CN109794714A - A kind of controllable parasitic mechanisms formula welding robot of six degree of freedom - Google Patents
A kind of controllable parasitic mechanisms formula welding robot of six degree of freedom Download PDFInfo
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- CN109794714A CN109794714A CN201910236976.1A CN201910236976A CN109794714A CN 109794714 A CN109794714 A CN 109794714A CN 201910236976 A CN201910236976 A CN 201910236976A CN 109794714 A CN109794714 A CN 109794714A
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Abstract
A kind of controllable parasitic mechanisms formula welding robot of six degree of freedom, it is made of host mechanism and parasitic mechanisms, host mechanism includes base support, power mechanism, large arm, middle arm and forearm, parasitic mechanisms are made of six mutually independent branches, host mechanism is supplied to support and the bearing load of total, the parasitic branch of six of parasitic mechanisms controls the six-freedom degree of host mechanism, and Liang Zhong mechanism organically combines, and completes welding jointly.The present invention uses for reference nature host and parasitic relationship, and host mechanism and parasitic mechanisms are organically combined, solve the problems, such as that load is excessive in existing welding robot zero load and loading process, with energy saving, reduces cost.
Description
Technical field
The present invention relates to mechanical industry robot field, specially a kind of controllable parasitic mechanisms formula welding robot of six degree of freedom
People.
Background technique
Welding robot be it is a kind of by the program that has set by fixation locus automatic running, and carry out particular track into
The automatic machinery people of row welding.For welding robot since work efficiency is high for it, welding quality is good, saves labour cost etc.
Advantage is widely applied in fields such as automobile manufacture, ship, military projects, greatly improves the production efficiency of industry manufacture, is repeating
And in dangerous working environment, labour is liberated.Modern welding technology requirement is higher and higher, and some welding procedures even need nothing
The working environment of dirt is manually difficult to substitute to guarantee welding quality, but now robot widely applied on the market be mostly six from
By degree chain type serial manipulator, power is arranged at the rotation vice division chief of joint connection, and the unreasonable setting of motor is in robot
Operational process in, additional moment of flexure and torque can be caused to robot, reduces the service life of robot.
Summary of the invention
Parasitism, i.e. two kinds of biologies are lived together, and a Fang Shouyi, another party is aggrieved, and the latter provides nutrition to the former
Substance and residential location, and make the latter physiologically by certain damage, the relationship of this biology referred to as parasitism.The present invention borrows
Mechanism is divided into host mechanism and parasitic mechanisms by the parasitism of mirror nature, and host mechanism gives parasitic mechanisms to provide supporting point
It is distributed with robot primary structure, parasitic mechanisms drive and control to host mechanism, and Liang Zhong mechanism organic assembling, the two does not have
It is divided into and is benefited and aggrieved, common completion a certain kind or certain a kind of function.The object of the present invention is to provide a kind of six degree of freedoms can
Parasitic mechanisms formula welding robot is controlled, is made of a host mechanism and six parasitic branch chain mechanisms, host mechanism provides support
Point respectively controls the six-freedom degree of host mechanism using six branches, and it is mostly single-stranded to solve modern welding robot
The problems such as serial manipulator, power irrational distribution.
A kind of above-mentioned purpose that the invention is realized by the following technical scheme: controllable parasitic mechanisms formula welding robot of six degree of freedom
People is made of host mechanism and parasitic mechanisms, and host mechanism includes base support, large arm, middle arm, forearm and power mechanism, posts
Life structure is made of six mutually independent branches, specific structure and connection type are as follows:
The host mechanism connection type are as follows: base support top is fixedly linked with bearings plate, under base support
The portion left side is fixedly connected with left foot plate, is fixedly connected on the right of base support lower part with right crus of diaphragm plate；Floating bearing is fixed on bearing branch
On fagging, floating bearing top is fixedly connected with bottom plate；Left support plate and right support plate are fixed on bottom plate by corner brace, left support
Plate and right support plate are arranged symmetrically, and pass through the common Support large arm rotation axis of bearing；Big motor support plate, size motor support plate,
Small machine support plate is fixed in large arm rotation axis by six bolts；
The large arm front end panel and large arm rear bearing sheet that the large arm is arranged by front and back are fixed on large arm rotation by corner brace
On axis, the connection that a corner brace reinforces large arm and large arm rotation axis is respectively arranged in large arm or so；The left ear of middle arm of large arm upper end setting
It is fixedly connected with middle arm auris dextra by six bolt-throughs, a bearing is respectively installed on the middle left ear of arm and middle arm auris dextra, among bearing
A piece axis is set, the main support as middle arm；
Bearing support long axis is arranged in the middle arm both ends, and the inside of middle arm is arranged in bearing support long axis, and bearing support is long
Axis is concordant with four axis pivoted links of middle arm rear end, and middle arm front end and middle arm front end bearing support block connect by the way that four corner braces are fixed
It connects, bearing is set inside middle arm front end bearing support block, long axis is supported through bearing, middle arm rear end and middle arm rear end bearing
Supporting block is fixedly connected by four corner braces, and bearing is arranged inside middle arm rear end bearing supporting block, is used to support the long axis other end；
Bearing support long axis front end is fixedly connected with long axis fixed block, and long axis supporting block, long axis supporting block is arranged in long axis fixed block rear end
Certain distance is opened by cushion block among long axis fixed block, forms stable two o'clock support, long axis fixed block and long axis supporting block
The left side be fixedly connected with the left ear of forearm, the right of long axis fixed block and long axis supporting block is fixedly connected with forearm auris dextra；
Bearing is installed in the left ear of the forearm and forearm auris dextra front end, and axis passes through forearm and is fixedly connected with bearing inner race, shape
At revolute pair；Forearm upper end bearing supporting block is arranged in forearm top, and setting bearing in inside is used to support welding gun axis upper end, forearm
Forearm bottom end bearing supporting block is arranged in lower part, internal that bearing is arranged, and supports welding gun axis lower end；Forearm outrigger shaft is fixed on forearm
Upper end；
The power mechanism is arranged in large arm rotation axis, and the top of big motor support plate is fixed on by six bolts
The top on the large arm rotation axis left side, size motor support plate is fixed in the middle part of large arm rotation axis by six bolts, small machine branch
The top of fagging is fixed on the right of large arm rotating shaft by six bolts；
The parasitic mechanisms are made of six mutually independent Quality Initiatives, the first axle Quality Initiative of the parasitic mechanisms
Connection type are as follows: a spindle motor is fixed at big motor support plate Lower mounting hole；One axis crank one end and a spindle motor
Axis is fixedly linked, and the other end and an axis connecting rod form revolute pair by bearing hinge connection；The one axis connecting rod other end passes through bearing and company
Bar right angle block is hinged, and connecting rod right angle block is fixedly connected with a slide block, and sliding block is arranged on connecting rod moving guide rail, and the one of connecting rod right angle block
The one side of face and track right angle block is overlapped and is fixed on sliding block, and on axis upper rail, axis upper rail is fixed on slide block set
On one axis track profile, an axis track profile is fixed on an axis track cushion block, and an axis track cushion block is fixed on bottom plate, track
Right angle block another side is overlapped and fixes with connecting rod right angle block one side, and connecting rod right angle block another side and connecting rod one end pass through axis
It holds hingedly, pivoted link one end is hinged by bearing and connecting rod one end, forms revolute pair, and the other end is fixed with bearings plate
