A robot for welding operations in three degrees of freedom with alternate output mode

Abstract

The present application relates to the technical field of parallel machine structure, and particularly relates to a robot for welding operation in three degrees of freedom and alternate output mode. The existing welding operation robot on the market cannot realize the function of alternately executing 3T and 2T1R two mode output motions (such as welding and grabbing operation) by the same main machine without adjusting the topological structure. In view of the above problem, the present application provides a robot for welding operation in three degrees of freedom and alternate output mode, which is characterized in that the grabbing and welding functions are realized by the same main machine and topological structure, without the need for two sets of systems, and the robot can alternately execute the grabbing and welding tasks: when grabbing, the gripper rotates around the Y axis and moves along the Y and Z axes in two dimensions to send the material to the welding area; when welding, the gripper stops, and the welding mechanism moves in three dimensions around the X, Y and Z axes to realize precise welding. The robot can alternately realize 3T and 2T1R two output modes, simplifies the structure, reduces the cost and reduces the floor space.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of parallel machine mechanisms, in particular to a robot for welding work in three degrees of freedom and in turn output mode. BACKGROUND

[0002] In a welding work production line, in order to achieve the grasping and welding of materials, it is common to equip a grasping robot and a welding robot. For example, a large-size component automatic welding method and automatic welding robot system are disclosed in Chinese patent CN117483995A. The grasping robot and the welding robot are equipped simultaneously in the welding production line, and the topological structures of the two robots are independent of each other and are controlled by different main machines. For another example, a welding device is disclosed in Chinese patent CN111712346A, which includes a welding robot and a grasping robot. The welding robot and the grasping robot are controlled by different main machines, and the topological structures of the two robots are independent of each other.

[0003] In conventional welding devices, the topological structures of the grasping robot and the welding robot are independent of each other and are controlled by different main machines, which is costly. When the two devices work simultaneously, the welding work production line occupies a large area. SUMMARY

[0004] The existing problem is that the welding work robots on the market cannot realize the output of 3T and 2T1R modes (such as welding and grasping) alternately by using the same main machine without changing the topological structure. To solve the above problem, the present application provides a robot for welding work in three degrees of freedom and in turn output mode, which includes a grasping execution seat, a welding execution seat, a composite branch chain and a simple branch chain. The grasping execution seat is provided with a gripper mechanism, and the welding execution seat is provided with a welding mechanism,

[0005] The composite branch chain includes a first branch chain group and a second branch chain group,

[0006] The first branch chain group includes a moving pair one and three rotating pairs connected in series and having parallel axes. The moving pair one is located on the base, and the axis of the moving pair one is consistent with its movement direction,

[0007] The second branch chain group includes a moving pair two and two rotating pairs connected in series. The moving pair two is located on the base, and the axis of the moving pair two is consistent with its movement direction. The axis of the moving pair two is perpendicular to the axis of any rotating pair in the second branch chain group, and the axes of any two rotating pairs in the second branch chain group are parallel to each other,

[0008] The revolute pair far from the end of the base is connected in series by the output rod, and the first branch chain and the second branch chain form a spatial seven-pole sub-parallel mechanism,

[0009] The output rod is connected in series with revolute pair one, which is connected with one end of the grabbing executive seat, and the other end of the grabbing executive seat is connected with one end of the welding executive seat through revolute pair two, the axis of revolute pair one is parallel to the axis of any one revolute pair in the first branch chain, the axis of revolute pair one is parallel to the axis of revolute pair two, the axis of revolute pair one is parallel to the axis of revolute pair two, and the axis of revolute pair one is perpendicular to the axis of any one revolute pair in the second branch chain, and the axis of revolute pair one is parallel to the axis of revolute pair two,

[0010] The simple branch chain includes revolute pair three and three revolute pairs connected in series and with their axes parallel to each other, and the revolute pair three is located on the base,

[0011] The revolute pair far from the end of the base is connected with the other end of the welding executive seat,

[0012] The axis of revolute pair two is perpendicular to the axis of any one revolute pair in the simple branch chain,

[0013] The revolute pair three and the three revolute pairs connected in series and with their axes parallel to each other are driving pairs, under the action of the driving pairs, the grabbing executive seat realizes mode output motion, and through rotation around the axis, the material is grabbed, and then through two-dimensional movement along the axis and the axis direction, the material is sent to the welding area, and the welding executive seat realizes mode output motion, and through three-dimensional movement around the axis, the axis and the axis, precise welding work on the material is realized.

