CN104552268A - Six-freedom-degree rotation movable type welding robot - Google Patents
Six-freedom-degree rotation movable type welding robot Download PDFInfo
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Abstract
一种六自由度旋转移动式焊接机器人，立柱一端通过转动副与车体连接，另一端分别与主臂一端和第一摇臂第一个连接端连接，第一摇臂第二个连接端与第一连杆一端连接，第一连杆另一端与第二摇臂第二个连接端连接，第二摇臂第一个连接端与主臂另一端连接，第二摇臂第三个连接端与第二连杆一端连接，第二连杆另一端与第一摇臂第三个连接端连接，第三连杆一端与第二摇臂第四个连接端连接，第三连杆另一端与第四连杆一端连接，第四连杆另一端与末端焊接执行器连接；滑块一端通过移动副与立柱连接，另一端与第五连杆连接，第五连杆、第六连杆、第七连杆和主臂第二个连接端依次连接。本发明具有工作空间大、刚度高、承载能力强和执行精度高的优点。
A six-degree-of-freedom rotating mobile welding robot, one end of the column is connected to the car body through a rotating pair, the other end is connected to one end of the main arm and the first connecting end of the first rocker arm, and the second connecting end of the first rocking arm is connected to the One end of the first connecting rod is connected, the other end of the first connecting rod is connected to the second connecting end of the second rocker arm, the first connecting end of the second rocking arm is connected to the other end of the main arm, and the third connecting end of the second rocking arm One end of the second connecting rod is connected, the other end of the second connecting rod is connected with the third connecting end of the first rocker arm, one end of the third connecting rod is connected with the fourth connecting end of the second rocking arm, the other end of the third connecting rod is connected with the One end of the fourth connecting rod is connected, and the other end of the fourth connecting rod is connected with the end welding actuator; one end of the slider is connected with the column through a moving pair, and the other end is connected with the fifth connecting rod. The seven connecting rods are sequentially connected with the second connection end of the main arm. The invention has the advantages of large working space, high rigidity, strong bearing capacity and high execution precision.
Description
技术领域technical field
本发明涉及机器人领域，特别是一种六自由度旋转移动式焊接机器人。The invention relates to the field of robots, in particular to a six-degree-of-freedom rotating mobile welding robot.
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六自由度旋转移动式焊接机器人，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 six-degree-of-freedom rotating mobile welding robot, which solves the shortcomings of traditional serial 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如下：The technical scheme that the present invention solves the problems of the technologies described above is as follows:
一种六自由度旋转移动式焊接机器人，包括车体、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、滑块、第五连杆、第六连杆、第七连杆和末端焊接执行器，A six-degree-of-freedom rotary mobile welding robot, including a car body, 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, slider, fifth link, sixth link, seventh link and end weld actuator,
所述立柱底端通过第十三转动副与车体连接，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，第四连杆另一端通过第九转动副与末端焊接执行器连接；The bottom end of the column is connected to the car body through the thirteenth rotation pair, the top end of the column is respectively connected to the first connection end of the main arm and the first connection end of the first rocker arm through the first rotation pair, and the second end of the first rocker arm The first connecting end is connected to one end of the first connecting rod through the second rotating pair, the other end of the first connecting rod is connected to the second connecting end of the second rocker arm through the fourth rotating pair, and the first connecting end of the second rocking arm is connected through the first connecting rod. The fifth rotating pair is connected to the second connecting end of the main arm, the third connecting end of the second rocker arm is connected to one end of the second connecting rod through the sixth rotating pair, and the other end of the second connecting rod is connected to the first rocker through the third rotating pair. The third connecting end of the arm is connected, one end of the third connecting rod is connected to the fourth connecting end of the second rocker arm through the seventh rotating pair, the other end of the third connecting rod is connected to one end of the fourth connecting rod through the eighth rotating pair, and the third connecting rod is connected to the fourth connecting rod through the eighth rotating pair. The other end of the four-link is connected to the end welding actuator through the ninth rotating pair;
所述的立柱侧面设有移动副，滑块一端通过移动副与立柱连接，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 side of the column is provided with a moving pair, one end of the slider is connected to the column through the moving pair, the other end is connected to one end of the fifth connecting rod through the tenth rotating pair, and the other end of the fifth connecting rod is connected to the sixth connecting rod through the eleventh rotating pair. One end of the connecting rod is connected, the other end of the sixth connecting rod is connected with one end of the seventh connecting rod through the twelfth rotating pair, and the other end of the seventh connecting rod is connected with the second connecting end of the main arm through the fifth rotating pair.
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为本发明所述一种六自由度旋转移动式焊接机器人的第一工作立体图。Fig. 1 is a first working perspective view of a six-degree-of-freedom rotary-mobile welding robot according to the present invention.
图2为本发明所述一种六自由度旋转移动式焊接机器人的第一工作正视图。Fig. 2 is the first working front view of a six-degree-of-freedom rotating mobile welding robot according to the present invention.
图3为本发明所述一种六自由度旋转移动式焊接机器人的第一工作后视图。Fig. 3 is a first working rear view of a six-degree-of-freedom rotary-mobile welding robot according to the present invention.
图4为本发明所述一种六自由度旋转移动式焊接机器人的第二工作正视图。Fig. 4 is a second working front view of a six-degree-of-freedom rotating mobile welding robot according to the present invention.
图5为本发明所述一种六自由度旋转移动式焊接机器人的第三工作正视图。Fig. 5 is a third working front view of a six-degree-of-freedom rotating mobile welding robot according to the present invention.
