Spatial eight-degrees-of-freedom welding robot mechanism

Abstract

The invention discloses a spatial eight-degrees-of-freedom welding robot mechanism, which comprises a two-dimensional rotating large arm mechanism, a three-dimensional rotating small arm mechanism and an end effector platform mechanism which are connected in series. The connected parts are parallelly driven by two linear drivers, three linear drivers and three linear drivers respectively to realize the large-working-space and flexible track output of the mechanism; and the whole mechanism has a simple and compact structure and a good error compensation effect; and the end effector platform is used for accommodating a welding gun or an electrode holder and other equipment. The spatial eight-degrees-of-freedom welding robot mechanism can be applied to industrial production such as carrying, stacking, assembly, cutting and the like, and also can be applied to the fields such as engineering machinery such as excavators, bionic mechanisms such as bionic arms and bionic legs, and the like.

Description

technical field [0001] The invention relates to the field of industrial robots, in particular to a welding robot mechanism with eight degrees of activity in space. Background technique [0002] Robots are widely used in welding, handling, palletizing, assembly, cutting and other operations in industrial production. Among them, the robots that have been better applied are basically articulated robots, mostly with 6 axes, and the end tools are sent to different spatial positions through joint actions of 1, 2, and 3 axes, supplemented by 4, 5, and 6 axes. The linkage to meet the different requirements of the tool attitude. The mechanical structure of the robot body mainly has two forms: a parallelogram structure and a side-mounted structure, and it has been widely used because of its large working space and relatively flexible movements. However, due to the limitation of its own structure, this kind of traditional open-chain series robot mechanism has problems such as bulky m...

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Problems solved by technology

[0003] The object of the present invention is to provide a welding robot mechanism with eight activities in space, which has the advantages of large working space, flexible trajectory output, high rigidity, strong stability, small cumulative error, and high precision, and can effectively solve the problem of traditional open-chain series robot arms. Large weight, poor rigidity, large inertia, accumulation of joint errors, small working space and inflexible movements of parallel robots, etc., are suitable for situations where manual operation is difficult due to environmental restrictions such as fixtures, high temperature and high pressure, and other dangerous operations. , can effectively improve work quality and efficiency, and reduce labor intensity

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