"Bend-bend" joint motion compensation design method for six-axis industrial robot protective clothing

Abstract

The invention relates to a 'bending-bending' joint motion compensation design method for a six-axis industrial robot protective suit. Firstly, bidirectional ease allowancing is conducted by taking themotion axis of a motion joint as the center, and the second axis and the third axis are simply cladded; then through transferring of the ease allowance, the motion ease allowance of the second axis and the third axis is transferred into cladding of the connecting rod part, and by combining the motion of the second axis and the third axis, sectional-type motion compensation design and drawing aresequentially conducted, wherein the upper section is third-axis motion compensation, the middle section is the basic ease allowance, and the lower section is second-axis motion compensation; and according to convenience of putting on and off, a split line is designed, and along the split line, through a projection mapping method, expanding is conducted to obtain a comprehensive layout drawing. Theprotective suit according with motion of an industrial robot can be designed.

Description

technical field [0001] The invention relates to the technical field of industrial robot protective clothing design, in particular to a "bend-bend" joint motion compensation design method for six-axis industrial robot protective clothing. Background technique [0002] In recent years, the industrial robot industry has developed rapidly, and the application of industrial robots has penetrated into almost all walks of life. Major countries have also issued relevant strategic plans. Industrial robots have improved labor productivity and product processing accuracy, and reduced the daily work intensity of staff. However, most robots work in very harsh environments. For example, welding robots need to face the threat of local high temperature and flying sparks during work. Cleaning robots need to face the corrosion of alkaline lotion and the threat of water ingress. Therefore, protective clothing for industrial robots has been produced. They create a stable microenvironment for r...

AI Technical Summary

Problems solved by technology

[0005] According to the motion characteristics of the six-axis robot, the two-axis and three-axis motion is a large-scale bending motion, which requires a large amount of motion compensation, so it is a major difficulty in the design of the corresponding protective clothing

The traditional design method is based on the motion angle and combined with the designer's experience to design motion compensation, which lacks theoretical support.

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