CN105583558A - Novel two-rotation welding robot joint - Google Patents
Novel two-rotation welding robot joint Download PDFInfo
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- CN105583558A CN105583558A CN201610171186.6A CN201610171186A CN105583558A CN 105583558 A CN105583558 A CN 105583558A CN 201610171186 A CN201610171186 A CN 201610171186A CN 105583558 A CN105583558 A CN 105583558A
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- China
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- slide block
- connecting rod
- revolute pair
- upper connecting
- branched chain
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- 238000003466 welding Methods 0.000 title claims abstract description 29
- 230000033001 locomotion Effects 0.000 claims description 102
- 238000010586 diagram Methods 0.000 description 6
- 230000002917 arthritic effect Effects 0.000 description 1
- 229910000679 solder Inorganic materials 0.000 description 1
- 210000003857 wrist joint Anatomy 0.000 description 1
Classifications
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
-
- 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
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/006—Vehicles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
A novel two-rotation welding robot joint mainly comprises a fixed platform, a movable platform, an annular guide rail and three moving branched chains for connecting the fixed platform with the movable platform, wherein each moving branched chain consists of a lower connecting rod, a sliding block and an upper connecting rod, the lower connecting rod is connected with the fixed platform through a rotating pair, the lower connecting rod and the corresponding sliding block are connected through a rotating pair or a spherical pair, the sliding block and the corresponding upper connecting rod are connected through a rotating pair or a spherical pair, and the upper connecting rod is connected with the corresponding movable platform through a rotating pair. The sliding blocks in the three moving branched chains are all connected with the annular guide rail through moving pairs and can only perform circumferential sliding along the annular guide rail, and the annular guide rail is circular-ring-shaped. The novel two-rotation welding robot joint can achieve two-degree-of-freedom rotation of the movable platform with respect to the fixed platform, has the advantages of being small in size, high in rigidity, high in precision, large in rotating work space and the like and can be widely applied to the filed of welding robot joints.
Description
Technical field
The present invention relates to a kind of joint of robot, particularly a kind of novel two rotate welding robot person joint.
Technical background
Along with the rapid emergence of auto industry, automotive automation solder technology is also developed rapidly, due toThe highly flexible feature of welding robot, welding robot is widely applied in field of automatic welding.Welding robot mostly generally is six degree of freedom serial machine people at present, and serial machine people has larger work skyBetween, but its accumulated error is large, is unfavorable for the raising of welding precision. But the relative serial mechanism tool of parallel institutionHave or not the advantages such as accumulated error, precision is higher, dynamic response is good, can be applicable to high precision manipulation robot.But the working space of parallel institution is generally less, seriously restrict parallel institution in fields such as industry and robotsApplication.
In conjunction with the advantage of series and parallel mechanism, can adopt hybrid mechanism to build the industrial robot that precision is higher,For example Chinese patent CN103433918A discloses a kind of five degree of freedom series-parallel connection industrial robot, moves by threeFree degree serial mechanism regulates end-of-arm tooling position, regulates end work by end two one-rotation parallel mechanismsTool attitude. For such series-parallel connection welding robot, its key technology is that terminal angle regulates parallel institution,For improving precision and the flexibility ratio thereof of welding robot, require terminal angle to regulate parallel institution should have lessVolume and larger working space and higher rigidity. Common parallel institution is difficult to reach requirement, stateTo the research of such mechanism early, wherein US Patent No. 5036724 discloses a kind of large working space two outwardOne-rotation parallel mechanism, and be successfully applied in industrial welding wrist joint of robot. At present to small size, large workObtained certain achievement though do the research of spatial rotational class parallel institution, new mechanism configuration is still comparatively deficientWeary, and openly the rigidity of mechanism is generally less, limited such mechanism in industrial robot furtherApplication.
Summary of the invention
For addressing the above problem, the invention provides a kind of novel two and rotate welding robot person joint, can realize movingPlatform does two-freedom relative to fixed platform and rotates, and this joint has, and volume is little, rigidity is large, rotation work is emptyBetween the advantage such as large, can be widely used in joint of robot.
