44results about How to "Reduce active torque" patented technology

A controllable multi-degree of freedom welding robot comprises four controllable four-link-mechanism closed-loop executing mechanism subchains which are in parallel connection and an executing main chain in series connection. A main chain connecting rod can be controlled by the controllable four-link-mechanism closed-loop executing mechanism subchain to move within the surface with the controllable four-link-mechanism closed-loop executing mechanism subchains. The spatial motion of a moving platform can be achieved by the motion of a first connecting rod and a body. According to this arrangement, the spatial motion of an end effector can be achieved, motion inertia is small, dynamics performance is good and reliability is high. The controllable multi-degree of freedom welding robot has the advantages of being compact in structure and easy to control. The rods can be made as light rods, work spaces for mechanisms are large, gravity centers of the mechanisms are moved backwards to keep balance. The controllable multi-degree of freedom welding robot can be widely used.

The invention relates to a multi-degree-of-freedom controllable parallel type movable spot welding robot. The multi-degree-of-freedom controllable parallel type movable spot welding robot comprises a movable platform, four parallel controllable four-bar mechanism closed-loop actuator subchains and a serial actuator main chain. The controllable four-bar mechanism closed-loop actuator subchains controls main-chained connecting bars to move within a plane where the four-bar mechanism closed-loop subchains are located, and spatial motion of the movable platform can be realized through motions of a first connecting bar, a machine body and the movable platform. A moving function is realized through the movable platform; the robot is controlled through the synthetic motion of the four four-bar mechanism closed-loop actuator subchains and the machine body; the spatial motion of an end actuator is realized through a plurality of connecting bars and the machine body; the end actuator is small in movement inertia, good in dynamics performance and high in precision. Through the structure, the robot has motion redundancy of almost infinite work space and height, has moving and operating functions at the same time, and can act on more occasions.

A mechanism type mobile mechanical hand with multiple degrees of freedom comprises multiple parallel mechanism closed-loop executing mechanism sub chains, a series executing mechanism main chain and a mobile platform. The mechanism closed-loop sub chains can control a main chain connecting rod to move in a plane where the four-rod mechanism closed-loop sub chains are located. Space movement of the mobile platform can be achieved through movement of the multiple parallel connecting rod sub chains, a robot palletizer body and the mobile platform. According to the mechanism type mobile mechanical hand, control is achieved through resultant movement of the four closed-loop sub chains and the robot palletizer body, space movement of an end executor is achieved through connection of multiple connecting rods, the robot palletizer body and the mobile platform, the end executor is small in movement inertia, good in dynamics performance and high in reliability, the mechanism has the advantages of being compact in structure, easy to control and capable of moving and being operated at the same time, the rods can be light, and the mechanism is large in working space so as to act on more occasions.

The invention discloses a six-freedom-degree rocker arm type movable welding robot. One end of a stand column is connected with a vehicle body; the other end of the stand column is connected with one end of a main arm and a first connection end of a first rocker arm; a second connection end of the first rocker arm is connected with one end of a first connection rod; the other end of the first connection rod is connected with a second connection end of a second rocker arm; a first connection end of the second rocker arm is connected with the other end of the main arm; a third connection end of the second rocker arm is connected with one end of a second connection rod; the other end of the second connection rod is connected with a third connection end of the first rocker arm; one end of a third connection rod is connected with a fourth connection end of the second rocker arm; the other end of the third connection rod is connected with one end of a fourth connection rod; the other end of the fourth connection rod is connected with a tail end welding actuator; one end of a sliding block is connected with the stand column through a movable pair; the other end of the sliding block is connected with a fifth connection rod; the other end of the fifth connection rod is connected with one end of a sixth connection rod; the other end of the sixth connection rod is connected with the other arm of the main arm. The six-freedom-degree rocker arm type movable welding robot has the advantages of large working space, high rigidity, high bearing capability and high execution accuracy.

The invention relates to a method for carrying out welding construction by utilizing a six-degree of freedom rocker arm type movable connecting rod mechanism. An execution main chain is formed by a stand column, a main arm, a first rocker arm, a second rocker arm, a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod; an execution sub chain is formed by a fifth connecting rod, a sixth connecting rod, a stand column and a main arm; when welding operation is carried out, the main arm is driven through a motor so as to rotate, and the fifth connecting rod and the sixth connecting rod support the main arm and are in movement combination with the main arm; the second rocker arm is driven through the motor, so that the second rocker arm carries out rocker arm type control on the third connecting rod; the third connecting rod and the fourth connecting rod are driven through the motor to rotate, so that the connecting rod mechanism can finish welding operation. The method provided by the invention has the advantages of large working space, high rigidity, strong carrying capacity and high execution precision.

The invention relates to a method for carrying out welding construction by utilizing a six-degree of freedom mechanism type movable connecting rod mechanism. An execution main chain is formed by a stand column, a main arm, a first rocker arm, a second rocker arm, a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod; an execution sub chain is formed by a fifth connecting rod, a sixth connecting rod, a stand column and a main arm; when welding operation is carried out, the main arm is driven through a motor so as to rotate, and the fifth connecting rod and the sixth connecting rod support the main arm and are in movement combination with the main arm; the second rocker arm is driven through the motor, so that the second rocker arm carries out rocker arm type control on the third connecting rod; the third connecting rod and the fourth connecting rod are driven through the motor to rotate, so that the connecting rod mechanism can finish welding operation. The method provided by the invention has the advantages of large working space, high rigidity, strong carrying capacity and high execution precision.

