A six-degree-of-freedom self-reconfigurable metamorphic parallel welding robot

Abstract

A six-freedom-degree self-reconstruction metamorphism type parallel welding robot is composed of a welding gun, a flat plate composite hinge part close to a welding gun movable flat plate, an adjustable branch chain part, a rack composite hinge part close to a rack, and the rack, wherein the five parts are connected to form a six-freedom-degree self-reconstruction parallel platform. Various welding works of the welding gun are achieved by adjusting and controlling the parallel platform, the parallel welding robot can flexibly achieve conversion of multiple different structures by automaticallychanging the connection manner so that the six-freedom-degree self-reconstruction metamorphism type parallel welding robot can adapt to different work needs of users. The welding robot is high in welding speed, good in dynamic response, high in flexibility, good in stability, free of accumulative error, high in precision, compact in structure, high in rigidity, high in bearing capacity and capable of finishing the complex welding procedure.

Description

technical field [0001] The invention relates to the field of welding robots, in particular to a six-degree-of-freedom self-reconfigurable metamorphic parallel welding robot. Background technique [0002] Traditional welding robots generally use multi-joint robotic arms to meet the challenges of position and posture in the workspace, and are devices that can automatically complete welding operations. With the development of electronic technology, computer technology, numerical control and robot technology, the technology related to welding robots is becoming more and more mature. Welding robots can stabilize and improve welding quality, replace workers in harmful environments, improve workers' strength, and increase labor productivity. , shorten the preparation period for product modification and replacement, and reduce the corresponding equipment investment. [0003] The traditional welding robot is generally a mechanical arm with joints in series, which has high repeat pos...

AI Technical Summary

Problems solved by technology

[0003] The traditional welding robot is generally a mechanical arm with joints in series, which has high repeat positioning accuracy, but the stability is not good. The cables will basically swing continuously with the movement of the robot during welding, and it is impossible to realize complex space curves and Welding work with continuous and repeated rotation in a narrow space

Chinese patent 201510561271.9 discloses a seven-axis industrial welding robot. Although the working space is large and the repeat positioning accuracy is high, its mechanism is heavy and redundant, the stability is not good, and the flexibility is not high. It cannot realize welding work such as some complex space curves.

[0004] At present, there is no one that has six degrees of freedom and can be self-reconfigured and metamorphic in parallel. It has good dynamic response, high flexibility, good stability, no accumulated error, and high precision. It can be used in screw configurations. The innovative design of the welding robot that can switch flexibly between the welding work of complex space curves

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