Five-degree-of-freedom welding cutting robot

Abstract

The invention relates to a five-degree-of-freedom welding cutting robot. The welding cutting robot comprises a base, a stand column and a robot body, wherein the stand column is fixed on the base; the robot body is connected to the stand column, and can vertically move in a direction perpendicular to the stand column; the robot body comprises a back swing arm base, a back swing arm and a front swing arm; the back swing arm base and the back swing arm are connected through a first transmission mechanism; the back swing arm and the front swing arm are connected through a second transmission mechanism; and the tail end of the front swing arm is connected with a machine head assembly component for adjusting gestures of a welding cutting tool. The machine head assembly component is provided with a set of differential revolving mechanisms for realizing independent adjustment of revolving and swing of the welding cutting tool and always keeping the overlap between point coordinates of the tool and the revolving axis. The welding cutting robot, provided by the invention, solves the problems of continuous and repeated revolving welding cutting of complex curved surfaces, no winding of cables and direct and simple adjustment of positions and gestures of the welding cutting tool; and the operation is simple.

Description

technical field [0001] The invention belongs to the technical field of welding and cutting, in particular to a five-degree-of-freedom welding and cutting robot. Background technique [0002] A welding and cutting robot is an automated device that can complete welding and cutting operations. It generally uses a multi-joint robotic arm to adjust any position and posture in the workspace. [0003] At present, there are mainly two structural forms of five-axis robots: rectangular coordinate type and joint coordinate type. The former has high positioning accuracy, but in a narrow space, the movement of this type of robot is hindered and cannot be done with ease; the latter moves fast, but the position and attitude degrees of freedom are coupled together, making the control complex. Based on the demand for continuous rotary welding and cutting of closed curves based on space-complex curves (such as intersecting lines), higher requirements are placed on the mechanical structure ch...

AI Technical Summary

Problems solved by technology

[0007] In view of the defects existing in the prior art, the purpose of the present invention is to provide a five-degree-of-freedom welding and cutting robot, which can solve the problem of continuous cutting of complex closed curved surfaces and continuous repetition of complex closed curves while satisfying the welding and cutting operation functions of traditional robots. Welding, tool cables are not entangled, and the coordinates of welding and cutting tool points coincide with the movement points of the robot mechanism, so there is no position change due to tool attitude adjustment; the robot position and attitude adjustment are intuitive and simple; each movement axis is operated independently, and a six-degree-of-freedom robot space can be realized The accessibility of the posture and position, without the singularity of the mechanism, meets the application requirements of universality in the field of welding and cutting production

Images