CN109500519B - Controllable spherical hinge parasitic mechanism type welding robot - Google Patents
Controllable spherical hinge parasitic mechanism type welding robot Download PDFInfo
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- CN109500519B CN109500519B CN201811584542.2A CN201811584542A CN109500519B CN 109500519 B CN109500519 B CN 109500519B CN 201811584542 A CN201811584542 A CN 201811584542A CN 109500519 B CN109500519 B CN 109500519B
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- 238000003466 welding Methods 0.000 title claims abstract description 119
- 230000007246 mechanism Effects 0.000 title claims abstract description 101
- 230000003071 parasitic effect Effects 0.000 title claims abstract description 49
- 210000000245 forearm Anatomy 0.000 claims description 15
- 244000309464 bull Species 0.000 claims description 10
- 238000000034 method Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 7
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 239000000779 smoke Substances 0.000 description 1
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
Abstract
A controllable ball hinge parasitic mechanism type welding robot comprises a host mechanism main body and a large arm rotating power mechanism, wherein the parasitic mechanism is divided into a small arm swing control mechanism and a welding gun swing control mechanism, a large arm ball disc is fixedly connected with a base through a ball disc supporting rod, the large arm ball disc is connected with the large arm through a ball hinge pair, the large arm is connected with the small arm through a ball hinge pair, the small arm is connected with a welding gun supporting shaft through a ball hinge pair, the welding gun supporting shaft is fixedly connected with the welding gun, a power roller provides power for the large arm to rotate, a lower gear motor and an upper gear motor drive a double spring group to control the small arm to swing, a bent connecting rod is hinged with a small arm spring, the small arm spring is hinged with a connecting rod, a welding gun swing motor drives a four-bar mechanism, and a welding gun swing connecting rod of the four-bar mechanism is hinged with an upper ball hinge to control the welding gun to swing. The robot can realize multi-degree-of-freedom operation and meet different industrial requirements.
Description
Technical Field
The invention relates to the field of mechanical industrial robots, in particular to a controllable spherical hinge parasitic mechanism type welding robot.
Background
Welding is an indispensable processing technology in the modern machinery manufacturing industry and plays an important role in the industries of automobile manufacturing, engineering machinery, ship industry and the like. The welding process is also being advanced toward high welding accuracy and high welding speed. The prior manual welding is difficult to meet the current welding requirement, and sparks, smoke, strong light and the like generated in the welding process cause certain harm to human bodies. The requirements of complexity, labor intensity, product quality, batch and the like of a welding manufacturing process are very urgent for the requirements of automation and mechanization, the trend of replacing manual operation welding by robot multi-degree-of-freedom automatic welding for the development of modern dare technology is realized, and most of modern welding robots are hinged connection, so that the multiple hinges required for realizing multi-degree-of-freedom controllability are multiple, and the structure is complex.
The welding robot has various types, but most of the welding robots are controlled by hinge connection, a servo motor is added at each joint to achieve the purpose of controlling the rotation of the joint, and the motor at the position far away from the pivot point can cause the serial mechanism to bear larger bending moment at the position close to the pivot point. Therefore, a redistribution of power is required.
Disclosure of Invention
The invention aims to provide a controllable spherical hinge parasitic mechanism type welding robot by utilizing the relation between a host and a parasitic. The host mechanism is used as a main supporting member of the robot, and the parasitic mechanism is used as a power driving member, so that the problems in the prior art are solved.
In order to achieve the above purpose, the technical scheme of the invention is as follows: the utility model provides a controllable ball hinge parasitic mechanism formula welding robot, its characterized in that includes host mechanism and parasitic mechanism, host mechanism comprises host mechanism main part and big arm rotation power mechanism, and parasitic mechanism divide into forearm swing control mechanism and welder swing control mechanism, and concrete structure and relation of connection are:
the host mechanism main body is connected in the following way: the lower part of the ball disc supporting rod is fixedly connected with the base, and the upper part of the ball disc supporting rod is fixedly connected with the large arm ball disc; the large arm spherical hinge and the large arm spherical disc form a spherical hinge kinematic pair, the lower part of the large arm is fixedly connected with the large arm spherical hinge, and the upper part of the large arm is fixedly connected with the small arm spherical disc; the small arm spherical hinge and the small arm spherical disc form a spherical hinge kinematic pair, the small arm penetrates through the small arm spherical hinge and is fixedly connected with the small arm spherical hinge, one end of the small arm is fixedly connected with the welding gun spherical hinge, the other end of the small arm is used as a connecting control fulcrum of the parasitic mechanism, the welding gun spherical disc and the welding gun spherical hinge form a spherical hinge kinematic pair, and the welding gun supporting shaft penetrates through the welding gun spherical hinge and is fixedly connected with the welding gun spherical hinge; one end of the welding gun supporting shaft is fixedly connected with the welding gun, and the other end of the welding gun supporting shaft is used as a control fulcrum.
