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Controllable mechanism type metamorphic wheeled mobile welding robot

A welding robot and mechanism technology, applied in the field of robots, can solve the problems of small working space of parallel robots, no solution to industrial robots, low inertia of end effectors, etc., to achieve the effects of force and torque, improved stiffness and good balance

Active Publication Date: 2015-04-29
GUANGXI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Compared with the traditional serial robot, the parallel robot has the characteristics of no cumulative error, high precision, compact structure, large carrying capacity, high rigidity and small inertia of the end effector. The driving device can be placed on the fixed platform or close to the fixed platform. position, so that the moving parts are 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
The existing manipulators with partial closed chain in engineering such as MOTOMAN-K10 did not solve the problems existing in industrial robots

Method used

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  • Controllable mechanism type metamorphic wheeled mobile welding robot
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  • Controllable mechanism type metamorphic wheeled mobile welding robot

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Embodiment Construction

[0039] A controllable mechanism metamorphic wheeled mobile welding robot of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0040] see Figure 1 to Figure 10 , is a controllable mechanism-type variable cell wheel mobile welding robot of the present invention, including a mobile platform 1, a fuselage 2, a first connecting rod 7, a second connecting rod 9, a third connecting rod 12, and a fourth connecting rod 18 , the fifth connecting rod 22, the sixth connecting rod 24, the seventh connecting rod 26, the eighth connecting rod 28, the first hydraulic rod 13, the second hydraulic rod 15, the first bracket 4, the second bracket 5, and the end execution device 30;

[0041] The belt is composed of the mobile platform 1, the fuselage 2, the first connecting rod 7, the second connecting rod 9, the third connecting rod 12, the first hydraulic rod 13, the second hydraulic rod 15, the first bracket 4 and t...

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Abstract

The invention provides a controllable mechanism type metamorphic wheeled mobile welding robot, which comprises a metamorphic executing mechanism sub-chain, a serial executing mechanism main chain and a moveable platform, wherein the metamorphic executing mechanism sub-chain is provided with parallel closed-loop sub-chains, the serial executing mechanism main chain is used for controlling the plane movement of a tail executer, and the space movement of the movable platform is realized by the movement of a robot body and the movable platform; the metamorphic movement is realized by the metamorphic executing mechanism sub-chain with the parallel closed-loop sub-chains and the serial executing mechanism main chain through a closed-loop sub-chain. The controllable mechanism type metamorphic wheeled mobile welding robot has the advantages that the controlling is realized by the metamorphic synthesis movement, the controllable, adjustable and output flexible functions are realized, and the features of multifunctional phase change, multi-topological structure and multi-degree-of-freedom change are realized; the movement inertia of the tail executer is small, the dynamic property is good, the reliability is high, the movement and operation functions are realized, and the robot can be applied to multiple occasions.

Description

【Technical field】 [0001] The invention relates to the field of robots, in particular to a controllable mechanism metamorphic wheeled mobile welding robot. 【Background technique】 [0002] Mobile robot is a comprehensive system integrating environment perception, dynamic decision-making and planning, behavior control and execution. It integrates multi-disciplinary research results in sensor technology, information processing, electronic engineering, computer engineering, automation control engineering, and artificial intelligence. It represents the highest achievement of mechatronics and is one of the most active fields of science and technology development. [0003] Metamorphic mechanism is an important concept proposed by scholars in recent years. It is a new type of mechanism with variable degrees of freedom or variable number of components. In addition to being highly scalable and expandable like expandable mechanisms, this type of mechanism can also change topology. Grap...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B23K37/02
Inventor 蔡敢为王麾李智杰张永文李荣康朱凯君王龙王小纯李岩舟杨旭鹃
Owner GUANGXI UNIV
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