Welding construction method using multi-degree-of-freedom rocker arm type movable connecting rod mechanism

Abstract

The invention relates to a welding construction method using a multi-degree-of-freedom rocker arm type movable connecting rod mechanism. A vertical pillar, 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 form an execution main chain. A fifth connecting rod, a sixth connecting rod, the vertical pillar and the main arm form an execution sub-chain. In the welding work process, the main arm is driven through a motor to rotate, and the fifth connecting rod and the sixth connecting rod support the main arm and carry out movement synthesis along with the main arm. The second rocker arm is driven through the motor, and therefore the second rocker arm can carry out rocker arm type control over the third connecting rod. The third connecting rod and the fourth connecting rod are driven through the motor to rotate, and therefore the connecting rod mechanism can finish welding work. The welding construction method using the multi-degree-of-freedom rocker arm type movable connecting rod mechanism has the advantages of being large in work space, high in rigidity, high in bearing capacity 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 multi-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 constructi...

AI Technical Summary

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 multi-degree-of-freedom rocker-type mobile linkage mechanism, which solves the shortcomings of traditional serial robots about large torque required, low rigidity and small working space

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