Wheeled mobile welding robot with plurality of closed-loop sub-chains

Abstract

The invention provides a wheeled movable welding robot with a plurality of closed-loop sub-chains. The wheeled mobile welding robot comprises a plurality of parallel mechanism closed-loop executing mechanism sub-chains, a serial executing mechanism main chain and a moveable platform, wherein the mechanism closed-loop sub-chains are used for controlling a connecting rod of the main chain to move in a plane of a four-rod mechanism closed-loop sub-chain, and the space movement of the movable platform is realized by the movement of parallel connecting rod sub-chains, a robot body and the movable platform. The wheeled mobile welding robot has the advantages that the control is realized by the synthesis movement of the four closed-loop sub-chains and the robot body, and the space movement of a tail executer is realized by the connecting of the connecting rods, the robot body and the movable platform, the movement inertia of the tail executer is small, the dynamic property is good, and the reliability is high; the movement and operation functions of the mechanism are realized, and the robot has maximum working space and good movement redundancy, and can be applied to multiple occasions.

Description

【Technical field】 [0001] The invention relates to the field of robots, in particular to a wheeled mobile welding robot with multiple closed-loop sub-chains. 【Background technique】 [0002] A mobile robot is a comprehensive system integrating environmental 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 applic...

AI Technical Summary

Problems solved by technology

[0003] The parallel robot has the characteristics of no cumulative error, high precision, compact structure, large carrying capacity, high rigidity, and small inertia of the end effector. The driving device can be placed on the fixed platform or close to the fixed platform, so that the moving part is light. High speed and good dynamic response; but 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

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