Technical scheme of the present invention is specific as follows:
The present invention mainly comprises fixed platform, moving platform, ring-shaped guide rail, connects three motions moving, fixed platformSide chain, it has six kinds of connected modes:
The first connected mode: three movement branched chain structures are identical, every movement branched chain is by lower link, cunningPiece and upper connecting rod composition, lower link one end is connected by fixed platform revolute pair with fixed platform, the lower link other endBe connected by lower revolute pair with slide block, upper connecting rod one end is connected by spherical pair with slide block, the upper connecting rod other endBe connected by moving platform revolute pair with moving platform; Article three, in movement branched chain, three fixed platform revolute pair axis andThree lower turns auxiliary shaft congruences meet at 1 P, and three moving platform turns auxiliary shaft congruences meet at 1 Q, some Q withDescribed some P do not overlap; Slide block in every movement branched chain is all connected by moving sets with ring-shaped guide rail, slide blockCan only do circumferential slippage along ring-shaped guide rail, ring-shaped guide rail is annular, and its central axis is crossed described some P and put Q.
The second connected mode: three movement branched chain structures are identical, every movement branched chain is by lower link, cunningPiece and upper connecting rod composition, lower link one end is connected by fixed platform revolute pair with fixed platform, the lower link other endBe connected by spherical pair with slide block, upper connecting rod one end is connected by upper revolute pair with slide block, the upper connecting rod other endBe connected by moving platform revolute pair with moving platform; Article three, in movement branched chain, three fixed platform turns auxiliary shaft congruencesMeet at 1 P, three upper revolute pair axis and three moving platform turns auxiliary shaft congruences meet at 1 Q, some Q withDescribed some P do not overlap; Slide block in every movement branched chain is all connected by moving sets with ring-shaped guide rail, slide blockCan only do circumferential slippage along ring-shaped guide rail, ring-shaped guide rail is annular, and its central axis is crossed described some P and put Q.
The third connected mode: three movement branched chain structures are identical, every movement branched chain is by lower link, cunningPiece and upper connecting rod composition, lower link one end is connected by fixed platform revolute pair with fixed platform, the lower link other endBe connected by spherical pair with slide block, upper connecting rod one end is connected by spherical pair with slide block, the upper connecting rod other end withMoving platform connects by moving platform revolute pair; Article three, in movement branched chain, three fixed platform turns auxiliary shaft congruences are handed overIn 1 P, three moving platform turns auxiliary shaft congruences meet at 1 Q, and some Q does not overlap with described some P; EverySlide block in movement branched chain is all connected by moving sets with ring-shaped guide rail, and slide block can only do circumference along ring-shaped guide railSlide, ring-shaped guide rail is annular, and its central axis is crossed described some P and some Q.
The 4th kind of connected mode: the first, the 3rd movement branched chain structure is identical, two movement branched chain are by lower companyBar, slide block and upper connecting rod composition, lower link one end is connected by fixed platform revolute pair with fixed platform, lower linkThe other end is connected by lower revolute pair with slide block, and upper connecting rod one end is connected by upper revolute pair with slide block, upper companyThe bar other end is connected by moving platform revolute pair with moving platform; The second movement branched chain by lower link, slide block and onConnecting rod composition, lower link one end is connected by fixed platform revolute pair with fixed platform, the lower link other end and slide blockConnect by spherical pair, upper connecting rod one end is connected by upper revolute pair with slide block, and the upper connecting rod other end is with moving flatPlatform connects by moving platform revolute pair; Article three, in movement branched chain, under three fixed platform revolute pair axis and twoThe turns auxiliary shaft congruence meets at 1 P, and three moving platform revolute pair axis and three upper turns auxiliary shaft congruences meet at onePoint Q, some Q does not overlap with described some P; Slide block in every movement branched chain all passes through moving sets with ring-shaped guide railConnect, slide block can only do circumferential slippage along ring-shaped guide rail, and ring-shaped guide rail is annular, and its central axis is crossed instituteState a P and put Q.
The 5th kind of connected mode: the first, the 3rd movement branched chain structure is identical, two movement branched chain are by lower companyBar, slide block and upper connecting rod composition, lower link one end is connected by fixed platform revolute pair with fixed platform, lower linkThe other end is connected by lower revolute pair with slide block, and upper connecting rod one end is connected by upper revolute pair with slide block, upper companyThe bar other end is connected by moving platform revolute pair with moving platform; The second movement branched chain by lower link, slide block and onConnecting rod composition, lower link one end is connected by fixed platform revolute pair with fixed platform, the lower link other end and slide blockConnect by spherical pair, upper connecting rod one end is connected by spherical pair with slide block, the upper connecting rod other end and moving platformConnect by moving platform revolute pair; Article three, in movement branched chain, under three fixed platform revolute pair axis and two, turnMoving secondary axis intersects at 1 P, and three moving platform revolute pair axis and two upper turns auxiliary shaft congruences meet at a bitQ, some Q does not overlap with described some P; Slide block in every movement branched chain all connects by moving sets with ring-shaped guide railConnect, slide block can only do circumferential slippage along ring-shaped guide rail, and ring-shaped guide rail is annular, its central axis excessively described inPoint P and some Q.
