CN105058381A - Six-freedom-degree eight-rod series-parallel connection spraying robot - Google Patents
Six-freedom-degree eight-rod series-parallel connection spraying robot Download PDFInfo
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- CN105058381A CN105058381A CN201510449544.0A CN201510449544A CN105058381A CN 105058381 A CN105058381 A CN 105058381A CN 201510449544 A CN201510449544 A CN 201510449544A CN 105058381 A CN105058381 A CN 105058381A
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Abstract
The invention provides a six-freedom-degree eight-rod series-parallel connection spraying robot. A first driving rod, a second driving rod and a supporting rod of the spraying robot are connected with a rotating machine frame. A first driving connection rod and a second driving connection rod are connected with the first driving rod and the second driving rod respectively. A moveable arm table is connected with the supporting rod and the second driving connection rod. A rotating arm is connected with the movable arm table. A swing arm is connected with the rotating arm. A spraying head table is connected to the swing arm. A spraying head is connected to the spraying head table. According to the six-freedom-degree eight-rod series-parallel connection spraying robot, a series-parallel connection integrated structure is adopted for replacing a single series connection structure of an existing robot, and rigidity is high; and a parallelogram link mechanism is applied to the six-freedom-degree eight-rod series-parallel connection spraying robot, accurate control can be achieved easily, and the six-freedom-degree eight-rod series-parallel connection spraying robot is suitable for manufacturing various mechanical arms and other engineering machines.
Description
Technical field
The present invention relates to engineering machinery field, particularly a kind of six degree of freedom eight bar connection in series-parallel spray robot.
Background technology
Along with the development of modern spraying coating process and perfect, to the reform of flush coater technology, also the moment carries out, now the requirement that automatic industrial is produced improves gradually, constantly implementing of the principles such as safety in production, environmental protection production, the appearance of spray robot just becomes inevitable, and this high-tech spraying equipment also well can cater to these requirements of various workpiece.
Spray robot is paint-spray robot again, is the industrial robot that can carry out auto spray painting or spray other coating.Paint-spray robot is primarily of robot body, computer and corresponding control system composition.Many employings 5 or 6DOF articulated structure, compact conformation, arm has larger space, and can do complicated orbiting motion, and its wrist generally has 2 ~ 3 frees degree, can flexible motion.More advanced paint-spray robot wrist adopts flexible waist, and both can bend to all directions, again rotatably, the wrist of the similar people of its action, can stretch into inside workpiece conveniently by less hole, spray its inner surface.Paint-spray robot is widely used in the explained hereafter departments such as automobile, instrument, electrical equipment, enamel.
Existing spray robot adopts the six degree of freedom cascaded structure of driven by servomotor mostly, the all motors of this structure are all arranged on arm joint place, make robot integral rigidity low, bad dynamic performance, joint cumulative errors are large, rotary inertia is large, and working range is limited, and these factors directly affect the spray efficiency of spray robot, reduce coating quality, add spray time, extend spray time, thus add spraying cost.
Summary of the invention
The object of the present invention is to provide a kind of six degree of freedom eight bar connection in series-parallel spray robot, it is compact except conventional spray paint robot architecture must be possessed, the advantages such as complicated track motion can be done, overcome conventional spray paint revolute inertia large, bad dynamic performance, outside the features such as working space is limited, and joint error is accumulative, also former for the part motor be installed on arm should be installed in frame and alleviate arm weight, make it meet multiple work requirements.
The present invention achieves the above object by the following technical programs: a kind of six degree of freedom eight bar connection in series-parallel spray robot, comprise base turnbarrel, base cover, rotary frame, first driving lever, second driving lever, support bar, first drive connecting rod, second drive connecting rod, swing arm platform, cursor, swing arm, shower nozzle platform, shower nozzle, first servomotor, second servomotor, 3rd servomotor, 4th servomotor, 5th servomotor, 6th servomotor, first decelerator, second decelerator, 3rd decelerator, 4th decelerator, 5th decelerator and the 6th decelerator.Concrete structure and annexation are:
Described first servomotor is connected on the first decelerator, and the first decelerator is connected with base cover by the first revolute pair, and base cover is fixedly connected with base turnbarrel, and rotary frame is connected with the first decelerator by the first revolute pair.
Described second servomotor is connected on the second decelerator, second decelerator is connected with rotary frame by the second revolute pair, first driving lever is connected with the second decelerator by the second revolute pair, the first driving lever other end is connected with the first drive connecting rod by the 5th revolute pair, and the first drive connecting rod other end is connected with support bar by the 6th revolute pair.
Described 3rd servomotor is connected on the 3rd decelerator, 3rd decelerator is connected with rotary frame by the 4th revolute pair, second driving lever is connected with the 3rd decelerator by the 4th revolute pair, the second driving lever other end is connected with the second drive connecting rod by the 7th revolute pair, and the second drive connecting rod other end is connected with swing arm platform by the 9th revolute pair.
