Three-dimensional translation and one-dimensional circumferential rotation type parallel welding robot

Abstract

The invention relates to a three-dimensional translation and one-dimensional circumferential rotation type parallel welding robot, which comprises a first RPRR closed-loop subchain, a second RPRR closed-loop subchain and an executive mechanism subchain. Rotation shafts of control rods of the first RPRR closed-loop subchain and the second RPRR closed-loop subchain are coaxial, the first RPRR closed-loop subchain can control planar two-degree-of-freedom movement of a first rotary table which is capable of rotating circumferentially, the second RPRR closed-loop subchain can control planar two-degree-of-freedom movement of a second rotary table which is capable of rotating circumferentially, and spatial four-degree-of-freedom movement of a flange can be realized by mean of movement of the first rotary table and the second rotary table. The two closed-loop subchains are used for controlling planar movement of the two rotary tables so as to realize spatial four-degree-of-freedom movement of the flange, and the parallel welding robot has the advantages of compact structure and simplicity in control. All active rods are connected to a frame and can be made into light rods, and the robot is low in the mechanism motion inertia and high in dynamic performance.

Description

technical field [0001] The invention relates to the field of welding robots, in particular to a parallel welding robot with three-dimensional translation and one-dimensional full circle rotation. Background technique [0002] An industrial robot is a multipurpose, reprogrammable automatic control manipulator (Manipulator) with three or more programmable axes, used in the field of industrial automation. In order to adapt to different purposes, the mechanical interface of the last axis of the robot is usually a connecting flange, which can be connected to different tools or end effectors. The welding robot is equipped with a welding tongs or a welding (cutting) torch on the flange of the final axis of the industrial robot, so that it can perform welding, cutting or thermal spraying. According to incomplete statistics, nearly half of the industrial robots in service around the world are welding robots. At present, the welding robots produced in various countries are basically...

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a parallel welding robot with three-dimensional translation and one-dimensional full-cycle rotation, which solves the problems of poor rigidity, large inertia, and joint error accumulation of traditional parallel welding robots whose number of degrees of freedom is greater than the number of branch chains.

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