CN211589030U - High-dexterity three-dimensional curved surface welding robot device - Google Patents
High-dexterity three-dimensional curved surface welding robot device Download PDFInfo
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- CN211589030U CN211589030U CN201921563650.1U CN201921563650U CN211589030U CN 211589030 U CN211589030 U CN 211589030U CN 201921563650 U CN201921563650 U CN 201921563650U CN 211589030 U CN211589030 U CN 211589030U
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Abstract
The utility model discloses a high-dexterity three-dimensional curved surface welding robot device, which comprises a lifting platform car, a shoulder joint module, an elbow joint module, a wrist joint module, a vision unit, a distance measuring unit and a welding gun, wherein the shoulder joint module is fixed on the lifting platform car, the elbow joint is fixedly connected with the shoulder joint, the wrist joint is fixedly connected with the elbow joint, and the vision unit, the distance measuring unit and the welding gun are all fixed on the wrist joint; the lifting platform vehicle is a lifting platform driven by a motor, and an upper platform of the lifting platform is a working platform; the utility model discloses to equip electric welding gun's high dexterity arm and lift platform truck rational combination, full play lift platform truck and the advantage of high dexterity arm have that working space is big, the motion is nimble, advantages such as motion precision height can weld the work piece that has the complicated curved surface characteristic of large-scale space and can accomplish the weldment work of main equipment intelligently, high-efficiently, high-quality.
Description
Technical Field
The utility model relates to a three-dimensional curved surface welding technology field of robot, more specifically the theory that says so especially relates to a three-dimensional curved surface welding robot device of high dexterity.
Background
The three-dimensional curved surface welding robot is a device for realizing intelligent welding of complex three-dimensional curved surfaces by the robot, the three-dimensional curved surface welding is very important for manufacturing large-scale ship bodies, airplanes, pipelines and other equipment, and curved surface welding equipment is also developed along with the wide application of welding technology.
At present, the welding robot mostly adopts series connection five-axis or six-axis robot, because the restriction of its working space, can't accomplish the welding task of complicated three-dimensional curved surface, and most welding robot devices are fixing device, receive the restriction of arm length, make its range of application less, to the unable welding of super-large-scale weldment, have very big limitation. Therefore, manual welding is needed in many occasions, the manual working efficiency is very low compared with the robot operation, and the welding has dangers of high temperature, radiation and the like and is not good for human health. For the welding of large-scale equipment, manual welding at high altitude is needed, and the construction danger coefficient is extremely high.
In view of the problems of the welding robot, it is necessary to design a high-dexterity three-dimensional curved surface welding robot device to overcome the above disadvantages.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the problem that the workspace restriction, limitation that present most welding robot exists are big and often need manual work, provide a high dexterity three-dimensional curved surface welding robot device, can weld the three-dimensional complicated curved surface of some large-scale mechanical equipment.
The utility model discloses a following technical scheme realizes above-mentioned purpose: a high-dexterity three-dimensional curved surface welding robot device comprises a lifting platform car, a shoulder joint module, an elbow joint module, a wrist joint module, a vision unit, a distance measuring unit and a welding gun, wherein the shoulder joint module is fixed on the lifting platform car, the elbow joint module is fixedly connected with the elbow joint module, the wrist joint module is fixedly connected with the elbow joint module, and the vision unit, the distance measuring unit and the welding gun are all fixed on the wrist joint module; the lifting platform vehicle is a lifting platform driven by a motor, and an upper platform of the lifting platform is a working platform;
the shoulder joint module comprises a shoulder joint fixed platform, a first motor support, a first motor, a first shoulder joint movable platform support plate, a first coupler, a first shoulder joint output shaft, a first shoulder joint movable platform, a second shoulder joint output shaft, a second coupler, a second motor, a triangular sheet metal connecting piece, a second motor support and a second shoulder joint movable platform support plate; the shoulder joint moving platform is fixedly connected with an upper platform of the lifting platform vehicle through four bolts, the first motor bracket is fixedly connected with the shoulder joint fixed platform through four bolts, the first motor is fixedly connected with the first motor bracket, one end of the first coupler is connected with an output shaft of the first motor, the other end of the first coupler is connected with an output shaft