Described support bar is connected with rotary frame by the 3rd revolute pair, and the support bar other end is connected with swing arm platform by the 8th revolute pair.
Described 4th servomotor is connected on the 4th decelerator, and the 4th decelerator is connected with swing arm platform by the tenth revolute pair, and cursor is connected with the 4th decelerator by the tenth revolute pair.
Described 5th servomotor is connected on cursor, and the 5th decelerator is connected with cursor by the 11 revolute pair, and the 5th decelerator is connected with the 5th servomotor by the 11 revolute pair.
Described swing arm is connected with the 5th decelerator by the 11 revolute pair, and the 6th servomotor is connected on the 6th decelerator, and the 6th decelerator is connected with swing arm by the 12 revolute pair.
Described shower nozzle platform is connected with the 6th decelerator by the 12 revolute pair, and shower nozzle is fixedly connected on shower nozzle platform.
Outstanding advantages of the present invention is:
1. utilize serial parallel mechanism to replace original unitary series of operations structure, the motor that prior partial is installed on arm can be arranged in frame, alleviate arm own wt, reduce its rotary inertia, improve its dynamic property, improve the rigidity of structure, decrease the joint cumulative errors that original arm weight is brought, improve deposition accuracies and speed.
2., by using multi-connecting-rod mechanism, expand the working range of original series connection six-DOF robot.
3., by using parallel-crank mechanism, robot controlling programming difficulty being reduced, more complicated orbiting motion can be realized.
Accompanying drawing explanation
Fig. 1 is the structural representation of six degree of freedom eight bar connection in series-parallel spray robot of the present invention.
Fig. 2 is six degree of freedom eight bar connection in series-parallel spray robot base portion exploded view one of the present invention.
Fig. 3 is six degree of freedom eight bar connection in series-parallel spray robot cursor decomposed figure bis-of the present invention.
Fig. 4 is six degree of freedom eight bar connection in series-parallel spray robot shower nozzle platform decomposed figure tri-of the present invention.
Fig. 5 is six degree of freedom eight bar connection in series-parallel spray robot whole structure figure of the present invention.
Detailed description of the invention
Contrast Fig. 1 to Fig. 4, six degree of freedom eight bar connection in series-parallel spray robot of the present invention, comprise base turnbarrel 3, base cover 2, rotary frame 1, first driving lever 4, second driving lever 13, support bar 6, first drive connecting rod 5, second drive connecting rod 12, swing arm platform 7, cursor 8, swing arm 9, shower nozzle platform 10, shower nozzle 11, first servomotor 14, second servomotor 16, 3rd servomotor 18, 4th servomotor 20, 5th servomotor 22, 6th servomotor 24, first decelerator 15, second decelerator 17, 3rd decelerator 19, 4th decelerator 21, 5th decelerator 23, 6th decelerator 25, concrete structure and connected mode are:
Described first servomotor 14 is connected on the first decelerator 15, and the first decelerator 15 is connected with base cover 2 by the first revolute pair 26, and base cover 2 is affixed with base turnbarrel 3, and rotary frame 1 is connected with the first decelerator 15 by the first revolute pair 26.
Described second servomotor 16 is connected on the second decelerator 17, second decelerator 17 is connected with rotary frame 1 by the second revolute pair 27, first driving lever 4 is connected with the second decelerator 17 by the second revolute pair 27, first driving lever 4 other end is connected with the first drive connecting rod 5 by the 5th revolute pair 30, and first drive connecting rod 5 other end is connected with support bar 6 by the 6th revolute pair 31.
Described 3rd servomotor 18 is connected on the 3rd decelerator 19,3rd decelerator 19 is connected with rotary frame 1 by the 4th revolute pair 29, second driving lever 13 is connected with the 3rd decelerator 19 by the 4th revolute pair 29, second driving lever 13 other end is connected with the second drive connecting rod 12 by the 7th revolute pair 32, and second drive connecting rod 12 other end is connected with swing arm platform 7 by the 9th revolute pair 34.
Contrast Fig. 1, described support bar 6 is connected with rotary frame 1 by the 3rd revolute pair 28, and support bar 6 other end is connected with swing arm platform 7 by the 8th revolute pair 33.
Contrast Fig. 1 and Fig. 3, described 4th servomotor 20 is connected on the 4th decelerator 21, and the 4th decelerator 21 is connected with swing arm platform 7 by the tenth revolute pair 35, and cursor 8 is connected with the 4th decelerator 21 by the tenth revolute pair 35.
Contrast Fig. 1 and Fig. 3, described 5th servomotor 22 is fixed on cursor 8, and the 5th decelerator 23 is connected with cursor 8 by the 11 revolute pair 36, and the 5th decelerator 23 is connected with the 5th servomotor 22 by the 11 revolute pair 36.
