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Multi-degree of freedom wheel type mobile welding robot

A technology of welding robot and degree of freedom, applied in the field of robotics, can solve the problems of small working space and complex structure of industrial robots and parallel robots, and achieve the effects of improving rigidity, excellent work efficiency and high precision

Inactive Publication Date: 2015-04-22
GUANGXI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the obvious disadvantages of parallel robots are small working space and complex structure.
The existing manipulators with partial closed chain in engineering such as MOTOMAN-K10 did not solve the problems existing in industrial robots

Method used

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  • Multi-degree of freedom wheel type mobile welding robot
  • Multi-degree of freedom wheel type mobile welding robot
  • Multi-degree of freedom wheel type mobile welding robot

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Embodiment Construction

[0045] A multi-degree-of-freedom wheeled mobile welding robot of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0046] see Figure 1 to Figure 11 , is a multi-degree-of-freedom wheeled mobile welding robot of the present invention, including a mobile platform 1, a fuselage 2, a first connecting rod 3, a second connecting rod 5, a third connecting rod 24, a fourth connecting rod 20, a fifth connecting rod Connecting rod 11, sixth connecting rod 16, seventh connecting rod 13, eighth connecting rod 18, ninth connecting rod 14, tenth connecting rod 39, eleventh connecting rod 22, twelfth connecting rod 38, tenth connecting rod Three connecting rods 25, fourteenth connecting rod 26, fifteenth connecting rod 28, end effector 30;

[0047] The mobile platform 1 is moved by wheels mounted on its bottom;

[0048] The eighth connecting rod 18 is sequentially provided with a first connecting part, a second co...

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Abstract

The invention provides a multi-degree of freedom wheel type mobile welding robot. The multi-degree of freedom wheel type mobile welding robot comprises a plurality of parallel mechanism closed loop execution mechanism sub-chains, a series connection execution mechanism main chain and a mobile platform; the mechanism closed loop sub-chains can control a main chain connecting rod to move inside a plane on which a four-rod mechanism closed loop sub-chain is arranged; movement of a plurality of parallel connecting rod sub-chains, a machine body and the mobile platform can achieve spacial movement of the platform. According to the multi-degree of freedom wheel type mobile welding robot, control is achieved through resultant movement of the four closed-loop sub-chains and the machine body, spacial movement of a tail end executor is achieved through connection of the plurality of connecting rods, the machine body and the mobile platform, the tail end executor is small in movement inertia, good in dynamics performance and high in reliability, the mechanism is compact in structure and simple in control, can simultaneously achieve movement and operation functions, act in more occasions and has wide market development potential.

Description

【Technical field】 [0001] The invention relates to the field of robots, in particular to a multi-degree-of-freedom wheeled mobile welding robot. 【Background technique】 [0002] Mobile robot is a comprehensive system integrating environment perception, dynamic decision-making and planning, behavior control and execution. It integrates multi-disciplinary research results in sensor technology, information processing, electronic engineering, computer engineering, automation control engineering, and artificial intelligence. It represents the highest achievement of mechatronics and is one of the most active fields of science and technology development. With the continuous improvement of robot performance, the application range of mobile robots has been greatly expanded, not only in industry, agriculture, medical care, service and other industries, but also in harmful and dangerous occasions such as urban security, national defense and space detection. great application. Therefore...

Claims

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Application Information

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IPC IPC(8): B25J9/00B25J5/00B23K37/02
Inventor 蔡敢为王麾李智杰张永文李荣康朱凯君王龙王小纯李岩舟杨旭鹃
Owner GUANGXI UNIV
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