The invention discloses a mechanical arm with symmetrical mechanisms. The mechanical arm comprises a plurality of parallel mechanism closed loop execution mechanism sub-chains and a series execution mechanism main chain. A main chain connecting rod can be controlled by the mechanism closed loop sub-chains to move in the plane where a four-rod mechanism closed loop sub-chain is located, and spatial motion of a movable platform can be achieved through motion of a plurality of parallel connecting rod sub-chains and a machine body. Control is achieved through resultant movement of four closed-loop sub-chains and the machine body; spatial motion of a tail end executor is achieved through connection of a plurality of connecting rods and the machine body; the tail end executor is small in motion inertia, good in dynamics performance and high in reliability; the mechanisms have the advantages of being compact in structure and easy to control; light rods can be produced; because the mechanisms are large in work space, the gravity of the mechanisms moves backwards, and the mechanisms are kept balanced and can be applied to more occasions.

The invention provides a multi-freedom-degree motion automobile welding robot composed of an executing mechanism auxiliary chain and an executing mechanism main chain. The executing mechanism main chain can move in a plane through a main arm control mechanism, and the space movement of a movable platform can be achieved through supporting of the executing mechanism auxiliary chain and the movementof a machine body. Control is achieved through the synthesized movement of the executing mechanism auxiliary chain and the machine body, and the space movement of a tail end welding executer is achieved through connection of two rockers of a main arm. The motion inertia of the tail end welding executer is small, the dynamics performance is good, and reliability is high. The mechanism has the beneficial effects of being compact in structure and simple in control. The work space is large, the gravity center of the mechanism moves backwards, and the multi-freedom-degree motion automobile weldingrobot can be applied to more occasions.

The invention discloses a wheel type mobile robot palletizer with multiple closed-loop sub chains. The wheel type mobile robot palletizer comprises the multiple parallel mechanism closed-loop executing mechanism sub chains, a series executing mechanism main chain and a mobile platform. The mechanism closed-loop sub chains can control a main chain connecting rod to move in a plane where the four-rod mechanism closed-loop sub chains are located. Space movement of the mobile platform can be achieved through movement of the multiple parallel connecting rod sub chains, a robot palletizer body and the mobile platform. According to the wheel type mobile robot palletizer with the multiple closed-loop sub chains, control is achieved through resultant movement of the four closed-loop sub chains and the robot palletizer body, space movement of an end executor is achieved through connection of multiple connecting rods, the robot palletizer body and the mobile platform, the end executor is small in movement inertia, good in dynamics performance and high in reliability, and the mechanism has the moving and operating functions at the same time, so that the robot palletizer has the almost infinitely large working space and the high movement redundancy, and can act on more occasions.

Provided is an MDOF controllable rocker arm type connection rod mechanism. A stand column is connected with one end of a main arm and the first connection end of a first rocker arm, the second connection end of the first rocker arm is connected with one end of a first connection rod, and the other end of the first connection rod is connected with the second connection end of a second rocker arm. The first connection end of the second rocker arm is connected with the other end of the main arm. The third connection end of the second rocker arm is connected with one end of a second connection rod, and the other end of the second connection rod is connected with the third connection end of the first rocker arm. One end of a third connection rod is connected with the fourth connection end of the second rocker arm, and the other end of the third connection rod is connected with a fourth connection rod. One end of a connection block is connected with a walking mechanism through a fixing pair, the other end of the connection block is connected with one end of a fifth connection rod, the other end of the fifth connection rod is connected with one end of a sixth connection rod, and the other end of the sixth connection rod is connected with the middle of the main arm. The MDOF controllable rocker arm type connection rod mechanism has the advantages of being large in working space, and high in rigidity, bearing capacity and execution accuracy.

The invention relates to a rotating controllable connecting rod mechanism. An upright post is connected with one end of a main arm and the first connecting end of a first rocker arm; the second connecting end of the first rocker arm is connected with one end of a first connecting rod; the other end of the first connecting rod is connected with the second connecting end of a second rocker arm; the first connecting end of the second rocker arm is connected with the other end of the main arm; the third connecting end of the second rocker arm is connected with one end of a second connecting rod; the other end of the second connecting rod is connected with the third connecting end of the first rocker arm; one end of a third connecting rod is connected with the fourth connecting end of the second rocker arm; the other end of the third connecting rod is connected with a fourth connecting rod; one end of a connecting block is connected with the upright post through a fixed pair, and the other end of the connecting block is connected with a fifth connecting rod; the fifth connecting rod, a sixth connecting rod, a seventh connecting rod and the third connecting end of the main arm are connected in sequence. The rotating controllable connecting rod mechanism has the advantages of large work space, high rigidity, high bearing capacity and high implementation accuracy.