图6为本发明所述一种六自由度旋转移动式焊接机器人的第四工作正视图。Fig. 6 is a fourth working front view of a six-degree-of-freedom rotating mobile welding robot according to the present invention.
图7为本发明所述一种六自由度旋转移动式焊接机器人的第一摇臂结构示意图。Fig. 7 is a schematic structural diagram of the first rocker arm of a six-degree-of-freedom rotary-mobile welding robot according to the present invention.
图8为本发明所述一种六自由度旋转移动式焊接机器人的第二摇臂结构示意图。Fig. 8 is a schematic structural diagram of the second rocker arm of a six-degree-of-freedom rotary-mobile welding robot according to the present invention.
图9为本发明所述一种六自由度旋转移动式焊接机器人的主臂结构示意图。Fig. 9 is a structural schematic diagram of a main arm of a six-degree-of-freedom rotary-mobile welding robot according to the present invention.
图10为本发明所述一种六自由度旋转移动式焊接机器人的第三连杆结构示意图。Fig. 10 is a structural schematic diagram of the third link of a six-degree-of-freedom rotary mobile welding robot according to the present invention.
图11为本发明所述一种六自由度旋转移动式焊接机器人的滑块结构示意图。Fig. 11 is a schematic diagram of a slider structure of a six-degree-of-freedom rotary-mobile welding robot according to the present invention.
图12为本发明所述一种六自由度旋转移动式焊接机器人的立柱结构示意图。Fig. 12 is a schematic diagram of a column structure of a six-degree-of-freedom rotary mobile welding robot according to 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，一种六自由度旋转移动式焊接机器人，包括车体1、立柱2、主臂4、第一摇臂3、第二摇臂7、第一连杆5、第二连杆6、第三连杆8、第四连杆9、滑块22、第五连杆26、第六连杆12、第七连杆11和末端焊接执行器10。As shown in Figures 1-12, a six-degree-of-freedom rotary mobile welding robot includes a car body 1, a column 2, a main arm 4, a first rocker arm 3, a second rocker arm 7, a first connecting rod 5, The second connecting rod 6 , the third connecting rod 8 , the fourth connecting rod 9 , the slider 22 , the fifth connecting rod 26 , the sixth connecting rod 12 , the seventh connecting rod 11 and the end welding actuator 10 .
所述立柱2底端通过第十三转动副28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 car body 1 through the thirteenth rotating pair 28, 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 the first rocker 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 connection, 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 the second connecting rod through the sixth rotating pair 18 6 is connected at one end, the other end of the second connecting rod 6 is connected with 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 with the second rocking arm 7 and the fourth connecting rod 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侧面设有移动副27，滑块22一端通过移动副27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 provided with a moving pair 27, one end of the slider 22 is connected to the column 2 through the moving pair 27, 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 is passed through The eleventh rotating pair 25 is connected to one end of the sixth connecting rod 12, the other end of the sixth connecting rod 12 is connected to 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 pair 16 is connected with the second connecting end of main arm 4.
所述的主臂4、第二摇杆7、第三连杆8和第四连杆9的旋转由电机驱动。The rotation of the main arm 4, the second rocker 7, the third connecting rod 8 and the fourth connecting rod 9 is driven by a motor.
本发明提供的一种六自由度旋转移动式焊接机器人，具有工作空间大、刚度高、承载能力强、惯量小和末端焊接执行器精度高等优点，能应用在焊接、喷涂、搬运、装卸、装配、码垛等复杂作业中，有效的提高劳动效率，在产品质量和稳定性方面有很大提高，且这种机构机械传动精度高、机械传动损耗小、无累积误差能输出较大的动力，具有良好的控制功能，采用间接驱动方式，还能有效的减小驱动关节所需要的力矩。The invention provides a six-degree-of-freedom rotating mobile welding robot, which has the advantages of large working space, high rigidity, strong bearing capacity, small inertia and high precision of the end welding actuator, and can be applied in welding, spraying, handling, loading and unloading, and assembly In complex operations such as stacking and stacking, it can effectively improve labor efficiency, greatly improve product quality and stability, and this mechanism has high mechanical transmission precision, small mechanical transmission loss, and can output large power without cumulative error. It has a good control function, adopts indirect drive mode, and can effectively reduce the torque required to drive the joint.
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| JPS62501896A (en) * | 1984-11-28 | 1987-07-30 | エス―ボラーグ・テイルバックスト・アクテイエボラーグ | Devices for carrying and adjusting tools |
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| CN103711157A (en) * | 2013-12-16 | 2014-04-09 | 广西大学 | High-rigidity nine-lever and two-freedom degree controllable mechanical loading mechanism |
| CN103737578A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | Controllable mechanism type fine-adjusting welding robot with multiple degrees of spatial freedom |
| CN103737581A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | Multi-bar six-freedom-degree welding robot containing parallel closed loop sub chains and provided with controllable space |
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2014
- 2014-12-23 CN CN201410814494.7A patent/CN104552268A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62501896A (en) * | 1984-11-28 | 1987-07-30 | エス―ボラーグ・テイルバックスト・アクテイエボラーグ | Devices for carrying and adjusting tools |
| CN103015471A (en) * | 2012-12-28 | 2013-04-03 | 广西大学 | Self-adjusting controllable mechanism-type micro MDOF (multiple degrees of freedom) loading mechanism |
| CN103737578A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | Controllable mechanism type fine-adjusting welding robot with multiple degrees of spatial freedom |
| CN103737581A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | Multi-bar six-freedom-degree welding robot containing parallel closed loop sub chains and provided with controllable space |
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Application publication date: 20150429 |