CN108080831A - A kind of novel welding industrial robot high precision mobile platform - Google Patents
A kind of novel welding industrial robot high precision mobile platform Download PDFInfo
- Publication number
- CN108080831A CN108080831A CN201711353638.3A CN201711353638A CN108080831A CN 108080831 A CN108080831 A CN 108080831A CN 201711353638 A CN201711353638 A CN 201711353638A CN 108080831 A CN108080831 A CN 108080831A
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- welding
- parallel connection
- connection mechanism
- electric slide
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- 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
- B25J9/0054—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base
- B25J9/0057—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base with kinematics chains of the type spherical-prismatic-spherical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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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 present invention relates to a kind of novel welding industrial robot high precision mobile platform, including device for revolving and driving and six-degree-of-freedom parallel connection mechanism；The six-degree-of-freedom parallel connection mechanism is located at turn around below driving device front end, and device for revolving and driving is connected with six-degree-of-freedom parallel connection mechanism.The effect that the present invention provides support for welding robot and position is adjusted, and bearing capacity is strong, modulability is good and kinematic dexterity is high, its integral position is adjusted, local location movement is flexible, and stability is high, improves the welding quality and efficiency of welding robot indirectly；And device for revolving and driving can realize moving left and right on horizontal plane and move back and forth and rotary motion on the vertical plane, two translations one i.e. in space rotate the movement in three degree of freedom direction altogether, it can ensure that the adjusting of whole large scale and big orientation of the welding robot in welding by device for revolving and driving, improve the welding performance of welding robot.
Description
Technical field
The present invention relates to welding technology field, a kind of specifically novel welding industrial robot is put down with high precision movement
Platform.
Background technology
Welding is also referred to as welding Huo person's Rong and connects, welding be a kind of jointing metal in a manner of heating, high temperature or high pressure or
The manufacturing process and technology of other thermoplastic materials such as plastics；There are many kinds of the energy sources of modern times welding, including gas flame, electricity
Arc, laser, electron beam, friction and ultrasonic wave etc., in addition to use in the factory, welding can also carry out in a variety of contexts,
Such as field, underwater and space, no matter wherein, welding all may bring danger to operator, so necessary when being welded
Take appropriate safeguard procedures, weld to human body may caused by injury includes burn, electric shock, inpairment of vision, sucking have poison gas
Body, ultraviolet light overexposure etc..For current welding mostly using human weld, so not only occupy it is substantial amounts of manually into
This, welding efficiency is low, poor welding quality, and due to human weld, peril generation is often accompanied by the welding process, to weldering
It meets worker and brings certain Personal Risk, also progressively start to carry out the welding job of workpiece, mesh using welding robot at present
Preceding welding robot is generally made of welding support, welding equipment and control system, but current welding support is deposited
Modulability is poor, bearing capacity is weak and kinematic dexterity is poor the problems such as.In consideration of it, the present invention provides a kind of industry of novel welding
Robot high precision mobile platform.
The content of the invention
In order to make up for the deficiencies of the prior art, the present invention provides a kind of novel welding industrial robot high precision movements
Platform.
The present invention to be solved its technical problem and be realized using following technical scheme.
A kind of novel welding industrial robot high precision mobile platform, including device for revolving and driving and six-freedom parallel
Mechanism；The six-degree-of-freedom parallel connection mechanism is located at turn around below driving device front end, and device for revolving and driving and six degree of freedom
Parallel institution is connected.
Further, the device for revolving and driving includes elevator, longitudinal electric slide, longitudinal sliding block, electric turntable, horizontal stroke
To electric sliding rail, transverse slider and fixed seat, the elevator rectangular-blocklike structure, the longitudinal electric slide back side is fixed on
Elevator front end, longitudinal electric slide both ends are respectively arranged with longitudinal baffle, and longitudinal sliding block is mounted on longitudinal electric slide, electricity
Turn back-end disk is fixed on longitudinal sliding block, and electric turntable front end is equipped with transverse electric slide, and transverse electric slide and horizontal stroke
It is two to the quantity of sliding block, transverse electric slide Parallel Symmetric arrangement, transverse electric slide front end is provided with transverse baffle, horizontal
It is I-shaped structure to the vertical cross section of electric sliding rail, transverse slider is mounted on transverse electric slide, and fixed seat is in the form of annular discs
Structure, fixed seat both ends are connected respectively with transverse slider；Device for revolving and driving can realize moving left and right with before on horizontal plane
It moves afterwards and rotary motion on the vertical plane, i.e., two translations one in space rotates the movement in three degree of freedom direction altogether,
It can ensure that the adjusting of whole large scale and big orientation of the welding robot in welding by device for revolving and driving, improve welding
The welding performance of robot.