of the first shoulder joint, the first shoulder joint output shaft passes through the first shoulder joint moving platform and is embedded in the second shoulder joint moving platform supporting plate through a bearing, the first shoulder joint moving platform supporting plate and the second shoulder joint moving platform supporting plate are both fixed on the shoulder joint fixed platform through bolts, the second motor bracket is fixedly connected with the first shoulder joint moving platform through bolts, the second motor is fixed on the second motor bracket, one end of the second coupler is fixedly connected with an output shaft of the second motor, the other end of the second coupling is fixedly connected with one end of a second shoulder joint output shaft, the other end of the second shoulder joint output shaft passes through the first shoulder joint moving platform and the second shoulder joint moving platform and is embedded in the first shoulder joint moving platform through a bearing, and the second shoulder joint moving platform is fixedly connected with the second shoulder joint output shaft through a key;
the elbow joint comprises a first upper arm connecting plate, a first upper arm plate, a third motor support, a harmonic reducer, a second upper arm connecting plate, a fourth motor, a second upper arm plate, a reducer, a fourth motor support, a driving bevel gear, a driven bevel gear, an upper arm output shaft, a forearm plate and a forearm connecting plate; one end of the first upper arm connecting plate is fixedly connected with the second shoulder joint movable platform through a bolt, the first upper arm connecting plate and the third motor support are fixedly connected into a whole through the two first upper arm plates, the third motor is fixed on the third motor support, the upper end of the third motor penetrates through the third motor support and is connected with the input end of the harmonic reducer, and the output end of the harmonic reducer is fixedly connected with the second upper arm connecting plate through a bolt; the two second upper arm plates fixedly connect the second upper arm connecting plate and the fourth motor support into a whole, the speed reducer is fixed on the fourth motor support, the fourth motor is fixed on the speed reducer, the output shaft of the fourth motor is fixedly connected with the input end of the speed reducer through a key, and the driving bevel gear is fixedly connected with the output end of the speed reducer through a key and a set screw; the driving bevel gear is meshed with the driven bevel gear, the driven bevel gear is connected with an upper arm output shaft through a key, the upper arm output shaft penetrates through the two second upper arm plates and is embedded in the two second upper arm plates through a bearing, one ends of the two front arm plates are fixed on the upper arm output shaft, and the other ends of the two front arm plates are fixedly connected with a front arm connecting plate;
the wrist joint module comprises a wrist joint moving platform, a distance measuring unit support frame, a visual unit support frame, a wrist joint fixed platform and a wrist joint motion chain; the wrist joint fixed platform is fixed on a forearm connecting plate of an elbow joint, the distance measuring unit support frame is fixed on the wrist joint movable platform through a bolt, the distance measuring unit is fixed on the distance measuring unit support frame through a bolt, the visual unit support frame is fixed on the distance measuring unit support frame through a bolt, and the visual unit is fixed on the visual unit support frame through a bolt; the welding gun is fixed in the middle of the wrist joint moving platform; the fixed end of the wrist joint motion chain is connected with the wrist joint fixed platform, the output end of the wrist joint motion chain is connected with the wrist joint movable platform, and three wrist joint motion chains are symmetrically distributed along the circumferential direction;
the wrist joint movement chain comprises a fifth motor, a fifth motor support frame, a motor shaft retainer ring, a driving connecting rod, a guide block, a driven connecting rod, a fixed connecting block and a support positioning block; the support positioning block is fixed on the wrist joint fixed platform, the fifth motor support frame is attached to the support positioning block, the fifth motor support frame and the support positioning block are both fixed on the wrist joint fixed platform through bolts, the fifth motor is fixed on the fifth motor support frame, one end of the driving connecting rod is connected with a fifth motor output shaft through a key, the motor shaft retainer ring passes through a fifth motor shaft and is positioned between the fifth motor and the driving connecting rod, the other end of the driving connecting rod is fixedly connected with the guide block, the driven connecting rod is provided with a guide linear groove, the guide block is positioned in the guide linear groove and can slide along the guide linear groove, one end of the driven connecting rod is connected with the fixed connecting block through a bolt, and the other end of the driven connecting rod is fixedly connected with the wrist joint movable platform through a bolt; the fixed connecting blocks of the three wrist joint movement chains are fixedly connected into a whole.