It is connected,
The connection type of second axis Quality Initiative of the parasitic mechanisms are as follows: two spindle motors are fixed in big motor support plate
At portion's mounting hole, two axis crank one end and the axis of two spindle motors are fixedly linked, and the other end and two axis connecting rods pass through bearing hinge connection, shape
At revolute pair, two axis rocking bar one end are connected with two axis connecting rods by bearing, form revolute pair, the other end and the one of large arm rotation axis
End is fixedly connected, and the bearing outer ring of junction is fixedly connected with left support plate, and bearing inner race is mutually fixed with large arm rotation axis；
The connection type of the third axis Quality Initiative of the parasitic mechanisms are as follows: three spindle motors are fixed on size motor support plate
At the mounting hole of rear portion, three axis crank one end and the axis of three spindle motors are fixedly linked, and the other end and three axis connecting rods pass through bearing hinge connection,
Form revolute pair；One end of three axis rocking bars is overlapped and is hinged with one end of three axis connecting rods, then passes through bearing and three axis rails
Sliding block it is hinged, three axis rails are fixed in large arm, the other ends of three axis rocking bars by bearing hinge connection in middle arm rest closely in arm it is left
At ear；
The connection type of 4th axis Quality Initiative of the parasitic mechanisms are as follows: after four spindle motors are fixed on small machine support plate
At portion's mounting hole, four axis crank one end and the axis of four spindle motors are fixedly linked, and the other end and four axis first connecting rods are cut with scissors by bearing
It connects, forms revolute pair, the other end of four axis first connecting rods and four axis second connecting rod one end bearing hinge connections, then be hinged to four axis large arm
On the sliding block of guide rail, sliding block is nested on four axis large arm guide rails, and four axis large arm guide rails are fixedly mounted in large arm, and four axis right angles connect
One end of bar and one end of four axis second connecting rods are hinged, and the right angle of four axis right angle connecting rods is hinged on the axis of middle arm auris dextra, separately
One end and one end of four axis third connecting rods are hinged, and one end of four axis fourth links and four axis third connecting rods are hinged, then in four axis
The sliding block of arm guide rail is hinged, and sliding block is nested in four axis on arm guide rail, and arm guide rail is fixedly mounted on middle arm in four axis, four axis
The other end of double leval jib is articulated on four axis tail arm right angle link blocks, and four axis tail arm right angle link blocks are fixed on the four axis tail arm right sides and lead
On the sliding block of rail, sliding block is nested on the four right guide rails of axis tail arm, and the four right guide rails of axis tail arm are fixedly mounted in tail arm, four axis tail arm
The another side of right angle link block is fixed on the sliding block of four axis tail arm rear rails, and sliding block is nested on four axis tail arm rear rails, and four
Axis tail arm rear rail is fixedly mounted in tail arm, and one end of the 5th connecting rod of four axis is articulated on four axis tail arm right angle link blocks, separately
One end and one end of four axis pivoted links are hinged, and the other end of four axis pivoted links is fixedly connected with the rear end of long axis；
The connection type of 5th axis Quality Initiative of the parasitic mechanisms are as follows: before five spindle motors are fixed on small machine support plate
At portion's mounting hole, five axis crank one end and the axis of five spindle motors are fixedly linked, and the other end and five axis first connecting rods are cut with scissors by bearing
It connects, forms revolute pair, the other end of five axis first connecting rods and five axis second connecting rod one end bearing hinge connections, then be hinged to five axis large arm
On the sliding block of guide rail, sliding block is nested on five axis large arm guide rails, and five axis large arm guide rails are fixedly mounted in large arm, and five axis right angles connect
One end of bar and one end of five axis second connecting rods are hinged, and the right angle of five axis right angle connecting rods is hinged on the axis of middle arm auris dextra, separately
One end and one end of five axis third connecting rods are hinged, and the other end of five axis third connecting rods is hinged on five shaft angles and connects on block, and five shaft angles connect
Block is fixed in five axis on the sliding block of arm guide rail, and sliding block is nested in five axis on arm guide rail, and arm guide rail is fixedly mounted in five axis
On the right side of middle arm, the another side that five shaft angles connect block is fixed in five axis on the sliding block of arm bottom guide track, and sliding block is nested in arm in five axis
On bottom guide track, arm bottom guide track is fixedly mounted on middle arm bottom in five axis, and one end of five axis catch bars is fixed on five shaft angles and connects
On block, the other end is fixed on five axis backstops, and the outer ring of five axis backstops and bearing is fixed to each other, five axis positive stops and bearing
Inner ring is fixed, and one end of five axis sliding bars is fixed on the side of five axis positive stops, and the other end is fixed on the cunning of five axis forearm guide rails
On block, sliding block is nested in five axis forearm guide rails, and five axis forearm guide rails are fixed on forearm auris dextra；It cuts with scissors one end of five axis end links
It connects on five axis sliding bars, the other end is hinged in the middle part of forearm；
The connection type of 6th axis Quality Initiative of the parasitic mechanisms are as follows: six spindle motors are fixed on size motor support plate
At the mounting hole of front, six axis crank one end and the axis of six spindle motors are fixedly linked, and the other end and six axis first connecting rods pass through bearing
Hingedly, revolute pair, the other end of six axis first connecting rods and six axis second connecting rod one end bearing hinge connections are formed, then to be hinged to six axis big
On the sliding block of arm guide rail, sliding block is nested on six axis large arm guide rails, and six axis large arm guide rails are fixedly mounted in large arm, six axis right angles
One end of connecting rod and one end of six axis second connecting rods are hinged, and the right angle of six axis right angle connecting rods is hinged on the axis of the left ear of middle arm,
One end of the other end and six axis third connecting rods is hinged, and the other end of six axis third connecting rods is hinged on six shaft angles and connects on block, six shaft angles
It connects block to be fixed in six axis on the sliding block of arm upper rail, sliding block is nested in six axis on arm upper rail, and arm upper rail is solid in six axis
Dingan County is mounted in middle arm top, and the another side that six shaft angles connect block is fixed in six axis on the sliding block of arm left rail, and sliding block is nested in six
In axis on arm left rail, arm left rail is fixedly mounted on the left of middle arm in six axis, and one end of six axis catch bars is fixed on six shaft angles
It connects on block, the other end is fixed on six axis backstops, and the outer ring of six axis backstops and bearing is fixed to each other, six axis positive stops and axis
It holds inner ring to fix, one end of six axis sliding bars is fixed on the side of six axis positive stops, and the other end is fixed on six axis forearm guide rails
On sliding block, sliding block is nested in six axis forearm guide rails, and six axis forearm guide rails are fixed on the left ear of forearm, one end of six axis forearm cranks
It is hinged on the middle part of six axis sliding bars, the other end and one end of the small arm link of six axis are hinged, and the middle part of the small arm link of six axis is hinged
On forearm, one end of six axis forearm rocking bars and one end of the small arm link of six axis are hinged, and the other end is hinged on adjutage corner connection block
On；Adjutage corner connection block is fixed on one side on the sliding block of adjutage left rail, and sliding block is nested on adjutage left rail, is extended
Arm left rail is fixed on adjutage, and the another side of adjutage corner connection block is fixed on the sliding block of adjutage upper rail, and sliding block is embedding
It covers on adjutage upper rail, adjutage upper rail is fixed on adjutage, and the one end for extending arm link is existed by bearing hinge connection
On adjutage cushion block, adjutage cushion block is fixed on adjutage corner connection block, extends the other end and adjutage rocking bar of arm link
One end is hinged；The other end of adjutage rocking bar and one end of welding gun axis are fixedly linked.
