CN108972570A - A kind of two-freedom closed linkage spot welding manipulator - Google Patents
A kind of two-freedom closed linkage spot welding manipulator Download PDFInfo
- Publication number
- CN108972570A CN108972570A CN201710414923.5A CN201710414923A CN108972570A CN 108972570 A CN108972570 A CN 108972570A CN 201710414923 A CN201710414923 A CN 201710414923A CN 108972570 A CN108972570 A CN 108972570A
- Authority
- CN
- China
- Prior art keywords
- revolute pair
- driving lever
- connecting rod
- connect
- arm
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- 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
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Resistance Welding (AREA)
- Manipulator (AREA)
Abstract
A kind of two-freedom closed linkage spot welding manipulator, including pedestal 1, large arm 16, the first driving lever 3, lower arm 5, the second driving lever 13, connecting rod 11, support rod 20, upper arm 18, wrist connecting rod 7, welding gun 22, wrist 21, driving device；Described 16 one end of large arm is connect by the first revolute pair 15 with pedestal 1, the other end is connect by the second revolute pair 17 with wrist connecting rod 7, described first driving lever, 3 one end is connect by third revolute pair 2 with pedestal 1, the other end is connect by the 4th revolute pair 4 with lower arm 5, 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, the first driving lever 3, the second driving lever 13 is driven.The present invention improves the stationarity and reliability of arm operation, no accumulated error, and precision is higher；Compact-sized, rigidity is high, large carrying capacity.
Description
Technical field
The present invention relates to machinery field, in particular to a kind of two-freedom closed linkage spot welding manipulator.
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-freedom closed linkage 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-freedom closed linkage spot welding manipulator, including pedestal, large arm, the first driving lever, lower arm, second are actively
Bar, connecting rod, support rod, upper arm, wrist connecting rod, welding gun, wrist, driving device；Described large arm one end by the first revolute pair with
Pedestal connection, the other end are connect by the second revolute pair with wrist connecting rod, and first driving lever one end passes through third revolute pair
It is connect with pedestal, the other end is connect by the 4th revolute pair with lower arm, and lower arm is connect by the 5th revolute pair with wrist connecting rod, institute
Second driving lever one end to be stated to connect by the 6th revolute pair with pedestal, the other end is connect by the 7th revolute pair with connecting rod one end,
The connecting rod other end is connect by the 8th revolute pair with upper arm, and upper arm is connect by the 9th revolute pair with wrist connecting rod, the support
Bar one end is connect by the tenth revolute pair with pedestal, and the other end is connect by the 11st revolute pair with connecting rod；Driving device is by
One servo motor, the second servo motor composition, are connected, to the first driving lever respectively with the first driving lever 3, the second driving lever 13
3, the second driving lever 13 is driven.
The controllable more bar closed chain mechanisms of a kind of two-freedom closed linkage spot welding machinery hand getting of the present 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 of high, structure is complicated, easy oil leakage.
Detailed description of the invention
Fig. 1 is a kind of two-freedom closed linkage spot welding manipulator schematic diagram of the present invention.
Specific embodiment
A kind of two-freedom closed linkage spot welding manipulator, including pedestal 1, large arm 16, the first driving lever 3, lower arm 5,
Two driving levers 13, connecting rod 11, support rod 20, upper arm 18, wrist connecting rod 7, welding gun 22, wrist 21, driving device；The large arm 16
One end is connect by the first revolute pair 15 with pedestal 1, and the other end passes through the second revolute pair 17 and connect with wrist connecting rod 7, and described the
One driving lever, 3 one end is connect by third revolute pair 2 with pedestal 1, and the other end is connect by the 4th revolute pair 4 with lower arm 5, lower arm
5 are connect by the 5th revolute pair 6 with wrist connecting rod 7, and described second driving lever, 13 one end is connected by the 6th revolute pair 14 with pedestal 1
It connects, the other end is connect by the 7th revolute pair 12 with 11 one end of connecting rod, and 11 other end of connecting rod passes through the 8th revolute pair 9 and upper arm 18
Connection, upper arm 18 connects by the 9th revolute pair 8 with wrist connecting rod 7, described 20 one end of support rod pass through the tenth revolute pair 19 and
Pedestal 1 connects, and the other end is connect by the 11st revolute pair 10 with connecting rod 11；Driving device is watched by first servo motor, second
Take motor form, be connected respectively with the first driving lever 3, the second driving lever 13, to the first driving lever 3, the second driving lever 13 into
Row driving.
The large arm 16, the first driving lever 3, lower arm 5 form large arm and control subchain, pass through the driving control of the first driving lever 3
System completes the lifting or lowering action of large arm 16, second driving lever 13, connecting rod 11, support rod 20, upper arm 18, wrist
Connecting rod 7 forms wrist connecting rod and controls subchain, by the drive control of the second driving lever 13, completes the pitching operation of wrist connecting rod 7,
It is required according to actual job, subchain is controlled by large arm and wrist connecting rod controls the mutual cooperation of subchain, it is common to complete large arm 16
Lifting, decline, the movement such as wrist connecting rod 7,21 pitching of wrist, realize 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 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-freedom closed linkage spot welding manipulator, including pedestal 1, large arm 16, the first driving lever 3, lower arm 5, second
Driving lever 13, connecting rod 11, support rod 20, upper arm 18, wrist connecting rod 7, welding gun 22, wrist 21, driving device；The large arm 16 1
End is connect by the first revolute pair 15 with pedestal 1, and the other end is connect by the second revolute pair 17 with wrist connecting rod 7, and described first
3 one end of driving lever is connect by third revolute pair 2 with pedestal 1, and the other end is connect by the 4th revolute pair 4 with lower arm 5, lower arm 5
It is connect by the 5th revolute pair 6 with wrist connecting rod 7, described second driving lever, 13 one end is connected by the 6th revolute pair 14 with pedestal 1
It connects, the other end is connect by the 7th revolute pair 12 with 11 one end of connecting rod, and 11 other end of connecting rod passes through the 8th revolute pair 9 and upper arm 18
Connection, upper arm 18 connects by the 9th revolute pair 8 with wrist connecting rod 7, described 20 one end of support rod pass through the tenth revolute pair 19 and
Pedestal 1 connects, and the other end is connect by the 11st revolute pair 10 with connecting rod 11；Driving device is watched by first servo motor, second
Take motor form, be connected respectively with the first driving lever 3, the second driving lever 13, to the first driving lever 3, the second driving lever 13 into
Row driving.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710414923.5A CN108972570A (en) | 2017-06-05 | 2017-06-05 | A kind of two-freedom closed linkage spot welding manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710414923.5A CN108972570A (en) | 2017-06-05 | 2017-06-05 | A kind of two-freedom closed linkage spot welding manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108972570A true CN108972570A (en) | 2018-12-11 |
Family
ID=64501885
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710414923.5A Pending CN108972570A (en) | 2017-06-05 | 2017-06-05 | A kind of two-freedom closed linkage spot welding manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108972570A (en) |
-
2017
- 2017-06-05 CN CN201710414923.5A patent/CN108972570A/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 |