Further, the six-degree-of-freedom parallel connection mechanism includes fixed platform, moving platform, connecting seat, upper spherical hinge, electronic pushes away
Bar, block plate seat, lower spherical hinge, Triangulum and limit spring；The connecting seat and Triangulum quantity are three, upper spherical hinge, electricity
The quantity of dynamic push rod, block plate seat and lower spherical hinge is six, the fixed platform and moving platform structure in rounded shape, connecting seat
On the lower face of fixed platform, and connecting seat is put down on fixed platform in equilateral triangle location arrangements, Triangulum mounted on dynamic
On platform upper surface, and the installation site between connecting seat and Triangulum is interlocked two-by-two, and Triangulum is in equilateral triangle column structure,
Triangulum has been symmetrically arranged inclined surface along its vertical center line, is offered on inclined surface and lower spherical hinge lower end external screw thread phase
The installation threaded hole of cooperation, electric pushrod bottom are connected by upper spherical hinge with connecting seat, electric pushrod top and block plate seat
Upper end is connected, and block plate seat lower end is connected with lower spherical hinge one end, and the lower spherical hinge other end is mounted on Triangulum, /V bullet
Spring is around being sleeved on electric pushrod, and limit spring one end is connected with electric pushrod, and the limit spring other end is connected with block plate seat
It connects；Six-degree-of-freedom parallel connection mechanism uses the six-degree-of-freedom parallel connection mechanism of 6-SPS, and rigidity is big compared with serial mechanism, six degree of freedom
Parallel institution stable structure, kinematic dexterity are high, bearing capacity is strong and fine motion precision is high, and six-degree-of-freedom parallel connection mechanism is in space
The movement that three translations three rotate six-freedom degree direction altogether can be carried out, and space is small, movement velocity is fast and kinematic dexterity
It is good, in the present invention, drive welding robot that can carry out three translations three in space by six-degree-of-freedom parallel connection mechanism and rotate altogether
The movement in six-freedom degree direction, convenient for the adjusting in welding robot local precisely small orientation of microsize in welding.
Compared with prior art, the present invention has the following advantages：
(1) effect that the present invention provides support for welding robot and position is adjusted, and bearing capacity is strong, modulability is good and transports
Dynamic flexibility is high, and integral position is adjusted, and local location movement is flexible, and stability is high, improves welding robot indirectly
Welding quality and efficiency.
(2) device for revolving and driving of the invention can realize moving left and right on horizontal plane and move back and forth and in vertical plane
On rotary motion, i.e., in space two translation one rotate altogether three degree of freedom direction movement, can by device for revolving and driving
Ensure the adjusting of whole large scale and big orientation of the welding robot in welding, improve the welding performance of welding robot.
(3) six-degree-of-freedom parallel connection mechanism of the invention uses the six-degree-of-freedom parallel connection mechanism of 6-SPS, compared with serial mechanism
Rigidity is big, and six-degree-of-freedom parallel connection mechanism stable structure, kinematic dexterity are high, bearing capacity is strong and fine motion precision is high, six degree of freedom
Parallel institution can carry out the movement that three translations three rotate six-freedom degree direction altogether in space, and space is small, movement speed
Degree is fast and kinematic dexterity is good, drives welding robot that can carry out three turns of three translation in space by six-degree-of-freedom parallel connection mechanism
The movement in dynamic six-freedom degree direction altogether, convenient for the adjusting in welding robot local precisely small orientation of microsize in welding.
Description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the dimensional structure diagram of the present invention；
Fig. 2 is the dimensional structure diagram of device for revolving and driving of the present invention；
Fig. 3 is the dimensional structure diagram of six-degree-of-freedom parallel connection mechanism of the present invention.
Specific embodiment
In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, tie below
Conjunction is specifically illustrating, and the present invention is further explained.
As shown in Figure 1 to Figure 3, a kind of novel welding industrial robot high precision mobile platform is filled including revolution driving
Put 3 and six-degree-of-freedom parallel connection mechanism 4；The six-degree-of-freedom parallel connection mechanism 4 is located at turn around below 3 front end of driving device, and is returned
Rotary driving device 3 is connected with six-degree-of-freedom parallel connection mechanism 4.
