicles
Abstract
The present invention provides a kind of big working space Automobile Welding robot, including a Series connection welding main chain, a rocking arm vernier control subchain and executing agency's subchain.The Series connection welding main chain can control this automobile robot to carry out the movement of six degree of freedom in space；The rocking arm vernier control subchain forms four-bar mechanism by two rocking arms and two connecting rods, and in large arm, control is finely adjusted to main chain by four-bar mechanism；Executing agency's subchain is supported and adjusts to large arm.The connection that the present invention passes through multiple mechanical arms and fuselage, exported so as to fulfill the six degree of freedom of end orbit, this mechanism have it is agile, precision is high, movement inertia is small, power performance is good, and compact-sized, working space is greatly, carrying is big, multi-motion track exports, controls a variety of occasions that simply, can apply to welding.
Description
Technical field
The present invention relates to automobile robot field, particularly a kind of big working space Automobile Welding robot.
Background technology
Traditional serial manipulator has the advantages that simple in structure, cost is low, working space is big, but with the hair of society
The shortcomings that exhibition and progressive, raising of living standards of the people, the requirement for automobile is also higher and higher, traditional serial manipulator by
Gradually display, it is impossible to meet the development need of modern society, therefore be badly in need of wanting a kind of brand-new Automobile Welding device.It is now new
Emerging parallel robot compares with traditional serial manipulator, and with no accumulated error, precision is higher, compact-sized, carrying
The features such as ability is big, rigidity is high and end welding actuator inertia is small, driving device can be placed on fixed platform or close to fixed platform
Position, such motion parts are light-weight, and speed is high, and dynamic response is good；But the distinct disadvantage of parallel robot is work sky
Between it is small and complicated.
A kind of big working space Automobile Welding robot provided by the present invention, including a Series connection welding main chain and one
Rocking arm vernier control subchain, the Series connection welding main chain can control this automobile robot to carry out six degree of freedom in space
Movement；The rocking arm vernier control subchain forms four-bar mechanism by two rocking arms and two connecting rods, and in large arm, passes through
Four-bar mechanism is finely adjusted main chain control, and mechanism has light-weight, and compact-sized, good rigidity, bearing capacity is big, working space
Greatly, it can not only meet Automobile Welding operation, while also save substantial amounts of labour, cut down expenses.This rocking arm vernier control
The Automobile Welding robot of subchain has good control function, can be operated by one, and reliability is high, and mechanism has knot
Structure is compact, controls the advantages of simple, and working space is big, is moved after making mechanism center of gravity, can apply to more occasions.
The content of the invention
It is an object of the invention to provide a kind of big working space Automobile Welding robot, including a Series connection welding master
Chain, a rocking arm vernier control subchain and executing agency's subchain, the Series connection welding main chain can control this automobile machine
Device people carries out the movement of six degree of freedom in space；The rocking arm vernier control subchain forms four by two rocking arms and two connecting rods
Linkage, and in large arm, control is finely adjusted main chain by four-bar mechanism；Executing agency's subchain to large arm into
Row support and adjusting, the connection of the invention by multiple mechanical arms and fuselage, exports so as to fulfill the six degree of freedom of end orbit,
This mechanism has that agile, precision is high, movement inertia is small, and power performance is good, and compact-sized, working space is big, carrying
Greatly, the output of multi-motion track, control are simple, can apply to a variety of occasions of welding, solve conventional serial robot on
The shortcomings that required torque is big, and rigidity is low and working space is small.
The present invention reaches above-mentioned purpose by the following technical programs:A kind of big working space Automobile Welding robot, by going here and there
Connection welding main chain, rocking arm vernier control subchain and executing agency's subchain composition, its structure and connection mode are:
The Series connection welding main chain is formed by connecting by car body, principal arm, large arm, the second rocking arm, shoulder arm, bracket and welding arm,
Principal arm one end is connected by the first revolute pair with first connecting pin of column on car body, the principal arm other end by the first ball it is secondary with
First connecting pin connection of large arm, large arm second connect and pass through first connecting pin of the second revolute pair and the second rocking arm and connect
Connect, the second second, rocking arm connecting pin is connected by the 3rd revolute pair with shoulder arm one end, and the shoulder arm other end passes through the 4th revolute pair
It is connected with bracket one end, the bracket other end is connected by the 5th revolute pair with welding arm.
