CN204686870U - A kind of seven-link assembly mechanism type mobile welding robot - Google Patents
A kind of seven-link assembly mechanism type mobile welding robot Download PDFInfo
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- CN204686870U CN204686870U CN201520237223.XU CN201520237223U CN204686870U CN 204686870 U CN204686870 U CN 204686870U CN 201520237223 U CN201520237223 U CN 201520237223U CN 204686870 U CN204686870 U CN 204686870U
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- 238000003466 welding Methods 0.000 title claims abstract description 34
- 239000012636 effector Substances 0.000 abstract description 8
- 238000010586 diagram Methods 0.000 description 10
- FGRBYDKOBBBPOI-UHFFFAOYSA-N 10,10-dioxo-2-[4-(N-phenylanilino)phenyl]thioxanthen-9-one Chemical compound O=C1c2ccccc2S(=O)(=O)c2ccc(cc12)-c1ccc(cc1)N(c1ccccc1)c1ccccc1 FGRBYDKOBBBPOI-UHFFFAOYSA-N 0.000 description 2
- 208000037805 labour Diseases 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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Abstract
A kind of seven-link assembly mechanism type mobile welding robot, comprises executing agency's main chain of a parallel manipulator subchain and a series connection.Described mechanism's closed-loop subchain can control main chain connecting rod at four-bar mechanism closed-loop subchain place move in plane, and the motion of multiple connecting rod subchain in parallel and column can realize the spatial movement of moving platform.The utility model is controlled by multiple robots arm and multiple connecting rod, thus realize the spatial movement of end effector, end effector movement inertia is little, dynamic performance is good, whole mechanism reliability is high, and mechanism has compact conformation, control the advantage simple, working space is large, multiple industrial welding occasion can be acted on.
Description
Technical field
The present invention relates to robot field, particularly a kind of seven-link assembly mechanism type mobile welding robot.
Background technology
Passing welding robot is the advanced welding equipment grown up on industrial robot basis, is the industrial robot being engaged in welding, is mainly used in industrial automation.Traditional serial manipulator has the advantages such as structure is simple, cost is low, working space is large, and serial manipulator rigidity is low comparatively speaking, can not be applied at a high speed, the occasion of large carrying; Parallel robot is compared with traditional serial manipulator, have without accumulated error, precision compared with high, compact conformation, bearing capacity is large, rigidity is high and end effector inertia is little etc. feature, drive unit can be placed on fixed platform or close to the position of fixed platform, such motion parts is lightweight, speed is high, and dynamic response is good; But the distinct disadvantage of the parallel robot little and complex structure that is working space.In engineering, existing manipulator such as the MOTOMAN-K10 with local closed chain does not solve industrial robot Problems existing.
A kind of multi link welding robot containing closed-loop subchain provided by the utility model, lightweight, compact conformation, good rigidity, bearing capacity is large, and working space is large, become born of the same parents' welding robot and can not only meet industrial production weld job, also save a large amount of labours simultaneously, cut down expenses.The parallel institution that the Performance Ratio of the parallel robot containing closed-loop subchain is general is more superior, have that working space is large, rigidity is high, bearing capacity is strong, inertia is little and end effector precision advantages of higher, can be applied in the complex jobs such as welding, spraying, carrying, handling, assembling, piling, effective raises labour efficiency, and improves a lot in product quality and stability.
Summary of the invention
The object of the present invention is to provide a kind of seven-link assembly mechanism type mobile welding robot, solve conventional serial robot large about required moment, the shortcoming that rigidity is low and working space is little.
The present invention achieves the above object by the following technical programs:
A kind of seven-link assembly mechanism type mobile welding robot, is made up of executing agency's main chain and executing agency's subchain.
Described executing agency main chain is by car body 1, column 2, principal arm 4, first rocking arm 3, second rocking arm 7, first connecting rod 5, second connecting rod 6, third connecting rod 8, double leval jib 9 and end welding actuator 10 are formed by connecting, column 2 first links are connected with car body 1 by the 12 revolute pair 28, column 2 second links are connected by the first revolute pair 13 and principal arm 4 first links and the first rocking arm 3 first links, first 3 second, rocking arm link is connected with first connecting rod 5 one end by the second revolute pair 14, first connecting rod 5 other end is connected by the second revolute pair 17 and the second rocking arm 7 second links, second 7 first, rocking arm link is connected by the 3rd revolute pair 16 and principal arm 4 second links, second rocking arm 7 the 3rd link is connected with second connecting rod 6 one end by the 4th revolute pair 18, second connecting rod 6 other end is connected by the 5th revolute pair 15 and the first rocking arm 3 the 3rd link, third connecting rod 8 one end is connected by the 6th revolute pair 19 and the second rocking arm 7 the 4th link, third connecting rod 8 other end is connected with double leval jib 9 one end by the 7th revolute pair 20, double leval jib 9 other end welds actuator 10 by the 8th revolute pair 26 and end and is connected.