The power mechanism is distributed near large arm rotation axis, and is mutually balanced with the quality of large arm, middle arm, forearm,
Realize static balance.
The forearm rotation control is that four axis parasitism branch Quality Initiatives control.
The large arm, middle arm and forearm are hollow aluminum profile.
Of the invention has the prominent advantages that:
1, nature host and parasitic biological contexts are reasonably applied into a kind of controllable parasitic mechanisms formula of six degree of freedom
Among the design of welding robot, welding robot is divided into parasitic mechanisms and host mechanism two large divisions, host mechanism is main
It is connected using multi-arm tandem, can make host structure that there are multiple freedom degrees.
2, the control of host mechanism is driven using controllable chain type parasitic mechanisms, to drive the six-freedom degree of host mechanism,
Reach the controllability of host's mechanism kinematic.
3, driving motor is arranged near base support, is reduced the additional load in welding robot operational process, is subtracted
Few energy consumption, improves service life.
4, driving motor is arranged in large arm rotation axis, with arm and forearm bring additional load in balance, realizes machine
Structure self-balancing reduces the load of mechanism in operational process, improves service life.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the controllable parasitic mechanisms formula welding robot of six degree of freedom of the present invention.
Fig. 2 is the host mechanism and parasitism branch of the controllable parasitic mechanisms formula welding robot of six degree of freedom of the present invention
Connection schematic diagram.
Fig. 3 is the host mechanism structural representation of the controllable parasitic mechanisms formula welding robot of six degree of freedom of the present invention
Figure.
Fig. 4 is that the power device of the controllable parasitic mechanisms formula welding robot of six degree of freedom of the present invention is distributed signal
Figure.
Fig. 5 is that an axis branched structure of the controllable parasitic mechanisms formula welding robot of six degree of freedom of the present invention is illustrated
Figure.
Fig. 6 is that two axis branched structures of the controllable parasitic mechanisms formula welding robot of six degree of freedom of the present invention are illustrated
Figure.
Fig. 7 is that three axis branched structures of the controllable parasitic mechanisms formula welding robot of six degree of freedom of the present invention are illustrated
Figure.
Fig. 8 is that four axis branched structures of the controllable parasitic mechanisms formula welding robot of six degree of freedom of the present invention are illustrated
Figure.
Fig. 9 is four axis branch connection signals of the controllable parasitic mechanisms formula welding robot of six degree of freedom of the present invention
Figure.
Figure 10 is that five axis branched structures of the controllable parasitic mechanisms formula welding robot of six degree of freedom of the present invention are illustrated
Figure.
Figure 11 is five axis branch connection signals of the controllable parasitic mechanisms formula welding robot of six degree of freedom of the present invention
Figure.
Figure 12 is that six axis branched structures of the controllable parasitic mechanisms formula welding robot of six degree of freedom of the present invention are illustrated
Figure.
Figure 13 is six axis branch connection signals of the controllable parasitic mechanisms formula welding robot of six degree of freedom of the present invention
Figure.
In the figure, it is marked as 01, left support plate；02, bearings plate；03, floating bearing；04, base support；05, left foot
Plate；06, right crus of diaphragm plate；07, bottom plate；08, right support plate；09, size motor support plate；10, big motor support plate；11, tail arm；
12, the left ear of middle arm；13, middle arm rear end bearing supporting block；14, middle arm；15, middle arm front end bearing support block；16, long axis；17, small
Arm adjutage；18, forearm upper end bearing supporting block；19, forearm；20, forearm auris dextra；21, the left ear of forearm；22, forearm lower end axis
Hold supporting block；23, welding gun axis；24, middle arm auris dextra；25, small machine support plate；26, large arm rotation axis；27, large arm；28, large arm
Rear bearing sheet；29, large arm front end panel；30, long axis supporting block；31, long axis fixed block；101, an axis connecting rod；102, an axis rail
Road cushion block；103, connecting rod right angle block；104, an axis gets on the right track；105, track right angle block；106, connecting rod right angle block；107, it connects
Bar；108, a spindle motor；109, an axis crank；110, pivoted link；111, an axis track profile；112, connecting rod moving track；
201, two spindle motor；202, two axis connecting rod；203, two axis rocking bar；204, two axis crank；301, three spindle motor；302, three axis are bent
Handle；303, three axis connecting rod；304, three axis rail；305, three axis rocking bar；401, four spindle motor；402, four axis crank；403, four axis
First connecting rod；404, four axis second connecting rod；405, four axis large arm guide rail；406, four axis right angle connecting rod；407, four axis third connecting rod；
408, four axis fourth link；409, the four right guide rail of axis tail arm；410, four axis tail arm right angle link block；411, it is led after four axis tail arm
Rail；412, the 5th connecting rod of four axis；413, four axis pivoted link；414, arm guide rail in four axis；415, four axis tail arm rear rail；501,
Five spindle motors；502, five axis crank；503, five axis first connecting rod；504, five axis second connecting rod；505, five axis right angle connecting rod；506,
Five axis third connecting rods；507, arm guide rail in five axis；508, arm bottom guide track in five axis；509, five axis catch bar；510, after five axis
Block；511, five axis positive stop；512, five axis sliding bar；513, five axis forearm guide rail；514, five axis end link；515, five axis
Corner connection block；516, five axis large arm guide rail；601, six spindle motor；602, six axis crank；603, six axis first connecting rod；604, six axis are big
Arm guide rail；605, six axis second connecting rod；606, six axis right angle connecting rod；607, six axis third connecting rod；608, arm left rail in six axis；
609, arm upper rail in six axis；610, six shaft angles connect block；611, six axis catch bar；612, six axis swivel bearing；613, six axis are sliding
Lever；614, six axis backstop；615, six axis positive stop；616, six axis forearm rocking bar；617, adjutage corner connection block；618, extend
Arm cushion block；619, adjutage left rail；620, adjutage upper rail；621, extend arm link；622, adjutage rocking bar；623, six
The small arm link of axis；624, six axis forearm crank；625, six axis forearm guide rail；
Specific embodiment
As shown in Figure 1, a kind of controllable parasitic mechanisms formula welding robot of six degree of freedom, by host mechanism and parasitic branch chain group