[0014] Preferably, the first branch chain includes revolute pair one, revolute pair three, revolute pair four and revolute pair five connected in series,

[0015] The second branch chain includes revolute pair two, revolute pair six and revolute pair seven connected in series, and revolute pair five and revolute pair seven are connected by the output rod,

[0016] The output rod is connected in series with revolute pair one.

[0017] Preferably, the simple branch chain includes revolute pair three, revolute pair eight, revolute pair nine and revolute pair ten connected in series, and the revolute pair ten is connected with one end of the welding executive seat.

[0018] Preferably, the claw mechanism is a mechanical gripper.

[0019] Preferably, the welding mechanism is a laser welding machine.

[0020] Preferably, it further comprises a welding work production line,

[0021] The welding work production line comprises a feeding device and a conveying device,

[0022] The conveying device is provided with a roller, and the material is conveyed through the roller,

[0023] The feeding device sends the material to the top of the conveying device, the gripper structure grabs the material by rotating around the shaft, and then sends the material to the welding area on the conveying device through two-dimensional movement along the shaft and the shaft direction, the gripper mechanism stops working, and the welding mechanism starts working, and the welding mechanism realizes precise welding operation on the material through three-dimensional movement around the shaft, the shaft and the shaft.

[0024] The present application has the following beneficial effects:

[0025] (1) The three-degree-of-freedom wheel switching output mode welding robot provided by the present application can alternately realize grabbing and welding output motion, and the grabbing and welding output motion is realized by using the same main machine and the same set of robot topological structure, when grabbing the material, the gripper structure grabs the material by rotating around the Y-axis, and then sends the material to the welding area on the conveying device through two-dimensional movement along the Y-axis and the Z-axis direction (2T1R mode output motion), when welding the material, the gripper mechanism stops working, and the welding mechanism starts working, and the welding mechanism realizes precise welding operation on the material through three-dimensional movement around the X-axis, the Y-axis and the Z-axis (3T output mode motion);

[0026] (2) The three-degree-of-freedom wheel switching output mode welding robot provided by the present application alternately realizes 3T mode output motion and 2T1R mode output motion, without using two kinds of robot topological structure, the structure is simpler, the cost is lower, and the occupied area is small. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 The structure diagram of the three-degree-of-freedom wheel switching output mode welding robot of the present application.

[0028] Figure 2 : Figure 1 The use state diagram of the welding operation robot.

[0029] Figure 3 : Figure 1 The use state diagram of the welding operation robot.

[0030] In the figure: 0. Base, 1. Grabbing execution seat, 2. Welding execution seat, 3. Output rod, 4. Feeding device, 5. Material, 6. Conveying device, 7. Mechanical gripper, 8. Laser welding machine, I. Compound branch chain, II. Simple branch chain, P1. Moving pair two, P2. Moving pair one, P3. Moving pair three, R 11 . Rotating pair six, R 12 . Rotating pair seven, R 21 . Rotating pair three, R22 . Revolute pair four, R 23 . Revolute pair five, R 31 . Revolute pair eight, R 32 . Revolute pair nine, R 33 . Revolute pair ten, R4. Revolute pair one, R5. Revolute pair two. DETAILED DESCRIPTION

[0031] The application will be described in detail below in conjunction with the embodiments. It should be understood that the following embodiments are only examples of the implementation of the application, and are not a limitation on the scope of the application.

