CN103737588A - Multi-freedom-degree controllable spray painting robot - Google Patents
Multi-freedom-degree controllable spray painting robot Download PDFInfo
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- CN103737588A CN103737588A CN201310675129.8A CN201310675129A CN103737588A CN 103737588 A CN103737588 A CN 103737588A CN 201310675129 A CN201310675129 A CN 201310675129A CN 103737588 A CN103737588 A CN 103737588A
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Abstract
The invention discloses a multi-freedom-degree controllable spray painting robot which comprises a waist lifting mechanism, a shoulder lifting mechanism, an elbow swing mechanism, a spray gun swing mechanism, a machine frame and a swing platform. The machine frame is arranged on the swing platform. A main motor can be arranged on the machine frame and control swinging of a first driving rod, a second driving rod, a third driving rod and a spray gun base, and accordingly the waist lifting mechanism, the shoulder lifting mechanism, the elbow swing mechanism and the spray gun swing mechanism are driven to swing at a working space. The rods can be made into light rods, mechanism dynamics performance is good, performance is stable, reliability is good, the high-speed high-accuracy spray painting requirements can be met, working space is large, flexibility is high, control is convenient, machining is easy, working is reliable, and the multi-freedom-degree controllable spray painting robot is suitable for small-scale common spray painting work and large-scale or heavy structure spray painting work.
Description
Technical field
The present invention relates to industrial robot field, specifically the controlled spray robot of a kind of multiple degrees of freedom.
Background technology
Spray robot is a kind of industrial robot that carries out spraying operation, can replace manually, environmental protection, completes various spraying operations efficiently, is widely used in the fields such as body of a motor car spraying, has become and on market, has applied one of maximum industrial robot.Existing spray robot frame for movement mainly contains parallelogram sturcutre and side-mounted or two kinds of forms of pendulum-type structure, because it has relatively large working space and moves and be widely applied comparatively flexibly.But this quasi-tradition fisher's formula series connection painting robot mechanism is along with industrial expansion, working space and flexibility ratio are difficult to meet the demand of producing gradually, and because of the restriction of himself structure, motor all needs to be arranged on junction, the problem such as cause that arm weight is large, poor rigidity, inertia are large, mechanism dynamic poor performance, is difficult to meet high-speed, high precision and the large-scale spraying operation requirement of increasingly stringent.
Summary of the invention
The object of the present invention is to provide the controlled spray robot of a kind of multiple degrees of freedom, solve traditional fisher's formula series connection painting robot mechanism working space and flexibility ratio large not, and motor all needs to be arranged on junction, cause that arm weight is large, poor rigidity, inertia be large, the problems such as mechanism dynamic poor performance, meet high-speed, high precision spraying requirement, be not only adapted to small-sized common spraying operation, also can be used for large-scale or heavy type structure spraying operation.
The present invention achieves the above object by the following technical programs: the controlled spray robot of a kind of multiple degrees of freedom, comprises waist elevating mechanism, shoulder elevating mechanism, elbow slew gear, spray gun slew gear, frame and revolving dial;
Described frame is connected on revolving dial by the first revolute pair, realizes any flexible motion of whole robot working space;
Described waist elevating mechanism comprises the first driving lever, first connecting rod and waist bar, and first driving lever one end is connected in frame by the second revolute pair, and the other end is connected with first connecting rod by the 3rd revolute pair; First connecting rod is connected with waist bar by the 4th revolute pair, and waist bar is arranged in frame by the 5th revolute pair; The motion of the first driving lever can be controlled the rotation planar of waist bar.
Described shoulder elevating mechanism comprises the second driving lever, second connecting rod, third connecting rod, the 4th connecting rod and shoulder bar, and second driving lever one end is connected in frame by the 6th revolute pair, and the other end is connected on second connecting rod one end by the 7th revolute pair; The second connecting rod other end is connected with third connecting rod one end by the 8th revolute pair, and the third connecting rod other end is arranged in frame by the 5th revolute pair; The 4th connecting rod one end is connected with third connecting rod by the 8th revolute pair, and the other end is connected with shoulder bar one end by the 9th revolute pair; The shoulder bar other end is arranged on waist bar by the tenth revolute pair; The motion of the second driving lever can be controlled the rotation planar of shoulder bar.
