Multi-degree of freedom parallel mechanism type spot welding robot

A mechanism-type, degree-of-freedom technology, applied in the field of robotics, can solve the problems of large torque, low rigidity, and poor positioning accuracy, and achieve the effects of reducing active torque, high flexibility, and lowering the center of gravity

Inactive Publication Date: 2014-10-15
GUANGXI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The purpose of the present invention is to provide a multi-degree-of-freedom parallel mechanism type spot welding robot, which solves the shortcomings of traditional serial robots about the large torque required, low rigidity and poor positioning accuracy

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  • Multi-degree of freedom parallel mechanism type spot welding robot
  • Multi-degree of freedom parallel mechanism type spot welding robot
  • Multi-degree of freedom parallel mechanism type spot welding robot

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Embodiment Construction

[0025] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0026] control figure 1 , figure 2 , image 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 , a multi-degree-of-freedom parallel mechanism spot welding robot, consisting of a frame 1, a fuselage 2, a first connecting rod 3, a second connecting rod 5, a third connecting rod 20, a fourth connecting rod 18, and a fifth connecting rod 11. Sixth connecting rod 8, seventh connecting rod 15, eighth connecting rod 10, ninth connecting rod 13, tenth connecting rod 21, eleventh connecting rod 22, twelfth connecting rod 23 and end effector 24 Its structure and connection method are as follows:

[0027] The first connecting end of the fuselage 2 is connected to the frame 1 through the first rotating pair 25, the fuselage 2 is driven by the first rotating pair 25, the first rotating pair 25 is driven by a motor, and the second ...

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Abstract

The invention discloses a multi-degree of freedom parallel mechanism type spot welding robot. A frame, a body, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod, a sixth connecting rod, a seventh connecting rod, an eighth connecting rod, a ninth connecting rod, a tenth connecting rod, an eleventh connecting rod, a twelfth connecting rod and an end effector are connected into four controlled four-link mechanism closed loop actuator subchains which are connected in parallel and an actuator main chain which is connected in series; the subchains control the connecting rods of the main chain to move in the plane in which the subchains are positioned; the spatial motion of a platform is realized through the movement of the first connecting rod and the body. According to the spot welding robot, the control is realized through resultant motion of the four closed loop subchains and the body, the spatial motion of the end effector is realized through the connection between the multiple connecting rods and the body, the effector is higher in flexibility, and the work space is larger than that of the conventional robot; moreover, the connecting rods with hinges can be made into light rods, so that the whole mechanism is higher in dynamic performance and easy to control.

Description

technical field [0001] The invention relates to the field of robots, in particular to a multi-degree-of-freedom parallel mechanism spot welding robot. Background technique [0002] The spot welding robot consists of a robot body, a computer control system, a teaching box and a spot welding welding system. In order to meet the working requirements of flexible movements, the spot welding robot usually adopts the basic design of an articulated industrial robot, which generally has six degrees of freedom: Waist rotation, upper arm rotation, forearm rotation, wrist rotation, wrist swing and wrist twist. Its drive mode has two kinds of hydraulic drive and electric drive. Among them, the electric drive has the advantages of easy maintenance, low energy consumption, high speed, high precision, and good safety, so it is widely used. The spot welding robot performs spot welding operations according to the actions, sequences and parameters stipulated in the teaching program. The proc...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B23K37/00B25J9/08
CPCB23K37/0252
Inventor 蔡敢为王麾张林石慧关卓怀范雨王少龙黄院星王小纯王湘杨旭娟
Owner GUANGXI UNIV
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