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Space-controlled five degree of freedom twelve-rod welding robot mechanism

A technology with degrees of freedom and space, applied in welding equipment, auxiliary welding equipment, program-controlled manipulators, etc., can solve the problems of joint error accumulation, heavy arm, poor rigidity, etc., and achieve small error accumulation, high control precision, and strong bearing capacity Effect

Inactive Publication Date: 2012-04-18
GUANGXI UNIV
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Problems solved by technology

[0004] The purpose of the present invention is to provide a space-controllable five-degree-of-freedom twelve-rod welding robot mechanism, which solves the problem that the motor of the traditional open-chain series welding robot mechanism is installed at its hinge, which causes the arm to be bulky, poor in rigidity, large in inertia, and joints. Error accumulation and other problems, this mechanism has better dynamics

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  • Space-controlled five degree of freedom twelve-rod welding robot mechanism
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  • Space-controlled five degree of freedom twelve-rod welding robot mechanism

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Embodiment Construction

[0025] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0026] control figure 1 , 6 , 7, 8 and 9, a space five-degree-of-freedom twelve-rod controllable welding robot mechanism, including a planar two-degree-of-freedom controllable mechanism branch chain, a first attitude adjustment branch chain, a second attitude adjustment branch chain, a third Attitude adjustment branch chain, moving platform 11 with flange 12 and frame 13. The frame 13 is installed on the rotary platform 14 to realize the six-degree-of-freedom movement of three-dimensional translation and three-dimensional rotation of the entire robot space.

[0027] control figure 1 , 2 , the planar two-degree-of-freedom controllable mechanism branch chain is formed by connecting the first active rod 1 , the second active rod 4 , the first connecting rod 2 , the second connecting rod 3 and the frame 13 . One end of the fi...

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Abstract

The invention relates to a space-controlled five degree of freedom twelve-rod welding robot mechanism which comprises a plane two degree of freedom controlled mechanism branch chain, three gesture regulating branch chains, a movable platform with a flange plate, and a stand, wherein the back of the movable platform is respectively connected with the four branch chains through a first spherical pair, a third spherical pair, a fifth spherical pair and a seventh spherical pair; and the flange plate on the movable platform is used for installing equipment, such as a welding gun or welding tongs and the like. All servo motors are arranged on the stand, and a lever can be made into a light rod, thus the robot has small motion inertia and good dynamic property, and can better satisfy the requirement for high-speed accurate welding.

Description

technical field [0001] The invention relates to the field of industrial robots, in particular to a space-controllable five-degree-of-freedom twelve-rod welding robot mechanism. Background technique [0002] According to incomplete statistics, nearly half of the industrial robots in service in the world are welding robots, which are widely used in welding, handling, palletizing, assembly, cutting and other operations in industrial production. Welding robot is a kind of automatic welding equipment equipped with welding systems such as wire feeder, hose, welding torch, welding torch or welding tongs on industrial robots, and equipped with corresponding welding power sources. The existing welding robots are basically articulated robots, mostly with 6 axes, which send the end tools to different spatial positions through the joint action of 1, 2, and 3 axes, supplemented by the linkage of 4, 5, and 6 axes to Meet different requirements of tool attitude. The mechanical structure ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B23K37/02B25J9/06
Inventor 蔡敢为潘宇晨王红州李岩舟周晓蓉王汝贵温芳陈渊
Owner GUANGXI UNIV
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