At the host mechanism is made of base support 04, large arm 27, middle arm 14, forearm 19, and parasitic mechanisms are mutually indepedent by six
Branch constitute.Specific structure and connection type are as follows:
As shown in Figure 1, Figure 3, host's mechanism structure and connection type are as follows: 04 top of base support and bearing support
Plate 02 is fixedly linked, and the 04 lower part left side of base support is fixedly connected with left foot plate 05,04 lower part of base support the right and right crus of diaphragm plate
06 is fixedly connected, and the connection purpose of two soles is to keep the contact area on pedestal and ground bigger, and the course of work is more stable；It returns
Shaft is held 03 outer ring and is bolted in bearings plate 02, the inner ring of floating bearing 03 and 07 company of being bolted of bottom plate
It connects；Left support plate 01 is fixed on bottom plate 07 by corner brace, and right support plate 08 is fixed on bottom plate 07 by corner brace, 01 He of left support plate
Right support plate 08 is arranged symmetrically, and passes through the common Support large arm rotation axis 26 of bearing；Big motor support plate 10, size motor support plate
09, small machine support plate 25 is fixed in large arm rotation axis 26 by six bolts；It is propped up before the large arm that large arm 27 is arranged by front and back
Fagging 29 and large arm rear bearing sheet 28 are fixed in large arm rotation axis 26 by corner brace, it is therefore an objective to make large arm 27 and large arm rotation axis
26 connection is more reliable, and the connection that a corner brace reinforces large arm 27 and large arm rotation axis 26 is respectively arranged in large arm 27 or so；Large arm 27
The left ear 12 of middle arm of upper end setting is fixedly connected with middle arm auris dextra 24 by six bolt-throughs, the middle left ear 12 of arm and middle arm auris dextra 24
An axis is arranged among bearing in upper one bearing of each installation, and as the main support of middle arm 14, middle arm 14 is hollow aluminum profile, and two
End setting bearing support long axis 16；The inside of middle arm 14 is arranged in long axis 16, and four axis pivoted links 413 of middle 14 rear end of arm are concordant
And be fixedly connected, middle 14 front end of arm is fixedly connected with middle arm front end bearing support block 15 by four corner braces, end bearing before middle arm
Bearing is set inside supporting block 15, and long axis 16 is supported through bearing, middle 14 rear end of arm and middle arm rear end bearing supporting block 13
It is fixedly connected by four corner braces, bearing is set inside middle arm rear end bearing supporting block 13, is used to support 16 other end of long axis；It is long
16 front end of axis is fixedly connected with long axis fixed block 31, and long axis supporting block 30, long axis supporting block 30 is arranged in 31 rear end of long axis fixed block
It is fixedly linked with long axis 16, certain distance is opened by cushion block among long axis fixed block 31 and long axis supporting block 30, is formed stable
The left side of two o'clock support, long axis fixed block 31 and long axis supporting block 30 is fixedly connected with the left ear 21 of forearm, 31 He of long axis fixed block
The right of long axis supporting block 30 is fixedly connected with forearm auris dextra 20, and bearing, axis are installed in the left ear 21 of forearm and 20 front end of forearm auris dextra
It is fixedly connected across forearm 19 and with bearing inner race, forms revolute pair；Forearm upper end bearing supporting block 18 is arranged in 19 top of forearm,
Inside setting bearing, is used to support 23 upper end of welding gun axis, and forearm bottom end bearing supporting block 22 is arranged in 19 lower part of forearm, inside set
Bearing is set, 23 lower end of welding gun axis is supported；Forearm outrigger shaft 17 is fixed on the upper end of forearm 19.
As shown in Figure 2, Figure 3, Figure 4, the power mechanism is arranged in large arm rotation axis 26, specific connection type
Are as follows: the top of big motor support plate 10 is fixed on the 27 rotation axis left side of large arm by six bolts, size motor support plate 09
Top is fixed in the middle part of 27 rotation axis of large arm by six bolts, and the top of small machine support plate 25 is fixed on by six bolts
On the right of 27 rotating shaft of large arm, motor is arranged near base support, reduces the load of robot in operational process, and is led to
Cross the quality of arm 14, forearm 19 in the weight balancing of motor.
As shown in Figure 1, Figure 2, Figure 5, the parasitic mechanisms are made of six mutually independent Quality Initiatives, first axle control
The structure and connection type of chain are as follows: a spindle motor 108 is fixed at big 10 Lower mounting hole of motor support plate；One axis crank 109
One end and the axis of a spindle motor 108 are fixedly linked, and the other end and an axis connecting rod 101 form revolute pair by bearing hinge connection；One axis
101 other end of connecting rod is hinged by bearing and connecting rod right angle block 103, and connecting rod right angle block 103 is fixedly connected with a slide block, sliding block setting
On connecting rod moving guide rail 112, connecting rod right angle block 103 and track right angle block 105 while coincidence and be fixed on sliding block
On, slide block set is on axis upper rail 104, and axis upper rail 104 is fixed on an axis track profile 111, an axis track profile
111 are fixed on an axis track cushion block 102, and an axis track cushion block 102 is fixed on bottom plate 07；105 another side of track right angle block
It is overlapped on one side with connecting rod right angle block 106 and fixed, 106 another side of connecting rod right angle block and 107 one end of connecting rod pass through bearing
Hingedly, three corner connection blocks are mutually permanently connected, reciprocating on two tracks together；110 one end of pivoted link passes through axis
It holds hinged with 107 one end of connecting rod, forms revolute pair, the other end is fixedly linked with bearings plate 02.
As shown in Fig. 1, Fig. 6, the parasitic mechanisms are made of six mutually independent Quality Initiatives, the second axis Quality Initiative
Structure and connection type are as follows: two spindle motors 201 are bolted at big 10 upper mounting holes of motor support plate；Two axis cranks
204 one end and the axis of two spindle motors 201 are fixedly linked, and the other end and two axis connecting rods 202 form revolute pair by bearing hinge connection；
Two axis rocking bars, 203 one end is connected with two axis connecting rods 202 by bearing, and revolute pair, the other end and the one of large arm rotation axis 26 are formed
End is fixedly connected, and the bearing outer ring of junction is fixedly connected with left support plate 01, and bearing inner race is fixed with 26 phase of large arm rotation axis.
