CN108080838A - A kind of two mobility linkage spot welding manipulators - Google Patents
A kind of two mobility linkage spot welding manipulators Download PDFInfo
- Publication number
- CN108080838A CN108080838A CN201611018684.3A CN201611018684A CN108080838A CN 108080838 A CN108080838 A CN 108080838A CN 201611018684 A CN201611018684 A CN 201611018684A CN 108080838 A CN108080838 A CN 108080838A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- driving lever
- revolute pair
- connector
- wrist
- 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.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- 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
- B23K37/0294—Transport carriages or vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
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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
A kind of two mobility linkage spot welding manipulators, including pedestal 1, first driving lever 3, first connector 5, first connecting rod 19, large arm 16, second connector 7, wrist connecting rod 9, welding gun 22, wrist 21, driving device, second driving lever 13, second connecting rod 11, first driving lever, 3 one end is connected by the first revolute pair 2 with pedestal 1, described second driving lever, 13 one end is connected by the 9th revolute pair 14 with pedestal 1, the other end is connected by the tenth revolute pair 12 with second connecting rod 11, second connecting rod 11 is connected by the 11st revolute pair 10 with wrist connecting rod 9, driving device is by the first servomotor, second servomotor forms, respectively with the first driving lever 3, second driving lever 13 is connected, to the first driving lever 3, second driving lever 13 is driven.The present invention overcomes the shortcomings such as fluid pressure type spot welding manipulator hydraulic system element required precision is high, complicated, easy oil leakage, poor reliability, transmission efficiency are low.
Description
Technical field
The present invention relates to machinery field, particularly a kind of two mobility linkage spot welding manipulators.
Background technology
Most of currently manufactured general mash welder tool hand of industry is the cascaded structure joint type motor driving machine for open form
Tool hand is mainly characterized in that driving motor all on each joint of manipulator, drives manipulator each by motor
The various actions of manipulator are realized in the rotation in a joint.Due to the driving electricity of the cascaded structure articulated robot of open form
Machine is all mounted on the position in joint, and this frame mode has the following problems：Manipulator arm needs the weight of carrying motor simultaneously
Rigidity requirement need to be met, arm sectional dimension needs to be made larger, can so increase the load of driving motor, increase the fortune of arm
Dynamic inertia, causes manipulator dynamic property to decline, while driving motor all causes the accumulation of manipulator to miss mounted on joint position
Difference is big, bearing capacity is small, complicated, the degree of modularity is low.It is in parallel with the development of motor technology and the raising of control technology
Mechanism provides extensive development space for manipulator, by motor-driven multiple freedom parallel mechanism is controlled not only to have work
Space is big, flexible movements, can complete complicated movement locus output, while also has and manufacture at low cost, maintaining is simple etc.
Advantage.
The content of the invention
It is an object of the invention to provide a kind of two mobility linkage spot welding manipulators, so as to overcome Serial manipulator
Accumulated error is big, and precision is relatively low；Rigidity is low, bearing capacity it is small the shortcomings that.To achieve the above object, technology provided by the invention
Scheme is：A kind of two mobility linkage spot welding manipulators, including pedestal 1, the first driving lever 3, the first connector 5, first
Connecting rod 19, large arm 16, the second connector 7, wrist connecting rod 9, welding gun 22, wrist 21, driving device, the second driving lever 13, second
Connecting rod 11；Described first driving lever, 3 one end is connected by the first revolute pair 2 with pedestal 1, the other end by the second revolute pair 4 with
First connector 5 connects, and the first connector 5 is connected by the 3rd revolute pair 17 with first connecting rod 19, and first connecting rod 19 passes through
Four revolute pairs 18 are connected with large arm 16, and large arm 16 is connected by the 5th revolute pair 15 with pedestal 1, described second connector, 7 one end
It is connected by the 6th revolute pair 20 with large arm 16, the other end is connected by the 7th revolute pair 8 with wrist connecting rod 9, and described second connects
Fitting 7 is connected by the 8th revolute pair 6 with the first connector 5；Described second driving lever, 13 one end by the 9th revolute pair 14 with
Pedestal 1 connects, and the other end is connected by the tenth revolute pair 12 with second connecting rod 11, and second connecting rod 11 passes through the 11st revolute pair 10
It is connected with wrist connecting rod 9；Driving device is made of the first servomotor, the second servomotor, respectively with the first driving lever 3,
Two driving levers 13 are connected, and the first driving lever 3, the second driving lever 13 are driven.
The controllable more bar closed chain mechanisms of two mobility linkage spot welding machinery hand gettings of one kind of the invention, with open-chain structure phase
Than improving the stationarity and reliability of arm operation, no accumulated error, precision is higher；Compact-sized, rigidity is high, carries energy
Power is big, inertia is low, dynamic property is good, arm motion track flexible and diverse.Overcome fluid pressure type spot welding manipulator hydraulic system
The shortcomings such as high, the complicated, easy oil leakage of components accuracy requirement, poor reliability, transmission efficiency be low.
Description of the drawings
Fig. 1 is a kind of two mobilities linkage spot welding manipulator schematic diagram of the present invention.