Described elbow slew gear comprises the 3rd driving lever, the 5th connecting rod and toggle link, and the 3rd driving lever one end is arranged in frame by the 5th revolute pair, and the other end is connected with the 5th connecting rod one end by the 11 revolute pair; The 5th connecting rod other end is connected on toggle link by the 12 revolute pair, and toggle link is arranged on shoulder bar by the 13 revolute pair; The motion of the 3rd driving lever can be controlled toggle link rotation planar.
Described spray gun slew gear comprises spray gun pedestal and spray gun, and spray gun pedestal is connected with toggle link by the 14 revolute pair, and spray gun is hinged on spray gun pedestal by fraising.The motion of spray gun pedestal can be controlled the revolution of spray gun in space.Wherein motor can be arranged on spray gun pedestal or is also arranged in frame or according to not mounted motor of job requirement, spray gun pedestal is fixed on toggle link.
By rack-mounted motor, can drive respectively the revolution of described the first driving lever, the second driving lever, the 3rd driving lever and spray gun pedestal, thereby control waist elevating mechanism, shoulder elevating mechanism, elbow slew gear and spray gun slew gear by the revolution of job requirement, and according to need of work frame swaying at revolving dial, can realize the flexible motion of spray gun in working space, complete spraying operation.
Outstanding advantages of the present invention is:
1, robot working space is large, and flexibility ratio is high;
2, main motor all can be arranged in frame, has improved the stressing conditions of each rod member, and robot motion's inertia is little, and dynamic performance is good, can better meet the requirement of high-speed, high precision spraying;
3, adopt connecting rod is connected with revolute pair, simple in structure, and rod member can make lighter bar be easy to decompose transportation and installation, maintaining is simple, is not only applicable to small-sized common spraying operation, also can be used for heavy type or large scale structure spraying operation.
Accompanying drawing explanation
Fig. 1 is the structural representation of the controlled spray robot of a kind of multiple degrees of freedom of the present invention.
Fig. 2 is the waist elevating mechanism structural representation of the controlled spray robot of a kind of multiple degrees of freedom of the present invention.
Fig. 3 is the shoulder elevating mechanism structural representation of the controlled spray robot of a kind of multiple degrees of freedom of the present invention.
Fig. 4 is the elbow slew gear structural representation of the controlled spray robot of a kind of multiple degrees of freedom of the present invention.
Fig. 5 is the spray gun slew gear structural representation of the controlled spray robot of a kind of multiple degrees of freedom of the present invention.
Fig. 6 is the 3rd driving lever structural representation of the controlled spray robot of a kind of multiple degrees of freedom of the present invention.
Fig. 7 is the toggle link structural representation of the controlled spray robot of a kind of multiple degrees of freedom of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing, technical scheme of the present invention is explained.
Contrast Fig. 1,2,3,4,5, the controlled spray robot of described a kind of multiple degrees of freedom comprises: waist elevating mechanism, shoulder elevating mechanism, elbow slew gear, spray gun slew gear, frame 3 and revolving dial 1.Described frame 3 is arranged on revolving dial 1, realizes any flexible motion of whole robot working space.
Contrast Fig. 1, Fig. 2, described frame 3 is connected on revolving dial 1 by the first revolute pair 2.
Contrast Fig. 1, Fig. 2, described waist elevating mechanism is comprised of the first driving lever 5, first connecting rod 7 and waist bar 9.The first driving lever 5 is connected in frame 3 by the second revolute pair 4, first driving lever 5 other ends are connected with first connecting rod 7 by the 3rd revolute pair 6, first connecting rod 7 is connected with waist bar 9 by the 4th revolute pair 8, and waist bar 9 one end are arranged in frame 3 by the 5th revolute pair 24.The motion of the first driving lever 5 can be controlled waist bar 9 rotation planar.
Contrast Fig. 1, Fig. 3, described shoulder elevating mechanism is comprised of the second driving lever 27, second connecting rod 23, third connecting rod 22, the 4th connecting rod 21 and shoulder bar 12.The second driving lever 27 is connected in frame 3 by the 6th revolute pair 28, second driving lever 27 other ends are connected on second connecting rod 23 by the 7th revolute pair 26, second connecting rod 23 other ends are connected with third connecting rod 22 one end by the 8th revolute pair 20, and third connecting rod 22 other ends are arranged in frame 3 by the 5th revolute pair 24.The 4th connecting rod 21 one end are connected with third connecting rod 22 by the 8th revolute pair 20, and the 4th connecting rod 21 other ends are connected with shoulder bar 12 by the 9th revolute pair 11, and shoulder bar 12 one end are arranged on waist bar 9 by the tenth revolute pair 10.The motion of the second driving lever 27 can be controlled the rotation planar of shoulder bar 12.