As shown in Figure 1, Figure 7 shows, the parasitic mechanisms are made of six mutually independent Quality Initiatives, third axis Quality Initiative
Connection type are as follows: three spindle motors 301 are bolted at 09 rear portion mounting hole of size motor support plate；Three axis cranks 302
One end and the axis of three spindle motors 301 are fixedly linked, and the other end and three axis connecting rods 303 form revolute pair by bearing hinge connection；Three axis
One end of rocking bar 305 is overlapped and is hinged with one end of three axis connecting rods 303, then passes through the sliding block of bearing and three axis rails 304
Hingedly, three axis rails 304 are fixed in large arm 27, and the other end of three axis rocking bars 305 is by bearing hinge connection in middle arm 14 is close
At the left ear 12 of arm, the sliding block on three axis rails 304 is slided up and down, band dynamic triaxial rocking bar 305 pump, middle arm 14 then around
Axis is swung.
As shown in Fig. 2, Fig. 8, Fig. 9, the parasitic mechanisms are made of six mutually independent Quality Initiatives, the control of the 4th axis
The structure and connection type of chain are as follows: four spindle motors 401 are fixed at 25 rear portion mounting hole of small machine support plate；Four axis cranks 402
One end and the axis of four spindle motors 401 are fixedly linked, and the other end and four axis first connecting rods 403 form revolute pair by bearing hinge connection；
404 one end bearing hinge connection of the other end and four axis second connecting rods of four axis first connecting rods 403, then it is hinged to four axis large arm guide rails 405
Sliding block on, sliding block is nested on four axis large arm guide rails 405, and four axis large arm guide rails 405 are fixedly mounted in large arm 27；Four axis are straight
One end of angle connecting rod 406 and one end of four axis second connecting rods 404 are hinged, and the right angle of four axis right angle connecting rods 406 is hinged on middle arm
On the axis of auris dextra 24, one end of the other end and four axis third connecting rods 407 is hinged, and the cushion block of hinged place is in order to avoid each connecting rod exists
Same plane interference；One end of four axis fourth links 408 is hinged with four axis third connecting rods 407, then with arm guide rail 414 in four axis
Sliding block is hinged, and sliding block is nested in four axis on arm guide rail 414, and arm guide rail 414 is fixedly mounted on middle arm 14 in four axis, four axis
The other end of double leval jib 408 is articulated on four axis tail arm right angle link blocks 410；Four axis tail arm right angle link blocks 410 are fixed on four
On the sliding block of the right guide rail 409 of axis tail arm, sliding block is nested on the right guide rail 409 of four axis tail arm, the fixed peace of the right guide rail 409 of four axis tail arm
In tail arm 11, the another side of four axis tail arm right angle link blocks 410 is fixed on the sliding block of four axis tail arm rear rails 411, sliding
On four axis tail arm rear rails 411, four axis tail arm rear rails 411 are fixedly mounted in tail arm 11 block nesting；The 5th connecting rod of four axis
412 one end is articulated on four axis tail arm right angle link blocks 410, and one end of the other end and four axis pivoted links 413 is hinged；Four axis
The other end of pivoted link 413 is fixedly connected with the rear end of long axis 16.
As shown in Fig. 2, Fig. 8, Fig. 9, the parasitic mechanisms are made of six mutually independent Quality Initiatives, the control of the 5th axis
The structure and connection type of chain are as follows: five spindle motors 501 are fixed at 25 front mounting hole of small machine support plate；Five axis cranks 502
One end and the axis of five spindle motors 501 are fixedly linked, and the other end and five axis first connecting rods 503 form revolute pair by bearing hinge connection；
504 one end bearing hinge connection of the other end and five axis second connecting rods of five axis first connecting rods 503, then it is hinged to five axis large arm guide rails 516
Sliding block on, sliding block is nested on five axis large arm guide rails 516, and five axis large arm guide rails 516 are fixedly mounted in large arm 27；Five axis are straight
One end of angle connecting rod 505 and one end of five axis second connecting rods 504 are hinged, and the right angle of five axis right angle connecting rods 505 is hinged on middle arm
On the axis of auris dextra 24, one end of the other end and five axis third connecting rods 506 is hinged；The other end of five axis third connecting rods 506 is hinged on
Five shaft angles connect on block 515, and five shaft angles connect block 515 and are fixed in five axis on the sliding block of arm guide rail 507, and sliding block is nested in arm in five axis
On guide rail 507, arm guide rail 507 is fixedly mounted on middle 14 right side of arm in five axis, and the another side that five shaft angles connect block 515 is fixed on five axis
On the sliding block of middle arm bottom guide track 508, sliding block is nested in five axis on arm bottom guide track 508, and arm bottom guide track 508 is solid in five axis
Dingan County is mounted in middle 14 bottom of arm；One end of five axis catch bars 509 is fixed on five shaft angles and connects on block 515, and the other end is fixed on five axis
On backstop 510, five axis catch bars 509 do reciprocating linear motion under the drive of five axis third connecting rods 506；Five axis backstops
510 are fixed to each other with the outer ring of bearing, and five axis positive stops 511 are fixed with bearing inner race, and bearing inner race and linear slider outer ring are solid
Fixed to be connected, linear slider is reciprocating on long axis 16；One end of five axis sliding bars 512 is fixed on five axis positive stops 511
Side, the other end are fixed on the sliding block of five axis forearm guide rails 513, and sliding block is nested on five axis forearm guide rails 513；Five axis forearms
Guide rail 513 is fixed on forearm auris dextra 20；One end of five axis end links 514 is hinged on five axis sliding bars 512, other end hinge
It connects at 19 middle part of forearm.