Described executing agency subchain is by car body 1, column 2, slide block 22, 5th connecting rod 26, six-bar linkage 12, seven-link assembly 11 and principal arm 4 are formed by connecting, column 2 first links are connected with car body 1 by the 12 revolute pair 28, slide block 22 one end is connected by the first moving sets 22 and column 2 the 3rd link, slide block 22 other end is connected with the 5th connecting rod 26 one end by the 9th revolute pair 23, 5th connecting rod 26 other end is connected with six-bar linkage 12 one end by the tenth revolute pair 25, six-bar linkage 12 other end is connected with seven-link assembly 11 one end by the 11 revolute pair 24, seven-link assembly 11 other end is connected by the 3rd revolute pair 16 and principal arm 4 the 3rd link.
Described first moving sets falls in car body, and the second revolute pair, the 3rd revolute pair, the 4th revolute pair and the 5th are rotated rotation and be parallel to each other.
Outstanding advantages of the present invention is:
1, controlled by multiple robots arm and multiple connecting rod, realize the spatial movement of end effector, control simple, dynamic performance is good, and whole mechanism reliability is high;
2, double leval jib can 360 degree of rotations, increase welding robot working range, and end effector movement inertia is little simultaneously, and mechanism has compact conformation, advantage that working space is large;
3, parallel closed loop subchain increases the rigidity of welding robot, and lighter bar made by rod member, and mechanism kinematic inertia is little, and dynamic performance is good;
4, motor is arranged on after the 5th connecting rod, reduces the center of gravity of whole mechanism, and can the larger motor of installation power in mechanism, make end effector can adapt in the complex jobs such as welding, spraying, carrying, handling, assembling, piling;
5, robot mechanism is controlled by mechanism type at end effector, and precision can be made higher.
Accompanying drawing explanation
Fig. 1 is the first work structuring front view of a kind of seven-link assembly mechanism type mobile welding robot of the present invention.
Fig. 2 is the first work structuring schematic diagram of a kind of seven-link assembly mechanism type mobile welding robot of the present invention.
Fig. 3 is the first work structuring rearview of a kind of seven-link assembly mechanism type mobile welding robot of the present invention.
Fig. 4 is the second work structuring schematic diagram of a kind of seven-link assembly mechanism type mobile welding robot of the present invention.
Fig. 5 is the 3rd work structuring schematic diagram of a kind of seven-link assembly mechanism type mobile welding robot of the present invention.
Fig. 6 is the 3rd work structuring schematic diagram of a kind of seven-link assembly mechanism type mobile welding robot of the present invention.
Fig. 7 is the first rocker structure schematic diagram of a kind of seven-link assembly mechanism type mobile welding robot of the present invention.
Fig. 8 is the second rocker structure schematic diagram of a kind of seven-link assembly mechanism type mobile welding robot of the present invention.
Fig. 9 is the main arm structure schematic diagram of a kind of seven-link assembly mechanism type mobile welding robot of the present invention.
Figure 10 is the 5th bar linkage structure schematic diagram of a kind of seven-link assembly mechanism type mobile welding robot of the present invention.
Figure 11 is the slide block structure schematic diagram of a kind of seven-link assembly mechanism type mobile welding robot of the present invention.
Figure 12 is the pillar construction schematic diagram of a kind of seven-link assembly mechanism type mobile welding robot of the present invention.
Detailed description of the invention
Below in conjunction with drawings and Examples, technical scheme of the present invention is described further.