The rocking arm vernier control subchain is formed by connecting by the first rocking arm, the second rocking arm, first connecting rod and second connecting rod, the
One first, rocking arm connecting pin is connected by the 3rd connecting pin of the 6th revolute pair and large arm, and the first second, rocking arm connecting pin leads to
Cross the 7th revolute pair to be connected with first connecting rod one end, the first connecting rod other end passes through the 8th revolute pair and second company of the second rocking arm
End connection is connect, the 3rd connecting pin of the first rocking arm is connected by the 9th revolute pair with second connecting rod one end, the second connecting rod other end
It is connected by the 3rd connecting pin of the tenth revolute pair and the second rocking arm.
Executing agency's subchain is formed by connecting by car body, crank arm, third connecting rod, large arm and sliding block, and sliding block one end leads to
The sliding slot that the first prismatic pair is crossed with principal post on car body is connected, and the sliding block other end is connected by the 11st revolute pair and crank arm one end
Connect, the crank arm other end is connected by the 11st revolute pair with third connecting rod one end, and the third connecting rod other end passes through the second ball pair
It is connected with the 4th connecting pin of large arm.
In said structure, by the resultant motion of Series connection welding main chain, rocking arm vernier control subchain and executing agency's subchain,
Reach the control to the change in location of mechanism, so as to fulfill the weld job of automobile.
The present invention's has the prominent advantages that:
1st, type of drive of the present invention is flexible and changeable, is conducive to the control of welding robot；
2nd, the multiple mechanical arms of the present invention are connected with connecting rod, and control is simple, and reliability is high, and accumulated error is small, considerably increases
Mechanism rigidity；
3rd, the present invention closes chaindriven form using four-bar mechanism, and effective weight for reducing each component, has and transport
The advantages that dynamic inertia is small, track output is flexible, reliable operation, high precision；
4 and the portable design of rocking arm greatly improve the working space of robot, be avoided that the dead-centre position of mechanism, it is micro-
Adjust device to make the sphere of action bigger of robot, and mechanism can be made preferably to keep balancing；
5th, rod piece makes lighter bar, and mechanism kinematic inertia is small, and dynamic performance is good.
Brief description of the drawings
Fig. 1 is a kind of first operating diagram of big working space Automobile Welding robot of the present invention.
Fig. 2 is a kind of the first work rearview of big working space Automobile Welding robot of the present invention.
Fig. 3 is a kind of second operating diagram of big working space Automobile Welding robot of the present invention.
Fig. 4 is a kind of 3rd operating diagram of big working space Automobile Welding robot of the present invention.
Fig. 5 is a kind of 4th operating diagram of big working space Automobile Welding robot of the present invention.
Fig. 6 is a kind of 5th operating diagram of big working space Automobile Welding robot of the present invention.
Fig. 7 is a kind of 6th operating diagram of big working space Automobile Welding robot of the present invention.
Fig. 8 is a kind of slide block structure schematic diagram of big working space Automobile Welding robot of the present invention.
Embodiment
Technical scheme is described further with reference to the accompanying drawings and embodiments.
Compares figure 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6 and Fig. 7, a kind of big working space Automobile Welding robot, its structure and company
The mode of connecing is:
The Series connection welding main chain is connected by car body 1, principal arm 2, large arm 3, the second Rocker arm 5, shoulder arm 8, bracket 9 and welding arm 10
Connect and form, 2 one end of principal arm is connected by the first revolute pair 13 with first connecting pin of column on car body 1, and 2 other end of principal arm leads to
Cross the first ball pair 14 to be connected with 3 first connecting pins of large arm, large arm 3 second is connected and shaken with second by the second revolute pair 16
5 first connecting pin connections of arm, the second connecting pin of Rocker arm 5 second are connected by the 3rd revolute pair 21 with 8 one end of shoulder arm, shoulder arm
8 other ends are connected by the 4th revolute pair 22 with 9 one end of bracket, and 9 other end of bracket passes through the 5th revolute pair 23 and welding arm 10
Connection.
The rocking arm vernier control subchain connected by the first Rocker arm 4, the second Rocker arm 5, first connecting rod 6 and second connecting rod 7 and
Into the first connecting pin of Rocker arm 4 first is connected by the 3rd connecting pin of the 6th revolute pair 15 and large arm 3, the first Rocker arm 4 second
A connecting pin is connected by the 7th revolute pair 17 with 6 one end of first connecting rod, 6 other end of first connecting rod by the 8th revolute pair 18 with
Second connecting pin of Rocker arm 5 second connects, and the 3rd connecting pin of the first Rocker arm 4 passes through the 9th revolute pair 19 and second connecting rod 7 one
End connection, 7 other end of second connecting rod are connected by the 3rd connecting pin of the tenth revolute pair 20 and the second Rocker arm 5.