As depicted in figs. 1 and 2, the device for revolving and driving 3 is sliding including elevator 31, longitudinal electric slide 32, longitudinal direction
Block 33, electric turntable 34, transverse electric slide 35, transverse slider 36 and fixed seat 37,31 rectangular-blocklike of elevator
Structure, 32 back side of longitudinal electric slide are fixed on 31 front end of elevator, and 32 both ends of longitudinal electric slide are respectively arranged with longitudinal gear
Plate, longitudinal sliding block 33 are mounted on longitudinal electric slide 32, and 34 rear end of electric turntable is fixed on longitudinal sliding block 33, electric turntable
34 front ends are equipped with transverse electric slide 32, and the quantity of transverse electric slide 35 and transverse slider 36 is two, transverse electric
35 Parallel Symmetric of slide arranges that 35 front end of transverse electric slide is provided with transverse baffle, the vertical cross section of transverse electric slide 35
For I-shaped structure, transverse slider 36 is mounted on transverse electric slide 35,37 structure in the form of annular discs of fixed seat, 37 liang of fixed seat
End is connected respectively with transverse slider 36；Device for revolving and driving 3 can realize moving left and right on horizontal plane and move back and forth and
Two translations one in rotary motion on the vertical plane, i.e. space rotate the movement in three degree of freedom direction altogether, are driven by turning round
Dynamic device 3 can ensure that the adjusting of whole large scale and big orientation of the welding robot in welding, improve welding robot
Welding performance.
As shown in figures 1 and 3, the six-degree-of-freedom parallel connection mechanism 4 include fixed platform 41, moving platform 42, connecting seat 43,
Upper spherical hinge 44, electric pushrod 45, block plate seat 46, lower spherical hinge 47, Triangulum 48 and limit spring 49；The connecting seat 43
It is three with 48 quantity of Triangulum, upper spherical hinge 44, electric pushrod 45, the quantity of block plate seat 46 and lower spherical hinge 47 are six, institute
Fixed platform 41 and moving platform 42 structure in rounded shape stated, connecting seat 43 are mounted on the lower face of fixed platform 41, and are connected
Seat 43 is in equilateral triangle location arrangements on fixed platform 41, and Triangulum 48 is mounted on 42 upper surface of moving platform, and connecting seat 43
Installation site between Triangulum 48 is interlocked two-by-two, and Triangulum 48, in equilateral triangle column structure, Triangulum 48 hangs down along it
Straight center line has been symmetrically arranged inclined surface, is offered on inclined surface and the lower 47 matched installation of lower end external screw thread of spherical hinge
Threaded hole, 45 bottom of electric pushrod are connected by upper spherical hinge 44 with connecting seat 43,45 top of electric pushrod and block plate seat 46
Upper end is connected, and 46 lower end of block plate seat is connected with lower 47 one end of spherical hinge, and lower 47 other end of spherical hinge is mounted on Triangulum 48
On, limit spring 49 is around being sleeved on electric pushrod 45, and 49 one end of limit spring is connected with electric pushrod 45, limit spring 49
The other end is connected with block plate seat 46；Six-degree-of-freedom parallel connection mechanism 4 uses the six-degree-of-freedom parallel connection mechanism of 6-SPS, with cascade machine
Structure is big compared to rigidity, and 4 stable structure of six-degree-of-freedom parallel connection mechanism, kinematic dexterity are high, bearing capacity is strong and fine motion precision is high, and six
Freedom degree parallel connection mechanism 4 can be carried out in space three translations three rotate altogether six-freedom degree direction movement, and space it is small,
Movement velocity is fast and kinematic dexterity is good, in the present invention, welding robot is driven in space by six-degree-of-freedom parallel connection mechanism 4
The interior movement for carrying out three translations three and rotating six-freedom degree direction altogether, it is local precisely small in welding convenient for welding robot
The adjusting in the small orientation of size.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the description in above embodiments and description simply illustrates the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these change and change
Into all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent
It defines.