Furthermore, three key grooves are formed in the first shoulder joint output shaft, three key grooves are formed in the left side and the right side of the first shoulder joint moving platform, and the three key grooves in the first shoulder joint output shaft and the three key grooves in the first shoulder joint moving platform are in one-to-one correspondence and are connected through keys respectively. The power transmission of the first shoulder joint output shaft is ensured, and bearing covers are arranged on the outer sides of the front side and the rear side.
Furthermore, a key groove with the length larger than the width of the second shoulder joint moving platform is arranged on the second shoulder joint output shaft, a key groove hole is formed in the second shoulder joint moving platform, and the key groove in the second shoulder joint output shaft is connected with the key groove hole in the second shoulder joint moving platform through a key. And the power transmission of the second shoulder joint output shaft is ensured through a key groove on the second shoulder joint output shaft and a key groove hole on the second shoulder joint movable platform.
Furthermore, the support positioning block is provided with three positioning through holes connected with the wrist joint fixed platform, and the support positioning block is fixedly connected with the wrist joint fixed platform through three bolts penetrating through the positioning through holes. And the fifth motor support frame for the wrist joint branched chain is positioned, so that the axis of the fifth motor is ensured to be compared with one point, and the wrist joint can flexibly move.
Furthermore, the two ends of the active connecting piece are provided with key slot holes, the two ends are plane, the middle is arc-shaped, the two end planes are tangent to the middle arc-shaped, and the two end planes are easy to assemble.
Furthermore, the driven connecting rod is mainly an arc-shaped rod piece and is provided with an arc-shaped groove, the left end of the driven connecting rod is provided with two through holes for a plane, and the right end of the driven connecting rod is provided with a through hole along the axial direction. Two through holes on the left end plane are convenient to be connected with the wrist joint moving platform, and the through hole axially arranged on the right side is convenient to be connected with the fixed connecting block.
The wrist joint moving platform is connected with a distance measuring unit and a vision unit, can accurately identify the position of the equipment needing welding, and feeds data back to the PLC central control unit to form a closed-loop control system.
The lifting platform vehicle is provided with a PLC (programmable logic controller) driving system capable of controlling a hydraulic rod and a trolley driving system, and after a PLC program is designed, the moving position of the trolley and the lifting height of a hydraulic driving rod piece are controlled, so that the whole robot device can reach a space pointing position, and an electric welding gun approaches to a position where a workpiece needs to be welded.
The beneficial effects of the utility model reside in that:
1. the utility model discloses to equip electric welding gun's high dexterity arm and lift platform truck rational combination, full play lift platform truck and the advantage of high dexterity arm, it is big to have a working space, the motion is nimble, advantages such as the motion precision is high to PLC is control core, adopt closed-loop control system to ensure the space motion precision and the stability of welding gun, can weld the work piece that has the complicated curved surface characteristic of large-scale space and can intelligent, high-efficient, accomplish the weldment work of main equipment with high quality, improve the welding efficiency of main equipment.
2. The wrist joint is a spherical parallel mechanism, has three rotational degrees of freedom, can realize random transformation of space pose, can realize pose adjustment of the electric welding gun based on the positioning characteristics of the shoulder joint and the elbow joint, and has the advantages of small dead weight load ratio, high precision and the like.
3. Shoulder joint module and elbow joint module are four degree of freedom serial connection mechanisms, and shoulder joint module and elbow joint module only need change electric welding gun's position, and three degree of freedom just can satisfy the requirement, consequently, shoulder joint and elbow joint have the redundant degree of freedom and can avoid singular position, guarantee electric welding gun and move in a flexible way in each position in space.
Drawings
Fig. 1 is the utility model discloses a three-dimensional curved surface welding robot device of high dexterity.
Fig. 2 is a schematic structural view of the shoulder joint of the robot arm of the present invention.
Fig. 3 is a schematic structural view of the elbow joint of the robot arm of the present invention.
