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

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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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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