The connection mode of the large arm rotating power mechanism is as follows: the power for swinging the big arm is provided by a power roller, the upper part of a big arm rotating shaft is hinged with a big arm spherical hinge, and the lower part of the big arm rotating shaft is fixedly connected with a roller bracket; the power idler wheel is arranged on the idler wheel bracket and rolls on the arc surface of the base.
The first control chain connection mode of the small arm swing control mechanism of the parasitic mechanism is as follows: the single motor support sleeve is sleeved on the big arm, the lower part is fixedly connected with a big arm spherical hinge, the upper part is fixedly connected with a single motor support frame, the lifting motor is fixedly connected with the single motor support frame, the motor shaft is fixedly connected with the crank, the lower end of the connecting rod is hinged with the crank, the upper end of the connecting rod is hinged with the double motor support frame, the double motor support frame is sleeved on the big arm, the upper gear motor is arranged on the right side of the double motor support frame, the upper gear motor shaft is fixedly connected with an upper pinion shaft hole, the upper pinion is meshed with an upper big gear, the upper big gear is positioned on a spring sleeve, the big diameter spring is sleeved outside the spring sleeve, the lower part of the big diameter spring is fixedly connected with the upper big gear, the upper part is fixedly connected with an outer push rod, the lower ball disc is fixedly connected with the outer push rod, the lower ball disc forms a ball hinge kinematic pair with the lower ball hinge, and the outer connecting rod is hinged with a fulcrum at one end of the small arm.
The second control chain connection mode of the forearm swing control mechanism of the parasitic mechanism is as follows: the lower gear motor is arranged on the left side of the double-motor support, the motor shaft is fixedly connected with a lower pinion shaft hole, the lower pinion is meshed with a lower bull gear, the lower bull gear is positioned on the spring sleeve, the distance between the lower bull gear and the upper bull gear is limited by the gear limiting sleeve, the small-diameter spring is arranged between the spring sleeve and the large arm, the lower part of the small-diameter spring is fixedly connected with the lower bull gear, the upper part of the small-diameter spring is hinged with the inner push rod, the lower part of the inner connecting rod is hinged with the inner push rod, and the upper part of the inner connecting rod is hinged with one end of the small arm.
The first control chain connection mode of the welding gun swinging mechanism of the parasitic mechanism is as follows: one end of the bent connecting rod is hinged with the outer connecting rod and the small arm, the other end of the bent connecting rod is hinged with one end of the small arm spring, the small arm spring is arranged on the small arm, the other end of the small arm spring is hinged with one end of the side link, the spring slide block is sleeved on the small arm spring, the spring slide block moving motor is fixed on the spring slide block, a motor shaft of the spring slide block moving motor is fixedly connected with the screw rod, the screw rod nut is fixed on the bent connecting rod, a screw pair is formed with the screw rod, the side link supporting shaft sleeve is sleeved on the welding gun supporting shaft, and the other end of the side link is hinged with the side link supporting shaft sleeve.
The second control chain connection mode of the welding gun swinging mechanism of the parasitic mechanism is as follows: the welding gun swinging motor is fixed on the spring sliding block, one end of a welding gun swinging crank is fixedly connected with the welding gun swinging motor, the other end of the welding gun swinging crank is hinged with a welding gun swinging connecting rod, the other end of the welding gun swinging connecting rod is hinged on a side link sliding block, the side link sliding block is arranged on the side link as a sliding block, an upper spherical hinge supporting rod is hinged with the side link sliding block, and the other end of the upper spherical hinge supporting rod is hinged with the spherical hinge supporting rod; the upper spherical hinge and the upper spherical disc form a spherical hinge kinematic pair, the upper spherical hinge is fixed on a spherical hinge supporting rod, and an upper spherical hinge connecting rod supporting rod is fixed on the upper spherical disc; one end of the upper spherical hinge connecting rod is hinged with the upper spherical hinge connecting rod supporting rod, and the other end of the upper spherical hinge connecting rod is hinged with the welding gun supporting shaft.