Executing agency's subchain is formed by connecting by car body 1, crank arm 12, third connecting rod 11, large arm 3 and sliding block 26, sliding
26 one end of block is connected by the first prismatic pair 28 with the sliding slot of 1 upper pillar stand of car body, and 26 other end of sliding block passes through the 11st revolute pair
27 are connected with 12 one end of crank arm, and 12 other end of crank arm is connected by the 11st revolute pair 25 with 11 one end of third connecting rod, the
11 other end of three-link is connected by the second ball pair 24 with the 4th connecting pin of large arm 3.
In said structure, by the change in location of the two mechanisms of Series connection welding main chain and rocking arm vernier control subchain and reality
The weld job of existing automobile.
As depicted in figs. 1 and 2, for the present invention in the first work, principal arm and large arm are in preparation state.
As shown in figure 3, the present invention is completed to being below position part under the control of principal arm, large arm, rocking arm and shoulder arm
Weld job.
As shown in figure 4, the present invention is completed in anterior locations part under the control of principal arm, large arm, rocking arm and shoulder arm
Weld job.
As shown in figure 5, of the invention under the control of principal arm, large arm, rocking arm and shoulder arm, the weldering of back location part at completion
Connect operation.
As shown in fig. 6, the present invention is completed in leftward position part under the control of principal arm, large arm, rocking arm and shoulder arm
Weld job.
Shown in Fig. 7, the present invention is completed in top position part under the control of principal arm, large arm, rocking arm and shoulder arm
Weld job.
Compares figure 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7 and Fig. 8, a kind of big working space Automobile Welding machine that the present invention designs
Device people can complete the weld job in six orientation in space such as mobile and upset.
Claims (1)
- A kind of 1. big working space Automobile Welding robot, by Series connection welding main chain, rocking arm vernier control subchain and executing agency Subchain forms, it is characterised in that:The Series connection welding main chain is formed by connecting by car body, principal arm, large arm, the second rocking arm, shoulder arm, bracket and welding arm, principal arm One end is connected by the first revolute pair with first connecting pin of column on car body, and the principal arm other end passes through the first ball pair and large arm First connecting pin connection, large arm second are connected and are connected by first connecting pin of the second revolute pair and the second rocking arm, the Two second, rocking arm connecting pins are connected by the 3rd revolute pair with shoulder arm one end, and the shoulder arm other end passes through the 4th revolute pair and bracket One end connects, and the bracket other end is connected by the 5th revolute pair with welding arm,The rocking arm vernier control subchain is formed by connecting by the first rocking arm, the second rocking arm, first connecting rod and second connecting rod, and first shakes First connecting pin of arm is connected by the 3rd connecting pin of the 6th revolute pair and large arm, and the first second, rocking arm connecting pin passes through Seven revolute pairs are connected with first connecting rod one end, and the first connecting rod other end passes through the 8th revolute pair and second connecting pin of the second rocking arm Connection, the 3rd connecting pin of the first rocking arm are connected by the 9th revolute pair with second connecting rod one end, and the second connecting rod other end passes through The 3rd connecting pin of tenth revolute pair and the second rocking arm is connected,Executing agency's subchain is formed by connecting by car body, crank arm, third connecting rod, large arm and sliding block, and sliding block one end passes through One prismatic pair is connected with the sliding slot of principal post on car body, and the sliding block other end is connected by the 11st revolute pair with crank arm one end, bent The shaft arm other end is connected by the 11st revolute pair with third connecting rod one end, and the third connecting rod other end passes through the second ball pair and large arm 4th connecting pin connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711268087.0A CN107953046A (en) | 2017-12-05 | 2017-12-05 | A kind of big working space Automobile Welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711268087.0A CN107953046A (en) | 2017-12-05 | 2017-12-05 | A kind of big working space Automobile Welding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107953046A true CN107953046A (en) | 2018-04-24 |
Family
ID=61962256
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711268087.0A Pending CN107953046A (en) | 2017-12-05 | 2017-12-05 | A kind of big working space Automobile Welding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107953046A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109352152A (en) * | 2018-11-26 | 2019-02-19 | 北京卫星制造厂有限公司 | A kind of multi-shaft interlocked space curve welding seam Variable Polarity Plasma Arc Welding method |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204657781U (en) * | 2015-05-11 | 2015-09-23 | 湖南汽车工程职业学院 | A kind of large working space Automobile Welding robot |
-
2017
- 2017-12-05 CN CN201711268087.0A patent/CN107953046A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204657781U (en) * | 2015-05-11 | 2015-09-23 | 湖南汽车工程职业学院 | A kind of large working space Automobile Welding robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109352152A (en) * | 2018-11-26 | 2019-02-19 | 北京卫星制造厂有限公司 | A kind of multi-shaft interlocked space curve welding seam Variable Polarity Plasma Arc Welding method |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180424 |