Contrast Fig. 1,4,6,7, described elbow slew gear is comprised of the 3rd driving lever 25, the 5th connecting rod 29 and toggle link 17.The 3rd driving lever 25 is arranged in frame 3 by the 5th revolute pair 24.The 3rd driving lever 25 one end are connected with the 5th connecting rod 29 one end by the 11 revolute pair 30, and the 5th connecting rod 29 other ends are connected on toggle link 17 by the 12 revolute pair 18.Toggle link 17 is arranged on shoulder bar 12 by the 13 revolute pair 19.The motion of the 3rd driving lever 25 can be controlled toggle link 17 rotation planar.
Contrast Fig. 1, Fig. 5, described spray gun slew gear is comprised of spray gun pedestal 14 and spray gun 16.Spray gun pedestal 14 is connected with toggle link 17 by the 14 revolute pair 13, and spray gun 16 15 is hinged on spray gun pedestal 14 by reaming.The motion of spray gun pedestal 14 can be controlled the revolution of spray gun 16 in space.
By motor, can drive respectively the revolution of described the first driving lever 5, the second driving lever 27, the 3rd driving lever 25 and spray gun pedestal 14, thereby control waist elevating mechanism, shoulder elevating mechanism, elbow slew gear, spray gun slew gear by the revolution of job requirement, and according to need of work frame 3 swaying at revolving dial 1, can realize the flexible motion of spray gun 16 in working space, complete spraying operation.
Claims (1)
1. the controlled spray robot of multiple degrees of freedom, comprises waist elevating mechanism, shoulder elevating mechanism, elbow slew gear, spray gun slew gear, frame and revolving dial; It is characterized in that:
Described frame is connected on revolving dial by the first revolute pair;
Described waist elevating mechanism comprises the first driving lever, first connecting rod and waist bar, and first driving lever one end is connected in frame by the second revolute pair, and the other end is connected with first connecting rod by the 3rd revolute pair; First connecting rod is connected with waist bar by the 4th revolute pair, and waist bar is arranged in frame by the 5th revolute pair;
Described shoulder elevating mechanism comprises the second driving lever, second connecting rod, third connecting rod, the 4th connecting rod and shoulder bar, and second driving lever one end is connected in frame by the 6th revolute pair, and the other end is connected on second connecting rod one end by the 7th revolute pair; The second connecting rod other end is connected with third connecting rod one end by the 8th revolute pair, and the third connecting rod other end is arranged in frame by the 5th revolute pair; The 4th connecting rod one end is connected with third connecting rod by the 8th revolute pair, and the other end is connected with shoulder bar one end by the 9th revolute pair; The shoulder bar other end is arranged on waist bar by the tenth revolute pair;
Described elbow slew gear comprises the 3rd driving lever, the 5th connecting rod and toggle link, and the 3rd driving lever one end is arranged in frame by the 5th revolute pair, and the other end is connected with the 5th connecting rod one end by the 11 revolute pair; The 5th connecting rod other end is connected on toggle link by the 12 revolute pair, and toggle link is arranged on shoulder bar by the 13 revolute pair;
Described spray gun slew gear comprises spray gun pedestal and spray gun, and spray gun pedestal is connected with toggle link by the 14 revolute pair, and spray gun is hinged on spray gun pedestal by fraising.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310675129.8A CN103737588A (en) | 2013-12-07 | 2013-12-07 | Multi-freedom-degree controllable spray painting robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310675129.8A CN103737588A (en) | 2013-12-07 | 2013-12-07 | Multi-freedom-degree controllable spray painting robot |
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| CN103737588A true CN103737588A (en) | 2014-04-23 |
