CN203649702U - Three-lever five-DOF enlarged range shifting welding robot with function of model decoupling - Google Patents
Three-lever five-DOF enlarged range shifting welding robot with function of model decoupling Download PDFInfo
- Publication number
- CN203649702U CN203649702U CN201320852753.6U CN201320852753U CN203649702U CN 203649702 U CN203649702 U CN 203649702U CN 201320852753 U CN201320852753 U CN 201320852753U CN 203649702 U CN203649702 U CN 203649702U
- Authority
- CN
- China
- Prior art keywords
- degree
- freedom
- armed lever
- welding robot
- model
- 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.)
- Expired - Fee Related
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a three-lever five-DOF enlarged range shifting welding robot with a function of model decoupling. The robot comprises a shifting travelling mechanism and a mechanical arm capable of moving on the shifting travelling mechanism according to a certain trajectory. The mechanical arm is a three-lever five-spindle DOF mechanism. The large range shifting mechanism can meet the welding requirements of large-sized workpieces; the three-lever five-DOF mechanism arm can be decoupled into a combination of a 'two-lever triangular motion' model and a 'one-arm spherical motion' model; accordingly, a method of kinematic inversion can be simplified, multiplicity of solution can be avoided, computing speed is increased, attitude dead spots in motion of a welding torch of the welding robot are eliminated, and the welding robot can operate under full development.
Description
Technical field
The utility model relates to a kind of welding robot, and espespecially a kind of three armed lever five degree of freedom that can model decoupling zero add translation welding robot on a large scale.
Background technology
Technology of Welding Robot is the complex art that integrates the subjects such as machinery and equipment technology, electronics and mechanics of communication, computer science, Control Engineering, sensor technology, artificial intelligence, bionics, represents national comprehensive scientific and technological strength.Each welding robot is all that a knowledge-intensive and technology-intensive high-tech electromechanical integration is produced most advanced and sophisticated product.
The industries such as automobile, shipbuilding, engineering machinery and five metals processing are the comparatively concentrated market of welding robot application, and other industry also has the trend of rapid diffusion.
The robot of early stage development adopts distance type mostly, mobile platform and mechanical arm are all operated and are controlled by operator, the later stage eighties in last century, due to the appearance of new control method, control structure and control thought, researcher begins one's study and has the mobile robot of certain capacity of will, it can be under operating personnel's supervision autokinetic movement, can carry out limited navigation feature.To the nineties, some robots, gradually to the development of autonomous type, rely on the intelligent independent navigation of self, the various trajectory planning tasks of complete independently.But do not possess as the people, under wide-open environment, environment of observation situation, Observed Position coordinate, analyze the function that judgement, intelligent independent are finished the work.Trace it to its cause: be mainly former welding robot, variation that can not Real-time Feedback scene, can only move along the fixation locus of planning, carry out weld job according to metal filled amount given in advance, and the processing enterprise of the overwhelming majority all can not ensure that workpiece size, jig are accurately.
Therefore under open environment, according to the welding target of the field position of welded part, size, three-dimensional shape, become the problem that welding robot must solve.And the key technology addressing this problem is: 1. under open environment, can observe the real-time locus of welded part weld seam, present each single-sensor can not be competent at this work completely, must adopt multisensor Data Fusion technology to complete, and discusses separately in this respect.2. welding robot, under open operating mode, can arrive the real-time locus of workpiece weld seam, that is to say: welding robot is controlled everywhere in weld seam three-dimensional (X, Y, Z), and speed wants fast.
