Twenty-degree-of-mobility and six-degree-of-freedom vehicle welding robot

Abstract

The invention provides a twenty-degree-of-mobility and six-degree-of-freedom vehicle welding robot. The twenty-degree-of-mobility and six-degree-of-freedom vehicle welding robot comprises a serial connection welding main chain, a rocking arm fine adjustment control sub chain and an actuation mechanism sub chain. The serial connection welding main chain can control the vehicle robot to perform a six-degree-of-freedom motion in space; the rocking arm fine adjustment control sub chain is a four-rod mechanism formed by two rocking arms and two connecting rods, and is mounted on a large arm for fine adjustment control over the main chain through the four-rod mechanism; and the actuation mechanism sub chain supports and the adjusts the large arm. Through connection between multiple mechanical arms and a machine body, six-degree-of-freedom output of a terminal trajectory is realized; and the mechanism has the advantages of quick actions, high precision, low motion inertia, excellent power performances, compact structure, large working space, high bearing capacity, multiple motion trajectory output and simple control, and can be applied to multiple welding fields.

Description

technical field [0001] The invention relates to the field of robots, in particular to an automobile welding robot with 20 degrees of motion and 6 degrees of freedom. Background technique [0002] Traditional tandem robots have the advantages of simple structure, low cost, and large working space. However, with the development and progress of society and the improvement of people's living standards, the requirements for cars are getting higher and higher. The shortcomings of traditional tandem robots are gradually emerging. out, can not meet the development needs of modern society, so urgently need a kind of brand-new automobile welding device. Compared with the traditional serial robot, the emerging parallel robot has the characteristics of no cumulative error, high precision, compact structure, large load capacity, high rigidity and small inertia of the end welding actuator. The driving device can be placed on a fixed platform or Close to the position of the fixed platform...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a 20-degree-of-motion six-degree-of-freedom automobile welding robot, which includes a series welding main chain, a rocker arm fine-tuning control sub-chain and an actuator sub-chain, and the series welding main chain can control this The car robot performs six-degree-of-freedom movement in space; the rocker arm fine-tuning control sub-chain consists of two rocker arms and two connecting rods to form a four-bar mechanism, which is installed on the boom, and the main chain is controlled by the four-bar mechanism. Fine-tuning control; the sub-chain of the actuator supports and adjusts the boom. The invention realizes the six-degree-of-freedom output of the end trajectory through the connection of multiple mechanical arms and the fuselage. Small inertia, good dynamic performance, compact structure, large working space, large load capacity, multiple motion trajectory output, simple control, can be applied to various welding occasions, and solve the problem of large torque, low rigidity and working problems of traditional serial robots. Disadvantages of small space

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