Spot-welding mechanical arm for multi-rod closed chain structure

A technology of structural points and mechanical arms, which is applied in the directions of manipulators, program-controlled manipulators, welding equipment, etc., can solve the problems of large rotational inertia of manipulators, decreased dynamic performance, and small bearing capacity, and achieves high stiffness, no accumulated error, and bearing capacity. big effect

Inactive Publication Date: 2017-07-18
GUANGXI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to solve the problems that the driving motors of the articulated welding manipulator with a series structure are all installed at the joint position, resulting in a large moment of inertia of the manipulator, a decrease in dynamic performance, a large cumulative error, a small bearing capacity, and a complex structure.

Method used

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  • Spot-welding mechanical arm for multi-rod closed chain structure

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Embodiment Construction

[0006] A multi-rod closed-chain structure spot welding mechanical arm, comprising: a base 1, a rotatable platform 2, a telescopic mechanism, a lifting mechanism, a pitch mechanism, a wrist 13, a welding torch 10 and a driving device; the telescopic mechanism includes a first active rod 3 and a large Arm 5; one end of the first active lever 3 is hinged to the rotatable platform 2, the boom 5 is curved, and one end of the boom 5 is hinged to the other end of the first active lever 3; the lifting mechanism includes: the second active lever 4 , the second connecting rod 7, the third connecting rod 8 and the elevating rod 11; one end of the second active rod 4 is hinged with the rotatable platform 1, and one end of the second connecting rod 7 is hinged with the other end of the second active rod 4. One end of the three connecting rods 8 is hinged to the middle part of the second connecting rod 7, the elevating rod 11 is curved, and one end of the elevating rod 11 is hinged to the ot...

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Abstract

The invention provides a multi-rod closed-chain structure spot welding mechanical arm, comprising: a base, a rotatable platform, a telescopic mechanism, a lifting mechanism, a pitch mechanism, a welding torch, a wrist and a driving device; the telescopic mechanism includes a first active rod and a large arm The lifting mechanism includes: the second active rod, the second connecting rod, the third connecting rod and the elevating rod; the pitching mechanism includes: the third active rod and the pitching rod; The first active rod, the second active rod and the third active rod are connected. The invention adopts a controllable multi-rod parallel mechanism, which improves the stability and reliability of the operation of the manipulator compared with the series manipulator, has no cumulative error, and has high precision; compact structure, high rigidity, large bearing capacity, low inertia, and dynamic performance Well, the trajectory of the manipulator is flexible and diverse.

Description

technical field [0001] The invention relates to the field of mechanical engineering, in particular to a multi-rod closed-chain structure spot welding mechanical arm. Background technique [0002] At present, most of the general-purpose spot welding manipulators in the manufacturing industry are articulated motor-driven manipulators with a series structure in the form of an open chain. Rotate to realize various actions of the mechanical arm. This structure has the following problems: the arm of the mechanical arm needs to bear the weight of the motor and meet the rigidity requirements, and the cross-sectional size of the arm needs to be made larger, which will increase the load on the driving motor. Increasing the moment of inertia of the arm will lead to a decline in the dynamic performance of the manipulator. At the same time, the drive motors are installed at the joints, resulting in large cumulative errors, small load-carrying capacity, complex structure, and low degree o...

Claims

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Application Information

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IPC IPC(8): B25J9/00B23K37/02
CPCB25J9/0048B23K37/0252
Inventor 不公告发明人
Owner GUANGXI UNIV
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