Welding robot with a plurality of closed-ring subchains

A welding robot and closed-loop sub-chain technology, applied in the field of robots, can solve the problems of low rigidity, small working space, and large required torque, and achieve the effects of large working space, lower center of gravity, and reduced dynamic torque.

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

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Problems solved by technology

[0003] The purpose of the present invention is to provide a welding robot with multiple closed-loop sub-chains, which so

Method used

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  • Welding robot with a plurality of closed-ring subchains
  • Welding robot with a plurality of closed-ring subchains
  • Welding robot with a plurality of closed-ring subchains

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Embodiment Construction

[0028] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0029] control figure 1 , figure 2 , image 3 , Figure 4 , Figure 5 and Figure 6 , a welding robot with multiple closed-loop sub-chains, its structure and connection method are:

[0030]The actuator chain is composed of fuselage 2, first connecting rod 3, second connecting rod 5, third connecting rod 21, fourth connecting rod 19, fifth connecting rod 18, sixth connecting rod 16, seventh connecting rod 29. Eighth connecting rod 7, ninth connecting rod 15, tenth connecting rod 11, eleventh connecting rod 12, twelfth connecting rod 23, thirteenth connecting rod 24, fourteenth connecting rod 26, terminal execution 28 and the frame 1 are connected, the first connecting end 30 of the fuselage 2 is connected to the frame 1 through the first revolving pair 30, the fuselage 1 is driven by the first revolving pair 30, and the ...

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Abstract

The invention discloses a welding robot with a plurality of closed-ring subchains. The welding robot with a plurality of closed-ring subchains comprises a plurality of parallel mechanism closed-ring actuating mechanism subchains and one series actuating mechanism main chain, wherein mechanism closed-ring subchains are capable of controlling a main ring connection rod to move in a plane of a four-rod mechanism closed-ring subchain; and movement of a plurality of parallel connection rod subchains and a robot body is capable of realizing space movement of a movable platform. According to the welding robot with a plurality of closed-ring subchains, control is realized by resultant movement of four closed-ring subchains and the robot body; due to connection between a plurality of connection rods and the robot body, the space movement of a rear-end actuator is realized; the rear-end actuator is small in movement inertia, good in dynamics performance and high in reliability; the mechanism has the advantages of compact structure and simple control; the rods can be made into light rods; the mechanism has a large working space, so that a gravity center of the mechanism moves backwards, thus the balance of the mechanism is ensured; and the mechanism can be applied to more places.

Description

technical field [0001] The invention relates to the field of robots, in particular to welding robots with multiple closed-loop sub-chains. 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 problems...

Claims

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Application Information

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IPC IPC(8): B25J9/06B25J9/04B23K37/00
Inventor 蔡敢为胥刚黄院星张林高德中于腾吕姗姗丁侃
Owner GUANGXI UNIV
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