CN201881377U - Five-degree of freedom twelve-rod welded robot mechanism with controllable space - Google Patents

Abstract

The utility model relates to a space-controllable five-degree-of-freedom twelve-rod welding robot mechanism, which comprises a planar two-degree-of-freedom controllable branch chain, three attitude-adjusting branch chains, a moving platform with a flange and a frame. The back of the moving platform is connected to the four branch chains respectively through the first spherical pair, the third spherical pair, the fifth spherical pair and the seventh spherical pair, and the flange on the moving platform is used to install equipment such as welding torches or welding tongs. All servo motors are installed on the frame, and the rods can be made into light rods. The robot has a small moment of inertia and good dynamic performance, which can better meet the requirements of high-speed and precise welding.

Description

Space-controllable five-degree-of-freedom twelve-bar welding robot mechanism

technical field

The utility model relates to the field of industrial robots, in particular to a space-controllable five-degree-of-freedom twelve-rod welding robot mechanism.

Background technique

According to incomplete statistics, nearly half of the industrial robots in service in the world are welding robots, which are widely used in welding, handling, palletizing, assembly, cutting and other operations in industrial production. Welding robot is a kind of automatic welding equipment equipped with welding systems such as wire feeder, hose, welding torch, welding torch or welding tongs on industrial robots, and equipped with corresponding welding power sources. The existing welding robots are basically articulated robots, mostly with 6 axes, which send the surgical end tools to different spatial positions through joint actions of 1, 2, and 3 axes, supplemented by linkage of 4, 5, and 6 axes To meet the different requirements of tool posture. The mechanical structure of the robot body mainly has two forms: parallelogram structure and side-mounted structure, which have been widely used because of their large working space and relatively flexible movements. However, due to the limitation of its own structure, this kind of traditional open-chain series welding robot mechanism needs to install the motor at the joint, which will lead to problems such as heavy arm weight, poor rigidity, large inertia, joint error accumulation, etc., and the dynamic performance of the mechanism is poor. , It is difficult to meet the increasingly stringent high-speed and high-precision welding requirements.

The multi-degree-of-freedom controllable mechanism is the product of the organic combination of mechanical technology and electronic technology. It consists of a multi-degree-of-freedom mechanism and multiple servo motors. Its output motion is jointly determined by multiple active parts and is a function of multiple independent variables. The respective variables, that is, the angular displacement or rotational speed of the servo motor are controlled by the computer. Therefore, by compiling an appropriate computer control program, complex motion laws can be easily realized, including the realization of arbitrary trajectory, transmission ratio, speed, acceleration requirements, etc., and the output motion of the mechanism can be easily changed by changing the control program, that is, The so-called flexibility of institutional output. The dynamic performance of this kind of generalized mechanism is also much superior to the traditional manipulator in the form of open kinematic chain. The driving motors of this kind of generalized mechanism are all installed on the frame, which avoids the need for each link of the traditional open-chain series robot mechanism. Most of the drive devices are installed at their hinges, resulting in problems such as poor rigidity and large inertia.

Contents of the invention

The purpose of the utility model is to provide a space-controllable five-degree-of-freedom twelve-rod welding robot mechanism, which solves the problem that the motor of the traditional open-chain series welding robot mechanism is installed at its hinge, which causes the arm to be bulky, poor in rigidity, and large in inertia. Joint error accumulation and other problems, this mechanism has better dynamics.

The utility model achieves the above object through the following technical solutions: a space-controllable five-degree-of-freedom twelve-rod welding robot mechanism, including a plane two-degree-of-freedom controllable branch chain, an attitude adjustment branch chain, a moving platform with a flange and frame. The frame is installed on the rotary platform to realize the six-degree-of-freedom movement of three-dimensional translation and three-dimensional rotation of the entire robot space.

The branch chain of the controllable mechanism with two degrees of freedom in the plane is formed by connecting the first active rod, the second active rod, the first connecting rod, the second connecting rod and the frame. One end of the first active rod is connected to the frame through the first rotating pair, and the other end is connected to the first connecting rod through the second rotating pair. One end of the second active rod is connected to the third rotating pair of the frame, and the other end is connected to the second connecting rod through the fourth rotating pair. The second connecting rod is a folding rod, and the middle bending part has a fifth rotating pair, which is connected to the first connecting rod through the fifth rotating pair, and the end of the second connecting rod is connected to the middle part of the moving platform through the first spherical pair. The first active lever is driven by a first servo motor. The second active lever is driven by a second servo motor.

The first posture adjustment branch chain is composed of a third active rod and a third connecting rod. One end of the third active rod is connected to the frame through the sixth rotating pair, and the other end is connected to the third connecting rod through the second spherical pair. The front end of the third connecting rod is connected with the lower right part of the moving platform through the third spherical pair. The third active lever is driven by a third servo motor.

