Lightweight six-degree-of-freedom multi-transmission chain coaxial high speed welding robot

A technology of welding robot and degree of freedom, applied in the field of machinery, can solve problems such as large mass and volume, easy to generate large vibration, poor dynamic performance of robots, etc.

Inactive Publication Date: 2017-09-15
GUANGXI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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

Method used

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  • Lightweight six-degree-of-freedom multi-transmission chain coaxial high speed welding robot
  • Lightweight six-degree-of-freedom multi-transmission chain coaxial high speed welding robot
  • Lightweight six-degree-of-freedom multi-transmission chain coaxial high speed welding robot

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Embodiment 1

[0136] A lightweight six-degree-of-freedom multi-transmission chain coaxial high-speed welding robot, the first primary chute 1b, the second primary chute 2b, the third primary chute 3b, the fourth primary chute 4b, and the first active rod 1d , the second active lever 2d, the third active lever 3d, the fourth active lever 4d, the first primary driven lever 1e, the second primary driven lever 2e, the third primary driven lever 3e, the fourth primary driven lever 4e , the first primary slider 1f, the second primary slider 2f, the third primary slider 3f, the fourth primary slider 4f, the first secondary follower 1g, the second secondary follower 2g, the third Primary driven rod 3g, fourth secondary driven rod 4g, first secondary chute 1c, third secondary chute 3c, fourth secondary chute 4c, first secondary slider 1j, third secondary chute Stage slider 3j, fourth secondary slider 4j, first final driven rod 1k, third final driven rod 3k, fourth final driven rod 4k, third third dr...

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Abstract

The invention discloses a lightweight six-degree-of-freedom multi-transmission chain coaxial high speed welding robot. A first servomotor drives moves a fourth final stage slide sleeve to move front and back on a small arm by a transmission chain comprising a first driving rod, a large arm is a lever taking a rotary pair X as a fulcrum, a second servomotor applies power to a power arm of the large arm lever by a transmission chain comprising a second driving rod, a third servomotor drives the small arm to rotate by taking a rotary pair XXVI as a center by a transmission chain comprising a third driving rod, a rotary plane of the rotary pair XXVI is parallel with a radial section of the small arm, a fourth servomotor drives a second final stage slide sleeve to move front and back on the small arm by a transmission chain comprising a fourth driving rod, the second final stage slide sleeve and the fourth final stage slide sleeve drive an actuator to perform elevation adjustment after transmission by a transmission chain consisting of first to fifteenth connecting rods. The lightweight six-degree-of-freedom multi-transmission chain coaxial high speed welding robot overcomes the defects that most existing connecting rod mechanisms can only perform plane drive transmission and are poor in space rigidity, and has the characteristic of realizing space transmission without mounting motors and speed reducers on joints.

Description

technical field [0001] The invention relates to the field of machinery, in particular to a lightweight six-degree-of-freedom multi-transmission chain coaxial high-speed 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 ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/02B25J9/10B23K37/02
CPCB25J17/0266B23K37/02B25J9/106
Inventor 蔡敢为韦为王湘叶兵吴承亮李洪汉吴长逸何桂尖谢声扬
Owner GUANGXI UNIV
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