Six degree of freedom welding robot structure is all continued to use in domestic and international market at present, the fatal shortcoming of Gai Zhong robot is that kinematic inverse problem must obtain by the homogeneous matrix of the kinematics of inverting, arithmetic speed is slow and separate more, particularly, in the time that homogeneous transfer matrix is unusual, kinematic inverse problem, without solution, that is to say, six degree of freedom welding robot structure, under open environment, use, have blind spot, and kinematic inverse problem solving precision also can greatly reduce near blind spot.Therefore three armed lever six degree of freedom welding robots in the market can only adopt robot teach box work pattern, teaching refers to by artificial guiding robot end effector (as welding gun etc.), Lai Shi robot completes the action of expection, obtain tutorial program, robot reproduces tutorial program, according to the orbiting motion of teaching before.So, with the robot of teaching work pattern, can only in projected path, move, and can not under open environment, work.So welding robot, in Welding Process based on Medium Plate, under the impact due to factors such as strong arc light, high temperature, flue dust and workpiece error, clamping precision, surface state and workpiece thermal deformations, often occurs being partially welded and the phenomenon such as misoperation.This is also that current three armed lever six degree of freedom welding robots can not be widely used in industrial bottleneck place.
This case inventor is by the mode of operation of long-term observation welding robot, welding robot is in the time of trajectory planning, welding gun always requires perpendicular alignmnet face of weld, and welding process requires not shake, conventionally welding gun just moves on a large scale along direction of weld seam, in welded joints, under, left and right, draw, stretch direction and move less.Can therefore the inventor expects, each free degree of robot is decomposed, and simplified operation program, can solve many solutions that the existing kinematics method of inverting brings like this or without solution problem, this case produces therefrom.
Utility model content
To be solved in the utility model is many solutions of bringing of the existing welding robot kinematics method of inverting or without the technical problem of separating, thereby provides a kind of three armed lever five degree of freedom that can model decoupling zero to add translation welding robot on a large scale.
For solving the problems of the technologies described above, technical solution of the present utility model is:
Three armed lever five degree of freedom that can model decoupling zero add a translation welding robot on a large scale, comprise translation walking mechanism and can be by the mechanical arm of certain track walking in translation walking mechanism, and this mechanical arm is three armed lever five rotating shaft free degree mechanisms.
Described mechanical arm comprises pedestal and five whirligigs, wherein the first whirligig is directly installed on described pedestal, be that rotational freedom, second and third whirligig are that the pitching free degree, the 4th whirligig are that rotational freedom, the 5th whirligig are the pitching free degree and five whirligigs are followed successively by the first whirligig from pedestal to end, between second and third free degree, form like this first armed lever, three, between five degree of freedom, form the second armed lever, five degree of freedom forms the 3rd armed lever to end, thereby forms three armed lever five rotating shaft free degree mechanisms.
The concrete structure of five described whirligigs is all identical, it comprises incremental encoder, the Coupling Shaft connecting for the fixed head of fixed electrical machinery, with motor output shaft and the absolute encoder that is arranged on this Coupling Shaft end that servomotor, motor carry, this absolute encoder is fixed by L shaped installing plate, this L shaped installing plate is fixed on described fixed head, and portable plate is also installed in described Coupling Shaft; Each whirligig is connected with portable plate by the fixed head that shares fixed head or portable plate or neighboring devices, to realize the connection of each jockey.
The track keeping parallelism of the run trace of described translation walking mechanism and weld seam.
Described translation walking mechanism comprises base, is arranged on the guide assembly on base, the base plate that can move on guide assembly, is arranged on respectively intermeshing tooth bar on base and on base plate and gear and motor that can driven gear rotation.
Described translation walking mechanism also comprises limiting the stopping means of base plate translational movement.
Adopt after such scheme, because the utility model becomes original welding robot three armed lever six degree of freedom structure decouplings walking mechanism and three armed lever five degree of freedom mechanical arms of a translation on a large scale, the object of doing is like this to make the further decoupling zero of three armed lever five degree of freedom mechanism arms become possibility, " three armed lever five degree of freedom mechanical arms " can be decoupled into three angular movements of two armed levers and the stack of the model of the spherical motion of an armed lever.Wherein the spherical motion of an armed lever can make welding gun keep an attitude, perpendicular alignmnet face of weld as far as possible; And three angular movements of two armed levers can adopt how much calculating, simplify the method that kinematics is inverted, while solving kinematic inverse problem, avoid multi-solution, improve computational speed, eliminate welding robot welding gun athletic posture blind spot.And welding robot translation mechanism on a large scale can meet the needs that weld large scale workpiece.Thereby fundamentally solve welding robot controlled problem everywhere in weld seam three-dimensional (X, Y, Z) space, can make welding robot carry out work in the situation of exploitation completely, and real-time speed has been accelerated greatly.
