CN104476054A - Welding construction method through utilizing six-degree-of-freedom five-rod moving type connecting rod mechanism - Google Patents
Welding construction method through utilizing six-degree-of-freedom five-rod moving type connecting rod mechanism Download PDFInfo
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- 238000003466 welding Methods 0.000 title claims abstract description 38
- 238000010276 construction Methods 0.000 title claims abstract description 9
- 230000015572 biosynthetic process Effects 0.000 claims abstract description 4
- 238000003786 synthesis reaction Methods 0.000 claims abstract description 4
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- 238000005507 spraying Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0247—Driving means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- Optics & Photonics (AREA)
- Robotics (AREA)
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Abstract
Description
技术领域technical field
本发明涉及机器人领域，特别是一种利用六自由度五杆移动式连杆机构进行焊接施工的方法。The invention relates to the field of robots, in particular to a method for welding construction using a six-degree-of-freedom five-bar movable linkage mechanism.
背景技术Background technique
串联机器人刚度较低，不能应用于高速、大承载的场合；而并联机器人和传统的串联机器人相比较，具有无累积误差、精度较高、结构紧凑、承载能力大、刚度高且末端焊接执行器惯性小等特点，驱动装置可置于定平台上或接近定平台的位置，这样运动部分重量轻，速度高，动态响应好；但是并联机器人的明显缺点是工作空间小和结构复杂。工程上现有的带有局部闭链的操作机如MOTOMAN-K10并没有解决工业机器人存在的问题。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.
发明内容Contents of the invention
本发明所要解决的技术问题在于提供一种利用六自由度五杆移动式连杆机构进行焊接施工的方法，解决传统串联机器人关于所需力矩大，刚度低和工作空间小的缺点。The technical problem to be solved by the present invention is to provide a method for welding construction using a six-degree-of-freedom five-bar movable linkage mechanism, which solves the shortcomings of traditional series robots about large torque required, low rigidity and small working space.
本发明解决上述技术问题所采取的技术方案是：一种利用六自由度五杆移动式连杆机构进行焊接施工的方法，The technical solution adopted by the present invention to solve the above-mentioned technical problems is: a method for welding construction using a six-degree-of-freedom five-bar movable linkage mechanism,
所述的六自由度五杆移动式连杆机构包括立柱、主臂、第一摇臂、第二摇臂、第一连杆、第二连杆、第三连杆、第四连杆、连接块、第五连杆、第六连杆和第七连杆，所述立柱底端用于连接车体，立柱顶端通过第一转动副分别与主臂第一个连接端和第一摇臂第一个连接端连接，第一摇臂第二个连接端通过第二转动副与第一连杆一端连接，第一连杆另一端通过第四转动副与第二摇臂第二个连接端连接，第二摇臂第一个连接端通过第五转动副与主臂第二个连接端连接，第二摇臂第三个连接端通过第六转动副与第二连杆一端连接，第二连杆另一端通过第三转动副与第一摇臂第三个连接端连接，第三连杆一端通过第七转动副与第二摇臂第四个连接端连接，第三连杆另一端通过第八转动副与第四连杆一端连接，第四连杆另一端用于连接焊接执行机构；所述的立柱侧面连接第二固定副，连接块一端通过第二固定副与立柱连接，另一端通过第十转动副与第五连杆一端连接，第五连杆另一端通过第十一转动副与第六连杆一端连接，第六连杆另一端通过第十二转动副与第七连杆一端连接，第七连杆另一端通过第五转动副与主臂的第二个连接端连接；The six-degree-of-freedom five-bar movable linkage mechanism includes a column, a main arm, a first rocker arm, a second rocker arm, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, connecting block, the fifth connecting rod, the sixth connecting rod and the seventh connecting rod, the bottom end of the column is used to connect the vehicle body, and the top end of the column is respectively connected to the first connecting end of the main arm and the second connecting end of the first rocker arm through the first rotating pair. One connecting end is connected, the second connecting end of the first rocker arm is connected with one end of the first connecting rod through the second rotating pair, and the other end of the first connecting rod is connected with the second connecting end of the second rocking arm through the fourth rotating pair , the first connecting end of the second rocker arm is connected to the second connecting end of the main arm through the fifth rotating pair, the third connecting end of the second rocking arm is connected to one end of the second connecting rod through the sixth rotating pair, and the second connecting rod The other end of the rod is connected to the third connecting end of the first rocker arm through the third rotating pair, one end of the third connecting rod is connected to the fourth connecting end of the second rocking arm through the seventh rotating pair, and the other end of the third connecting rod is connected through the The eight rotating pairs