The second posture adjustment branch chain is composed of a fourth active rod and a fourth connecting rod. One end of the fourth active rod is connected to the frame through the seventh rotating pair, and the other end is connected to the fourth connecting rod through the fourth spherical pair. The front end of the fourth connecting rod is connected with the upper part of the moving platform through the fifth spherical pair. The fourth active lever is driven by a fourth servo motor.

The third posture adjustment branch chain is composed of a fifth active rod and a fifth connecting rod. One end of the fifth active rod is connected to the frame through the eighth rotation pair, and the other end is connected to the fifth active rod through the sixth spherical pair. The front end of the fifth active rod is connected with the lower left part of the moving platform through the seventh spherical pair. The fifth active lever is driven by a fifth servo motor.

There is a flange on the moving platform, and the back is respectively connected with the planar two-degree-of-freedom controllable mechanism branch chain, the first attitude adjustment branch chain, the first spherical pair, the fifth spherical pair, and the seventh spherical pair on the back. The second attitude adjustment branch chain and the third attitude adjustment branch chain are connected. Equipment such as a welding torch or welding tongs are installed on the flange.

A first servo motor, a second servo motor, a third servo motor, a fourth servo motor and a fifth servo motor are installed on the frame. The frame is installed on the rotary platform to realize the six-degree-of-freedom movement of three translations and three rotations in the entire robot space.

The outstanding advantages of the present utility model are:

1. Adopting the closed-chain transmission method of external auxiliary drive, the robot has good rigidity characteristics, strong bearing capacity, small error accumulation, and high control accuracy;

2. All servo motors are installed on the frame, and the rods are made of light rods. The robot has a small moment of inertia and good dynamic performance, which can better meet the requirements of high-speed and precise welding;

3. By installing various end effectors for different purposes on the moving platform, this mechanism can be applied to other tasks such as handling, palletizing, assembling, and cutting.

Description of drawings

Fig. 1 is a structural schematic diagram of a space-controllable five-degree-of-freedom twelve-bar welding robot mechanism of the utility model.

Fig. 2 is a schematic diagram of the branch chain structure of the planar two-degree-of-freedom controllable mechanism of the space-controllable five-degree-of-freedom twelve-bar welding robot mechanism of the utility model.

Fig. 3 is a schematic diagram of the structure of the first attitude adjustment branch chain of the space-controllable five-degree-of-freedom twelve-bar welding robot mechanism of the utility model.

Fig. 4 is a schematic diagram of the structure of the second attitude adjustment branch chain of the space-controllable five-degree-of-freedom twelve-bar welding robot mechanism of the utility model.

Fig. 5 is a schematic diagram of the structure of the third attitude adjustment branch chain of the space-controllable five-degree-of-freedom twelve-bar welding robot mechanism of the present invention.

Fig. 6 is a schematic diagram of the first working state of the space-controllable five-degree-of-freedom twelve-rod welding robot mechanism of the utility model installed on the rotary platform.

Fig. 7 is a schematic diagram of the second working state of the space-controllable five-degree-of-freedom twelve-bar welding robot mechanism of the utility model installed on the rotary platform.

Fig. 8 is a schematic diagram of the third working state of the space-controllable five-degree-of-freedom twelve-rod welding robot mechanism of the present invention installed on the rotary platform.

Fig. 9 is a schematic diagram of the fourth working state of the space-controllable five-degree-of-freedom twelve-bar welding robot mechanism of the present invention installed on the rotary platform.

Detailed ways

The technical solution of the present utility model will be further described below in conjunction with the accompanying drawings and embodiments.

Referring to Figures 1, 6, 7, 8 and 9, a 12-bar controllable welding robot mechanism with five degrees of freedom in space includes a branch chain of a controllable mechanism with two degrees of freedom in a plane, a first attitude adjustment branch chain, and a second attitude adjustment Branch chain, the third attitude adjustment branch chain, the moving platform 11 with the flange 12 and the frame 13. The frame 13 is installed on the rotary platform 14 to realize the six-degree-of-freedom movement of three-dimensional translation and three-dimensional rotation of the entire robot space.

1 and 2, the planar two-degree-of-freedom controllable branch chain is formed by connecting the first active rod 1 , the second active rod 4 , the first connecting rod 2 , the second connecting rod 3 and the frame 13 . One end of the first active rod 1 is connected to the frame 13 through the first rotating pair 15 , and the other end is connected to the first connecting rod 2 through the second rotating pair 16 . One end of the second active rod 4 is connected to the third rotating pair 18 of the frame 13 , and the other end is connected to the second connecting rod 3 through the fourth rotating pair 19 . The second connecting rod 3 is a folding rod, and the middle bending part has a fifth rotating pair 17, which is connected to the first connecting rod 2 through the fifth rotating pair 17, and the end of the second connecting rod 3 is connected to the moving part through the first spherical pair 29. The middle part of the platform 11 is connected. The first active lever 1 is driven by a first servo motor 30 . The second active lever 4 is driven by a second servo motor 31 .

