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发明公开
CN104625519A 利用多自由度可控移动式连杆机构进行焊接施工的方法 无效 - 撤回

利用多自由度可控移动式连杆机构进行焊接施工的方法
摘要：
本发明涉及一种利用多自由度可控移动式连杆机构进行焊接施工的方法，利用立柱、主臂、第一摇臂、第二摇臂、第一连杆、第二连杆、第三连杆和第四连杆构成执行主链，利用第五连杆、第六连杆、第七连杆、立柱和主臂构成执行子链，焊接作业进行时，通过电机驱动主臂，使主臂进行旋转运动，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。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。
摘要（英）：

The invention relates to a welding construction method using a multi-degree-of-freedom controllable movable type connecting rod mechanism. A vertical pillar, a main arm, a first rocker arm, a second rocker arm, a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod form an execution main chain. A fifth connecting rod, a sixth connecting rod, a seventh connecting rod, the vertical pillar and the main arm form an execution sub-chain. In the welding work process, the main arm is driven through a motor to rotate, and the fifth connecting rod, the sixth connecting rod and the seventh connecting rod support the main arm and carry out movement synthesis along with the main arm. The second rocker arm is driven through the motor, and therefore the second rocker arm can carry out rocker arm type control over the third connecting rod. The third connecting rod and the fourth connecting rod are driven through the motor to rotate, and therefore the connecting rod mechanism can finish welding work. The welding construction method using the multi-degree-of-freedom controllable movable type connecting rod mechanism has the advantages of being large in work space, high in rigidity, high in bearing capacity and high in execution accuracy.

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