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Welding construction method through utilizing six-degree-of-freedom five-rod moving type connecting rod mechanism

A connecting rod mechanism and mobile technology, which is applied in the field of robots, can solve the problems of low stiffness, small working space, and large torque required, and achieve the effects of good dynamic performance, increased working space, and reduced active torque

Active Publication Date: 2015-04-01
GUANGXI UNIV
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  • Claims
  • Application Information

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Problems solved by technology

[0003] The technical problem to be solved by the present invention is to provide a method for welding construction using a six-degree-of-freedom five-bar movable linkage mechanism, which solves the shortcomings of traditional serial robots about the large torque required, low rigidity and small working space

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  • Welding construction method through utilizing six-degree-of-freedom five-rod moving type connecting rod mechanism
  • Welding construction method through utilizing six-degree-of-freedom five-rod moving type connecting rod mechanism
  • Welding construction method through utilizing six-degree-of-freedom five-rod moving type connecting rod mechanism

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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] Such as Figure 1-Figure 12 As shown, a method of welding construction using a six-degree-of-freedom five-bar movable linkage mechanism, first connect and install the welding car according to the following connection method:

[0029] The bottom end of the column 2 is connected to the vehicle body 1 through the first fixed pair, and the top end of the column 2 is respectively connected to the first connecting end of the main arm 4 and the first connecting end of the first rocker arm 3 through the first rotating pair 13. The second connecting end of a rocking arm 3 is connected to one end of the first connecting rod 5 through the second rotating pair 14, and the other end of the first connecting rod 5 is connected to the second connecting end of the second rocking arm 7 through the fourth rotating pair 17, The first conn...

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Abstract

The invention relates to a welding construction method through a six-degree-of-freedom five-rod moving type connecting rod mechanism. According to the welding construction method through the six-degree-of-freedom five-rod moving type connecting rod mechanism, an execution main chain is formed by a vertical column, a main arm, a first rocker arm, a second rocker arm, a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod; an execution sub-chain is formed by a fifth connecting rod, a sixth connecting rod, a seventh connecting rod, the vertical column and the main arm; during the welding operation, the main arm is driven by a motor to enable the main arm to perform rotational movement, the fifth connecting rod, the sixth connecting rod and the seventh connecting rod support the main arm, and the fifth connecting rod, the sixth connecting rod, the seventh connecting rod and the main arm perform motion synthesis; the motor drives the second rocker arm to enable the second rocker arm to control the third connecting rod in a rocker arm mode; the motor drives the third connecting rod and the fourth connecting rod to perform rotational motion to enable the connecting rod mechanism to achieve the welding operation. The welding construction method through the six-degree-of-freedom five-rod moving type connecting rod mechanism has the advantages of being large in working space, high in rigidity, strong in bearing capability and high in execution accuracy.

Description

technical field [0001] The invention relates to the field of robots, in particular to a method for welding construction using a six-degree-of-freedom five-bar movable linkage mechanism. Background technique [0002] Compared with traditional series robots, parallel robots have no cumulative error, high precision, compact structure, large carrying capacity, high rigidity and end welding actuators. Small inertia and other characteristics, 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; but the obvious disadvantages of parallel robots are small working space and complex structure. Existing manipulators with partial closed chains such as MOTOMAN-K10 in engineering do not solve the problems of industrial robots. Contents of the invention [0003] The technical problem to be solved by the present invention is to provide a method for welding constructio...

Claims

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Application Information

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IPC IPC(8): B23K37/02B25J9/00
CPCB23K37/0247B25J9/00
Inventor 蔡敢为范雨张林李智杰张永文李荣康朱凯君王龙王小纯李岩舟杨旭娟
Owner GUANGXI UNIV
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