The 6th kind of connected mode: the first, the 3rd movement branched chain structure is identical, two movement branched chain are by lower companyBar, slide block and upper connecting rod composition, lower link one end is connected by fixed platform revolute pair with fixed platform, lower linkThe other end is connected by lower revolute pair with slide block, and upper connecting rod one end is connected by spherical pair with slide block, upper connecting rodThe other end is connected by moving platform revolute pair with moving platform; The second movement branched chain is by lower link, slide block and upper companyBar composition, lower link one end is connected by fixed platform revolute pair with fixed platform, and the lower link other end and slide block are logicalCross spherical pair and connect, upper connecting rod one end is connected by spherical pair with slide block, and the upper connecting rod other end and moving platform are logicalCrossing moving platform revolute pair connects; Article three, in movement branched chain, under three fixed platform revolute pair axis and two, rotateSecondary axis intersects at 1 P, and three moving platform turns auxiliary shaft congruences meet at 1 Q, and some Q and described some P are notOverlap; Slide block in every movement branched chain is all connected by moving sets with ring-shaped guide rail, and slide block can only be along annularGuide rail does circumferential slippage, and ring-shaped guide rail is annular, and its central axis is crossed described some P and put Q.
The present invention compared with prior art tool has the following advantages:
(1) the relative fixed platform rotation work of the moving platform in joint space is large, can reach ± 90 degree of rotational angle; (2)Arthritic volume is little, and rigidity is large; (3) between three of joint movement branched chain, intercouple by ring-shaped guide rail,Greatly improve the stress performance in joint; (4) middle part, joint is hollow structure, and cable, welding wire etc. can be from closingIn the middle of joint, pass, be convenient to welding.
Brief description of the drawings
Fig. 1 is the embodiment of the present invention 1 stereochemical structure simplified schematic diagram.
Fig. 2 is the embodiment of the present invention 2 stereochemical structure simplified schematic diagram.
Fig. 3 is the embodiment of the present invention 3 stereochemical structure simplified schematic diagram.
Fig. 4 is the embodiment of the present invention 4 stereochemical structure simplified schematic diagram.
Fig. 5 is the embodiment of the present invention 5 stereochemical structure simplified schematic diagram.
Fig. 6 is the embodiment of the present invention 6 stereochemical structure simplified schematic diagram.
In figure: 1. fixed platform, 2. moving platform, (A3, B3, C3). lower link, (A4, B4, C4). slidingPiece, (A5, B5, C5). upper connecting rod, 6. ring-shaped guide rail.
Detailed description of the invention
Below in conjunction with drawings and Examples, the invention will be further described, in all embodiments, and described RijRepresent a revolute pair, Sij represents a spherical pair, and Pij represents a moving sets, wherein i, and j is certainlySo number.
Embodiment 1
Be the 1st embodiment disclosed by the invention as shown in Figure 1, a kind of novel two rotate welding robot closesJoint, mainly comprises fixed platform 1, moving platform 2, ring-shaped guide rail 6, connects three motions moving, fixed platformChain. Article three, movement branched chain structure is identical, and wherein the first movement branched chain is by lower link A3, slide block A4 and upper connecting rodA5 composition, is connected by revolute pair R11 between lower link A3 one end and fixed platform 1, lower link A3 anotherEnd is connected by revolute pair R12 with slide block A4; Upper connecting rod A5 one end and slide block A4 connect by spherical pair S13Connect, between the upper connecting rod A5 other end and moving platform 2, be connected by revolute pair R14; The second movement branched chain by underConnecting rod B3, slide block B 4 and upper connecting rod B5 composition, pass through revolute pair between lower link B3 one end and fixed platform 1R21 connects, and the lower link B3 other end is connected by revolute pair R22 with slide block B 4; Upper connecting rod B5 one end withSlide block B 4 connects by spherical pair S23, passes through revolute pair R24 between the upper connecting rod B5 other end and moving platform 2Connect; The 3rd movement branched chain is made up of lower link C3, slide block C4 and upper connecting rod C5, lower link C3 one end withBetween fixed platform 1, connect by revolute pair R31, the lower link C3 other end and slide block C4 are by revolute pair R32Connect; Upper connecting rod C5 one end is connected by spherical pair S33 with slide block C4, and the upper connecting rod C5 other end is with moving flatBetween platform 2, connect by revolute pair R34.