Specific embodiment
A kind of two mobility linkage spot welding manipulators, including pedestal 1, the first driving lever 3, the first connector 5, first
Connecting rod 19, large arm 16, the second connector 7, wrist connecting rod 9, welding gun 22, wrist 21, driving device, the second driving lever 13, second
Connecting rod 11；Described first driving lever, 3 one end is connected by the first revolute pair 2 with pedestal 1, the other end by the second revolute pair 4 with
First connector 5 connects, and the first connector 5 is connected by the 3rd revolute pair 17 with first connecting rod 19, and first connecting rod 19 passes through
Four revolute pairs 18 are connected with large arm 16, and large arm 16 is connected by the 5th revolute pair 15 with pedestal 1, described second connector, 7 one end
It is connected by the 6th revolute pair 20 with large arm 16, the other end is connected by the 7th revolute pair 8 with wrist connecting rod 9, and described second connects
Fitting 7 is connected by the 8th revolute pair 6 with the first connector 5；Described second driving lever, 13 one end by the 9th revolute pair 14 with
Pedestal 1 connects, and the other end is connected by the tenth revolute pair 12 with second connecting rod 11, and second connecting rod 11 passes through the 11st revolute pair 10
It is connected with wrist connecting rod 9；Driving device is made of the first servomotor, the second servomotor, respectively with the first driving lever 3,
Two driving levers 13 are connected, and the first driving lever 3, the second driving lever 13 are driven.
First driving lever 3, the first connector 5, first connecting rod 19, large arm 16, the second connector 7,9 groups of wrist connecting rod
Subchain is controlled into large arm, by the drive control of the first driving lever 3, completes lifting or the lowering action of large arm 16, described the
Two driving levers 13, second connecting rod 11 form wrist connecting rod control subchain, by the drive control of the second driving lever 13, complete wrist
The pitching operation of connecting rod 9, requires according to actual job, by large arm subchain and wrist connecting rod is controlled to control the phase interworking of subchain
It closes, common to complete 16 lifting of large arm, decline, the movements such as wrist connecting rod 7,21 pitching of wrist, realizes the spot welding operation of welding gun 22.
Controllable drive motor is mounted on revolving platform by the present invention, simplifies the complexity of structure, reducing mechanism
Each connecting rod rod piece is made lighter bar by weight, volume and cost, arm of the invention, so that entire mechanism kinematic inertia is small,
Dynamic performance is good, easily controllable, by setting revolving platform, the revolution working space that arm is made to possess 360 degree, and working space
Scope is big.
Claims (1)
1. a kind of two mobility linkage spot welding manipulators, it is characterised in that：Connect including pedestal 1, the first driving lever 3, first
Fitting 5, first connecting rod 19, large arm 16, the second connector 7, wrist connecting rod 9, welding gun 22, wrist 21, driving device, second are actively
Bar 13, second connecting rod 11；Described first driving lever, 3 one end is connected by the first revolute pair 2 with pedestal 1, and the other end passes through second
Revolute pair 4 is connected with the first connector 5, and the first connector 5 is connected by the 3rd revolute pair 17 with first connecting rod 19, first connecting rod
19 are connected by the 4th revolute pair 18 with large arm 16, and large arm 16 is connected by the 5th revolute pair 15 with pedestal 1, second connection
7 one end of part is connected by the 6th revolute pair 20 with large arm 16, and the other end is connected by the 7th revolute pair 8 with wrist connecting rod 9, described
Second connector 7 is connected by the 8th revolute pair 6 with the first connector 5；Described second driving lever, 13 one end is rotated by the 9th
Pair 14 is connected with pedestal 1, and the other end is connected by the tenth revolute pair 12 with second connecting rod 11, and second connecting rod 11 passes through the 11st turn
Dynamic pair 10 is connected with wrist connecting rod 9；Driving device is made of the first servomotor, the second servomotor, respectively with first actively
Bar 3, the second driving lever 13 are connected, and the first driving lever 3, the second driving lever 13 are driven.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611018684.3A CN108080838A (en) | 2016-11-21 | 2016-11-21 | A kind of two mobility linkage spot welding manipulators |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611018684.3A CN108080838A (en) | 2016-11-21 | 2016-11-21 | A kind of two mobility linkage spot welding manipulators |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108080838A true CN108080838A (en) | 2018-05-29 |
Family
ID=62169175
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611018684.3A Pending CN108080838A (en) | 2016-11-21 | 2016-11-21 | A kind of two mobility linkage spot welding manipulators |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108080838A (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202163919U (en) * | 2011-07-01 | 2012-03-14 | 广西大学 | Metamorphic stacking robot mechanism |
| CN103741737A (en) * | 2013-12-16 | 2014-04-23 | 广西大学 | High-flexibility nine-rod two-degree-of-freedom mechanical loading mechanism |
| CN104552243A (en) * | 2014-12-12 | 2015-04-29 | 广西大学 | Controllable mechanism type metamorphic wheeled mobile welding robot |
-
2016
- 2016-11-21 CN CN201611018684.3A patent/CN108080838A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202163919U (en) * | 2011-07-01 | 2012-03-14 | 广西大学 | Metamorphic stacking robot mechanism |
| CN103741737A (en) * | 2013-12-16 | 2014-04-23 | 广西大学 | High-flexibility nine-rod two-degree-of-freedom mechanical loading mechanism |
| CN104552243A (en) * | 2014-12-12 | 2015-04-29 | 广西大学 | Controllable mechanism type metamorphic wheeled mobile welding robot |
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| Date | Code | Title | Description |
|---|---|---|---|
| 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 |
Application publication date: 20180529 |
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| WD01 | Invention patent application deemed withdrawn after publication |