Claims (1)
1. a kind of novel welding industrial robot high precision mobile platform, it is characterised in that：Including device for revolving and driving and six
Freedom degree parallel connection mechanism；The six-degree-of-freedom parallel connection mechanism is located at turn around below driving device front end, and device for revolving and driving
It is connected with six-degree-of-freedom parallel connection mechanism；Wherein：
The device for revolving and driving include elevator, longitudinal electric slide, longitudinal sliding block, electric turntable, transverse electric slide,
Transverse slider and fixed seat, the elevator rectangular-blocklike structure, the longitudinal electric slide back side are fixed on elevator front end,
Longitudinal electric slide both ends are respectively arranged with longitudinal baffle, and longitudinal sliding block is mounted on longitudinal electric slide, electric turntable rear end
It is fixed on longitudinal sliding block, electric turntable front end is equipped with transverse electric slide, and the number of transverse electric slide and transverse slider
Amount is two, and transverse electric slide Parallel Symmetric arrangement, transverse electric slide front end is provided with transverse baffle, transverse electric slide
Vertical cross section for I-shaped structure, transverse slider is mounted on transverse electric slide, fixed seat structure in the form of annular discs, fixed seat
Both ends are connected respectively with transverse slider；
The six-degree-of-freedom parallel connection mechanism include fixed platform, moving platform, connecting seat, upper spherical hinge, electric pushrod, block plate seat,
Lower spherical hinge, Triangulum and limit spring；The connecting seat and Triangulum quantity are three, upper spherical hinge, electric pushrod, block plate
The quantity of seat and lower spherical hinge is six, and the fixed platform and moving platform structure in rounded shape, connecting seat are mounted on and allocate
On the lower face of platform, and connecting seat is mounted in equilateral triangle location arrangements, Triangulum on moving platform upper surface on fixed platform,
And the installation site between connecting seat and Triangulum is interlocked two-by-two, and Triangulum is in equilateral triangle column structure, Triangulum along its
Vertical center line has been symmetrically arranged inclined surface, is offered on inclined surface and the matched installation of lower spherical hinge lower end external screw thread
Threaded hole, electric pushrod bottom are connected by upper spherical hinge with connecting seat, and electric pushrod top is connected with block plate seat upper end,
Block plate seat lower end is connected with lower spherical hinge one end, and the lower spherical hinge other end is mounted on Triangulum, and limit spring is around being sleeved on electricity
On dynamic push rod, and limit spring one end is connected with electric pushrod, and the limit spring other end is connected with block plate seat；
Six-degree-of-freedom parallel connection mechanism uses the six-degree-of-freedom parallel connection mechanism of 6-SPS.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711353638.3A CN108080831A (en) | 2016-05-23 | 2016-05-23 | A kind of novel welding industrial robot high precision mobile platform |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610344269.0A CN105834632B (en) | 2016-05-23 | 2016-05-23 | A kind of novel welding industrial robot high precision mobile platform |
| CN201711353638.3A CN108080831A (en) | 2016-05-23 | 2016-05-23 | A kind of novel welding industrial robot high precision mobile platform |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610344269.0A Division CN105834632B (en) | 2016-05-23 | 2016-05-23 | A kind of novel welding industrial robot high precision mobile platform |
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| CN108080831A true CN108080831A (en) | 2018-05-29 |
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| CN201711353638.3A Pending CN108080831A (en) | 2016-05-23 | 2016-05-23 | A kind of novel welding industrial robot high precision mobile platform |
| CN201610344269.0A Active CN105834632B (en) | 2016-05-23 | 2016-05-23 | A kind of novel welding industrial robot high precision mobile platform |
| CN201711353630.7A Pending CN107813088A (en) | 2016-05-23 | 2016-05-23 | Welding industry robot high precision mobile platform and method of work |
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| CN201610344269.0A Active CN105834632B (en) | 2016-05-23 | 2016-05-23 | A kind of novel welding industrial robot high precision mobile platform |
| CN201711353630.7A Pending CN107813088A (en) | 2016-05-23 | 2016-05-23 | Welding industry robot high precision mobile platform and method of work |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109834415A (en) * | 2019-04-08 | 2019-06-04 | 安徽工程大学 | Series parallel type five degree of freedom welding robot |
| CN111571569A (en) * | 2020-05-22 | 2020-08-25 | 西安飞机工业（集团）有限责任公司 | Six-degree-of-freedom self-adaptive posture-adaptive holding platform and using method thereof |
| CN112110324A (en) * | 2020-07-29 | 2020-12-22 | 杭州艺会智能科技有限公司 | Six-degree-of-freedom motion platform |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106426204B (en) * | 2016-11-03 | 2018-09-04 | 东北石油大学 | A kind of submarine pipeline welding underwater robot |
| CN107007946A (en) * | 2017-06-06 | 2017-08-04 | 成都博士科技有限公司 | It is a kind of to be used for proton and the automatic chair of heavy particle therapy incidence cancer |
| CN108637553B (en) * | 2018-05-22 | 2020-04-24 | 广东盈科机器人产业有限公司 | Multi-surface welding robot |
| CN109648188B (en) * | 2019-02-18 | 2023-08-22 | 安徽理工大学 | Series-parallel heavy-load friction stir welding robot |
| CN113086641B (en) * | 2021-03-16 | 2023-01-10 | 深圳市华星光电半导体显示技术有限公司 | Conveying device |
| CN115122017B (en) * | 2022-08-25 | 2022-11-01 | 山西锦荣智能技术有限公司 | Self-adaptive precise welding robot system |
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| CN111571569A (en) * | 2020-05-22 | 2020-08-25 | 西安飞机工业（集团）有限责任公司 | Six-degree-of-freedom self-adaptive posture-adaptive holding platform and using method thereof |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN107813088A (en) | 2018-03-20 |
| CN105834632B (en) | 2017-12-22 |
| CN105834632A (en) | 2016-08-10 |
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