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Method for carrying out welding construction by utilizing six-degree of freedom mechanism type movable connecting rod mechanism

A link mechanism and mechanism technology, applied in the field of robots, can solve the problems of low stiffness, small working space, and large required torque, and achieve the effects of good dynamic performance, lower center of gravity, and lower dynamic torque.

Inactive Publication Date: 2015-04-29
GUANGXI UNIV
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Problems solved by technology

[0003] The technical problem to be solved by the present invention is to provide a method for welding construction using a six-degree-of-freedom mechanism-type mobile link mechanism, which solves the shortcomings of traditional serial robots about the large torque required, low rigidity and small work space

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  • Method for carrying out welding construction by utilizing six-degree of freedom mechanism type movable connecting rod mechanism
  • Method for carrying out welding construction by utilizing six-degree of freedom mechanism type movable connecting rod mechanism
  • Method for carrying out welding construction by utilizing six-degree of freedom mechanism type movable connecting rod mechanism

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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] Such as Figure 1-Figure 12 As shown, a method of welding construction using a six-degree-of-freedom mechanism-type mobile link mechanism, first connect and install the welding car according to the following connection method:

[0029] The bottom end of the column 2 is connected to the vehicle body 1 through the twelfth rotating pair 22, and the top end of the column 2 is connected to the first connecting end of the main arm 4 and the first connecting end of the first rocker arm 3 through the first rotating pair 13, respectively. , the second connecting end of the first rocker arm 3 is connected to one end of the first connecting rod 5 through the second rotating pair 14, and the other end of the first connecting rod 5 is connected to the second connecting end of the second rocking arm 7 through the fourth rotating pair...

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Abstract

The invention relates to a method for carrying out welding construction by utilizing a six-degree of freedom mechanism type movable connecting rod mechanism. An execution main chain is formed by a stand column, a main arm, a first rocker arm, a second rocker arm, a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod; an execution sub chain is formed by a fifth connecting rod, a sixth connecting rod, a stand column and a main arm; when welding operation is carried out, the main arm is driven through a motor so as to rotate, and the fifth connecting rod and the sixth connecting rod support the main arm and are in movement combination with the main arm; the second rocker arm is driven through the motor, so that the second rocker arm carries out rocker arm type control on the third connecting rod; the third connecting rod and the fourth connecting rod are driven through the motor to rotate, so that the connecting rod mechanism can finish welding operation. The method provided by the invention has the advantages of large working space, high rigidity, strong carrying capacity and high execution precision.

Description

technical field [0001] The invention relates to the field of robots, in particular to a method for welding construction using a six-degree-of-freedom mechanism-type mobile link mechanism. Background technique [0002] Compared with traditional series robots, parallel robots have no cumulative error, high precision, compact structure, large carrying capacity, high rigidity and end welding actuators. Small inertia and other characteristics, 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; but the obvious disadvantages of parallel robots are small working space and complex structure. Existing manipulators with partial closed chains such as MOTOMAN-K10 in engineering do not solve the problems of industrial robots. Contents of the invention [0003] The technical problem to be solved by the present invention is to provide a method for welding construct...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B23K37/02B25J9/00
CPCB23K37/0252B23K37/0247B23K37/0294
Inventor 蔡敢为范雨张林李智杰张永文李荣康朱凯君王龙王小纯李岩舟杨旭娟
Owner GUANGXI UNIV
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