As shown in Fig. 1, Figure 12, Figure 13, the parasitic mechanisms are made of six mutually independent Quality Initiatives, the 6th axis control
The structure and connection type of chain processed are as follows: six spindle motors 601 are fixed at 09 front mounting hole of size motor support plate；Six axis cranks
602 one end and the axis of six spindle motors 601 are fixedly linked, and the other end and six axis first connecting rods 603 form rotation by bearing hinge connection
It is secondary；605 one end bearing hinge connection of the other end and six axis second connecting rods of six axis first connecting rods 603, then it is hinged to six axis large arm guide rails
On 604 sliding block, sliding block is nested on six axis large arm guide rails 604, and six axis large arm guide rails 604 are fixedly mounted in large arm 27；Six
One end of axis right angle connecting rod 606 and one end of six axis second connecting rods 605 are hinged, and the right angle of six axis right angle connecting rods 606 is hinged on
On the axis of the middle left ear 12 of arm, one end of the other end and six axis third connecting rods 607 is hinged；The other end of six axis third connecting rods 607 is cut with scissors
It connects and is connect on block 610 in six shaft angles, six shaft angles connect block 610 and are fixed in six axis on the sliding block of arm upper rail 609, and sliding block is nested in six
In axis on arm upper rail 609, arm upper rail 609 is fixedly mounted on middle 14 top of arm in six axis, and six shaft angles connect the another side of block 610
It is fixed in six axis on the sliding block of arm left rail 608, sliding block is nested in six axis on arm left rail 608, arm left rail in six axis
608 are fixedly mounted on middle 14 left side of arm；One end of six axis catch bars 611 is fixed on six shaft angles and connects on block 610, and the other end is fixed on
On six axis backstops 614；The outer ring of six axis backstops 614 and bearing is fixed to each other, and six axis positive stops 615 and bearing inner race are solid
It is fixed；One end of six axis sliding bars 613 is fixed on the side of six axis positive stops 615, and the other end is fixed on six axis forearm guide rails 625
On sliding block, sliding block is nested on six axis forearm guide rails 625；Six axis forearm guide rails 625 are fixed on the left ear 21 of forearm；Six axis forearms
One end of crank 624 is hinged on the middle part of six axis sliding bars 613, and the other end and one end of the small arm link 623 of six axis are hinged, six axis
The middle part of small arm link 623 is hinged on forearm 19；One end of six axis forearm rocking bars 616 and one end of the small arm link 623 of six axis
Hingedly, the other end is hinged on adjutage corner connection block 617；Adjutage corner connection block 617 is fixed on adjutage left rail 619 on one side
Sliding block on, sliding block is nested on adjutage left rail 619, and adjutage left rail 619 is fixed on adjutage 17, adjutage angle
The another side for connecing block 617 is fixed on the sliding block of adjutage upper rail 620, and sliding block is nested on adjutage upper rail 620, is extended
Arm upper rail 620 is fixed on adjutage 17；The one end for extending arm link 621 passes through bearing hinge connection on adjutage cushion block 618,
Adjutage cushion block 618 is fixed on adjutage corner connection block 617, and adjutage cushion block 618 is in order to enable 622 bottom surface of adjutage rocking bar
Coplanar with forearm rear end bearing 18 tops of supporting block, one end of the other end and adjutage rocking bar 622 that extend arm link 621 is cut with scissors
It connects；The other end of adjutage rocking bar 622 and one end of welding gun axis 23 are fixedly linked.
Operation principle and process:
Since host mechanism there are multiple freedom degrees, parasitic branch is needed to limit its extra freedom degree, to leave six
Freedom degree.
When work, a spindle motor 108 rotation drives an axis crank 109 to turn an angle, then is connected by a hinged axis
Bar 101 makes connecting rod right angle block 103 do reciprocating linear motion on connecting rod moving track 112, due to track right angle block 105 and connection
Bar right angle block 106 and connecting rod right angle block 103 are fixedly connected as an entirety, therefore track right angle block 105 can get on the right track in an axis
Reciprocating on 104, to drive connecting rod 107, driving pivoted link 110 is rotated, to make an axis relative to pedestal branch
Frame 04 rotates, and realizes rotation of the entire robot relative to ground.As shown in Figure 1.
When the rotation of two spindle motors 201, driving two axis cranks 204 rotation so that two axis connecting rods 202 be driven to swing, then is led to
It crosses two axis rocking bars 203 driving large arm rotation axis 26 to rotate, to realize large arm 27 relative to left support plate 01 and right support plate 08
Rotation.As shown in Figure 1.
When motor 301 rotates within three weeks, drives dynamic triaxial crank 302 and rotate, so that one end with dynamic triaxial connecting rod 303 is three
It is reciprocating on axis rail 304, it is shaken by three axis that the top shoe limitation of three axis rails 304 is hinged with three axis connecting rods 303
One end of bar 305 does reciprocating linear motion, then arm 14 is swung in driving, to realize the control of robot third freedom degree.Such as
Shown in Fig. 6.
When four spindle motors 401 rotation when, driving four axis cranks 402 rotation, due to four axis first connecting rods 403 the other end with
One end of four axis second connecting rods 404 is hinged on the sliding block of four axis large arm guide rails 405, and four axis cranks 402 then drive four axis
The other end of one connecting rod 403 is reciprocating on four axis large arm guide rails 405, and four axis second connecting rods 404 pass through four axis right angles again
Connecting rod 406 drives four axis third connecting rods 407 to swing, in order to not interfere between connecting rod, the other end and four of four axis third connecting rods 407
408 hinged place of axis fourth link has added cushion block, and four axis third connecting rods 407 and four axis fourth links 408 are hingedly and on sliding block, four
Reciprocating on arm guide rail 414 in axis, four axis fourth links 408 drive four axis by four axis tail arm right angle link blocks 410 again
5th connecting rod 412 pumps, to drive the rotation of four axis pivoted links 413, rotates long axis 16, realizes to robot
Four-degree-of-freedom control.As shown in Figure 2.
When five spindle motors 501 rotation when, driving five axis cranks 502 rotation, due to five axis first connecting rods 503 the other end with
One end of five axis second connecting rods 504 is hinged on the sliding block of five axis large arm guide rails 405, and five axis cranks 502 then drive five axis
The other end of one connecting rod 503 is reciprocating on five axis large arm guide rails 516, and five axis second connecting rods 504 pass through five axis right angles again
Connecting rod 505 drives the other end of five axis third connecting rods 506 to move back and forth on arm guide rail 507 in five axis, then is connect by five shaft angles
Block 515 drive five axis catch bars 509 move back and forth, then drive five axis sliding bars 512 makees on five axis forearm guide rails 513 back and forth it is straight
Line movement, makes five axis end links 514 that forearm 19 be driven to swing.As shown in Figure 10.
When six spindle motors 601 rotation when, driving six axis cranks 602 rotation, due to six axis first connecting rods 603 the other end with
One end of six axis second connecting rods 605 is hinged on the sliding block of six axis large arm guide rails 604, and six axis cranks 602 then drive six axis
The other end of one connecting rod 603 is reciprocating on six axis large arm guide rails 604, and six axis second connecting rods 605 pass through six axis right angles again
Connecting rod 606 drives the other end of six axis third connecting rods 607 to move back and forth on arm left rail 608 in six axis, then passes through six shaft angles
Connecing block 610 drives six axis catch bars 611 to move back and forth, then six axis sliding bars 613 is driven to make on six axis forearm guide rails 625 back and forth
Linear motion makes six axis forearm cranks 624 that the small arm link 623 of six axis be driven to swing, and is driven by small 623 other end of arm link of six axis
Six linear reciprocating motions on adjutage left rail 619 of axis forearm rocking bar 616, then driven and extended by adjutage corner connection block 617
Arm link 621 is swung, and driving adjutage rocking bar 622 is swung, and rotates welding gun axis 23, as shown in figure 12.