are connected to one end of the fourth connecting rod, and the other end of the fourth connecting rod is used to connect the welding actuator; the side of the column is connected to the second fixed pair, one end of the connecting block is connected to the column through the second fixed pair, and the other end is The tenth rotating pair is connected to one end of the fifth connecting rod, the other end of the fifth connecting rod is connected to one end of the sixth connecting rod through the eleventh rotating pair, and the other end of the sixth connecting rod is connected to one end of the seventh connecting rod through the twelfth rotating pair connected, the other end of the seventh connecting rod is connected to the second connecting end of the main arm through the fifth rotating pair;
焊接作业前，将车体与立柱底端用第一固定副连接起来，将焊接执行机构用第九转动副与第四连杆连接起来；Before the welding operation, connect the car body and the bottom end of the column with the first fixed pair, and connect the welding actuator with the ninth rotating pair and the fourth connecting rod;
焊接作业进行时，通过电机驱动主臂，使主臂进行旋转运动，同时，第五连杆、第六连杆和第七连杆支撑主臂，并与主臂进行运动合成；再通过电机驱动第二摇臂，从而使第二摇臂对第三连杆进行摇臂式控制；通过电机驱动，使第三连杆和第四连杆进行旋转运动，从而使连杆机构完成焊接作业。When the welding operation is in progress, the main arm is driven by the motor to make the main arm rotate. At the same time, the fifth connecting rod, the sixth connecting rod and the seventh connecting rod support the main arm and perform motion synthesis with the main arm; The second rocker arm, so that the second rocker arm performs rocker control on the third connecting rod; through the drive of the motor, the third connecting rod and the fourth connecting rod are rotated, so that the connecting rod mechanism completes the welding operation.
本发明的突出优点在于：The outstanding advantages of the present invention are:
1、由立柱、第五连杆、第六连杆、第七连杆和主臂形成一个执行机构运动控制的子链，提高了机器人的刚度，并且摇臂移动式设计大大提高机器人的工作空间，能避免机构的死点位置，能使机器人的作用范围更大，并且能使机构更好的保持平衡；1. A sub-chain of motion control of the actuator is formed by the column, the fifth connecting rod, the sixth connecting rod, the seventh connecting rod and the main arm, which improves the rigidity of the robot, and the movable design of the rocker arm greatly improves the working space of the robot , can avoid the dead point position of the mechanism, can make the robot have a larger range of action, and can keep the mechanism better balanced;
2、电机安装在摇臂关节上，通过四杆机构上的转动副驱动闭环链运动，从而间接驱动末端连杆，使末端焊接执行器的活动度和活动空间更大，能减小能动力矩；2. The motor is installed on the rocker joint, and the closed-loop chain movement is driven by the rotating pair on the four-bar mechanism, thereby indirectly driving the end connecting rod, so that the activity and space of the end welding actuator are larger, and the dynamic moment can be reduced ;
3、电机安装在主臂后面，降低了整个机构的重心，而且可以安装功率较大的电机在机构上，使末端焊接执行器可以适应在焊接、喷涂、搬运、装卸、装配、码垛等复杂作业中；3. The motor is installed behind the main arm, which lowers the center of gravity of the whole mechanism, and a motor with a larger power can be installed on the mechanism, so that the end welding actuator can be used in welding, spraying, handling, loading and unloading, assembly, palletizing and other complex applications. working;
4、连杆机构与末端焊接执行器之间用一个带铰链的连杆和末端焊接执行器连接，使执行器灵活度更高，工作空间比以往的机器人更大，而且带铰链的连杆做成轻杆，可以使整个机构动力性能更好且易于控制，还可以使末端焊接执行器在小范围内转动360度周角，使机构能适用于更多场合，精度更高；4. The link mechanism and the end welding actuator are connected by a hinged connecting rod and the end welding actuator, which makes the actuator more flexible, and the working space is larger than that of the previous robot, and the hinged connecting rod does It can be made into a light rod, which can make the power performance of the whole mechanism better and easy to control, and can also make the end welding actuator rotate 360 degrees in a small range, so that the mechanism can be applied to more occasions and has higher precision;
5、连杆做成轻杆，使机构运动惯量小，动力学性能好；5. The connecting rod is made of a light rod, so that the mechanism's motion inertia is small and the dynamic performance is good;
6、与同类型的机器人机构相比较，相同功率下做的功更多。6. Compared with the same type of robot mechanism, it can do more work under the same power.