The ball disc support rod consists of four identical cylindrical rods.
The invention has the outstanding advantages that:
1. the whole structure of the robot is divided into two parts, a biological host and a parasitic relation are applied to mechanical design, a host mechanism is utilized as a main body of the robot, the structure of the multi-arm driven complex robot is designed according to the complexity of the main body of the host mechanism, and the structure which changes in the actual application process is more, so that different industrial requirements are met.
2. The parasitic mechanism is adopted to control various movements of the host mechanism, and the starting end of the parasitic branched chain is arranged near the engine base, so that the larger bending moment born by the structure far away from the engine base is reduced, and the energy utilization rate is improved.
3. The parasitic mechanism is provided for controlling various movements of the host mechanism, and the starting end of the parasitic mechanism is arranged at different positions, so that the driving motor is arranged according to the requirement, and the power setting is more reasonable.
4. The high-stiffness spring is adopted as the middle transmission part of the control chain, and the load of the robot in the running process can be reduced due to the fact that the moment in the running process is large by means of the small deformation characteristic of the high-stiffness spring.
4. The host mechanism is connected by adopting a spherical hinge pair and is matched with parasitic mechanisms with different structures, and the robot can realize multi-degree-of-freedom operation.
Drawings
Fig. 1 is a schematic structural diagram of a controllable spherical hinge parasitic mechanism type welding robot according to the present invention.
Fig. 2 is a left and right isometric view of the welding robot with the controllable spherical hinge parasitic mechanism.
Fig. 3 is a schematic diagram of a host mechanism of the welding robot with the controllable spherical hinge parasitic mechanism.
Fig. 4 is a schematic diagram of a parasitic mechanism of the controllable spherical hinge parasitic mechanism type welding robot.
Fig. 5 is a schematic diagram of controlling a large arm of the welding robot with the controllable spherical hinge parasitic mechanism.
Fig. 6 is a schematic diagram of a first control chain for turning a forearm of a welding robot with a controllable spherical hinge parasitic mechanism according to the present invention.
Fig. 7 is a schematic diagram of a second control chain of the arm drive of the welding robot with the controllable spherical hinge parasitic mechanism.
Fig. 8 is a schematic diagram of a welding gun control chain of the welding robot with the controllable spherical hinge parasitic mechanism.
Marked in the figure as: 1. a large arm rotating shaft; 2. a ball disc support rod; 3. a base; 4. a large arm ball disc; 5. a single motor support sleeve; 6. a single motor support frame; 7. a connecting rod; 8. a dual motor bracket; 9. a gear motor is arranged; 10. a motor shaft of the upper gear; 11. an upper pinion gear; 12. a large diameter spring; 13. a forearm spring; 14. a spring slider; 15. a side link; 16. a forearm; 17. a welding gun; 18. a welding gun support shaft; 19. a welding gun ball disc; 20. spherical hinge of welding gun; 21. a supporting rod of an upper spherical hinge; 22. the side link supports the shaft sleeve; 23. a spherical hinge support rod; 24. a spherical hinge connecting rod is arranged; 25. a connecting rod supporting rod of the upper spherical hinge; 26. a spherical hinge is arranged; 27. a side link slider; 28. swinging connecting rod of welding gun; 29. a welding gun swinging crank; 30. a welding gun swinging motor; 31. a spring slider moving motor; 32. a screw rod; 33. a bent connecting rod; 34. a small arm ball disc; 35. ball pivot of forearm; 36. an outer link; 37. an inner link; 38. a small diameter spring; 39. a lower spherical hinge; 40. a ball feeding disc; 41. a spring sleeve; 42. a top gear; 43. a gear limit sleeve; 44. a lower pinion gear; 45. a lower large gear; 46. a lower gear motor; 47. a large arm; 48. a lifting motor; 49. a crank; 50. ball pivot of big arm; 51. an inner push rod; 52 outer push rod; 53. a connecting piece; 54. a support pin; 55. a screw nut; 56. a roller bracket; 57. a power roller; 58. and (5) feeding the ball disc.
Detailed Description
The technical scheme of the invention is further described below through the attached drawings and the embodiments.
