A six-degree-of-freedom welding robot mechanism

A welding robot and rotary mechanism technology, applied in welding equipment, auxiliary welding equipment, welding/cutting auxiliary equipment, etc., can solve the problems of small working space, short trouble-free running time, large moment of inertia, etc. Accuracy, good dynamics, the effect of reducing the moment of inertia

CN103737582BInactive Publication Date: 2016-06-29GUANGXI UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Publication Date
2016-06-29
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention relates to a high-precision advanced welding robot mechanism with six degrees of freedom. The high-precision advanced welding robot mechanism comprises a waist rotary mechanism, a shoulder swing mechanism, an elbow rotary mechanism, a forearm twisting mechanism, a wrist rotary mechanism, a welding gun clamping seat rotary mechanism, a machine base and a rotary platform. The two-dimensional translation of a plane is achieved through a mechanism formed by the shoulder swing mechanism and the elbow rotary mechanism, and a forearm execution tail end welding gun clamping seat is sent to a preset area. The position of an execution tail end within a space range is adjusted through the whole circle rotation of the rotary platform, and large work space is obtained. A welding gun posture is adjusted through the three-dimensional rotation of the forearm twisting mechanism, the wrist rotary mechanism and the welding gun clamping seat rotary mechanism. The high-precision advanced welding robot mechanism can flexibly and conveniently send a welding gun to different space points to work, good dynamics performance is obtained, the bearing loads of shoulder joints are reduced, and the excellent characteristics of high precision, high reliability and convenient maintenance are achieved.
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Description

technical field

[0001] The invention relates to the field of industrial robots, in particular to a six-degree-of-freedom high-precision advanced welding robot mechanism. Background technique

[0002] Industrial robots are multi-joint manipulators or robots with multiple degrees of freedom for the industrial field. An industrial robot is a machine device that performs work automatically, and is a machine that realizes various functions by its own power and control capabilities. China will become the world's largest consumer of industrial robots by 2014. According to experts, in 2011, the sales volume of China's industrial robots increased by 51% year-on-year. In the next three years, the compound growth rate of China's industrial robot market can reach 30%. China may become the world's largest robot demand market. Due to the rapid development of modern computer technology and the continuous maturity of multi-axis motion control technology, the cost of industrial robots has ...

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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 , 2 , 3 and 4, a six-degree-of-freedom high-precision advanced welding robot mechanism, including a waist rotation mechanism, a shoulder swing mechanism, an elbow rotation mechanism, a forearm rotation mechanism, a wrist rotation mechanism, a welding torch holder rotation mechanism and a machine base 1.

[0030] control figure 1 , the waist turning mechanism of the robot includes a rotating platform 2, the rotating platform 2 is installed on the base 1 through a first rotating pair 12, and the first rotating pair 12 is driven by a first servo motor.

[0031] control figure 1 , 2 , The shoulder swing mechanism includes a first active rod 3 , a first connecting rod 4 and a second connecting rod 5 . The first active rod 3 is connected with the rotating platform 2 through the second rotating pair 13, a...