High-precision controllable mechanism type welding robot with multiple degrees of freedom

Abstract

The invention discloses a high-precision controllable mechanism type welding robot with multiple degrees of freedom. A first servo motor drives a fourth tail stage sliding sleeve to make front-back motion on a small arm through a transmission chain including a first driving rod, and a big arm is a lever using a tenth revolute pair as the fulcrum. A second servo motor applies power to a power arm of a big arm lever through a transmission chain including a second driving rod. A third servo motor drives the small arm to rotate using a twenty-sixth revolute pair as the center through a transmission chain including a third driving rod, and the rotating plane of the twenty-sixth revolute pair is parallel to the radial section of the small arm. A fourth servo motor drives a second tail stage sliding sleeve to make front-back motion on the small arm through a transmission chain including a fourth driving rod. The second tail stage sliding sleeve and the fourth tail stage sliding sleeve can drive an actuator to make elevation adjustment after being transferred by a transmission chain which is composed of a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod, a sixth connecting rod, a seventh connecting rod, an eighth connecting rod, a ninth connecting rod, a tenth connecting rod, an eleventh connecting rod, a twelfth connecting rod, a thirteenth connecting rod, a fourteenth connecting rod and a fifteenth connecting rod. The high-precision controllable mechanism type welding robot with the multiple degrees of freedom overcomes the defects that most of existing connecting rod mechanisms can only achieve planar drive transmission and spatial rigidity is poor, and has the characteristic that spatial transmission is achieved without installing motors and speed reducers on joints.

Description

technical field [0001] The invention relates to the mechanical field, in particular to a multi-degree-of-freedom high-precision controllable mechanism welding robot. Background technique [0002] Since the 1980s, people have been hoping to reduce the mass of the robot's moving parts to improve its dynamic performance, and achieved promising results. But these works are all around reducing the mass of robot rods. The motors and reducers installed at the joints of the serial robot actually have a great influence on the dynamic performance of the robot. Moreover, in order to ensure that the motor outputs high power and its output speed is very high, a reducer with a large transmission ratio is required to decelerate it to a speed suitable for the robot to work. And the development of a large transmission ratio reducer with small size and light weight is also a difficult problem encountered by my country's robot industry. At present, one of the gaps between domestic robot mot...

AI Technical Summary

Problems solved by technology

At present, one of the gaps between domestic robot motors and reducers and international advanced robot motors and reducers is that the mass (weight) and volume are large, which will lead to large moment of inertia of the robot, poor dynamic performance of the robot, and easy Problems such as large vibration

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