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Multi-freedom-degree parallel mechanism type controllable 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, unsolved industrial robots, complex structure, etc., and achieve the effects of force and torque, increased working space, and small motion inertia.

Inactive Publication Date: 2015-05-06
GUANGXI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, 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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  • Multi-freedom-degree parallel mechanism type controllable mobile welding robot
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  • Multi-freedom-degree parallel mechanism type controllable mobile welding robot

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Embodiment Construction

[0047] A multi-degree-of-freedom parallel mechanism controllable mobile welding robot of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0048] see Figure 1 to Figure 11, is a multi-degree-of-freedom parallel mechanism controllable mobile welding robot of the present invention, including a mobile platform 1, a fuselage 2, a first connecting rod 3, a second connecting rod 7, a third connecting rod 5, and a fourth connecting rod 20 , the fifth connecting rod 23, the sixth connecting rod 21, the seventh connecting rod 11, the eighth connecting rod 12, the ninth connecting rod 18, the tenth connecting rod 14, the eleventh connecting rod 15, the twelfth connecting rod 26 , the thirteenth connecting rod 27, the fourteenth connecting rod 29, the end effector 30;

[0049] The mobile platform 1 is moved by wheels mounted on its bottom;

[0050] The seventh connecting rod 11 is sequentially provided with ...

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Abstract

The invention provides a multi-freedom-degree parallel mechanism type controllable mobile welding robot which comprises multiple parallel mechanism closed loop subchains, a series connected actuator main chain and a movable platform. The parallel mechanism closed loop subchains can control series connected actuator main chain connecting rods to move in a plane where four-link mechanism closed loop subchains formed by a seventh connecting rod, an eighth connecting rod, a ninth connecting rod, a tenth connecting rod and an eleventh connecting rod are located, and movement of the parallel mechanism closed loop subchains, movement of a robot body and movement of the movable platform can achieve space movement of the movable platform. The resultant movement of the four parallel mechanism closed loop subchains and the robot body achieves control, the space motion of a tail end actuator is achieved through connection of the multiple connecting rods and the robot body, the robot has the advantages of being compact in structure and easy to control, the structure enables the robot to have almost infinite working space and high movement redundancy and have the movement and operation function, a work space is large, and the multi-freedom-degree parallel mechanism type controllable mobile welding robot can be applied to more occasions.

Description

【Technical field】 [0001] The invention relates to the field of robots, in particular to a multi-degree-of-freedom parallel mechanism type controllable mobile welding robot. 【Background technique】 [0002] Research on mobile robots began in the late 1960s. Nils Nilssen and Charles Rosen of Stanford Research Institute (SRI) and others developed an autonomous mobile robot named Shakey from 1966 to 1972. The purpose is to study the application of artificial intelligence technology, autonomous reasoning, planning and control of robotic systems in complex environments. [0003] Traditional tandem robots have the advantages of simple structure, low cost, and large working space. Relatively speaking, tandem robots have low rigidity and cannot be used in high-speed, heavy-load situations. [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 an...

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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