Fig. 4 is a schematic structural view of the wrist joint of the robot arm of the present invention.
Fig. 5 is a schematic structural view of the wrist joint kinematics chain of the present invention.
In the figure, 1-a lifting platform vehicle, 2-a mechanical arm shoulder joint, 3-a mechanical arm elbow joint, 4-a mechanical arm wrist joint, 5-a vision unit, 6-a distance measuring unit, 7-an electric welding gun, 201-a shoulder joint fixed platform, 202-a first motor bracket, 203-a first motor, 204-a first shoulder joint movable platform supporting plate, 205-a first coupler, 206-a first shoulder joint output shaft, 207-a first shoulder joint movable platform, 208-a second shoulder joint movable platform, 209-a second shoulder joint output shaft, 210-a second coupler, 211-a second motor, 212-a triangular sheet metal connector, 213-a second motor bracket, 214-a second shoulder joint movable platform supporting plate, 301-a first shoulder connecting plate, 302-a first upper arm plate, 303-a third motor, 304-a third motor bracket, 305-a harmonic reducer, 306-a second upper arm connecting plate, 307-a fourth motor, 308-a second upper arm plate, 309-a reducer, 310-a fourth motor bracket, 311-a driving bevel gear, 312-a driven bevel gear, 313-an upper arm output shaft, 314-a front arm plate, 315-a front arm connecting plate, 401-a wrist joint movable platform, 402-a distance measuring unit supporting frame, 403-a vision unit supporting frame, 404 a fifth motor, 405-a motor shaft retainer ring, 406-a driving connecting rod, 407-a fifth motor supporting frame, 408-a wrist joint fixed platform, 409-a bracket positioning block, 410-a fixed connecting block, 411-a guide block and 412-a driven connecting rod.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings:
as shown in fig. 1 to 5, a high-dexterity three-dimensional curved surface welding robot device comprises a lifting platform truck 1, a shoulder joint module 2, an elbow joint module 3, a wrist joint module 4, a vision unit 5, a distance measuring unit 6 and a welding gun 7, wherein the shoulder joint module 2 is fixed on the lifting platform truck 1, the elbow joint module 3 and the shoulder joint module 2 are fixedly connected, the wrist joint module 4 and the elbow joint module 3 are fixedly connected, and the vision unit 5, the distance measuring unit 6 and the welding gun 7 are all fixed on the wrist joint module 4; the lifting platform vehicle is a motor-driven lifting platform, and an upper platform of the lifting platform vehicle is a working platform.
The shoulder joint module 2 comprises a shoulder joint fixed platform 201, a first motor support 202, a first motor 203, a first shoulder joint movable platform support plate 204, a first coupler 205, a first shoulder joint output shaft 206, a first shoulder joint movable platform 207, a second shoulder joint movable platform 208, a second shoulder joint output shaft 209, a second coupler 210, a second motor 211, a triangular sheet metal connector 212, a second motor support 213 and a second shoulder joint movable platform support plate 214; the second shoulder joint moving platform 208 is fixedly connected with the upper platform of the lifting platform car 1 through four bolts, the first motor support 202 is fixedly connected with the shoulder joint fixed platform 201 through four bolts, the first motor 203 is fixedly connected with the first motor support 202, one end of the first coupling 205 is connected with an output shaft of the first motor 203, the other end of the first coupling 205 is connected with a first shoulder joint output shaft 206, the first shoulder joint output shaft 206 passes through the first shoulder joint moving platform 207 and is embedded in the second shoulder joint moving platform support plate 214 through a bearing, the first shoulder joint moving platform support plate 204 is fixedly connected with the shoulder joint moving platform through bolts, the second shoulder joint moving platform support plate 214 is connected with the shoulder joint moving platform through bolts and is fixed on the shoulder joint fixed platform 201 through bolts, the second motor 211 support is fixedly connected with the first shoulder joint moving platform 207 through bolts, the second motor 211 is fixed on a second motor support 213, one end of the second coupling 210 is fixedly connected with an output shaft of the second motor 211, the other end of the second coupling 210 is fixedly connected with one end of a second shoulder joint output shaft 209, the other end of the second shoulder joint output shaft 209 penetrates through the first shoulder joint moving platform 207 and the second shoulder joint moving platform 208 and is embedded in the first shoulder joint moving platform 207 through a bearing, and the second shoulder joint moving platform support plate 214 is fixedly connected with the second shoulder joint output shaft 209 through a key.
