Controllable mechanism type fine-adjusting welding robot with multiple degrees of spatial freedom

A welding robot and degree of freedom technology, applied in the field of robots, can solve the problems of low stiffness, small working space, and large required torque, and achieve the effects of large working space, lower center of gravity, and reduced dynamic torque.

Active Publication Date: 2014-04-23
GUANGXI UNIV
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Problems solved by technology

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

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  • Controllable mechanism type fine-adjusting welding robot with multiple degrees of spatial freedom
  • Controllable mechanism type fine-adjusting welding robot with multiple degrees of spatial freedom
  • Controllable mechanism type fine-adjusting welding robot with multiple degrees of spatial freedom

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Embodiment Construction

[0026] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0027] control Figure 1-Figure 9 , a space multi-degree-of-freedom controllable mechanism fine-tuning welding robot, its structure and connection method are:

[0028] The sub-chain of the actuator is composed of the fuselage 2, the first connecting rod 3, the second connecting rod 4, the third connecting rod 5, the fourth connecting rod 6, the fifth connecting rod 7, the sixth connecting rod 8, the seventh connecting rod The rod 9, the eighth connecting rod 10, the ninth connecting rod 11, the tenth connecting rod 12, the end effector 13 and the frame 1 are connected, and the first connection end of the fuselage 2 is connected to the frame through the first rotating pair 14. On the frame 1, the fuselage 2 is driven by the first rotating pair 14, the second connection end of the fuselage 2 is connected with the first connecti...

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Abstract

A controllable mechanism type fine-adjusting welding robot with multiple degrees of spatial freedom comprises three controllable fine-adjusting four-rod mechanism closed-loop subchains connected in parallel and an execution mechanism subchain in series connection. The four-rod mechanism closed-loop subchains can control a first connecting rod to move in the plane where the four-rod mechanism closed-loop subchains are located, and the spatial movement of a platform can be achieved through the movement of parallel connecting rods and a machine body. The spatial movement of a tail end executor can be controlled through the resultant movement of the three closed-loop subchains and the machine body, the movement inertia of the tail end executor is small, dynamics performance is good, reliability is high, the mechanism has the advantages of being compact in structure and easy to control, the connecting rods are used for control, rod pieces can be made into light rods, the work space of the mechanism is large, the gravity of the mechanism moves backwards, the mechanism is kept balanced, and the mechanism can act on more occasions.

Description

technical field [0001] The invention relates to the field of robots, in particular to a space multi-degree-of-freedom controllable mechanism fine-tuning 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 manipulator with partial closed chain in engineering does not solve the ab...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/06B25J9/04B25J9/08B23K37/00
Inventor 蔡敢为胥刚张林石慧王麾范雨关卓怀王少龙王小纯李岩舟温芳杨旭娟周晓蓉
Owner GUANGXI UNIV
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