Seven-degree-of-freedom controllable mechanism type movable welding hand
A mechanism-type, degree-of-freedom technology, applied in the direction of manipulators, welding equipment, auxiliary welding equipment, etc., can solve problems such as limitations, and achieve the effect of light weight, small dynamic moment and compact structure
Inactive Publication Date: 2015-05-20
GUANGXI UNIV
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Problems solved by technology
[0005] Traditional robots mostly work at fixed points, and can only move within a certain range around their fixed positions, which has great limitations
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[0019] A seven-degree-of-freedom controllable mechanism-type mobile welding hand of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.
[0020] see figure 1 , is a seven-degree-of-freedom controllable mechanism mobile welding hand in the present invention, including a horizontal walking mechanism 1, a turntable 2, a first active rod 4, a second active rod 15, a first connecting rod 6, a second connecting rod 13, The third connecting rod 7 , the fourth connecting rod 9 , and the end effector 11 .
[0021] The turntable 2 is connected to the horizontal traveling mechanism 1 through a rotating mechanism, the lower end of the first active rod 4 is connected to the turntable 2 through the first rotating pair 3 , and the upper end is connected to one end of the first connecting rod 6 through the second rotating pair 5 .
[0022] The lower end of the second active rod 15 is connected to the turntable 2 throug...
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The invention provides a seven-degree-of-freedom controllable mechanism type movable welding hand. A rotating table is connected to a horizontal walking mechanism through a rotating mechanism, the lower end of a first driving rod is connected with the rotating table through a first revolute pair, and the upper end of the first driving rod is connected with one end of a first connecting rod through a second revolute pair. The lower end of a second driving rod is connected to the rotating table through a third revolute pair, the upper end of the second driving rod is connected with the lower end of a second connecting rod through a fourth revolute pair, and the upper end of the second connecting rod is connected with the other end of the first connecting rod through a fifth revolute pair. A third connecting rod is rigidly connected to the other end of the first connecting rod, one end of a fourth connecting rod is connected with the third connecting rod through a sixth revolute pair, and the other end of the fourth connecting rod is connected with an end executor through a seventh revolute pair. According to the seven-degree-of-freedom controllable mechanism type movable welding hand, the spatial motion of the end executor is controlled by the resultant motion of a connecting rod mechanism, the rotating table and the horizontal walking mechanism which are connected in parallel, the end executor is made more flexible, the rotational inertia of all joints is small, and the dynamic property is better.
Description
【Technical field】 [0001] The invention relates to the field of construction machinery, in particular to a seven-degree-of-freedom controllable mechanism mobile welding hand. 【Background technique】 [0002] The emergence of robots and the development of science and technology have greatly changed human production and lifestyle. Robots can complete long-term high-frequency repetitive work and reduce human fatigue; they can replace human beings in harsh and dangerous environments to reliably complete tasks and protect human safety; they can complete work with precise operations, improving production efficiency and production quality etc. The technology of industrial robots is becoming more and more mature, and has become a standard equipment and has been widely used in the industry. Welding robots are a typical one. Usually the welding robot adopts the basic design of an articulated industrial robot. [0003] In order to realize the arbitrary movement of the end effector in ...
Claims
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IPC IPC(8): B23K37/02B25J5/00
CPCB23K37/0252B25J5/007
Inventor 蔡敢为邓承祥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