Brief description of the drawings
Fig. 1 is perspective view of the present utility model;
Fig. 2 is front view of the present utility model;
Fig. 3 is top view of the present utility model;
Fig. 4 is left view of the present utility model;
Fig. 5 is the front view of translation walking mechanism described in the utility model;
Fig. 6 is the top view of translation walking mechanism described in the utility model;
Fig. 7 is the left view of translation walking mechanism described in the utility model;
Fig. 8 is the front view of mechanical arm described in the utility model;
Fig. 9 is the top view of mechanical arm described in the utility model;
Figure 10 is the left view of mechanical arm described in the utility model;
Figure 10 A is the partial enlarged drawing of Figure 10;
Figure 11 is structural scheme of mechanism described in the utility model.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the utility model is described in further detail.
What the utility model disclosed is, and a kind of three armed lever five degree of freedom that can model decoupling zero add translation welding robot on a large scale, as shown in Figure 1 to 11, are preferred embodiment of the present utility model.Described welding robot comprises translation walking mechanism 1 and the mechanical arm 2 that can walk by certain track in translation walking mechanism 1, and this mechanical arm 2 is three armed lever five rotating shaft free degree mechanisms.Wherein:
Described translation walking mechanism 1 be one can be in the mechanism of single direction translation on a large scale, it can adopt various structures form, for example the structure of driven by motor ball-screw.In the present embodiment, this translation walking mechanism 1 mainly comprises base 11, is arranged on the guide assembly 12 on base 11, the base plate 13 that can move on guide assembly 12, the motor 17 that is arranged on respectively intermeshing tooth bar 14 on base 11 and on base plate 13 and gear 15 and can driven gear 15 rotates.It can further include to limit the stopping means 18 of base plate 13 translational movements.Further, the run trace of described translation walking mechanism can with the track keeping parallelism of weld seam.
The concrete structure of described mechanical arm 2 can be: it comprises the pedestal 21 and five whirligigs that are fixed on described base plate 13, wherein the first whirligig 22 is directly installed on described pedestal 21, and five whirligigs are followed successively by the first whirligig 22 for rotational freedom, second and third whirligig 23,24 are for the pitching free degree, the 4th whirligig 25 are for rotational freedom, the 5th whirligig 26 are the pitching free degree from pedestal to end, between second and third free degree, form like this first armed lever L
1, the 3rd, form the second armed lever L between five degree of freedom
2, five degree of freedom forms the 3rd armed lever L to end
3thereby, form three armed lever five axle free degree mechanisms.
The concrete structure of five described whirligigs can be all identical, describe as an example of the second whirligig 23 example below, as shown in Figure 10 A, the second described whirligig 23 comprises servomotor 231, the incremental encoder 232 that motor carries, for the fixed head 233 of fixed electrical machinery, the Coupling Shaft 234 connecting with motor output shaft and the absolute encoder 235 that is arranged on this Coupling Shaft end, this absolute encoder 235 is fixed by L shaped installing plate 236, this L shaped installing plate 236 is fixed on described fixed head 233, in described Coupling Shaft 234, portable plate 237 is also installed.Each whirligig is connected with portable plate by the fixed head that shares fixed head or portable plate or neighboring devices, realizes the connection of each free degree.The Dual-encoder design of this built-in incremental encoder and external absolute encoder, can realize three closed-loop controls of real electric current loop, speed ring and position ring, locates more precisely, can effectively overcome the interference in motor transmission mechanism gap.
The above, it is only preferred embodiment of the present utility model, not technical scope of the present utility model is imposed any restrictions, thus variation or the modification in every case done according to claim of the present utility model and description, within all should belonging to the scope that the utility model patent contains.