In the first movement branched chain, slide block A4 is connected by moving sets P15 with ring-shaped guide rail 6, and slide block A4 can onlyDo circumferential slippage along ring-shaped guide rail 6; In the second movement branched chain, slide block B 4 is passed through moving sets P25 with ring-shaped guide rail 6Connect, slide block B 4 can only be done circumferential slippage along ring-shaped guide rail 6; Slide block C4 and annular in the 3rd movement branched chainGuide rail 6 connects by moving sets P35, and slide block C4 can only do circumferential slippage along ring-shaped guide rail 6.
Described revolute pair R11, revolute pair R12, revolute pair R21, revolute pair R22, revolute pair R31, rotationThe axis of secondary R32 intersects at 1 P; The axis of described revolute pair R14, revolute pair R24, revolute pair R34Intersect at 1 Q, some Q does not overlap with described some P. Described ring-shaped guide rail 6 is annular, its central axisCross described some P and put Q.
Embodiment 2
Be the 2nd embodiment disclosed by the invention as shown in Figure 2, a kind of novel two rotate welding robot closesJoint, mainly comprises fixed platform 1, moving platform 2, ring-shaped guide rail 6, connects three motions moving, fixed platformChain. Article three, movement branched chain structure is identical, and wherein the first movement branched chain is by lower link A3, slide block A4 and upper connecting rodA5 composition, is connected by revolute pair R11 between lower link A3 one end and fixed platform 1, lower link A3 anotherEnd is connected by spherical pair S12 with slide block A4; Upper connecting rod A5 one end and slide block A4 connect by revolute pair R13Connect, between the upper connecting rod A5 other end and moving platform 2, be connected by revolute pair R14; The second movement branched chain by underConnecting rod B3, slide block B 4 and upper connecting rod B5 composition, pass through revolute pair between lower link B3 one end and fixed platform 1R21 connects, and the lower link B3 other end is connected by spherical pair S22 with slide block B 4; Upper connecting rod B5 one end withSlide block B 4 connects by revolute pair R23, passes through revolute pair R24 between the upper connecting rod B5 other end and moving platform 2Connect; The 3rd movement branched chain is made up of lower link C3, slide block C4 and upper connecting rod C5, lower link C3 one end withBetween fixed platform 1, connect by revolute pair R31, the lower link C3 other end and slide block C4 are by spherical pair S32Connect; Upper connecting rod C5 one end is connected by revolute pair R33 with slide block C4, and the upper connecting rod C5 other end is with moving flatBetween platform 2, connect by revolute pair R34.
In the first movement branched chain, slide block A4 is connected by moving sets P15 with ring-shaped guide rail 6, and slide block A4 can onlyDo circumferential slippage along ring-shaped guide rail 6; In the second movement branched chain, slide block B 4 is passed through moving sets P25 with ring-shaped guide rail 6Connect, slide block B 4 can only be done circumferential slippage along ring-shaped guide rail 6; Slide block C4 and annular in the 3rd movement branched chainGuide rail 6 connects by moving sets P35, and slide block C4 can only do circumferential slippage along ring-shaped guide rail 6.
The axis of described revolute pair R11, revolute pair R21, revolute pair R31 intersects at 1 P; Described rotationThe axis of secondary R13, revolute pair R14, revolute pair R23, revolute pair R24, revolute pair R33, revolute pair R34Intersect at 1 Q, some Q does not overlap with described some P. Described ring-shaped guide rail 6 is annular, its central axisCross described some P and put Q.