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| CN201310675129.8A Pending CN103737588A (en) | 2013-12-07 | 2013-12-07 | Multi-freedom-degree controllable spray painting robot |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104552275A (en) * | 2014-12-25 | 2015-04-29 | 广西大学 | Simple controllable mechanical mobile manipulator |
| CN104626109A (en) * | 2014-12-25 | 2015-05-20 | 广西大学 | MDOF controllable mechanism type hybrid carrying robot |
| CN104626191A (en) * | 2014-12-25 | 2015-05-20 | 广西大学 | Four-degree-of-freedom connecting rod type controllable moving operation mechanical arm with rotating platform |
| CN104626095A (en) * | 2014-12-25 | 2015-05-20 | 广西大学 | Three-freedom-degree connecting rod type controllable moving operation mechanical arm |
| CN104647334A (en) * | 2014-12-25 | 2015-05-27 | 广西大学 | Controllable multi-connecting-rod mobile manipulator |
| CN104647354A (en) * | 2014-12-25 | 2015-05-27 | 广西大学 | Multi-freedom-degree controllable mechanism type hybrid carrying robot |
| CN104647335A (en) * | 2014-12-25 | 2015-05-27 | 广西大学 | Controllable multi-connecting-rod transfer robot |
| CN106423610A (en) * | 2016-09-07 | 2017-02-22 | 广西大学 | Multi-degree-of-freedom powder-spraying manipulator |
| CN110043010A (en) * | 2019-05-21 | 2019-07-23 | 广东博智林机器人有限公司 | Spray gun assembly and spray robot |
| CN115217287A (en) * | 2021-04-19 | 2022-10-21 | 广东博智林机器人有限公司 | Spraying treatment robot |
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| FR2397234A1 (en) * | 1974-10-22 | 1979-02-09 | Basfer Srl | PAINT SPRAY GUN SYSTEM |
| CN1339348A (en) * | 2000-09-13 | 2002-03-13 | 济南山川机器人工程公司 | Concrete jetting robot |
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| CN102513258A (en) * | 2011-12-28 | 2012-06-27 | 广西大学 | Six-mobility spraying mechanical arm |
| CN102990661A (en) * | 2012-12-27 | 2013-03-27 | 广西大学 | Large-workspace controllable stack device |
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2013
- 2013-12-07 CN CN201310675129.8A patent/CN103737588A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2397234A1 (en) * | 1974-10-22 | 1979-02-09 | Basfer Srl | PAINT SPRAY GUN SYSTEM |
| CN1339348A (en) * | 2000-09-13 | 2002-03-13 | 济南山川机器人工程公司 | Concrete jetting robot |
| KR20030039424A (en) * | 2001-11-13 | 2003-05-22 | 현대중공업 주식회사 | Setting method of orientation links for palletizing robot |
| CN201940317U (en) * | 2010-12-31 | 2011-08-24 | 广西大学 | Painting robot mechanism |
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| CN102990661A (en) * | 2012-12-27 | 2013-03-27 | 广西大学 | Large-workspace controllable stack device |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104552275A (en) * | 2014-12-25 | 2015-04-29 | 广西大学 | Simple controllable mechanical mobile manipulator |
| CN104626109A (en) * | 2014-12-25 | 2015-05-20 | 广西大学 | MDOF controllable mechanism type hybrid carrying robot |
| CN104626191A (en) * | 2014-12-25 | 2015-05-20 | 广西大学 | Four-degree-of-freedom connecting rod type controllable moving operation mechanical arm with rotating platform |
| CN104626095A (en) * | 2014-12-25 | 2015-05-20 | 广西大学 | Three-freedom-degree connecting rod type controllable moving operation mechanical arm |
| CN104647334A (en) * | 2014-12-25 | 2015-05-27 | 广西大学 | Controllable multi-connecting-rod mobile manipulator |
| CN104647354A (en) * | 2014-12-25 | 2015-05-27 | 广西大学 | Multi-freedom-degree controllable mechanism type hybrid carrying robot |
| CN104647335A (en) * | 2014-12-25 | 2015-05-27 | 广西大学 | Controllable multi-connecting-rod transfer robot |
| CN106423610A (en) * | 2016-09-07 | 2017-02-22 | 广西大学 | Multi-degree-of-freedom powder-spraying manipulator |
| CN110043010A (en) * | 2019-05-21 | 2019-07-23 | 广东博智林机器人有限公司 | Spray gun assembly and spray robot |
| CN115217287A (en) * | 2021-04-19 | 2022-10-21 | 广东博智林机器人有限公司 | Spraying treatment robot |
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Application publication date: 20140423 |