1 and 3 , the first posture adjustment branch chain is composed of a third active rod 5 and a third connecting rod 6 . One end of the third active rod 5 is connected to the frame 13 through the sixth rotating pair 20 , and the other end is connected to the third connecting rod 6 through the second spherical pair 21 . The front end of the third connecting rod 6 is connected with the lower right part of the moving platform 11 through the third spherical pair 22 . The third active rod 5 is driven by a third servo motor 32 .

1 and 4 , the second attitude adjustment branch chain is composed of the fourth active rod 7 and the fourth connecting rod 8 . One end of the fourth active rod 7 is connected to the frame 13 through the seventh rotating pair 23 , and the other end is connected to the fourth connecting rod 8 through the fourth spherical pair 24 . The front end of the fourth connecting rod 8 is connected with the upper part of the moving platform 11 through the fifth spherical pair 25 . The fourth active lever 7 is driven by a fourth servo motor 33 .

1 and 5 , the third posture adjustment branch chain is composed of the fifth active rod 9 and the fifth connecting rod 10 . One end of the fifth active rod 9 is connected to the frame 13 through the eighth rotating pair 26 , and the other end is connected to the fifth active rod 9 through the sixth spherical pair 27 . The front end of the fifth active rod 9 is connected to the lower left part of the moving platform 11 through the seventh spherical pair 28 . The fifth active lever 9 is driven by a fifth servo motor 34 .

1, 2, 3, 4 and 5, there is a flange 12 on the moving platform 11, and the back passes through the first spherical pair 29, the third spherical pair 22, the fifth spherical pair 25, and the seventh spherical pair 28 respectively. It is connected with the planar two-degree-of-freedom controllable mechanism branch chain, the first attitude adjustment branch chain, the second attitude adjustment branch chain, and the third attitude adjustment branch chain. Equipment such as welding torch or welding tongs are installed on the described flange 12 . A first servo motor 30 , a second servo motor 31 , a third servo motor 32 , a fourth servo motor 33 and a fifth servo motor 34 are installed on the frame 13 . Described frame 13 is installed on the rotary platform 14.

Referring to Figures 6, 7, 8 and 9, the five servo motors of the five-degree-of-freedom twelve-bar controllable welding robot mechanism in space cooperate with the rotation of the rotary platform 14 to realize the six-degree-of-freedom movement of the three-dimensional translation and three-dimensional rotation of the robot space , to complete various requirements of welding work.

Claims (1)

1. the controlled five degree of freedom 12 bar welding robot robot mechanisms in space is characterized in that, this mechanism comprises the moving platform and the frame of plane two degrees of freedom controllable mechanism side chain, attitude adjustment side chain, flanged dish, and its structure and connected mode are:

Described plane two degrees of freedom controllable mechanism side chain is by first driving lever, second driving lever, first connecting rod, second connecting rod and frame are formed by connecting, first driving lever, one end is connected on the frame by first revolute pair, the other end is connected with first connecting rod by second revolute pair, second driving lever, one end is connected on the 3rd revolute pair of frame, the other end is connected with second connecting rod by the 4th revolute pair, described second connecting rod is a pole, middle bending part has the 5th revolute pair, be connected with first connecting rod by the 5th revolute pair, second connecting rod is terminal to be connected with the moving platform middle part by first spherical pair, described first driving lever is by first driven by servomotor, second driving lever is by second driven by servomotor

Described first attitude is adjusted side chain and is made up of the 3rd driving lever, third connecting rod, the 3rd driving lever one end is connected on the frame by the 6th revolute pair, the other end is connected with third connecting rod by second spherical pair, the third connecting rod front end is connected with the moving platform right lower quadrant by the 3rd spherical pair, described the 3rd driving lever is by the 3rd driven by servomotor

Described second attitude is adjusted side chain and is made up of the 4th driving lever, the 4th connecting rod, the 4th driving lever one end is connected on the frame by the 7th revolute pair, the other end is connected with the 4th connecting rod by the 4th spherical pair, the 4th connecting rod front end is connected with moving platform top by the 5th spherical pair, described the 4th driving lever is by the 4th driven by servomotor

Described the 3rd attitude is adjusted side chain and is made up of the 5th driving lever, the 5th connecting rod, the 5th driving lever one end is connected on the frame by the 8th revolute pair, the other end is connected with the 5th driving lever by the 6th spherical pair, the 5th driving lever front end is connected with the moving platform lower left quarter by the 7th spherical pair, described the 5th driving lever is by the 5th driven by servomotor

On the described moving platform ring flange is arranged, the back is adjusted side chain, second attitude adjustment side chain and the 3rd attitude adjustment side chain with plane two degrees of freedom controllable mechanism side chain, first attitude respectively by first spherical pair, the 3rd spherical pair, the 5th spherical pair, the 7th spherical pair and is connected.

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