Embodiment 3
Be the 3rd embodiment disclosed by the invention as shown in Figure 3, a kind of novel two rotate welding robot closesJoint, mainly comprises fixed platform 1, moving platform 2, ring-shaped guide rail 6, connects three motions moving, fixed platformChain. Article three, movement branched chain structure is identical, and wherein the first movement branched chain is by lower link A3, slide block A4 and upper connecting rodA5 composition, is connected by revolute pair R11 between lower link A3 one end and fixed platform 1, lower link A3 anotherEnd is connected by spherical pair S12 with slide block A4; Upper connecting rod A5 one end and slide block A4 connect by spherical pair S13Connect, between the upper connecting rod A5 other end and moving platform 2, be connected by revolute pair R14; The second movement branched chain by underConnecting rod B3, slide block B 4 and upper connecting rod B5 composition, pass through revolute pair between lower link B3 one end and fixed platform 1R21 connects, and the lower link B3 other end is connected by spherical pair S22 with slide block B 4; Upper connecting rod B5 one end withSlide block B 4 connects by spherical pair S23, passes through revolute pair R24 between the upper connecting rod B5 other end and moving platform 2Connect; The 3rd movement branched chain is made up of lower link C3, slide block C4 and upper connecting rod C5, lower link C3 one end withBetween fixed platform 1, connect by revolute pair R31, the lower link C3 other end and slide block C4 are by spherical pair S32Connect; Upper connecting rod C5 one end is connected by spherical pair S33 with slide block C4, and the upper connecting rod C5 other end is with moving flatBetween platform 2, connect by revolute pair R34.
In the first movement branched chain, slide block A4 is connected by moving sets P15 with ring-shaped guide rail 6, and slide block A4 can onlyDo circumferential slippage along ring-shaped guide rail 6; In the second movement branched chain, slide block B 4 is passed through moving sets P25 with ring-shaped guide rail 6Connect, slide block B 4 can only be done circumferential slippage along ring-shaped guide rail 6; Slide block C4 and annular in the 3rd movement branched chainGuide rail 6 connects by moving sets P35, and slide block C4 can only do circumferential slippage along ring-shaped guide rail 6.
The axis of described revolute pair R11, revolute pair R21, revolute pair R31 intersects at 1 P; Described rotationThe axis of secondary R14, revolute pair R24, revolute pair R34 intersects at 1 Q, and some Q does not overlap with described some P.Described ring-shaped guide rail 6 is annular, and its central axis is crossed described some P and put Q.
Embodiment 4
Be the 4th embodiment disclosed by the invention as shown in Figure 4, a kind of novel two rotate welding robot closesJoint, mainly comprises fixed platform 1, moving platform 2, ring-shaped guide rail 6, connects three motions moving, fixed platformChain. Wherein the first movement branched chain is made up of lower link A3, slide block A4 and upper connecting rod A5, lower link A3 one endAnd between fixed platform 1, be connected by revolute pair R11, the lower link A3 other end and slide block A4 pass through revolute pairR12 connects; Upper connecting rod A5 one end is connected by revolute pair R13 with slide block A4, the upper connecting rod A5 other end withBetween moving platform 2, connect by revolute pair R14; The second movement branched chain is by lower link B3, slide block B 4 and upper companyBar B5 composition, is connected by revolute pair R21 between lower link B3 one end and fixed platform 1, and lower link B3 is anotherOne end is connected by spherical pair S22 with slide block B 4; Upper connecting rod B5 one end and slide block B 4 are by revolute pair R23Connect, between the upper connecting rod B5 other end and moving platform 2, be connected by revolute pair R24; The 3rd movement branched chain byLower link C3, slide block C4 and upper connecting rod C5 composition, pass through between lower link C3 one end and fixed platform 1 to rotateSecondary R31 connects, and the lower link C3 other end is connected by revolute pair R32 with slide block C4; Upper connecting rod C5 one endBe connected by revolute pair R33 with slide block C4, between the upper connecting rod C5 other end and moving platform 2, pass through revolute pairR34 connects.
In the first movement branched chain, slide block A4 is connected by moving sets P15 with ring-shaped guide rail 6, and slide block A4 can onlyDo circumferential slippage along ring-shaped guide rail 6; In the second movement branched chain, slide block B 4 is passed through moving sets P25 with ring-shaped guide rail 6Connect, slide block B 4 can only be done circumferential slippage along ring-shaped guide rail 6; Slide block C4 and annular in the 3rd movement branched chainGuide rail 6 connects by moving sets P35, and slide block C4 can only do circumferential slippage along ring-shaped guide rail 6.
The axle of described revolute pair R11, revolute pair R12, revolute pair R21, revolute pair R31, revolute pair R32The congruence meets at 1 P; Described revolute pair R13, revolute pair R14, revolute pair R23, revolute pair R24, rotationThe axis of secondary R33, revolute pair R34 intersects at 1 Q, and some Q does not overlap with described some P. Described annular is ledRail 6 is annular, and its central axis is crossed described some P and put Q.
