Method for performing welding construction by use of multi-DOF (Degree Of Freedom) controllable rocking arm type connecting rod mechanism

A link mechanism and rocker arm technology, applied in the field of robots, can solve the problems of large required torque, small working space, low rigidity, etc., and achieve the effect of reducing dynamic torque, improving working space and good dynamic performance.

Inactive Publication Date: 2015-05-27
GUANGXI UNIV
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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 controllable rocker-arm linkage mechanism to solve the shortcomings of traditional serial robots about the large torque required, low rigidity and small working space

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  • Method for performing welding construction by use of multi-DOF (Degree Of Freedom) controllable rocking arm type connecting rod mechanism
  • Method for performing welding construction by use of multi-DOF (Degree Of Freedom) controllable rocking arm type connecting rod mechanism
  • Method for performing welding construction by use of multi-DOF (Degree Of Freedom) controllable rocking arm type connecting rod mechanism

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Embodiment Construction

[0027] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0028] Such as Figure 1-Figure 12 As shown, the method of welding construction using the multi-degree-of-freedom controllable rocker-arm linkage mechanism first connects and installs the welding car according to the following connection method:

[0029] The bottom end of the column 2 is connected to the vehicle body 1 through the first fixed pair, and the top end of the column 2 is respectively connected to the first connecting end of the main arm 4 and the first connecting end of the first rocker arm 3 through the first rotating pair 13. The second connecting end of the arm 3 is connected to one end of the first connecting rod 5 through the second rotating pair 14, and the other end of the first connecting rod 5 is connected to the second connecting end of the second rocking arm 7 through the fourth rotating pair 17. The fi...

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Abstract

The invention relates to a method for performing welding construction by use of a multi-DOF (Degree Of Degree) controllable rocking arm type connecting rod mechanism. The method comprises the following steps of: constructing an execution main chain by use of an upright column, a main arm, a first rocking arm, a second rocking arm, a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod; constructing an execution sub-chain by use of a fifth connecting rod, a sixth connecting rod, an upright column and a main arm; during a welding operation, driving the main arm by use of a motor so as to enable the main arm to perform rotating motion, supporting the main arm by use of the fifth connecting rod and the sixth connecting rod, and performing motion synthesizing on the fifth and sixth connecting rods and the main arm; driving the second rocking arm by use of the motor so as to enable the second rocking arm to perform rocking arm type control on the third connecting rod; driving the third connecting rod and the fourth connecting rod to perform rotating motion by use of the motor so as to enable the connecting rod mechanism to finish the welding operation. The method has the advantages of large operating space, high rigidity, high bearing capacity and high execution accuracy.

Description

technical field [0001] The invention relates to the field of robots, in particular to a welding construction method using a multi-degree-of-freedom controllable rocker-arm linkage 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 constr...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B23K37/02B25J9/00
CPCB23K37/0252
Inventor 蔡敢为范雨张林李智杰张永文李荣康朱凯君王龙王小纯李岩舟杨旭娟
Owner GUANGXI UNIV
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