Method for carrying out welding construction by utilizing six-degree of freedom rocker arm type movable connecting rod mechanism

A link mechanism and rocker arm technology, applied in the field of robots, can solve the problems of large required torque, low rigidity and small working space, and achieve the effect of reducing dynamic torque, good dynamic performance and improving working space.
CN104551471AInactive Publication Date: 2015-04-29GUANGXI UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
GUANGXI UNIV
Publication Date
2015-04-29
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention relates to a method for carrying out welding construction by utilizing a six-degree of freedom rocker arm type movable connecting rod mechanism. An execution main chain is formed by a stand 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 stand column and a main arm; when welding operation is carried out, the main arm is driven through a motor so as to rotate, and the fifth connecting rod and the sixth connecting rod support the main arm and are in movement combination with the main arm; the second rocker arm is driven through the motor, so that the second rocker arm carries out rocker arm type control on the third connecting rod; the third connecting rod and the fourth connecting rod are driven through the motor to rotate, so that the connecting rod mechanism can finish welding operation. The method provided by the invention has the advantages of large working space, high rigidity, strong carrying capacity and high execution precision.
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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 rocker-type mobile link 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 construction...

Claims

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