Claims (6)
- One kind can model decoupling zero three armed lever five degree of freedom add translation welding robot on a large scale, it is characterized in that: comprise translation walking mechanism and the mechanical arm that can walk by certain track in translation walking mechanism, this mechanical arm is three armed lever five rotating shaft free degree mechanisms.
- 2. three armed lever five degree of freedom that can model decoupling zero according to claim 1 add translation welding robot on a large scale, it is characterized in that: described mechanical arm comprises pedestal and five whirligigs, wherein the first whirligig is directly installed on described pedestal, be rotational freedom and five whirligigs are followed successively by the first whirligig from pedestal to end, second, three whirligigs are the pitching free degree, the 4th whirligig is rotational freedom, the 5th whirligig is the pitching free degree, such second, between Three Degree Of Freedom, form the first armed lever, the 3rd, between five degree of freedom, form the second armed lever, five degree of freedom forms the 3rd armed lever to end, thereby form three armed lever five rotating shaft free degree mechanisms.
- 3. three armed lever five degree of freedom that can model decoupling zero according to claim 2 add translation welding robot on a large scale, it is characterized in that: the concrete structure of five described whirligigs is all identical, it comprises incremental encoder, the Coupling Shaft connecting for the fixed head of fixed electrical machinery, with motor output shaft and the absolute encoder that is arranged on this Coupling Shaft end that servomotor, motor carry, this absolute encoder is fixed by L shaped installing plate, this L shaped installing plate is fixed on described fixed head, and portable plate is also installed in described Coupling Shaft; Each whirligig is connected with portable plate by the fixed head that shares fixed head or portable plate or neighboring devices, to realize the connection of each jockey.
- According to one of claim 1-3 Suo Shu can model decoupling zero three armed lever five degree of freedom add translation welding robot on a large scale, it is characterized in that: the track keeping parallelism of the run trace of described translation walking mechanism and weld seam.
- According to one of claim 1-3 Suo Shu can model decoupling zero three armed lever five degree of freedom add translation welding robot on a large scale, it is characterized in that: described translation walking mechanism comprises base, is arranged on the guide assembly on base, the base plate that can move on guide assembly, be arranged on respectively intermeshing tooth bar on base and on base plate and gear and motor that can driven gear rotation.
- 6. three armed lever five degree of freedom that can model decoupling zero according to claim 5 add translation welding robot on a large scale, it is characterized in that: described translation walking mechanism also comprises limiting the stopping means of base plate translational movement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320852753.6U CN203649702U (en) | 2013-12-23 | 2013-12-23 | Three-lever five-DOF enlarged range shifting welding robot with function of model decoupling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320852753.6U CN203649702U (en) | 2013-12-23 | 2013-12-23 | Three-lever five-DOF enlarged range shifting welding robot with function of model decoupling |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203649702U true CN203649702U (en) | 2014-06-18 |
Family
ID=50916139
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320852753.6U Expired - Fee Related CN203649702U (en) | 2013-12-23 | 2013-12-23 | Three-lever five-DOF enlarged range shifting welding robot with function of model decoupling |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203649702U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103692433A (en) * | 2013-12-23 | 2014-04-02 | 厦门理工学院 | Model decoupling three-arm-lever five-freedom-degree translation welding robot and decoupling method thereof |
| CN105014269A (en) * | 2015-07-22 | 2015-11-04 | 诸暨市佳尔达机械有限公司 | Automatic line welding device |