The elbow joint comprises a first upper arm connecting plate 301, a first upper arm plate 302, a third motor 303, a third motor bracket 304, a harmonic reducer 305, a second upper arm connecting plate 306, a fourth motor 307, a second upper arm plate 308, a reducer 309, a fourth motor bracket 310, a driving bevel gear 311, a driven bevel gear 312, an upper arm output shaft 313, a forearm plate 314 and a forearm connecting plate 315; the upper end of the first upper arm connecting plate 301 is fixedly connected with one end of the second shoulder joint movable platform supporting plate through a bolt and the second shoulder joint movable platform supporting plate 214 through a bolt, the first upper arm connecting plate 301 and the third motor bracket 304 are fixedly connected into a whole through the first upper arm connecting plates by the two first upper arm plates 302, the third motor 303 is fixed on the third motor bracket 304, an output shaft of the third motor 303 penetrates through the third motor bracket 304 and is connected with an input end of the harmonic reducer 305, and an output end of the harmonic reducer 305 is fixedly connected with the second upper arm connecting plate 306 through a bolt; two second upper arm plates 308 are used for connecting a second upper arm connecting plate 306 with a fourth motor support 310 in a whole, a speed reducer 309 is fixed on the fourth motor support 310, a speed reducer 309 is fixed on the fourth motor 307, an output shaft of the fourth motor 307 is fixedly connected with an input end of the speed reducer 309 through a key, a driving conical gear 311 is fixedly connected with an output end of the speed reducer 309 through a key and a set screw, the driving conical gear 311 is meshed with a driven conical gear 312, the driven conical gear 312 is connected with an upper arm output shaft 313 through a key, the upper arm output shaft 313 penetrates through the two second upper arm plates 308 and is embedded in the two second upper arm plates 308 through a bearing, one ends of the two front arm plates 314 are fixed on the upper arm output shaft 313, and the other ends of the two front arm plates 314 are fixedly connected with the front arm connecting plates 315.
The wrist joint module 4 comprises a wrist joint moving platform 401, a distance measuring unit support frame 402, a vision unit support frame 403, a wrist joint fixed platform 408 and a wrist joint motion chain; the wrist joint fixed platform 408 is fixed on a forearm connecting plate 315 of an elbow joint, the distance measuring unit support frame 402 is fixed on the wrist joint movable platform 401 through bolts, the distance measuring unit support frame 402 is fixed on the wrist joint fixed platform 408 through bolts, the distance measuring unit 6 is fixed on the distance measuring unit support frame 402 through bolts, the vision unit support frame 403 is fixed on the distance measuring unit support frame 402 through bolts, and the vision unit 5 is fixed on the vision unit support frame 403 through bolts; the welding gun 7 is fixed in the middle of the wrist joint moving platform 401; the fixed end of the wrist joint motion chain is connected with the wrist joint fixed platform 408, the output end of the wrist joint motion chain is connected with the wrist joint movable platform 401, and three wrist joint motion chains are symmetrically distributed along the circumferential direction.
The wrist joint movement chain comprises a fifth motor 404, a fifth motor support frame 407, a motor shaft retainer 405, a driving connecting rod 406, a guide block 411, a driven connecting rod 412, a fixed connecting block 410 and a support positioning block 409; the bracket positioning block 409 is fixed on the wrist joint fixed platform 408, the fifth motor supporting frame 407 is attached to the bracket positioning block 409, the fifth motor supporting frame 407 and the bracket positioning block 409 are both fixed on the wrist joint fixed platform 408 through bolts, the fifth motor 404 is fixed on a fifth motor support frame 407, one end of the active connecting rod 406 is connected with an output shaft of the fifth motor 404 through a key, the motor shaft retainer 405 passes through the fifth motor shaft and is located intermediate the fifth motor 404 and the drive link 406, the other end of the driving connecting rod 406 is fixedly connected with a guide block 411, a guide linear slot is arranged on the driven connecting rod 412, the guide block 411 is positioned in the guide linear slot and can slide along the guide linear slot, one end of the driven connecting rod 412 is connected with the fixed connecting block 410 through a bolt, and the other end of the driven connecting rod 412 is fixedly connected with the wrist joint moving platform 401 through a bolt; the fixed connecting blocks 410 of the three wrist joint movement chains are fixedly connected with each other into a whole.
