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Spot welding mechanical arm adopting freedom-degree-variable connecting rod mechanism

A technology of link mechanism and degree of freedom, applied in the mechanical field, can solve the problems of large cumulative error, small load capacity, and low stiffness of serial manipulators, and achieve the effect of compact structure, large load capacity, and low inertia

Inactive Publication Date: 2018-05-29
GUANGXI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a spot welding manipulator using a variable degree of freedom link mechanism, so as to overcome the shortcomings of series manipulators such as large cumulative error, low precision, low rigidity and small bearing capacity

Method used

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  • Spot welding mechanical arm adopting freedom-degree-variable connecting rod mechanism

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Embodiment Construction

[0006] A spot welding manipulator using a variable degree of freedom link mechanism, comprising a base 1, a large arm 2, a connecting piece 4, a wrist connecting rod 5, a welding torch 28, a wrist 27, a driving device, an active rod 13, a third connecting rod 15, The upper arm 18, the first connecting rod 23, the second connecting rod 22, the first locking device 25, and the second locking device 26 are composed; the boom 2 is connected to the base 1 through the first rotating pair 9, and the boom The other end of 2 is connected to the wrist link 5 through the third rotating pair 7, the active rod 13 is connected to the base 1 through the fifth rotating pair 12, and the other end is connected to the third connecting rod 15 through the sixth rotating pair 14, The third connecting rod 15 is connected to the connecting piece 4 through the seventh turning pair 16; one end of the connecting piece 4 is connected to the boom 2 through the tenth turning pair 11, and the other end is co...

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Abstract

A spot welding mechanical arm adopting a freedom-degree-variable connecting rod mechanism is composed of a base 1, a large arm 2, a connecting part 4, a wrist connecting rod 5, a welding gun 28, a wrist 27, a drive device, a driving rod 13, a third connecting rod 15, an upper arm 18, a first connecting rod 23, a second connecting rod 22, a first locking device 25 and a second locking device 26. The large arm 2 is connected to the base 1 through a first rotating pair 9. The other end of the large arm 2 is connected with the wrist connecting rod 5 through a third rotating pair 7. The first locking device 25 and the second locking device 26 are mounted on an eighth rotating pair 17 and a twelfth rotating pair 20 correspondingly. The drive device is composed of a first servo motor and connected with the driving rod 13 and drives the driving rod 13. The first locking device 25 and the second locking device 26 are both electromagnetic locking devices. The spot welding mechanical arm overcomes the defect that an existing spot welding mechanical arm mechanism needs to be provided with control motors with the number equal to that of freedom degrees of the connecting rod mechanism to achievecontrol.

Description

technical field [0001] The invention relates to the field of mechanical technology, in particular to a spot welding manipulator using a variable degree of freedom link mechanism. Background technique [0002] At present, most of the general-purpose spot welding manipulators in the manufacturing industry are joint motor-driven manipulators with a series structure in the form of an open chain. various actions. Since the driving motors of the joint-type manipulators with series structure in the form of open chain are installed at the joints, this structure has the following problems: the manipulator arm needs to carry the weight of the motor and meet the rigidity requirements, and the cross-sectional size of the arm needs to be made larger. This will increase the load on the drive motor, increase the moment of inertia of the arm, and lead to a decrease in the dynamic performance of the manipulator. At the same time, the drive motors are installed at the joint position, resulti...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B23K37/02B25J9/10
CPCB23K37/0252B25J9/106
Inventor 不公告发明人
Owner GUANGXI UNIV
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