| CN105135159A (en) * | 2015-05-19 | 2015-12-09 | 东莞市尔必地机器人有限公司 | Large-stroke heavy-load slipway structure |
| CN105834628A (en) * | 2016-06-20 | 2016-08-10 | 广州瑞松北斗汽车装备有限公司 | Base mechanism of intelligent flexible welding system |
| CN106624515A (en) * | 2016-12-20 | 2017-05-10 | 柳州振业焊接机电设备制造有限公司 | Rail-mounted welding robot |
| CN107336860A (en) * | 2017-06-21 | 2017-11-10 | 上海博信机器人科技有限公司 | for military camouflage net automatic strapping machine |
| CN112025091A (en) * | 2020-08-26 | 2020-12-04 | 杭州焊林科技有限公司 | Six-degree-of-freedom double-robot laser welding device and control method thereof |
-
2013
- 2013-12-23 CN CN201320852753.6U patent/CN203649702U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103692433A (en) * | 2013-12-23 | 2014-04-02 | 厦门理工学院 | Model decoupling three-arm-lever five-freedom-degree translation welding robot and decoupling method thereof |
| CN105135159A (en) * | 2015-05-19 | 2015-12-09 | 东莞市尔必地机器人有限公司 | Large-stroke heavy-load slipway structure |
| CN105014269A (en) * | 2015-07-22 | 2015-11-04 | 诸暨市佳尔达机械有限公司 | Automatic line welding device |
| CN105834628A (en) * | 2016-06-20 | 2016-08-10 | 广州瑞松北斗汽车装备有限公司 | Base mechanism of intelligent flexible welding system |
| CN106624515A (en) * | 2016-12-20 | 2017-05-10 | 柳州振业焊接机电设备制造有限公司 | Rail-mounted welding robot |
| CN107336860A (en) * | 2017-06-21 | 2017-11-10 | 上海博信机器人科技有限公司 | for military camouflage net automatic strapping machine |
| CN107336860B (en) * | 2017-06-21 | 2019-07-02 | 上海博信机器人科技有限公司 | For military camouflage net automatic strapping machine |
| CN112025091A (en) * | 2020-08-26 | 2020-12-04 | 杭州焊林科技有限公司 | Six-degree-of-freedom double-robot laser welding device and control method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203649702U (en) | Three-lever five-DOF enlarged range shifting welding robot with function of model decoupling | |
| CN103692433A (en) | Model decoupling three-arm-lever five-freedom-degree translation welding robot and decoupling method thereof | |
| CN110815180B (en) | Six-degree-of-freedom parallel robot motion analysis modeling and quick solving method | |
| CN101376198B (en) | 5-shaft linkage numerical control bonding machine and welding process control method thereof | |
| CN106041932B (en) | A kind of motion control method of UR robots | |
| CN103100810A (en) | Mechanical arm for welding robot | |
| CN114055467B (en) | Space pose online simulation system based on five-degree-of-freedom robot | |
| CN112847303B (en) | Cooperative control method of Stewart platform | |
| JPS5815801B2 (en) | Trajectory control method for industrial robots | |
| US10022868B2 (en) | Inverse kinematic solution for multi-joint link mechanism, and teaching-data creating device using the inverse kinematic solution | |
| Guan | Research on the application of robot welding technology in modern architecture | |
| KR101205363B1 (en) | Method and apparatus for controlling 4-degree of freedom robot using 6-degree of freedom controller | |
| CN102303186B (en) | Imperfect degree-of-freedom parallel connection five-axis computerized numerical control laser cutting machine | |
| CN202174350U (en) | Lower-mobility five-axis parallel numerical control laser cutting machine | |
| CN102303187B (en) | Three-dimensional five-axis computerized numerical control laser cutting machine | |
| JP2008036733A (en) | Trajectory control device of articulated link mechanism | |
| Liu et al. | Four degrees of freedom SCARA robot modeling and simulation | |
| Haihua et al. | Cooperative motion planning of dual industrial robots via offline programming | |
| CN113733037A (en) | Seven-degree-of-freedom master-slave isomorphic teleoperation master hand | |
| CN203062125U (en) | Mechanical arm for welding robot | |
| Yue | Kinematic modelling and simulation of LeArm robot | |
| Cao et al. | Novel humanoid dual-arm grinding robot | |
| Wen et al. | Offline kinematics simulation of 6-DOF welding robot | |
| Lei et al. | Vision-based position/impedance control for robotic assembly task | |
| CN114833811B (en) | A6 PUS mechanism and two platform equipment of 6PUS-2PP for intelligent assembly |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140618 Termination date: 20201223 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |