CN109604881A - A kind of more bar special mechanisms of sealed joint structure type for stitch welding machine - Google Patents
A kind of more bar special mechanisms of sealed joint structure type for stitch welding machine Download PDFInfo
- Publication number
- CN109604881A CN109604881A CN201710925418.7A CN201710925418A CN109604881A CN 109604881 A CN109604881 A CN 109604881A CN 201710925418 A CN201710925418 A CN 201710925418A CN 109604881 A CN109604881 A CN 109604881A
- Authority
- CN
- China
- Prior art keywords
- forearm
- drive rod
- large arm
- arm
- arm link
- 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.)
- Withdrawn
Links
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
-
- 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
- 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)
- Resistance Welding (AREA)
Abstract
A kind of more bar special mechanisms of sealed joint structure type for stitch welding machine, it is characterized by comprising rotatable platforms, wrist connecting rod, large arm, large arm drive rod, big arm link, forearm drive rod, forearm, small arm link, size arm link and wrist, welding gun, driving device, pedestal, forearm drive rod one end is connected on rotatable platform, the forearm drive rod other end is connect with forearm one end, the forearm other end is connect with small arm link one end, the small arm link other end is connected on wrist connecting rod, size arm link one end is connected on forearm, the other end is connected in large arm；Driving device includes first servo motor, the second servo motor, is connect respectively with large arm drive rod and forearm drive rod, is driven respectively to large arm drive rod and forearm drive rod.The present invention uses more bar parallel institutions, and whole driving motors, which are all mounted on revolving platform, carries out driving rigidity height to driving lever, and inertia is low, dynamic property is good, response is rapid, and the production efficiency of assembly can be improved.
Description
Technical field
The present invention relates to mechanical manufacturing field, especially a kind of more bars of sealed joint structure type for stitch welding machine are special
Use mechanism.
Background technique
The spot welding manipulator of existing machine-building welding production line mostly uses cascaded structure joint type motor drive machinery
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 joint.Due to the driving motor of the cascaded structure articulated robot of open form
All be mounted on the position in joint, this frame mode has the following problems: manipulator arm needs to carry the weight of motor and needs
Meet rigidity requirement, arm sectional dimension needs to be made larger, will increase the load of driving motor in this way, increases the movement of arm
Inertia causes manipulator dynamic property to decline, while driving motor is all mounted on the accumulated error that joint position causes manipulator
Greatly, bearing capacity is small, structure is complicated, the degree of modularity is low.With the development of motor technology and the raising of control technology, parallel machine
Structure provides extensive development space for manipulator, not only has work empty by controlling motor-driven multiple freedom parallel mechanism
Between big, flexible movements, the motion profile output of achievable complexity, while also having that manufacturing cost is low, maintenance is simply etc. excellent
Point.
Summary of the invention
The object of the present invention is to provide multi-rod parallel institution spot welding manipulators, overcome Serial manipulator driving motor whole
The movement inertia for being all mounted on arm caused by each joint of manipulator is big, and accumulated error is big, bearing capacity is small, dynamic
The low problem of energy, to achieve the goals above, the invention adopts the following technical scheme: a kind of closing for stitch welding machine
The more bar special mechanisms of chain structure form, it is characterised in that: including rotatable platform, wrist connecting rod, large arm, large arm drive rod, large arm
Connecting rod, forearm drive rod, forearm, small arm link, size arm link and wrist, welding gun, driving device, pedestal, the large arm
One end is connected on rotatable platform, and the large arm other end is connected on wrist connecting rod, and large arm drive rod one end is connected to rotatable platform
On, the large arm drive rod other end is connect with big arm link one end, and the big arm link other end is connected in large arm, the forearm driving
Bar one end is connected on rotatable platform, and the forearm drive rod other end is connect with forearm one end, the forearm other end and small arm link one
End connection, the small arm link other end are connected on wrist connecting rod, and size arm link one end is connected on forearm, and the other end is connected to
In large arm；Driving device includes first servo motor, the second servo motor, is connected respectively with large arm drive rod and forearm drive rod
It connects, large arm drive rod and forearm drive rod is driven respectively.