As shown in fig. 1 to 8, the welding robot with the controllable spherical hinge parasitic mechanism comprises a host mechanism and a parasitic mechanism, wherein the host mechanism consists of a host mechanism main body and a large arm rotating power mechanism. The parasitic mechanism is divided into a small arm swing control mechanism and a welding gun swing control mechanism, and the specific structure and the connection relation are as follows:
as shown in fig. 1 and 3, the host mechanism main body is connected in the following manner: the ball disc supporting rod 2 mainly comprises four identical cylindrical rods, the lower part of the ball disc supporting rod is fixedly connected with the base 3, and the upper part of the ball disc supporting rod is fixedly connected with the large arm ball disc 4; the large arm ball joint 50 and the large arm ball disc 4 form a ball joint kinematic pair; the lower part of the large arm 47 is fixedly connected with the large arm spherical hinge 50, and the upper part of the large arm 47 is fixedly connected with the small arm spherical disc 34; the small arm spherical hinge 35 and the small arm spherical disc 34 form a spherical hinge kinematic pair, the small arm 16 passes through the small arm spherical hinge 35 and is fixedly connected with the small arm 16, one end of the small arm 16 is fixedly connected with the welding gun spherical hinge 19, the other end of the small arm 16 is used as a connection control fulcrum of a parasitic mechanism, the welding gun spherical disc 19 and the welding gun spherical hinge 20 form a spherical hinge kinematic pair, and the welding gun supporting shaft 18 passes through the welding gun spherical hinge 20 and is fixedly connected with the welding gun spherical hinge 20; one end of the welding gun supporting shaft 18 is fixedly connected with the welding gun 17, and the other end of the welding gun supporting shaft 18 is used as a control fulcrum.
As shown in fig. 3 and 5, the connection mode of the large arm rotation power mechanism is as follows: the swing power of the big arm is provided by a power roller 57, the upper part of the big arm rotating shaft 1 is hinged with the big arm spherical hinge 50, and the lower part is fixedly connected with a roller bracket 56; the power roller 57 is mounted on the roller bracket 56 and rolls on the circular arc surface of the base 3.
As shown in fig. 1, 4 and 6, the first control chain connection mode of the forearm swing control mechanism of the parasitic mechanism is as follows: the single motor supporting sleeve 5 is sleeved on the large arm 47, the lower part is fixedly connected with the large arm spherical hinge 50, and the upper part is fixedly connected with the single motor supporting frame 6; the lifting motor 48 is fixed on the single motor support frame 6, and a motor shaft is fixedly connected with a crank 49; the lower end of the connecting rod 7 is hinged with a crank 49, and the upper end is hinged with the double-motor bracket 8; the double-motor bracket 8 is sleeved on the large arm 47, the upper gear motor 9 is arranged on the right side of the double-motor bracket 8, the upper gear motor shaft 10 is fixedly connected with the shaft hole of the upper pinion 11, the upper pinion 11 is meshed with the upper large gear 42, and the upper large gear 42 is positioned on the spring sleeve 41; the large-diameter spring 12 is sleeved outside the spring sleeve 41, the lower part of the large-diameter spring is fixedly connected with the upper large gear 42, and the upper part of the large-diameter spring is fixedly connected with the push rod 52; the lower ball disc 40 is fixedly connected with the push rod 52, and the lower ball disc 40 and the lower ball hinge 39 form a ball hinge kinematic pair; the outer connecting rod 36 is fixedly connected with the lower spherical hinge 39, and the outer connecting rod 36 is hinged with one end fulcrum of the forearm 16.
As shown in fig. 1, 4 and 7, the second control chain connection mode of the forearm swing control mechanism of the parasitic mechanism is as follows: a lower gear motor 46 is arranged on the left side of the double-motor bracket 8, a motor shaft is fixedly connected with a shaft hole of a lower pinion 44, the lower pinion 44 is meshed with a lower large gear 45, the lower large gear 45 is positioned on the spring sleeve 41, and the distance between the lower large gear 45 and the upper large gear 42 is limited by a gear limiting sleeve 43; the small-diameter spring 38 is arranged between the spring sleeve 41 and the large arm 47, the lower part of the small-diameter spring 38 is fixedly connected with the lower large gear 45, and the upper part is hinged with the inner push rod 51; the inner link 37 is hinged to the lower portion thereof and to the inner push rod 51, and the upper portion of the inner link 37 is hinged to one end of the forearm 16.