Embodiment 5
Be the 5th embodiment disclosed by the invention as shown in Figure 5, a kind of novel two rotate welding robot closesJoint, mainly comprises fixed platform 1, moving platform 2, ring-shaped guide rail 6, connects three motions moving, fixed platformChain. Wherein the first movement branched chain is made up of lower link A3, slide block A4 and upper connecting rod A5, lower link A3 one endAnd between fixed platform 1, be connected by revolute pair R11, the lower link A3 other end and slide block A4 pass through revolute pairR12 connects; Upper connecting rod A5 one end is connected by revolute pair R13 with slide block A4, the upper connecting rod A5 other end withBetween moving platform 2, connect by revolute pair R14; The second movement branched chain is by lower link B3, slide block B 4 and upper companyBar B5 composition, is connected by revolute pair R21 between lower link B3 one end and fixed platform 1, and lower link B3 is anotherOne end is connected by spherical pair S22 with slide block B 4; Upper connecting rod B5 one end and slide block B 4 are by spherical pair S23Connect, between the upper connecting rod B5 other end and moving platform 2, be connected by revolute pair R24; The 3rd movement branched chain byLower link C3, slide block C4 and upper connecting rod C5 composition, pass through between lower link C3 one end and fixed platform 1 to rotateSecondary R31 connects, and the lower link C3 other end is connected by revolute pair R32 with slide block C4; Upper connecting rod C5 one endBe connected by revolute pair R33 with slide block C4, between the upper connecting rod C5 other end and moving platform 2, pass through revolute pairR34 connects.
In the first movement branched chain, slide block A4 is connected by moving sets P15 with ring-shaped guide rail 6, and slide block A4 can onlyDo circumferential slippage along ring-shaped guide rail 6; In the second movement branched chain, slide block B 4 is passed through moving sets P25 with ring-shaped guide rail 6Connect, slide block B 4 can only be done circumferential slippage along ring-shaped guide rail 6; Slide block C4 and annular in the 3rd movement branched chainGuide rail 6 connects by moving sets P35, and slide block C4 can only do circumferential slippage along ring-shaped guide rail 6.
The axle of described revolute pair R11, revolute pair R12, revolute pair R21, revolute pair R31, revolute pair R32The congruence meets at 1 P; Described revolute pair R13, revolute pair R14, revolute pair R24, revolute pair R33, rotationThe axis of secondary R34 intersects at 1 Q, and some Q does not overlap with described some P. Described ring-shaped guide rail 6 is annular,Its central axis is crossed described some P and is put Q.
Embodiment 6
Be the 6th embodiment disclosed by the invention as shown in Figure 6, a kind of novel two rotate welding robot closesJoint, mainly comprises fixed platform 1, moving platform 2, ring-shaped guide rail 6, connects three motions moving, fixed platformChain. Wherein the first movement branched chain is made up of lower link A3, slide block A4 and upper connecting rod A5, lower link A3 one endAnd between fixed platform 1, be connected by revolute pair R11, the lower link A3 other end and slide block A4 pass through revolute pairR12 connects; Upper connecting rod A5 one end is connected by spherical pair S13 with slide block A4, the upper connecting rod A5 other end withBetween moving platform 2, connect by revolute pair R14; The second movement branched chain is by lower link B3, slide block B 4 and upper companyBar B5 composition, is connected by revolute pair R21 between lower link B3 one end and fixed platform 1, and lower link B3 is anotherOne end is connected by spherical pair S22 with slide block B 4; Upper connecting rod B5 one end and slide block B 4 are by spherical pair S23Connect, between the upper connecting rod B5 other end and moving platform 2, be connected by revolute pair R24; The 3rd movement branched chain byLower link C3, slide block C4 and upper connecting rod C5 composition, pass through between lower link C3 one end and fixed platform 1 to rotateSecondary R31 connects, and the lower link C3 other end is connected by revolute pair R32 with slide block C4; Upper connecting rod C5 one endBe connected by spherical pair S33 with slide block C4, between the upper connecting rod C5 other end and moving platform 2, pass through revolute pairR34 connects.
In the first movement branched chain, slide block A4 is connected by moving sets P15 with ring-shaped guide rail 6, and slide block A4 can onlyDo circumferential slippage along ring-shaped guide rail 6; In the second movement branched chain, slide block B 4 is passed through moving sets P25 with ring-shaped guide rail 6Connect, slide block B 4 can only be done circumferential slippage along ring-shaped guide rail 6; Slide block C4 and annular in the 3rd movement branched chainGuide rail 6 connects by moving sets P35, and slide block C4 can only do circumferential slippage along ring-shaped guide rail 6.
The axle of described revolute pair R11, revolute pair R12, revolute pair R21, revolute pair R31, revolute pair R32The congruence meets at 1 P; The axis of described revolute pair R14, revolute pair R24, revolute pair R34 intersects at a bitQ, some Q does not overlap with described some P. Described ring-shaped guide rail 6 is annular, and its central axis is crossed described some PWith a Q.
Claims (6)
1. novel two rotate a welding robot person joint, it has fixed platform, moving platform, ring-shaped guide rail, connectsConnect, three movement branched chain of fixed platform, it is characterized in that: three movement branched chain structures are identical, every fortuneMoving side chain is by lower link, slide block and upper connecting rod composition, and lower link one end and fixed platform rotate by fixed platformSecondary connection, the lower link other end is connected by lower revolute pair with slide block, and upper connecting rod one end and slide block pass through sphereSecondary connection, the upper connecting rod other end is connected by moving platform revolute pair with moving platform; Article three, in movement branched chain, threeIndividual fixed platform revolute pair axis and three lower turns auxiliary shaft congruences meet at 1 P, three moving platform revolute pair axisIntersect at 1 Q, some Q does not overlap with described some P; Slide block in every movement branched chain is all logical with ring-shaped guide railCross moving sets and connect, slide block can only do circumferential slippage along ring-shaped guide rail, and ring-shaped guide rail is annular, its centerAxis is crossed described some P and is put Q.
2. novel two rotate a welding robot person joint, it has fixed platform, moving platform, ring-shaped guide rail, connectsConnect, three movement branched chain of fixed platform, it is characterized in that: three movement branched chain structures are identical, every fortuneMoving side chain is by lower link, slide block and upper connecting rod composition, and lower link one end and fixed platform rotate by fixed platformSecondary connection, the lower link other end is connected by spherical pair with slide block, and upper connecting rod one end and slide block are by upper rotationSecondary connection, the upper connecting rod other end is connected by moving platform revolute pair with moving platform; Article three, in movement branched chain, threeThe individual fixed platform turns auxiliary shaft congruence meets at 1 P, three upper revolute pair axis and three moving platform revolute pair axisIntersect at 1 Q, some Q does not overlap with described some P; Slide block in every movement branched chain is all logical with ring-shaped guide railCross moving sets and connect, slide block can only do circumferential slippage along ring-shaped guide rail, and ring-shaped guide rail is annular, its centerAxis is crossed described some P and is put Q.
3. novel two rotate a welding robot person joint, it has fixed platform, moving platform, ring-shaped guide rail, connectsConnect, three movement branched chain of fixed platform, it is characterized in that: three movement branched chain structures are identical, every fortuneMoving side chain is by lower link, slide block and upper connecting rod composition, and lower link one end and fixed platform rotate by fixed platformSecondary connection, the lower link other end is connected by spherical pair with slide block, and upper connecting rod one end and slide block pass through spherical pairConnect, the upper connecting rod other end is connected by moving platform revolute pair with moving platform; Article three, in movement branched chain, threeThe fixed platform turns auxiliary shaft congruence meets at 1 P, and three moving platform turns auxiliary shaft congruences meet at 1 Q, some Q withDescribed some P do not overlap; Slide block in every movement branched chain is all connected by moving sets with ring-shaped guide rail, slide blockCan only do circumferential slippage along ring-shaped guide rail, ring-shaped guide rail is annular, and its central axis is crossed described some P and put Q.
4. novel two rotate a welding robot person joint, it has fixed platform, moving platform, ring-shaped guide rail, connectsConnect, three movement branched chain of fixed platform, it is characterized in that: the first, the 3rd movement branched chain structure is identical,Article two, movement branched chain is by lower link, slide block and upper connecting rod composition, and lower link one end and fixed platform are by allocatingPlatform revolute pair connects, and the lower link other end is connected by lower revolute pair with slide block, and upper connecting rod one end and slide block are logicalCross revolute pair and connect, the upper connecting rod other end is connected by moving platform revolute pair with moving platform; The second motionChain is made up of lower link, slide block and upper connecting rod, and lower link one end is connected by fixed platform revolute pair with fixed platform,The lower link other end is connected by spherical pair with slide block, and upper connecting rod one end is connected by upper revolute pair with slide block,The upper connecting rod other end is connected by moving platform revolute pair with moving platform; Article three, in movement branched chain, three fixed platformsRevolute pair axis and two lower turns auxiliary shaft congruences meet at 1 P, on three moving platform revolute pair axis and threeThe turns auxiliary shaft congruence meets at 1 Q, and some Q does not overlap with described some P; Slide block in every movement branched chain all withRing-shaped guide rail connects by moving sets, and slide block can only do circumferential slippage along ring-shaped guide rail, and ring-shaped guide rail is annulusShape, its central axis is crossed described some P and is put Q.
5. novel two rotate a welding robot person joint, it has fixed platform, moving platform, ring-shaped guide rail, connectsConnect, three movement branched chain of fixed platform, it is characterized in that: the first, the 3rd movement branched chain structure is identical,Article two, movement branched chain is by lower link, slide block and upper connecting rod composition, and lower link one end and fixed platform are by allocatingPlatform revolute pair connects, and the lower link other end is connected by lower revolute pair with slide block, and upper connecting rod one end and slide block are logicalCross revolute pair and connect, the upper connecting rod other end is connected by moving platform revolute pair with moving platform; The second motionChain is made up of lower link, slide block and upper connecting rod, and lower link one end is connected by fixed platform revolute pair with fixed platform,The lower link other end is connected by spherical pair with slide block, and upper connecting rod one end is connected by spherical pair with slide block, onThe connecting rod other end is connected by moving platform revolute pair with moving platform; Article three, in movement branched chain, three fixed platforms turnMoving secondary axis and two lower turns auxiliary shaft congruences meet at 1 P, on three moving platform revolute pair axis and two, turnMoving secondary axis intersects at 1 Q, and some Q does not overlap with described some P; Slide block in every movement branched chain all with ringShape guide rail connects by moving sets, and slide block can only do circumferential slippage along ring-shaped guide rail, and ring-shaped guide rail is annular,Its central axis is crossed described some P and is put Q.
6. novel two rotate a welding robot person joint, it has fixed platform, moving platform, ring-shaped guide rail, connectsConnect, three movement branched chain of fixed platform, it is characterized in that: the first, the 3rd movement branched chain structure is identical,Article two, movement branched chain is by lower link, slide block and upper connecting rod composition, and lower link one end and fixed platform are by allocatingPlatform revolute pair connects, and the lower link other end is connected by lower revolute pair with slide block, and upper connecting rod one end and slide block are logicalCross spherical pair and connect, the upper connecting rod other end is connected by moving platform revolute pair with moving platform; The second movement branched chainBe made up of lower link, slide block and upper connecting rod, lower link one end is connected by fixed platform revolute pair with fixed platform,The lower link other end is connected by spherical pair with slide block, and upper connecting rod one end is connected by spherical pair with slide block, onThe connecting rod other end is connected by moving platform revolute pair with moving platform; Article three, in movement branched chain, three fixed platforms turnMoving secondary axis and two lower turns auxiliary shaft congruences meet at 1 P, and three moving platform turns auxiliary shaft congruences meet at a bitQ, some Q does not overlap with described some P; Slide block in every movement branched chain all connects by moving sets with ring-shaped guide railConnect, slide block can only do circumferential slippage along ring-shaped guide rail, and ring-shaped guide rail is annular, its central axis excessively described inPoint P and some Q.
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| CN104308842A (en) * | 2014-10-24 | 2015-01-28 | 天津大学 | Novel plane-symmetric dual-rotation parallel mechanism |
| CN104308834A (en) * | 2014-10-24 | 2015-01-28 | 天津大学 | Symmetric three-rotation parallel mechanism |
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| US5036724A (en) * | 1987-11-30 | 1991-08-06 | Rosheim Mark E | Robot wrist |
| US5893296A (en) * | 1997-03-13 | 1999-04-13 | Ross-Hime Designs, Incorporated | Multiple rotatable links robotic manipulator |
| CN1631612A (en) * | 2005-01-04 | 2005-06-29 | 浙江理工大学 | Spherical three-degree-of-freedom parallel attitude control mechanism with ring guide |
| CN101301725A (en) * | 2008-06-26 | 2008-11-12 | 清华大学 | A tandem A/B-axis spindle head structure driven by a telescopic branch chain |
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Application publication date: 20160518 |