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Multi-degree-of-freedom parallel-mechanism type controllable welding robot

A welding robot and mechanical technology, applied in the field of robotics, can solve the problems of large required torque, small working space, and low rigidity, and achieve the effects of reducing active torque, large working space, and high flexibility

Active Publication Date: 2014-04-16
GUANGXI UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The purpose of the present invention is to provide a multi-degree-of-freedom parallel mechanism type controllable welding robot, which solves the shortcomings of traditional serial robots about the large torque required, low rigidity and small working space

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  • Multi-degree-of-freedom parallel-mechanism type controllable welding robot

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Embodiment Construction

[0027] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0028] control figure 1 , figure 2 , image 3 , Figure 4 , Figure 5 with Image 6 , a multi-degree-of-freedom parallel mechanism type controllable welding robot, its structure and connection method are:

[0029]The actuator chain is composed of fuselage 2, first connecting rod 3, second connecting rod 7, third connecting rod 5, fourth connecting rod 20, fifth connecting rod 23, sixth connecting rod 21, seventh connecting rod 11. Eighth connecting rod 12, ninth connecting rod 18, tenth connecting rod 14, eleventh connecting rod 15, twelfth connecting rod 26, thirteenth connecting rod 27, fourteenth connecting rod 29, end execution The device 30 and the frame 1 are connected, the first connecting end 31 of the fuselage 2 is connected to the frame 1 through the first rotating pair 31, the fuselage 2 is driven by the firs...

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Abstract

A multi-degree-of-freedom parallel-mechanism type controllable welding robot comprises multiple parallel-mechanism closed-loop actuator subchains and a serially-connected main actuator chain, the mechanism closed-loop subchains can control main chain connecting bars to move in a plane of the four-bar mechanism closed-loop subchains, and spatial movement of a moving platform can be realized by movement of multiple parallel connecting bar subchains and a body. Control is realized through resultant movement of the four closed-loop subchains and the body, spatial movement of an end actuator is realized through connection of multiple connecting bars and the body, the end actuator is small in movement inertia, good in dynamics performance and high in reliability, the robot has the advantages of compact structure and simplicity in control, the bars can be made to light bars, the robot is large in working space, center of gravity of the robot shifts backwards to keep the robot in balance, and the robot can act to more situations.

Description

technical field [0001] The invention relates to the field of robots, in particular to a multi-degree-of-freedom parallel mechanism controllable welding robot. Background technique [0002] The traditional series robot has the advantages of simple structure, low cost, and large working space. Relatively speaking, the series robot has low rigidity and cannot be applied to high-speed and large-load occasions; compared with the traditional series robot, the parallel robot has no cumulative error, High precision, compact structure, large bearing capacity, high rigidity and small inertia of the end effector, etc., the driving device can be placed on the fixed platform or close to the fixed platform, so that the moving part is light in weight, high in speed and good in dynamic response; However, the obvious disadvantages of parallel robots are small working space and complex structure. The existing manipulators with partial closed chains in engineering, such as MOTOMAN-K10, did no...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/08B25J9/02B25J9/06B25J9/18B23K37/00
Inventor 蔡敢为胥刚张林高德中于腾吕姗姗丁侃
Owner GUANGXI UNIV
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