附图说明Description of drawings
图1为本发明所述六自由度五杆移动式连杆机构进行焊接作业的第一工作立体图。Fig. 1 is the first perspective view of the welding operation of the six-degree-of-freedom five-bar movable linkage mechanism of the present invention.
图2为本发明所述六自由度五杆移动式连杆机构进行焊接作业的第一工作正视图。Fig. 2 is the first working front view of the welding operation of the six-degree-of-freedom five-bar movable linkage mechanism of the present invention.
图3为本发明所述六自由度五杆移动式连杆机构进行焊接作业的第一工作后视图。Fig. 3 is a first working rear view of the welding operation of the six-degree-of-freedom five-bar movable linkage mechanism of the present invention.
图4为本发明所述六自由度五杆移动式连杆机构进行焊接作业的第二工作正视图。Fig. 4 is a second working front view of the welding operation of the six-degree-of-freedom five-bar movable linkage mechanism of the present invention.
图5为本发明所述六自由度五杆移动式连杆机构进行焊接作业的第三工作正视图。Fig. 5 is the third working front view of the welding operation of the six-degree-of-freedom five-bar movable linkage mechanism of the present invention.
图6为本发明所述六自由度五杆移动式连杆机构进行焊接作业的第四工作正视图。Fig. 6 is a fourth working front view of the welding operation of the six-degree-of-freedom five-bar movable linkage mechanism of the present invention.
图7为本发明所述六自由度五杆移动式连杆机构的第一摇臂结构示意图。Fig. 7 is a schematic structural diagram of the first rocker arm of the six-degree-of-freedom five-bar movable linkage mechanism of the present invention.
图8为本发明所述六自由度五杆移动式连杆机构的第二摇臂结构示意图。Fig. 8 is a schematic structural diagram of the second rocker arm of the six-degree-of-freedom five-bar movable linkage mechanism of the present invention.
图9为本发明所述六自由度五杆移动式连杆机构的主臂结构示意图。Fig. 9 is a schematic structural view of the main arm of the six-degree-of-freedom five-bar movable linkage mechanism of the present invention.
图10为本发明所述六自由度五杆移动式连杆机构的第三连杆结构示意图。Fig. 10 is a schematic diagram of the structure of the third link of the six-degree-of-freedom five-bar movable link mechanism of the present invention.
图11为本发明所述六自由度五杆移动式连杆机构的连接块结构示意图。Fig. 11 is a schematic structural diagram of the connecting block of the six-degree-of-freedom five-bar movable linkage mechanism of the present invention.
图12为本发明所述六自由度五杆移动式连杆机构的立柱结构示意图。Fig. 12 is a schematic diagram of the column structure of the six-degree-of-freedom five-bar movable linkage mechanism of the present invention.
具体实施方式Detailed ways
下面结合附图及实施例对本发明的技术方案作进一步说明。The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.
