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Controllable multi-degree of freedom welding robot

A welding robot and degree of freedom technology, applied in the field of robots, can solve the problems of large required torque, small working space, low rigidity, etc., and achieve the effect of reducing dynamic torque, large working space and high flexibility

Inactive Publication Date: 2014-04-09
GUANGXI UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The purpose of the present invention is to provide a controllable multi-degree-of-freedom welding robot, which solves the shortcomings of traditional series robots about the large torque required, low rigidity and small working space

Method used

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  • Controllable multi-degree of freedom welding robot

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Embodiment Construction

[0027] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0028] control figure 1 , figure 2 , image 3 , Figure 4 , Figure 5 and Figure 6 , a controllable multi-degree-of-freedom welding robot, its structure and connection method are:

[0029] The actuator chain is composed of fuselage 2, first connecting rod 3, second connecting rod 6, third connecting rod 21, fourth connecting rod 18, fifth connecting rod 16, sixth connecting rod 9, seventh connecting rod 15. The eighth connecting rod 11, the ninth connecting rod 12, the tenth connecting rod 19, the eleventh connecting rod 22, the twelfth connecting rod 24, the end effector 25 and the frame 1 are connected, and the fuselage 2 A connecting end 26 is connected on the frame 1 through the first rotating pair 26, the fuselage 2 is driven by the first rotating pair 26, the first rotating pair 26 is driven by a motor, and the s...

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Abstract

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.

Description

technical field [0001] The invention relates to the field of robots, in particular to a controllable multi-degree-of-freedom welding robot. Background technique [0002] The traditional series robot has the advantages of simple structure, low cost, and large working space. Relatively speaking, the series robot has low rigidity and cannot be applied to high-speed and large-load occasions; compared with the traditional series robot, the parallel robot has no cumulative error, High precision, compact structure, large bearing capacity, high rigidity and small inertia of the end effector, etc., the driving device can be placed on the fixed platform or close to the fixed platform, so that the moving part is light in weight, high in speed and good in dynamic response; However, the obvious disadvantages of parallel robots are small working space and complex structure. The existing manipulators with partial closed chains in engineering, such as MOTOMAN-K10, did not solve the problem...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/06B23K37/00
Inventor 蔡敢为胥刚张林高德中于腾吕姗姗丁侃
Owner GUANGXI UNIV
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