Finally, six branches of parasitic mechanisms are driven by motor, the linkage of six branches is realized, control welding gun axis along operation
It is required that track moves, reach weld job requirement.
Claims (4)
1. a kind of controllable parasitic mechanisms formula welding robot of six degree of freedom, is made of, host mechanism host mechanism and parasitic mechanisms
Including base support, large arm, middle arm, forearm and power mechanism, parasitic mechanisms are made of six mutually independent branches, feature
It is:
The structure and connection type of the host mechanism are as follows: base support top is fixedly linked with bearings plate, pedestal branch
The frame lower part left side is fixedly connected with left foot plate, is fixedly connected on the right of base support lower part with right crus of diaphragm plate；Floating bearing is fixed on axis
It holds in support plate, floating bearing top is fixedly connected with bottom plate；Left support plate and right support plate are fixed on bottom plate by corner brace, left
Support plate and right support plate are arranged symmetrically, and pass through the common Support large arm rotation axis of bearing；Big motor support plate, size motor support
Plate, small machine support plate are fixed in large arm rotation axis by six bolts；
The large arm front end panel and large arm rear bearing sheet that the large arm is arranged by front and back are fixed in large arm rotation axis by corner brace,
The connection that a corner brace reinforces large arm and large arm rotation axis is respectively arranged in large arm or so；The left ear of middle arm and middle arm of large arm upper end setting
Auris dextra is fixedly connected by six bolt-throughs, and a bearing, setting one among bearing are respectively installed on the middle left ear of arm and middle arm auris dextra
Root axis, the main support as middle arm；
The middle arm both ends are arranged bearing support long axis, and bearing support long axis is arranged in the inside of middle arm, bearing support long axis with
Four axis pivoted links of middle arm rear end are concordant, and middle arm front end is fixedly connected with middle arm front end bearing support block by four corner braces,
Bearing is set inside middle arm front end bearing support block, and long axis is supported through bearing, middle arm rear end and middle arm rear end bearing branch
Bracer is fixedly connected by four corner braces, and bearing is arranged inside middle arm rear end bearing supporting block, is used to support the long axis other end；Axis
Hold support long axis front end be fixedly connected with long axis fixed block, long axis fixed block rear end be arranged long axis supporting block, long axis supporting block with
Certain distance is opened by cushion block among long axis fixed block, forms stable two o'clock support, long axis fixed block and long axis supporting block
The left side is fixedly connected with the left ear of forearm, and the right of long axis fixed block and long axis supporting block is fixedly connected with forearm auris dextra；
Bearing is installed in the left ear of the forearm and forearm auris dextra front end, and axis passes through forearm and is fixedly connected with bearing inner race, formed and turned
Dynamic pair；Forearm upper end bearing supporting block is arranged in forearm top, and setting bearing in inside is used to support welding gun axis upper end, forearm lower part
Forearm bottom end bearing supporting block is set, it is internal that bearing is set, support welding gun axis lower end；Forearm outrigger shaft is fixed on the upper of forearm
End；
The power mechanism is arranged in large arm rotation axis, and the top of big motor support plate is fixed on large arm by six bolts
The top on the rotation axis left side, size motor support plate is fixed in the middle part of large arm rotation axis by six bolts, small machine support plate
Top be fixed on the right of large arm rotating shaft by six bolts；
The parasitic mechanisms are made of six mutually independent Quality Initiatives, the knot of the first axle Quality Initiative of the parasitic mechanisms
Structure and connection type are as follows: a spindle motor is fixed at big motor support plate Lower mounting hole；One axis crank one end and a spindle motor
Axis be fixedly linked, the other end and an axis connecting rod form revolute pair by bearing hinge connection；The one axis connecting rod other end by bearing with
Connecting rod right angle block is hinged, and connecting rod right angle block is fixedly connected with a slide block, and sliding block is arranged on connecting rod moving guide rail, connecting rod right angle block
With track right angle block while coincidence and be fixed on sliding block, slide block set on axis upper rail, fix by axis upper rail
On an axis track profile, an axis track profile is fixed on an axis track cushion block, and an axis track cushion block is fixed on bottom plate, rail
Road right angle block another side is overlapped and fixes with connecting rod right angle block one side, and connecting rod right angle block another side passes through with connecting rod one end
Bearing hinge connection, pivoted link one end is hinged by bearing and connecting rod one end, forms revolute pair, and the other end and bearings plate are solid
It is fixed to be connected,
The structure and connection type of second axis Quality Initiative of the parasitic mechanisms are as follows: two spindle motors are fixed on big motor support plate
At upper mounting holes, two axis crank one end and the axis of two spindle motors are fixedly linked, and the other end and two axis connecting rods pass through bearing hinge connection,
Revolute pair is formed, two axis rocking bar one end are connected with two axis connecting rods by bearing, and revolute pair, the other end and large arm rotation axis are formed
One end is fixedly connected, and the bearing outer ring of junction is fixedly connected with left support plate, and bearing inner race is mutually fixed with large arm rotation axis；
The connection type of the third axis Quality Initiative of the parasitic mechanisms are as follows: three spindle motors are fixed on size motor support postlaminar part
At mounting hole, three axis crank one end and the axis of three spindle motors are fixedly linked, and the other end and three axis connecting rods are formed by bearing hinge connection
Revolute pair；One end of three axis rocking bars is overlapped and is hinged with one end of three axis connecting rods, then passes through the cunning of bearing and three axis rails
Block is hinged, and three axis rails are fixed in large arm, and the other end of three axis rocking bars is by bearing hinge connection at middle the arm rest closely left ear of middle arm；
The structure and connection type of 4th axis Quality Initiative of the parasitic mechanisms are as follows: four spindle motors are fixed on small machine support plate
At the mounting hole of rear portion, four axis crank one end and the axis of four spindle motors are fixedly linked, and the other end and four axis first connecting rods pass through bearing
Hingedly, revolute pair, the other end of four axis first connecting rods and four axis second connecting rod one end bearing hinge connections are formed, then to be hinged to four axis big
On the sliding block of arm guide rail, sliding block is nested on four axis large arm guide rails, and four axis large arm guide rails are fixedly mounted in large arm, four axis right angles
One end of connecting rod and one end of four axis second connecting rods are hinged, and the right angle of four axis right angle connecting rods is hinged on the axis of middle arm auris dextra,
One end of the other end and four axis third connecting rods is hinged, and one end of four axis fourth links and four axis third connecting rods are hinged, then with four axis
The sliding block of middle arm guide rail is hinged, and sliding block is nested in four axis on arm guide rail, and arm guide rail is fixedly mounted on middle arm in four axis, four axis