如图1-图12所示，一种利用六自由度五杆移动式连杆机构进行焊接施工的方法，先按照以下连接方法将焊接车连接安装起来：As shown in Figure 1-12, a method of welding construction using a six-degree-of-freedom five-bar movable linkage mechanism first connects and installs the welding car according to the following connection method:
所述立柱2底端通过第一固定副与车体1连接，立柱2顶端通过第一转动副13分别与主臂4第一个连接端和第一摇臂3第一个连接端连接，第一摇臂3第二个连接端通过第二转动副14与第一连杆5一端连接，第一连杆5另一端通过第四转动副17与第二摇臂7第二个连接端连接，第二摇臂7第一个连接端通过第五转动副16与主臂4第二个连接端连接，第二摇臂7第三个连接端通过第六转动副18与第二连杆6一端连接，第二连杆6另一端通过第三转动副15与第一摇臂3第三个连接端连接，第三连杆8一端通过第七转动副19与第二摇臂7第四个连接端连接，第三连杆8另一端通过第八转动副20与第四连杆9一端连接，第四连杆9另一端通过第九转动副21与末端焊接执行器10连接。The bottom end of the column 2 is connected to the vehicle body 1 through the first fixed pair, and the top end of the column 2 is respectively 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. The second connecting end of a rocking 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 17, The first connecting end of the second rocker arm 7 is connected to the second connecting end of the main arm 4 through the fifth rotating pair 16, and the third connecting end of the second rocking arm 7 is connected to one end of the second connecting rod 6 through the sixth rotating pair 18. The other end of the second connecting rod 6 is connected to the third connecting end of the first rocker arm 3 through the third rotating pair 15, and one end of the third connecting rod 8 is connected to the fourth connecting end of the second rocking arm 7 through the seventh rotating pair 19 The other end of the third connecting rod 8 is connected to one end of the fourth connecting rod 9 through the eighth rotating pair 20 , and the other end of the fourth connecting rod 9 is connected to the end welding actuator 10 through the ninth rotating pair 21 .
所述的立柱2侧面连接第二固定副，连接块22一端通过第二固定副与立柱2连接，另一端通过第十转动副23与第五连杆26一端连接，第五连杆26另一端通过第十一转动副25与第六连杆12一端连接，第六连杆12另一端通过第十二转动副24与第七连杆11一端连接，第七连杆11另一端通过第五转动副16与主臂4的第二个连接端连接。The side of the column 2 is connected to the second fixed pair, one end of the connecting block 22 is connected to the column 2 through the second fixed pair, the other end is connected to one end of the fifth connecting rod 26 through the tenth rotating pair 23, and the other end of the fifth connecting rod 26 One end of the sixth connecting rod 12 is connected through the eleventh rotating pair 25, the other end of the sixth connecting rod 12 is connected with one end of the seventh connecting rod 11 through the twelfth rotating pair 24, and the other end of the seventh connecting rod 11 is connected through the fifth rotating The secondary 16 is connected to the second connection end of the main arm 4 .
焊接作业进行时，通过电机驱动主臂4，使主臂4进行旋转运动，同时，第五连杆26、第六连杆12和第七连杆11支撑主臂4，并与主臂4进行运动合成；再通过电机驱动第二摇臂7，从而使第二摇臂7对第三连杆8进行摇臂式控制；通过电机驱动，使第三连杆8和第四连杆9进行旋转运动，从而使连杆机构完成焊接作业。When the welding operation is carried out, the main arm 4 is driven by the motor to make the main arm 4 rotate, and at the same time, the fifth connecting rod 26, the sixth connecting rod 12 and the seventh connecting rod 11 support the main arm 4, and carry out contact with the main arm 4. Motion synthesis; then drive the second rocker arm 7 through the motor, so that the second rocker arm 7 performs rocker control on the third connecting rod 8; drive the third connecting rod 8 and the fourth connecting rod 9 to rotate Movement, so that the connecting rod mechanism completes the welding operation.
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| CN109352627A (en) * | 2018-11-06 | 2019-02-19 | 昆明理工大学 | A space three-dimensional mobile parallel manipulator |
| CN109352627B (en) * | 2018-11-06 | 2023-09-29 | 昆明理工大学 | Space three-dimensional mobile parallel manipulator |
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