The first shoulder joint output shaft 206 is provided with three key slots, the left side and the right side of the first shoulder joint moving platform 207 are provided with three key slots, and the three key slots on the first shoulder joint output shaft 206 and the three key slots on the first shoulder joint moving platform 207 are in one-to-one correspondence in position and are respectively connected through keys.
The second shoulder joint output shaft 209 is provided with a key groove with a length larger than the width of the second shoulder joint movable platform supporting plate 214, the second shoulder joint movable platform supporting plate 214 is provided with a key groove hole, the key groove on the second shoulder joint output shaft 209 is connected with the key groove hole on the second shoulder joint movable platform 208 through a key, and power transmission of the second shoulder joint output shaft 209 is guaranteed.
The support positioning block 409 is provided with three positioning through holes connected with the wrist joint fixed platform 408, the support positioning block 409 is fixedly connected with the wrist joint fixed platform 408 through three bolts penetrating through the positioning through holes, the axis of the fifth motor 404 is guaranteed to be compared with one point, and the wrist joint can move flexibly.
The two ends of the active connecting rod 406 are provided with key slot holes, the two ends are plane, the middle is arc-shaped, the two end planes are tangent to the middle arc-shaped, and the two end planes are easy to assemble.
The driven connecting rod 412 is mainly an arc-shaped rod, and is provided with an arc-shaped slot, the left end is provided with two through holes for a plane, so as to be conveniently connected with the distance measuring unit support frame 402, and the right end is provided with one through hole along the axial direction. Facilitating connection with the fixed connection block 410.
The distance measuring unit support frame 402 is connected with the distance measuring unit 6 and the vision unit 5, so that the position of the device needing welding can be accurately identified, and data can be fed back to the PLC central control unit.
The working process of the utility model is as follows: the position and the shape of the large-scale equipment are analyzed to carry out path planning on the lifting platform car 1, the feedback data of the vision unit 5 and the distance measuring unit 6 are analyzed, the rising height of the hydraulic rod is calculated by using an algorithm, then a PLC control program is designed based on the kinematics model of the mechanical arm and the welding spot position of the electric welding gun 7 relative to the large-scale equipment, and the intelligent welding of the robot with high precision is realized.
The above-mentioned embodiment is only the preferred embodiment of the present invention, and is not to the limitation of the technical solution of the present invention, as long as the technical solution can be realized on the basis of the above-mentioned embodiment without creative work, all should be regarded as falling into the protection scope of the right of the present invention.