The other end of fourth link is articulated on four axis tail arm right angle link blocks, and it is right that four axis tail arm right angle link blocks are fixed on four axis tail arm
On the sliding block of guide rail, sliding block is nested on the four right guide rails of axis tail arm, and the four right guide rails of axis tail arm are fixedly mounted in tail arm, four axis tails
The another side of arm right angle link block is fixed on the sliding block of four axis tail arm rear rails, and sliding block is nested on four axis tail arm rear rails,
Four axis tail arm rear rails are fixedly mounted in tail arm, and one end of the 5th connecting rod of four axis is articulated on four axis tail arm right angle link blocks,
One end of the other end and four axis pivoted links is hinged, and the other end of four axis pivoted links is fixedly connected with the rear end of long axis；
The structure and connection type of 5th axis Quality Initiative of the parasitic mechanisms are as follows: five spindle motors are fixed on small machine support plate
At the mounting hole of front, five axis crank one end and the axis of five spindle motors are fixedly linked, and the other end and five axis first connecting rods pass through bearing
Hingedly, revolute pair, the other end of five axis first connecting rods and five axis second connecting rod one end bearing hinge connections are formed, then to be hinged to five axis big
On the sliding block of arm guide rail, sliding block is nested on five axis large arm guide rails, and five axis large arm guide rails are fixedly mounted in large arm, five axis right angles
One end of connecting rod and one end of five axis second connecting rods are hinged, and the right angle of five axis right angle connecting rods is hinged on the axis of middle arm auris dextra,
One end of the other end and five axis third connecting rods is hinged, and the other end of five axis third connecting rods is hinged on five shaft angles and connects on block, five shaft angles
It connects block to be fixed in five axis on the sliding block of arm guide rail, sliding block is nested in five axis on arm guide rail, and arm guide rail is fixedly mounted in five axis
On the right side of middle arm, the another side that five shaft angles connect block is fixed in five axis on the sliding block of arm bottom guide track, and sliding block is nested in five axis
On arm bottom guide track, arm bottom guide track is fixedly mounted on middle arm bottom in five axis, and one end of five axis catch bars is fixed on five shaft angles
It connects on block, the other end is fixed on five axis backstops, and the outer ring of five axis backstops and bearing is fixed to each other, five axis positive stops and axis
It holds inner ring to fix, one end of five axis sliding bars is fixed on the side of five axis positive stops, and the other end is fixed on five axis forearm guide rails
On sliding block, sliding block is nested in five axis forearm guide rails, and five axis forearm guide rails are fixed on forearm auris dextra；One end of five axis end links
It is hinged on five axis sliding bars, the other end is hinged in the middle part of forearm；
The structure and connection type of 6th axis Quality Initiative of the parasitic mechanisms are as follows: six spindle motors are fixed on size motor support
At prelaminar part mounting hole, six axis crank one end and the axis of six spindle motors are fixedly linked, and the other end and six axis first connecting rods pass through axis
Hinged, formation revolute pair, the other end of six axis first connecting rods and six axis second connecting rod one end bearing hinge connections are held, then are hinged to six axis
On the sliding block of large arm guide rail, sliding block is nested on six axis large arm guide rails, and six axis large arm guide rails are fixedly mounted in large arm, and six axis are straight
One end of angle connecting rod and one end of six axis second connecting rods are hinged, and the right angle of six axis right angle connecting rods is hinged on the axis of the left ear of middle arm
On, one end of the other end and six axis third connecting rods is hinged, and the other end of six axis third connecting rods is hinged on six shaft angles and connects on block, six axis
Corner connection block is fixed in six axis on the sliding block of arm upper rail, and sliding block is nested in six axis on arm upper rail, arm upper rail in six axis
It is fixedly mounted on middle arm top, the another side that six shaft angles connect block is fixed in six axis on the sliding block of arm left rail, and sliding block is nested in
In six axis on arm left rail, arm left rail is fixedly mounted on the left of middle arm in six axis, and one end of six axis catch bars is fixed on six axis
On corner connection block, the other end is fixed on six axis backstops, and the outer ring of six axis backstops and bearing is fixed to each other, six axis positive stops with
Bearing inner race is fixed, and one end of six axis sliding bars is fixed on the side of six axis positive stops, and the other end is fixed on six axis forearm guide rails
Sliding block on, sliding block is nested in six axis forearm guide rails, and six axis forearm guide rails are fixed on the left ear of forearm, the one of six axis forearm cranks
End is hinged on the middle part of six axis sliding bars, and the other end and one end of the small arm link of six axis are hinged, the middle part hinge of the small arm link of six axis
It connects on forearm, one end of six axis forearm rocking bars and one end of the small arm link of six axis are hinged, and the other end is hinged on adjutage corner connection
On block；Adjutage corner connection block is fixed on one side on the sliding block of adjutage left rail, and sliding block is nested on adjutage left rail, is prolonged
Semi-girder left rail is fixed on adjutage, and the another side of adjutage corner connection block is fixed on the sliding block of adjutage upper rail, sliding block
It is nested on adjutage upper rail, adjutage upper rail is fixed on adjutage, and the one end for extending arm link passes through bearing hinge connection
On adjutage cushion block, adjutage cushion block is fixed on adjutage corner connection block, extends the other end and adjutage rocking bar of arm link
One end it is hinged；The other end of adjutage rocking bar and one end of welding gun axis are fixedly linked.
2. the controllable parasitic mechanisms formula welding robot of six degree of freedom according to claim 1, which is characterized in that described is dynamic
Force mechanisms are distributed near large arm rotation axis, and are mutually balanced with the quality of large arm, middle arm, forearm, realize static balance.
3. the controllable parasitic mechanisms formula welding robot of six degree of freedom according to claim 1, which is characterized in that described is small
Arm rotation control is that four axis parasitism branch Quality Initiatives control.
4. the controllable parasitic mechanisms formula welding robot of a kind of six degree of freedom according to claim 1, which is characterized in that described
Middle arm is hollow aluminum profile.
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| CN201910236976.1A CN109794714B (en) | 2019-03-27 | 2019-03-27 | Six-freedom-degree controllable parasitic mechanism type welding robot |
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| CN201910236976.1A CN109794714B (en) | 2019-03-27 | 2019-03-27 | Six-freedom-degree controllable parasitic mechanism type welding robot |
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| CN109794714B CN109794714B (en) | 2020-09-22 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110405405A (en) * | 2019-07-09 | 2019-11-05 | 深圳市圣地保人防有限公司 | Connecting rod automatic welder |
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| Publication number | Publication date |
|---|---|
| CN109794714B (en) | 2020-09-22 |
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