[0032] As shown in Figures 1-3 Fig. 1 is a three-degree-of-freedom wheel switching output mode welding robot of the application, which comprises a grabbing execution seat 1, a welding execution seat 2, a composite branch chain I and a simple branch chain II, the grabbing execution seat 1 is provided with a clamping jaw mechanism, the welding execution seat 2 is provided with a welding mechanism,

[0033] The composite branch chain I comprises a first branch chain group and a second branch chain group,

[0034] The first branch chain group comprises a moving pair one P2 and three revolute pairs which are sequentially connected in series and whose axes are parallel to each other, the moving pair one P2 is located on a base 0, the axis of the moving pair one P2 is consistent with its movement direction, and the base 0 is placed on the ground,

[0035] The second branch chain group comprises a moving pair two P1 and two revolute pairs which are sequentially connected in series, the moving pair two P1 is located on the base 0, the axis of the moving pair two P1 is consistent with its movement direction, the axis of the moving pair two P1 is perpendicular to the axis of any one of the revolute pairs of the second branch chain group, and the axes of any two of the revolute pairs of the second branch chain group are parallel to each other,

[0036] The revolute pairs at the ends of the first branch chain group and the second branch chain group away from the base 0 are connected in series by an output rod 3, and the first branch chain group and the second branch chain group form a spatial seven-bar sub-parallel mechanism,

[0037] The output rod 3 is sequentially connected with a revolute pair one R4, the revolute pair one R4 is connected with one end of the grabbing execution seat 1, and the other end of the grabbing execution seat 1 is connected with one end of the welding execution seat 2 through a revolute pair two R5,

[0038] The axis of the revolute pair one R4 is parallel to the axis of any one of the revolute pairs of the first branch chain group, the axis of the revolute pair one R4 is parallel to the axis of the moving pair one P2, the axis of the revolute pair one R4 is parallel to the axis of the moving pair two P1, the axis of the revolute pair one R4 is perpendicular to the axis of any one of the revolute pairs of the second branch chain group, and the axes of the revolute pair one R4 and the revolute pair two R5 are parallel to each other,

[0039] The simple branched chain II includes three moving pairs P3 and three rotating pairs in series and with their axes parallel to each other, the moving pair P3 is located on the base 0,

[0040] The rotating pair at the end of the simple branched chain II away from the base 0 is connected to the other end of the welding execution seat 2,

[0041] The rotating pair R5 is perpendicular to the axis of any rotating pair of the simple branched chain II,

[0042] The moving pair P2, the moving pair P1 and the moving pair P3 are driving pairs, under the action of the driving pairs, the grabbing execution seat 1 realizes 2T1R mode output motion, through rotating around the Y axis to grab the material 5, and then through two-dimensional movement along the Y axis and the Z axis to send the material 5 to the welding area, the welding execution seat 2 realizes 3T mode output motion, through three-dimensional movement around the X axis, the Y axis and the Z axis to realize precise welding operation on the material 5.

[0043] In a specific embodiment, the first branched chain group includes the moving pair P2, the rotating pair R 21 , the rotating pair R 22 and the rotating pair R 23 in series,

[0044] The second branched chain group includes the moving pair P1, the rotating pair R 11 and the rotating pair R 12 in series, the rotating pair R 23 and the rotating pair R 12 are connected through the output rod 3, and the output rod 3 has the rotating pair R4 connected in series.

[0045] In a specific embodiment, the simple branched chain II includes the moving pair P3, the rotating pair R 31 , the rotating pair R 32 , the rotating pair R 33 in series, and the rotating pair R 33 is connected to one end of the welding execution seat 2.

[0046] In a specific embodiment, the gripper mechanism is a mechanical gripper 7.

[0047] In a specific embodiment, the welding mechanism is a laser welding machine 8.

[0048] In a specific embodiment, the robot further includes a welding operation production line,

[0049] The welding operation production line includes a material placing device 4 and a conveying device 6,

[0050] The conveying device 6 is provided with a roller, and the material 5 is conveyed through the roller,

[0051] The discharging device 4 sends the material 5 to the upper side of the conveying device 6, the gripper structure is used to grab the material 5 by rotating around the Y axis, and the gripper structure is used to send the material 5 to the welding area on the conveying device 6 by two-dimensional movement along the Y axis and the Z axis, the gripper structure stops working, and the welding mechanism starts working, and the welding mechanism is used to realize precise welding work on the material 5 by three-dimensional movement around the X axis, the Y axis and the Z axis.

[0052] Based on the above ideal embodiments according to the present application, the above description can be used as a guide, and related personnel can make various changes and modifications without deviating from the technical idea of the present application. The technical scope of the present application is not limited to the content of the specification, and must be determined according to the scope of the claims.