Claims (6)
1. The utility model provides a three-dimensional curved surface welding robot device of high dexterity which characterized in that: the multifunctional shoulder joint welding machine comprises a lifting platform truck (1), a shoulder joint module (2), an elbow joint module (3), a wrist joint module (4), a vision unit (5), a distance measuring unit (6) and a welding gun (7), wherein the shoulder joint module (2) is fixed on the lifting platform truck (1), the elbow joint module (3) is fixedly connected with the shoulder joint module (2), the wrist joint module (4) is fixedly connected with the elbow joint module (3), and the vision unit (5), the distance measuring unit (6) and the welding gun (7) are all fixed on the wrist joint module (4); the lifting platform vehicle is a lifting platform driven by a motor, and an upper platform of the lifting platform is a working platform;
the shoulder joint module (2) comprises a shoulder joint fixed platform (201), a first motor support (202), a first motor (203), a first shoulder joint movable platform support plate (204), a first coupler (205), a first shoulder joint output shaft (206), a first shoulder joint movable platform (207), a second shoulder joint movable platform (208), a second shoulder joint output shaft (209), a second coupler (210), a second motor (211), a triangular sheet metal connecting piece (212), a second motor support (213) and a second shoulder joint movable platform support plate (214); the second shoulder joint moving platform (208) is fixedly connected with the upper platform of the lifting platform vehicle (1) through four bolts, the first motor support (202) is fixedly connected with the shoulder joint fixed platform (201) through four bolts, the first motor (203) is fixedly connected with the first motor support (202), one end of the first coupler (205) is connected with an output shaft of the first motor (203), the other end of the first coupler (205) is connected with the first shoulder joint output shaft (206), the first shoulder joint output shaft (206) penetrates through the first shoulder joint moving platform (207) and is embedded in the second shoulder joint moving platform support plate (214) through a bearing, the first shoulder joint moving platform support plate (204) is fixedly connected with the shoulder joint moving platform through bolts, and the second shoulder joint moving platform support plate (214) is connected with the shoulder joint moving platform through bolts and is fixed on the shoulder joint fixed platform (201) through bolts, the second motor (211) support is fixedly connected with the first shoulder joint moving platform (207) through a bolt, the second motor (211) is fixed on the second motor support (213), one end of the second coupler (210) is fixedly connected with an output shaft of the second motor (211), the other end of the second coupler (210) is fixedly connected with one end of a second shoulder joint output shaft (209), the other end of the second shoulder joint output shaft (209) penetrates through the first shoulder joint moving platform (207) and the second shoulder joint moving platform (208) and is embedded in the first shoulder joint moving platform (207) through a bearing, and the second shoulder joint moving platform support plate (214) is fixedly connected with the second shoulder joint output shaft (209) through a key;
the elbow joint comprises a first upper arm connecting plate (301), a first upper arm plate (302), a third motor (303), a third motor support (304), a harmonic reducer (305), a second upper arm connecting plate (306), a fourth motor (307), a second upper arm plate (308), a reducer (309), a fourth motor support (310), a driving conical gear (311), a driven conical gear (312), an upper arm output shaft (313), a forearm plate (314) and a forearm connecting plate (315); the upper end of the first upper arm connecting plate (301) is fixedly connected with one end of the second shoulder joint movable platform supporting plate through a bolt and a second shoulder joint movable platform supporting plate (214) through a bolt, the first upper arm connecting plate (301) and the third motor support (304) are fixedly connected into a whole through the first upper arm connecting plate by the two first upper arm plates (302), the third motor (303) is fixed on the third motor support (304), an output shaft of the third motor (303) penetrates through the third motor support (304) and is connected with the input end of the harmonic reducer (305), and the output end of the harmonic reducer (305) is fixedly connected with the second upper arm connecting plate (306) through a bolt; the two second upper arm plates (308) fixedly connect the second upper arm connecting plate (306) and the fourth motor bracket (310) into a whole, the speed reducer (309) is fixed on the fourth motor bracket (310), the fourth motor (307) is fixed on the speed reducer (309), the output shaft of the fourth motor (307) is fixedly connected with the input end of the speed reducer (309) through a key, the driving bevel gear (311) is fixedly connected with the output end of the speed reducer (309) through a key and a set screw, the driving bevel gear (311) is meshed with the driven bevel gear (312), the driven bevel gear (312) is connected with the upper arm output shaft (313) through a key, the upper arm output shaft (313) penetrates through the two second upper arm plates (308) and is embedded in the two second upper arm plates (308) through a bearing, one end of the front arm plate (314) is fixed on the two upper arm output shafts (313), the other ends of the two front arm plates (314) are fixedly connected with a front arm connecting plate (315);