As shown in fig. 1, 4 and 8, the first control chain connection mode of the welding gun swinging mechanism of the parasitic mechanism is as follows: one end of the bent connecting rod 33 is hinged with the outer connecting rod 36 and the forearm 16, and the other end is hinged with one end 13 of the forearm spring; the small arm spring 13 is arranged on the small arm 16, the other end of the small arm spring is hinged with one end of the side link 15, and the spring sliding block 14 is sleeved on the small arm spring 13; the spring slide block moving motor 31 is fixed on the spring slide block 14, a motor shaft of the spring slide block moving motor 31 is fixedly connected with the screw rod 32, and the screw rod nut 55 is fixed on the bent connecting rod 33 and forms a screw pair with the screw rod 32; the side link support shaft sleeve 22 is sleeved on the welding gun support shaft 18, and the other end of the side link 15 is hinged with the side link support shaft sleeve 22.
As shown in fig. 8, the second control chain connection mode of the welding gun swinging mechanism of the parasitic mechanism is as follows: the welding gun swing motor 30 is fixed on the spring slider 14, one end of the welding gun swing crank 29 is fixedly connected with the welding gun swing motor 30, and the other end is hinged with the welding gun swing connecting rod 28; the other end of the welding gun swinging connecting rod 28 is hinged to a side link sliding block 27, and the side link sliding block 27 is arranged on the side link 15 as a sliding block; the upper spherical hinge support rod 21 is hinged with the side link sliding block 27, and the other end is hinged with the spherical hinge support rod 23; the upper spherical hinge 26 and the upper spherical disc 58 form a spherical hinge kinematic pair, the upper spherical hinge 26 is fixed on the spherical hinge supporting rod 23, and the upper spherical hinge connecting rod supporting rod 25 is fixed on the upper spherical disc 58; one end of the upper spherical hinge connecting rod 24 is hinged with the upper spherical hinge connecting rod supporting rod 25, and the other end is hinged with the welding gun supporting shaft 18.
Working principle and process:
the big arm rotating shaft 1 is hinged with the big arm 47 and can rotate relative to the big arm 47, power is arranged in the big arm spherical hinge 50, the lower part of the big arm rotating shaft 1 rolls along the hemispherical surface of the base through the power roller 57 to provide power for swinging the big arm 47, and the rotating power provided by the big arm spherical hinge 50 is matched to realize the whole rotation and swinging of the big arm 47. The lift motor 48 is disposed on the single motor support frame 6, and the positioning on the large arm 47 is supported by the single motor support sleeve 5 disposed above the large arm spherical hinge 50, the double motor support frame 8 is disposed on the large arm 47 shaft and can move up and down along the large arm 47, the crank 49 is controlled to rotate by the lift motor 48, thereby controlling the double motor support frame 8 to move up and down, the second control chain and the second control chain of the small arm swing control mechanism are both supported by the double motor support frame 8, and the double motor support frame 8 moves up and down, thereby realizing the up and down swing of the small arm 16.
The upper gear motor 9 arranged on the double-motor bracket 8 works to drive the upper pinion 11, the upper pinion 11 drives the upper large gear 42 to rotate again, the upper large gear 42 is fixedly connected with the large-diameter spring 12, the upper large gear 42 rotates, the large-diameter spring 12 with larger rigidity can rotate, when the moment is overlarge in the running process, the load can be reduced to a certain extent due to the elastic force of the large-diameter spring 12, so that the outer push rod 52 fixedly connected with the moment can be driven to rotate, the inner push rod 51 is hinged with the small-diameter spring 13, the inner push rod 51 rotates downwards to drive the inner connecting rod 37 to move downwards, and the outer connecting rod 36 and the inner connecting rod 37 are changed into different surfaces from the previous parallel. At this time, the angle between the outer push rod 52 and the outer connecting rod 36 is unchanged, but the plane formed by the front and rear sides of the outer push rod 52 is at a certain angle. At this time, one end of the bent link 33 moves downward, so that the arm spring 13 moves toward the arm ball joint 35. Also, because the outer link 36 moves downward at this time, the forearm 16 is controlled to swing left and right by the articulated link.
The lower gear motor 46 arranged on the double motor bracket 8 works to drive the lower pinion 44, the lower pinion 44 drives the lower large gear 45 to rotate again, the lower large gear 45 is fixedly connected with the small-diameter spring 38, the lower large gear 45 rotates, the small-diameter spring 38 with larger rigidity can rotate, when the moment is overlarge in the running process, the load of the large arm 47 can be reduced to a certain extent due to the elastic force of the small-diameter spring 38, the small-diameter spring 38 drives the inner push rod 51 fixedly connected with the small-diameter spring 38 to rotate, when the working rotation speeds of the lower gear motor 46 and the upper gear motor 9 are consistent, the first control chain and the second control chain are consistent in power distribution at the position where the spring group is connected with the small arm 16, the movement rotation angles of the outer connecting rod 36 and the inner connecting rod 37 are the same, and at the moment, the movement of the small arm 16 becomes up-down swing.
Because the upper gear motor 9 rotates before, one end of the bent connecting rod 33 moves downwards through the first control chain of the swing control mechanism of the small arm 16, the small arm spring 13 is driven to move towards the small arm spherical hinge 35 along the small arm 16, when the force is overlarge in the running process, the load of the small arm 16 can be converted into the internal force of the small arm spring 13 to a certain extent due to the elasticity of the small arm spring 13, the small arm spring 13 drives the side link 15 to move again, and the side link 15 is hinged with the welding gun supporting shaft sleeve 22, so that the welding gun supporting shaft 22 is driven to swing forwards and backwards, and the front and back swing of the welding gun 17 is realized.
The welding gun swinging motor 30 rotates to drive the welding gun swinging crank 29, the welding gun swinging connecting rod 28 drives the side link sliding block 27, the side link sliding block 27 slides on the side link 15 to drive the upper spherical hinge connecting rod supporting rod 25 to swing, and then the upper spherical hinge pair drives the upper spherical hinge connecting rod 24 to swing, and the welding gun supporting shaft 18 rotates to realize the swinging of the welding gun 17 because the upper spherical hinge connecting rod 24 is hinged with the welding gun supporting shaft 18.
Claims (1)
1. The utility model provides a controllable ball hinge parasitic mechanism formula welding robot which characterized in that, includes host mechanism and parasitic mechanism, host mechanism comprises host mechanism main part and big arm rotation power mechanism, and parasitic mechanism divide into forearm swing control mechanism and welder swing control mechanism, and concrete structure and relation of connection are:
the host mechanism main body is connected in the following way: the lower part of the ball disc supporting rod is fixedly connected with the base, the upper part of the ball disc supporting rod is fixedly connected with the large arm ball disc, the large arm ball joint and the large arm ball disc form a ball joint kinematic pair, the lower part of the large arm is fixedly connected with the large arm ball joint, the upper part of the large arm is fixedly connected with the small arm ball disc, the small arm ball joint and the small arm ball disc form a ball joint kinematic pair, the small arm penetrates through the small arm ball joint and is fixedly connected with the small arm ball joint, one end of the small arm is fixedly connected with the welding gun ball disc, the other end of the small arm is used as a connecting control fulcrum of a parasitic mechanism, the welding gun ball disc and the welding gun ball joint form a ball joint kinematic pair, a welding gun supporting shaft penetrates through the welding gun ball joint and is fixedly connected with the welding gun ball joint, one end of the welding gun supporting shaft is fixedly connected with the welding gun, the other end of the welding gun supporting shaft is used as the control fulcrum,
the connection mode of the large arm rotating power mechanism is as follows: the power of the big arm is provided by a power roller, the upper part of a big arm rotating shaft is hinged with a big arm spherical hinge, the lower part is fixedly connected with a roller bracket, the power roller is arranged on the roller bracket and rolls on the arc surface of the base,
the first control chain connection mode of the small arm swing control mechanism of the parasitic mechanism is as follows: the single motor support sleeve is sleeved on the big arm, the lower part is fixedly connected with a big arm spherical hinge, the upper part is fixedly connected with a single motor support frame, the lifting motor is fixedly connected with the single motor support frame, the motor shaft is fixedly connected with the crank, the lower end of the connecting rod is hinged with the crank, the upper end of the connecting rod is hinged with the double motor support frame, the double motor support frame is sleeved on the big arm, the upper gear motor is arranged on the right side of the double motor support frame, the upper gear motor shaft is fixedly connected with an upper pinion shaft hole, the upper pinion is meshed with the upper big gear, the upper big gear is positioned on a spring sleeve, the big diameter spring is sleeved outside the spring sleeve, the lower part of the big diameter spring is fixedly connected with the upper big gear, the upper part is fixedly connected with the push rod, the lower ball disc forms a spherical hinge kinematic pair with the lower spherical hinge, the outer connecting rod is fixedly connected with the lower spherical hinge, the outer connecting rod is hinged with one end pivot of the small arm,