Claims

1. A robot for welding operations in a three degree of freedom wheel change output mode, characterized by, The device comprises a grabbing execution seat (1), a welding execution seat (2), a complex branch chain (I) and a simple branch chain (II), the grabbing execution seat (1) is provided with a clamping jaw mechanism, the welding execution seat (2) is provided with a welding mechanism, The complex branch chain (I) comprises a first branch chain group and a second branch chain group, The first branch chain group comprises a moving pair one (P2) and three rotating pairs which are connected in series and whose axes are parallel to each other, and the moving pair one (P2) is located on the base (0), The second branch chain group comprises a moving pair two (P1) and two rotating pairs which are connected in series, the moving pair two (P1) is located on the base (0), the axis of the moving pair two (P1) is perpendicular to the axis of any rotating pair of the second branch chain group, and the axes of any two rotating pairs of the second branch chain group are parallel to each other, The rotating pairs at the ends of the first branch chain group and the second branch chain group away from the base (0) are connected in series through an output rod (3), and the first branch chain group and the second branch chain group form a spatial seven-bar sub-parallel mechanism, The output rod (3) is connected with the grabbing execution seat (1) through a rotating pair one (R4), and the other end of the grabbing execution seat (1) is connected with one end of the welding execution seat (2) through a rotating pair two (R5), The axis of the rotating pair one (R4) is parallel to the axes of any rotating pair and moving pair of the first branch chain group, the axis of the rotating pair one (R4) is parallel to the axis of the moving pair two (P1), the axis of the rotating pair one (R4) is perpendicular to the axis of any rotating pair of the second branch chain group, and the axes of the rotating pair one (R4) and the rotating pair two (R5) are parallel to each other, The simple branch chain (II) comprises a moving pair three (P3) and three rotating pairs which are connected in series and whose axes are parallel to each other, the moving pair three (P3) is located on the base (0), and the rotating pair at the end of the simple branch chain (II) away from the base (0) is connected with the other end of the welding execution seat (2), The axis of the rotating pair two (R5) is perpendicular to the axes of any rotating pair and moving pair of the simple branch chain (II), The moving pair one (P2), the moving pair two (P1) and the moving pair three (P3) are driving pairs, under the action of the driving pairs, the grabbing execution seat (1) realizes 2T1R mode output motion, the material (5) is grabbed by rotating around the Y axis, and then the material (5) is sent to the welding area by two-dimensional movement along the Y axis and the Z axis, and the welding execution seat (2) realizes 3T mode output motion, and precise welding work on the material (5) is realized by three-dimensional movement around the X axis, the Y axis and the Z axis.

2. The robot of claim 1, wherein The first branched chain group comprises, in series, a moving pair one (P2), a rotating pair three (R 21 ), a rotating pair four (R 22 ), and a rotating pair five (R 23 ), The second branched chain group comprises in series a second pair of movement (P1), a sixth pair of rotation (R 11 ), and a seventh pair of rotation (R 12 ), the fifth pair of rotation (R 23 ) and the seventh pair of rotation (R 12 ) being connected by an output rod (3) having a first pair of rotation (R4) in series.

3. The robot of claim 1, wherein, The simple branched chain (II) comprises, in series, a moving pair three (P3), a rotating pair eight (R 31 ), a rotating pair nine (R 32 ), a rotating pair ten (R 33 ), and the rotating pair ten (R 33 ) is connected to one end of the welding execution seat (2).

4. The robot of claim 1, wherein, The clamping jaw mechanism is a mechanical gripper (7).

5. The robot of claim 1, wherein, The welding mechanism is a laser welding machine (8).

6. The robot of claim 1, wherein Further comprising a welding work production line, The welding work production line comprises a material placing device (4) and a conveying device (6), The conveying device (6) is provided with rollers, and the material (5) is conveyed through the rollers. The feeding device (4) sends the material (5) to the top of the conveying device (6), the gripper structure grabs the material (5) by rotating around the Y axis, and then sends the material (5) to the welding area on the conveying device (6) by two-dimensional movement along the Y axis and the Z axis direction, and the gripper mechanism stops working, and the welding mechanism starts working, and the welding mechanism realizes precise welding operation on the material (5) by three-dimensional movement around the X axis, the Y axis and the Z axis.

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