the wrist joint module (4) comprises a wrist joint moving platform (401), a distance measuring unit supporting frame (402), a vision unit supporting frame (403), a wrist joint fixed platform (408) and a wrist joint motion chain; the wrist joint fixed platform (408) is fixed on a forearm connecting plate (315) of an elbow joint, the distance measuring unit support frame (402) is fixed on the wrist joint movable platform (401) through bolts, the distance measuring unit support frame (402) is fixed on the wrist joint fixed platform (408) through bolts, the distance measuring unit (6) is fixed on the distance measuring unit support frame (402) through bolts, the visual unit support frame (403) is fixed on the distance measuring unit support frame (402) through bolts, and the visual unit (5) is fixed on the visual unit support frame (403) through bolts; the welding gun (7) is fixed in the middle of the wrist joint moving platform (401); the fixed end of the wrist joint motion chain is connected with the wrist joint fixed platform (408), the output end of the wrist joint motion chain is connected with the wrist joint movable platform (401), and three wrist joint motion chains are symmetrically distributed along the circumferential direction;
the wrist joint movement chain comprises a fifth motor (404), a fifth motor support frame (407), a motor shaft retainer ring (405), a driving connecting rod (406), a guide block (411), a driven connecting rod (412), a fixed connecting block (410) and a support positioning block (409); the wrist joint fixing platform is characterized in that the support positioning block (409) is fixed on the wrist joint fixing platform (408), the fifth motor support frame (407) is attached to the support positioning block (409), the fifth motor support frame (407) and the support positioning block (409) are both fixed on the wrist joint fixing platform (408) through bolts, the fifth motor (404) is fixed on the fifth motor support frame (407), one end of the driving connecting rod (406) is connected with an output shaft of the fifth motor (404) through a key, the motor shaft retainer ring (405) penetrates through a fifth motor shaft and is positioned between the fifth motor (404) and the driving connecting rod (406), the other end of the driving connecting rod (406) is fixedly connected with the guide block (411), the driven connecting rod (412) is provided with a guide linear groove, the guide block (411) is positioned in the guide linear groove and can slide along the guide linear groove, one end of the driven connecting rod (412) is connected with the fixed connecting block (410) through a bolt, the other end of the driven connecting rod (412) is fixedly connected with the wrist joint moving platform (401) through a bolt; the fixed connecting blocks (410) of the three wrist joint movement chains are fixedly connected into a whole.
2. The high-dexterity three-dimensional curved surface welding robot device according to claim 1, wherein: the first shoulder joint output shaft (206) is provided with three key slots, the left side and the right side of the first shoulder joint moving platform (207) are provided with three key slots, and the three key slots on the first shoulder joint output shaft (206) and the three key slots on the first shoulder joint moving platform (207) are in one-to-one correspondence in position and are respectively connected through keys.
3. The high-dexterity three-dimensional curved surface welding robot device according to claim 1, wherein: the second shoulder joint output shaft (209) is provided with a key groove with the length larger than the width of the second shoulder joint movable platform supporting plate (214), the second shoulder joint movable platform supporting plate (214) is provided with a key groove hole, and the key groove on the second shoulder joint output shaft (209) is connected with the key groove hole on the second shoulder joint movable platform (208) through a key.
4. The high-dexterity three-dimensional curved surface welding robot device according to claim 1, wherein: the support positioning block (409) is provided with three positioning through holes connected with the wrist joint fixed platform (408), and the support positioning block (409) is fixedly connected with the wrist joint fixed platform (408) through three bolts penetrating through the positioning through holes.
5. The high-dexterity three-dimensional curved surface welding robot device according to claim 1, wherein: the two ends of the active connecting rod (406) are provided with key slot holes, the two ends are planes, the middle is arc-shaped, and the planes of the two ends are tangent to the middle arc-shaped.
6. The high-dexterity three-dimensional curved surface welding robot device according to claim 1, wherein: the driven connecting rod (412) is mainly an arc-shaped rod piece and is provided with an arc-shaped groove, the left end of the driven connecting rod is provided with two through holes for a plane, and the right end of the driven connecting rod is provided with a through hole along the axial direction.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110480227A (en) * | 2019-09-19 | 2019-11-22 | 浙江工业大学 | A kind of high automaticity three-dimension curved surface welding robot device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110480227A (en) * | 2019-09-19 | 2019-11-22 | 浙江工业大学 | A kind of high automaticity three-dimension curved surface welding robot device |
| CN110480227B (en) * | 2019-09-19 | 2024-04-02 | 浙江工业大学 | High-dexterity three-dimensional curved surface welding robot device |
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