CN108971826A - A kind of two mobility link mechanism spot welding manipulators - Google Patents
A kind of two mobility link mechanism spot welding manipulators Download PDFInfo
- Publication number
- CN108971826A CN108971826A CN201710415475.0A CN201710415475A CN108971826A CN 108971826 A CN108971826 A CN 108971826A CN 201710415475 A CN201710415475 A CN 201710415475A CN 108971826 A CN108971826 A CN 108971826A
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- CN
- China
- Prior art keywords
- connecting rod
- connect
- driving lever
- revolute pair
- connector
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—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)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Manipulator (AREA)
- Resistance Welding (AREA)
Abstract
A kind of two mobility link mechanism 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 connect by the first revolute pair 2 with pedestal 1, described second driving lever, 13 one end is connect by the 9th revolute pair 14 with pedestal 1, the other end is connect by the tenth revolute pair 12 with second connecting rod 11, and second connecting rod 11 is connect by the 11st revolute pair 10 with wrist connecting rod 9；Driving device is made of first servo motor, the second servo motor, it is connected respectively with the first driving lever 3, the second driving lever 13, first driving lever 3, the second driving lever 13 are driven, the disadvantages such as that the present invention overcomes fluid pressure type spot welding manipulator hydraulic system element required precisions is high, structure is complicated, easy oil leakage, poor reliability, transmission efficiency are low.
Description
Technical field
The present invention relates to machinery field, especially a kind of two mobility link mechanism spot welding manipulators.
Background technique
Most of currently manufactured general mash welder tool hand of industry is the cascaded structure joint type motor driven machine for open form
Tool hand is mainly characterized in that driving motor is all mounted on each joint of manipulator, drives manipulator each by motor
The various movements 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 to carry the weight of motor simultaneously
Rigidity requirement need to be met, arm sectional dimension needs to be made larger, will increase the load of driving motor in this way, increases the fortune of arm
Dynamic inertia, causes manipulator dynamic property to decline, while driving motor is all mounted on joint position and the accumulation of manipulator is caused to miss
Difference is big, bearing capacity is small, structure is 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, not only has work by controlling motor-driven multiple freedom parallel mechanism
Space is big, flexible movements, the motion profile output of achievable complexity, at the same also have manufacturing cost is low, maintenance simply etc.
Advantage.
Summary of the invention
The purpose of the present invention is to provide a kind of two mobility link mechanism spot welding manipulators, to overcome Serial manipulator
Accumulated error is big, and precision is lower；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 link mechanism 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 connect by the first revolute pair 2 with pedestal 1, the other end pass through the second revolute pair 4 and
The connection of first connector 5, the first connector 5 are connect by third revolute pair 17 with first connecting rod 19, and first connecting rod 19 passes through the
Four revolute pairs 18 are connect with large arm 16, and large arm 16 is connect by the 5th revolute pair 15 with pedestal 1, described second connector, 7 one end
It is connect by the 6th revolute pair 20 with large arm 16, the other end is connect by the 7th revolute pair 8 with wrist connecting rod 9, and described second connects
Fitting 7 is connect 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 connect 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 connect with wrist connecting rod 9；Driving device is made of first servo motor, the second servo motor, respectively with the first driving lever 3,
Two driving levers 13 are connected, and drive to the first driving lever 3, the second driving lever 13.
The controllable more bar closed chain mechanisms of two mobility link mechanism 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
Components accuracy requires the disadvantages such as high, structure is complicated, easy oil leakage, poor reliability, transmission efficiency are low.
Detailed description of the invention
Fig. 1 is a kind of two mobilities link mechanism spot welding manipulator schematic diagram of the present invention.
Specific embodiment
A kind of two mobility link mechanism 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 connect by the first revolute pair 2 with pedestal 1, the other end pass through the second revolute pair 4 and
The connection of first connector 5, the first connector 5 are connect by third revolute pair 17 with first connecting rod 19, and first connecting rod 19 passes through the
Four revolute pairs 18 are connect with large arm 16, and large arm 16 is connect by the 5th revolute pair 15 with pedestal 1, described second connector, 7 one end
It is connect by the 6th revolute pair 20 with large arm 16, the other end is connect by the 7th revolute pair 8 with wrist connecting rod 9, and described second connects
Fitting 7 is connect 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 connect 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 connect with wrist connecting rod 9；Driving device is made of first servo motor, the second servo motor, respectively with the first driving lever 3,
Two driving levers 13 are connected, and drive to the first driving lever 3, the second driving lever 13.
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 at large arm, by the drive control of the first driving lever 3, completes the lifting or lowering action of large arm 16, described the
Two driving levers 13, second connecting rod 11 form wrist connecting rod and 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, controls subchain by large arm and wrist connecting rod controls the phase interworking of subchain
It closes, common to complete the lifting of large arm 16, decline, the spot welding operation of welding gun 22 is realized in the movement such as wrist connecting rod 7,21 pitching of wrist.
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 into 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 the way that revolving platform, the revolution working space for making arm possess 360 degree, working space is arranged
Range is big.
Claims (1)
1. a kind of two mobility link mechanism 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 connect by the first revolute pair 2 with pedestal 1, and the other end passes through second
Revolute pair 4 is connect with the first connector 5, and the first connector 5 is connect by third revolute pair 17 with first connecting rod 19, first connecting rod
19 are connect by the 4th revolute pair 18 with large arm 16, and large arm 16 is connect by the 5th revolute pair 15 with pedestal 1, second connection
7 one end of part is connect by the 6th revolute pair 20 with large arm 16, and the other end is connect by the 7th revolute pair 8 with wrist connecting rod 9, described
Second connector 7 is connect by the 8th revolute pair 6 with the first connector 5；Described second driving lever, 13 one end passes through the 9th rotation
Pair 14 is connect with pedestal 1, and the other end is connect 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 connect with wrist connecting rod 9；Driving device is made of first servo motor, the second servo motor, respectively actively with first
Bar 3, the second driving lever 13 are connected, and drive to the first driving lever 3, the second driving lever 13.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710415475.0A CN108971826A (en) | 2017-06-05 | 2017-06-05 | A kind of two mobility link mechanism spot welding manipulators |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710415475.0A CN108971826A (en) | 2017-06-05 | 2017-06-05 | A kind of two mobility link mechanism spot welding manipulators |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108971826A true CN108971826A (en) | 2018-12-11 |
Family
ID=64502077
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710415475.0A Pending CN108971826A (en) | 2017-06-05 | 2017-06-05 | A kind of two mobility link mechanism spot welding manipulators |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108971826A (en) |
-
2017
- 2017-06-05 CN CN201710415475.0A patent/CN108971826A/en active Pending
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20181211 |