High-precision advanced welding robot mechanism with six degrees of freedom

Abstract

The invention relates to a high-precision advanced welding robot mechanism with six degrees of freedom. The high-precision advanced welding robot mechanism comprises a waist rotary mechanism, a shoulder swing mechanism, an elbow rotary mechanism, a forearm twisting mechanism, a wrist rotary mechanism, a welding gun clamping seat rotary mechanism, a machine base and a rotary platform. The two-dimensional translation of a plane is achieved through a mechanism formed by the shoulder swing mechanism and the elbow rotary mechanism, and a forearm execution tail end welding gun clamping seat is sent to a preset area. The position of an execution tail end within a space range is adjusted through the whole circle rotation of the rotary platform, and large work space is obtained. A welding gun posture is adjusted through the three-dimensional rotation of the forearm twisting mechanism, the wrist rotary mechanism and the welding gun clamping seat rotary mechanism. The high-precision advanced welding robot mechanism can flexibly and conveniently send a welding gun to different space points to work, good dynamics performance is obtained, the bearing loads of shoulder joints are reduced, and the excellent characteristics of high precision, high reliability and convenient maintenance are achieved.

Description

technical field [0001] The invention relates to the field of industrial robots, in particular to a six-degree-of-freedom high-precision advanced welding robot mechanism. Background technique [0002] Industrial robots are multi-joint manipulators or robots with multiple degrees of freedom for the industrial field. An industrial robot is a machine device that performs work automatically, and is a machine that realizes various functions by its own power and control capabilities. China will become the world's largest consumer of industrial robots by 2014. According to experts, in 2011, China's industrial robot sales increased by 51% year-on-year. In the next three years, the compound growth rate of China's industrial robot market will reach 30%. China may become the world's largest robot demand market. Due to the rapid development of modern computer technology and the continuous maturity of multi-axis motion control technology, the cost of industrial robots has gradually decr...

AI Technical Summary

Problems solved by technology

The traditional articulated welding robots install the motors at the joints, which makes the mechanical arm appear cumbersome, and has disadvantages such as large moment of inertia, poor stiffness, and large cumulative error.

The dynamic performance of the mechanism is poor, and it is difficult to meet the increasingly high-speed and high-precision requirements

The series mechanism has better kinematic performance in terms of mechanism design, but the dynamic performance is lower; compared with the series robot, the parallel mechanism has no cumulative error and high precision, and the driving device can be placed on or close to the fixed platform. The position of the moving part is light, the speed is high, the dynamic response is good, the structure is compact, the rigidity is high, and the carrying capacity is large. The space is often small, and it is generally used in fields such as driving simulation platforms, radar antenna bases, and CNC lathes. It is difficult to apply to welding robots and other fields that require a large working space.

Moreover, the waist joints of existing robots not only support the weight of the entire robot, but also bear the impact brought by the movement of the entire robot, which has a high failure rate, poor reliability, short trouble-free running time, and is easy to cause large joint errors. The accuracy of the robot is greatly affected. Due to these shortcomings, it is difficult for the existing robot structure to take into account the characteristics of operating flexibility and high precision, and it is difficult to meet the operating requirements of large working space, high precision, and high reliability. a bottleneck of

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