Three-dimensional translation and one-dimensional circumferential rotation type parallel welding robot

A technology of welding robot and three-dimensional translation, applied in welding equipment, auxiliary welding equipment, welding/cutting auxiliary equipment, etc., can solve the problems of joint error accumulation, large inertia, poor rigidity, etc., achieve small inertia, convenient control, reduce The effect of body weight

Inactive Publication Date: 2012-07-25
GUANGXI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The purpose of the present invention is to provide a parallel welding robot with three-dimensional translation and one-dimensional full-cycle rotation, which solves the proble

Method used

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  • Three-dimensional translation and one-dimensional circumferential rotation type parallel welding robot
  • Three-dimensional translation and one-dimensional circumferential rotation type parallel welding robot
  • Three-dimensional translation and one-dimensional circumferential rotation type parallel welding robot

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Embodiment Construction

[0019] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0020] control figure 1 and figure 2 , a parallel welding robot with three-dimensional translation and one-dimensional full circle rotation, including a first RPRR closed-loop sub-chain, a second RPRR closed-loop sub-chain and an actuator sub-chain.

[0021] The first RPRR closed-loop sub-chain is formed by connecting the first active rod 2, the first connecting rod 4, the first turntable 5, and the first linear drive 8, and the first active rod 2 is connected to the machine through the first rotating pair 23. On the frame 1, the first active rod 2 is driven by the first servo motor 25, the other end of the first active rod 2 is connected with the first connecting rod 4 through the first moving pair 3, and the other end of the first connecting rod 4 is connected through the second rotating pair 27 is connected with the firs...

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Abstract

The invention relates to a three-dimensional translation and one-dimensional circumferential rotation type parallel welding robot, which comprises a first RPRR closed-loop subchain, a second RPRR closed-loop subchain and an executive mechanism subchain. Rotation shafts of control rods of the first RPRR closed-loop subchain and the second RPRR closed-loop subchain are coaxial, the first RPRR closed-loop subchain can control planar two-degree-of-freedom movement of a first rotary table which is capable of rotating circumferentially, the second RPRR closed-loop subchain can control planar two-degree-of-freedom movement of a second rotary table which is capable of rotating circumferentially, and spatial four-degree-of-freedom movement of a flange can be realized by mean of movement of the first rotary table and the second rotary table. The two closed-loop subchains are used for controlling planar movement of the two rotary tables so as to realize spatial four-degree-of-freedom movement of the flange, and the parallel welding robot has the advantages of compact structure and simplicity in control. All active rods are connected to a frame and can be made into light rods, and the robot is low in the mechanism motion inertia and high in dynamic performance.

Description

technical field [0001] The invention relates to the field of welding robots, in particular to a parallel welding robot with three-dimensional translation and one-dimensional full circle rotation. Background technique [0002] An industrial robot is a multipurpose, reprogrammable automatic control manipulator (Manipulator) with three or more programmable axes, used in the field of industrial automation. In order to adapt to different purposes, the mechanical interface of the last axis of the robot is usually a connecting flange, which can be connected to different tools or end effectors. The welding robot is equipped with a welding tongs or a welding (cutting) torch on the flange of the final axis of the industrial robot, so that it can perform welding, cutting or thermal spraying. According to incomplete statistics, nearly half of the industrial robots in service around the world are welding robots. At present, the welding robots produced in various countries are basically...

Claims

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Application Information

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IPC IPC(8): B25J9/08B23K37/02
Inventor 蔡敢为潘宇晨王红州高德中张林
Owner GUANGXI UNIV
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