The present invention uses more bar parallel institutions, and whole driving motors are all mounted on revolving platform and drive to driving lever
It is dynamic, compared with Serial manipulator, reduce the movement inertia of arm, improve manipulator dynamic property, improves manipulator fortune
Capable stationarity and reliability, no accumulated error is compact-sized, and rigidity is high, and inertia is low, dynamic property is good, response is rapid, can mention
The production efficiency of high spot welding.
Detailed description of the invention
Fig. 1 is that a kind of more bar special mechanism structures of sealed joint structure type for stitch welding machine of the present invention are shown
It is intended to.
Specific embodiment
The more bar special mechanisms of a kind of sealed joint structure type for stitch welding machine, which is characterized in that flat including rotating
Platform 12, wrist connecting rod 6, large arm 1, large arm drive rod 2, big arm link 3, forearm drive rod 7, forearm, small arm link 9, big forearm
Connecting rod 10 and wrist 4, welding gun 5, driving device, pedestal 12, described 1 one end of large arm are connected on rotatable platform 12, and large arm 1 is another
One end is connected on wrist connecting rod 6, and 2 one end of large arm drive rod is connected on rotatable platform 12,2 other end of large arm drive rod and big
The connection of 3 one end of arm link, big 3 other end of arm link are connected in large arm 1, and it is flat that described 7 one end of forearm drive rod is connected to rotation
On platform 12,7 other end of forearm drive rod is connect with 8 one end of forearm, and 8 other end of forearm is connect with small 9 one end of arm link, and forearm connects
9 other end of bar is connected on wrist connecting rod 6, and 10 one end of size arm link is connected on forearm, and the other end is connected in large arm.It drives
Dynamic device includes two servo motors, is connect respectively with large arm drive rod 2 and forearm drive rod 7, respectively to 2 He of large arm drive rod
Forearm drive rod 7 is driven.
Working example: a kind of more bar special mechanisms of sealed joint structure type for stitch welding machine mainly have elevating mechanism
Formed with luffing mechanism, the elevating mechanism being made of at work large arm 1, large arm drive rod 2, big arm link 3 drive wrist and
The lifting up and down of welding gun, while the luffing mechanism band that forearm drive rod 7, forearm 8, small arm link 9 and size arm link 10 form
It starts wrist and welding gun pitching movement.
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, mechanical arm of the invention, so that entire mechanism kinematic inertia
Small, dynamic performance is good, easily controllable, by the way that revolving platform, the revolution working space for making mechanical arm possess 360 degree, work is arranged
It is big to make spatial dimension.
Claims (1)
1. a kind of more bar special mechanisms of sealed joint structure type for stitch welding machine, it is characterised in that: including rotatable platform,
Wrist connecting rod, large arm, large arm drive rod, big arm link, forearm drive rod, forearm, small arm link, size arm link and hand
Wrist, welding gun, driving device, pedestal；Described large arm one end is connected on rotatable platform, and the large arm other end is connected to wrist connecting rod
On, large arm drive rod one end is connected on rotatable platform, and the large arm drive rod other end is connect with big arm link one end, big arm link
The other end is connected in large arm, and forearm drive rod one end is connected on rotatable platform, the forearm drive rod other end and forearm
One end connection, the forearm other end are connect with small arm link one end, and the small arm link other end is connected on wrist connecting rod, and big forearm connects
Bar one end is connected on forearm, and the other end is connected in large arm；Driving device includes first servo motor, the second servo motor,
It connect with large arm drive rod and forearm drive rod, large arm drive rod and forearm drive rod is driven respectively respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710925418.7A CN109604881A (en) | 2017-10-04 | 2017-10-04 | A kind of more bar special mechanisms of sealed joint structure type for stitch welding machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710925418.7A CN109604881A (en) | 2017-10-04 | 2017-10-04 | A kind of more bar special mechanisms of sealed joint structure type for stitch welding machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109604881A true CN109604881A (en) | 2019-04-12 |
Family
ID=66001524
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710925418.7A Withdrawn CN109604881A (en) | 2017-10-04 | 2017-10-04 | A kind of more bar special mechanisms of sealed joint structure type for stitch welding machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109604881A (en) |
-
2017
- 2017-10-04 CN CN201710925418.7A patent/CN109604881A/en not_active Withdrawn
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190412 |
|
| WW01 | Invention patent application withdrawn after publication |