Contrast Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11 and Figure 12, a kind of seven-link assembly mechanism type mobile welding robot, its structure and connected mode are:
Described executing agency main chain is by car body 1, column 2, principal arm 4, first rocking arm 3, second rocking arm 7, first connecting rod 5, second connecting rod 6, third connecting rod 8, double leval jib 9 and end welding actuator 10 are formed by connecting, column 2 first links are connected with car body 1 by the 12 revolute pair 28, column 2 second links are connected by the first revolute pair 13 and principal arm 4 first links and the first rocking arm 3 first links, first 3 second, rocking arm link is connected with first connecting rod 5 one end by the second revolute pair 14, first connecting rod 5 other end is connected by the second revolute pair 17 and the second rocking arm 7 second links, second 7 first, rocking arm link is connected by the 3rd revolute pair 16 and principal arm 4 second links, second rocking arm 7 the 3rd link is connected with second connecting rod 6 one end by the 4th revolute pair 18, second connecting rod 6 other end is connected by the 5th revolute pair 15 and the first rocking arm 3 the 3rd link, third connecting rod 8 one end is connected by the 6th revolute pair 19 and the second rocking arm 7 the 4th link, third connecting rod 8 other end is connected with double leval jib 9 one end by the 7th revolute pair 20, double leval jib 9 other end welds actuator 10 by the 8th revolute pair 26 and end and is connected.
Described executing agency subchain is by car body 1, column 2, slide block 22, 5th connecting rod 26, six-bar linkage 12, seven-link assembly 11 and principal arm 4 are formed by connecting, column 2 first links are connected with car body 1 by the 12 revolute pair 28, slide block 22 one end is connected by the first moving sets 22 and column 2 the 3rd link, slide block 22 other end is connected with the 5th connecting rod 26 one end by the 9th revolute pair 23, 5th connecting rod 26 other end is connected with six-bar linkage 12 one end by the tenth revolute pair 25, six-bar linkage 12 other end is connected with seven-link assembly 11 one end by the 11 revolute pair 24, seven-link assembly 11 other end is connected by the 3rd revolute pair 16 and principal arm 4 the 3rd link.
Described first moving sets falls in car body, and the second revolute pair, the 3rd revolute pair, the 4th revolute pair and the 5th are rotated rotation and be parallel to each other.
Contrast Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11 and Figure 12, end welding actuator can implementation space motion.
Claims (1)
1. a seven-link assembly mechanism type mobile welding robot, is made up of executing agency's main chain and executing agency's subchain, it is characterized in that:
Described executing agency main chain is by car body, column, principal arm, first rocking arm, second rocking arm, first connecting rod, second connecting rod, third connecting rod, double leval jib and end welding actuator are formed by connecting, column first link is connected with car body by the 12 revolute pair, column second link is connected by the first revolute pair and principal arm first link and the first rocking arm first link, first second, rocking arm link is connected with first connecting rod one end by the second revolute pair, the first connecting rod other end is connected by the second revolute pair and the second rocking arm second link, second first, rocking arm link is connected by the 3rd revolute pair and principal arm second link, second rocking arm the 3rd link is connected with second connecting rod one end by the 4th revolute pair, the second connecting rod other end is connected by the 5th revolute pair and the first rocking arm the 3rd link, third connecting rod one end is connected by the 6th revolute pair and the second rocking arm the 4th link, the third connecting rod other end is connected with double leval jib one end by the 7th revolute pair, the double leval jib other end welds actuator by the 8th revolute pair with end and is connected,
Described executing agency subchain is by car body, column, slide block, 5th connecting rod, six-bar linkage, seven-link assembly and principal arm are formed by connecting, column first link is connected with car body by the 12 revolute pair, slide block one end is connected by the first moving sets and column the 3rd link, the slide block other end is connected with the 5th connecting rod one end by the 9th revolute pair, the 5th connecting rod other end is connected with six-bar linkage one end by the tenth revolute pair, the six-bar linkage other end is connected with seven-link assembly one end by the 11 revolute pair, the seven-link assembly other end is connected by the 3rd revolute pair and principal arm second link.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520237223.XU CN204686870U (en) | 2015-04-20 | 2015-04-20 | A kind of seven-link assembly mechanism type mobile welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520237223.XU CN204686870U (en) | 2015-04-20 | 2015-04-20 | A kind of seven-link assembly mechanism type mobile welding robot |
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| Publication Number | Publication Date |
|---|---|
| CN204686870U true CN204686870U (en) | 2015-10-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520237223.XU Expired - Fee Related CN204686870U (en) | 2015-04-20 | 2015-04-20 | A kind of seven-link assembly mechanism type mobile welding robot |
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| CN (1) | CN204686870U (en) |
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2015
- 2015-04-20 CN CN201520237223.XU patent/CN204686870U/en not_active Expired - Fee Related
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151007 Termination date: 20160420 |