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Robot parallel mechanism with rotation and lifting two degrees of freedom

A technology of rotating lifting and rotating mechanisms, applied in the direction of manufacturing tools, auxiliary devices, auxiliary welding equipment, etc., can solve the problems of invisibility and inconvenience, and achieve the effect of convenient processing, easy installation and disassembly, and easy control

Inactive Publication Date: 2012-06-27
BEIJING UNIV OF TECH
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  • Abstract
  • Description
  • Claims
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Problems solved by technology

The linkage of various components is neither intuitive nor convenient for the control of the welding robot in the welding process.

Method used

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  • Robot parallel mechanism with rotation and lifting two degrees of freedom
  • Robot parallel mechanism with rotation and lifting two degrees of freedom
  • Robot parallel mechanism with rotation and lifting two degrees of freedom

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Embodiment Construction

[0018] Depend on Figure 1 to Figure 7 It can be seen from the embodiments of the present invention that the mechanism provided by the present invention has two degrees of freedom of rotation and elevation. The rotation is realized by the internal meshing of the gears, and the lifting is realized by the lead screw. The two degrees of freedom are decoupled through the nut bearing 13, and the two degrees of freedom are independent of each other and do not interfere with each other, forming a parallel mechanism. The frame is fixed relative to the world coordinate system, and it is threaded by the upper fixed plate 2 and the lower fixed plate 29 through the connecting rod 1, and the frame bottom is equipped with an organic base 30, which anchors the whole mechanism on the workpiece.

[0019] When the driving motor I7 starts, the driving motor I7 transmits the rotational motion to the gear shaft I6, and the gear shaft I6 is installed in the mounting hole of the frame, and the gear...

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Abstract

The invention relates to a robot parallel mechanism with rotation and lifting two degrees of freedom, which belongs to the technical field of welding robots. The mechanism comprises a frame, a rotation mechanism and a lifting mechanism. The rotation mechanism is implemented by gear transmission, and the lifting mechanism is implemented by screws. The two mechanisms are decoupled via a bearing anddo not affect lifting action when rotating in the welding process, and vice versa. The robot parallel mechanism with rotation and lifting two degrees of freedom has simple structure, is convenient toprocess and is easy to assemble and disassemble. The rotation and the lifting two degrees of freedom of the mechanism are independent without interference, and the implementation of control is convenient. Additionally, in the welding process, because the motor which controls the two degrees of freedom is fixed relative to the world coordinates, the problems of conductor twining due to rotation isavoided.

Description

technical field [0001] The invention provides a robot parallel mechanism with two degrees of freedom of rotation and lifting, which belongs to the technical field of welding robots. Background technique [0002] In modern welding production, intubation welding is a very common connection form in chemical and boiler industries. General factories are still finished by manual welding, the manufacturing cycle is long, the labor intensity is high, the production efficiency is low, and the welding quality is difficult to maintain stable. The use of robot technology in welding production can increase productivity, improve working conditions, stabilize and ensure welding quality, and realize automatic welding of intersecting line welds. [0003] At present, most of the existing welding robots use articulated robots. To complete the welding task, this type of welding robot must link all joints, using a series mechanism. The linkage of each component is neither intuitive nor conven...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B23K37/00B23K37/02
Inventor 陈树君刘翼管新勇涂志伟于洋
Owner BEIJING UNIV OF TECH
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