the second control chain connection mode of the forearm swing control mechanism of the parasitic mechanism is as follows: the lower gear motor is arranged at the left side of the double-motor bracket, the motor shaft is fixedly connected with a lower pinion shaft hole, the lower pinion is meshed with a lower bull gear, the lower bull gear is positioned on a spring sleeve, the distance between the lower bull gear and the upper bull gear is limited by a gear limiting sleeve, a small-diameter spring is arranged between the spring sleeve and a large arm, the lower part of the small-diameter spring is fixedly connected with the lower bull gear, the upper part of the small-diameter spring is hinged with an inner push rod, the lower part of the inner connecting rod is hinged with the inner push rod, the upper part of the inner connecting rod is hinged with one end of the small arm,
the first control chain connection mode of the welding gun swinging mechanism of the parasitic mechanism is as follows: one end of the bent connecting rod is hinged with the outer connecting rod and the small arm, the other end of the bent connecting rod is hinged with one end of the small arm spring, the small arm spring is arranged on the small arm, the other end of the small arm spring is hinged with one end of the side link, the spring slide block is sleeved on the small arm spring, the spring slide block moving motor is fixed on the spring slide block, the motor shaft of the spring slide block moving motor is fixedly connected with the screw rod, the screw rod nut is fixed on the bent connecting rod and forms a spiral pair with the screw rod, the side link supporting shaft sleeve is sleeved on the welding gun supporting shaft, the other end of the side link is hinged with the side link supporting shaft sleeve,
the first control chain of the small arm swing control mechanism of the parasitic mechanism, the second control chain of the small arm swing control mechanism and the second control chain of the welding gun swing mechanism can change the structure of the controllable spherical hinge parasitic mechanism type welding robot by changing the arrangement mode of the rod pieces;
the second control chain connection mode of the welding gun swinging mechanism of the parasitic mechanism is as follows: the welding gun swinging motor is fixed on the spring sliding block, one end of a welding gun swinging crank is fixedly connected with the welding gun swinging motor, the other end of the welding gun swinging crank is hinged with a welding gun swinging connecting rod, the other end of the welding gun swinging connecting rod is hinged on a side link sliding block, the side link sliding block is arranged on a side link as a sliding block, an upper spherical hinge supporting rod is hinged with the side link sliding block, the other end of the welding gun swinging connecting rod is hinged with a spherical hinge supporting rod, an upper spherical hinge is fixed on the spherical hinge supporting rod with an upper spherical disc-shaped spherical hinge kinematic pair, one end of the upper spherical hinge connecting rod is hinged with an upper spherical hinge connecting rod supporting rod, and the other end of the upper spherical hinge connecting rod is hinged with a welding gun supporting shaft;
the welding gun swinging motor (30) rotates to drive the welding gun swinging crank (29), the welding gun swinging connecting rod (28) drives the side link sliding block (27), the side link sliding block (27) slides on the side link (15) to drive the upper spherical hinge connecting rod supporting rod (25) to swing, and then the upper spherical hinge pair drives the upper spherical hinge connecting rod (24) to swing, and the upper spherical hinge connecting rod (24) is hinged with the welding gun supporting shaft (18), so that the welding gun supporting shaft (18) rotates to swing the welding gun (17);
the ball disc support rod consists of four identical cylindrical rods.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811584542.2A CN109500519B (en) | 2018-12-24 | 2018-12-24 | Controllable spherical hinge parasitic mechanism type welding robot |
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| CN201811584542.2A CN109500519B (en) | 2018-12-24 | 2018-12-24 | Controllable spherical hinge parasitic mechanism type welding robot |
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| CN109500519B true CN109500519B (en) | 2024-04-12 |
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|---|---|---|---|---|
| CN110340506A (en) * | 2019-07-04 | 2019-10-18 | 佛山市昱纶机械有限公司 | A kind of bagged-spring welder |
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| CN109500519A (en) | 2019-03-22 |
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