Contrast Fig. 1, Fig. 3 and Fig. 4, described swing arm 9 is connected with the 5th decelerator 23 by the 11 revolute pair 36, and the 6th servomotor 24 is connected on the 6th decelerator 25, and the 6th decelerator 25 is connected with swing arm 9 by the 12 revolute pair 37.
Contrast Fig. 4, described shower nozzle platform 10 is connected with the 6th decelerator 25 by the 12 revolute pair 37, and shower nozzle 11 is fixed on shower nozzle platform 10.
Operation principle and process:
Contrast Fig. 1, Fig. 2, Fig. 3, Fig. 4, described six degree of freedom eight bar connection in series-parallel spray robot is in each operating mode, operating mode is moved in space, first driving lever 4 rotates around the second revolute pair 27 and drives the first drive connecting rod 5 to rotate by the 5th revolute pair 30, first drive connecting rod 5 drives support bar 6 to rotate by the 6th revolute pair 31, second driving lever 13 rotates around the 4th revolute pair 29 and drives the second drive connecting rod 12 to rotate by the 7th revolute pair 32, support bar 6 and the second driving lever connecting rod 12 drive swing arm platform 7 to move jointly, again by swing arm platform 7, cursor 8, swing arm 9, connection between shower nozzle platform 10 makes shower nozzle 11 to seesaw up and down, shower nozzle 11 side-to-side movement is made around the seesawing up and down of the shower nozzle 11 that is rotatably assorted of the first revolute pair 26 again by rotary frame 1, thus make shower nozzle 11 can movement arbitrarily within the scope of certain space.Spatial rotational operating mode, to be coordinated around the control of the rotation of the 12 revolute pair 37 around the rotation of the 11 revolute pair 36, shower nozzle platform 10 around the rotation of the tenth revolute pair 35, swing arm 9 around the rotation of the first revolute pair 26, cursor 8 by rotary frame 1 and shower nozzle 11 can be rotated arbitrarily within the scope of certain space.
Claims (1)
1. a six degree of freedom eight bar connection in series-parallel spray robot, comprise base turnbarrel, base cover, rotary frame, first driving lever, second driving lever, support bar, first drive connecting rod, second drive connecting rod, swing arm platform, cursor, swing arm, shower nozzle platform, shower nozzle, first servomotor, second servomotor, 3rd servomotor, 4th servomotor, 5th servomotor, 6th servomotor, first decelerator, second decelerator, 3rd decelerator, 4th decelerator, 5th decelerator and the 6th decelerator, it is characterized in that, concrete structure and annexation are:
Described first servomotor is connected on the first decelerator, and the first decelerator is connected with base cover by the first revolute pair, and base cover is fixedly connected with base turnbarrel, and rotary frame is connected with the first decelerator by the first revolute pair,
Described second servomotor is connected on the second decelerator, second decelerator is connected with rotary frame by the second revolute pair, first driving lever is connected with the second decelerator by the second revolute pair, the first driving lever other end is connected with the first drive connecting rod by the 5th revolute pair, the first drive connecting rod other end is connected with support bar by the 6th revolute pair
Described 3rd servomotor is connected on the 3rd decelerator, 3rd decelerator is connected with rotary frame by the 4th revolute pair, second driving lever is connected with the 3rd decelerator by the 4th revolute pair, the second driving lever other end is connected with the second drive connecting rod by the 7th revolute pair, the second drive connecting rod other end is connected with swing arm platform by the 9th revolute pair
Described support bar is connected with rotary frame by the 3rd revolute pair, and the support bar other end is connected with swing arm platform by the 8th revolute pair,
Described 4th servomotor is connected on the 4th decelerator, and the 4th decelerator is connected with swing arm platform by the tenth revolute pair, and cursor is connected with the 4th decelerator by the tenth revolute pair,
Described 5th servomotor is connected on cursor, and the 5th decelerator is connected with cursor by the 11 revolute pair, and the 5th decelerator is connected with the 5th servomotor by the 11 revolute pair,
Described swing arm is connected with the 5th decelerator by the 11 revolute pair, and the 6th servomotor is connected on the 6th decelerator, and the 6th decelerator is connected with swing arm by the 12 revolute pair,
Described shower nozzle platform is connected with the 6th decelerator by the 12 revolute pair, and shower nozzle is fixedly connected on shower nozzle platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510449544.0A CN105058381A (en) | 2015-07-28 | 2015-07-28 | Six-freedom-degree eight-rod series-parallel connection spraying robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510449544.0A CN105058381A (en) | 2015-07-28 | 2015-07-28 | Six-freedom-degree eight-rod series-parallel connection spraying robot |
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| CN105058381A true CN105058381A (en) | 2015-11-18 |
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| CN201510449544.0A Pending CN105058381A (en) | 2015-07-28 | 2015-07-28 | Six-freedom-degree eight-rod series-parallel connection spraying robot |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105525638A (en) * | 2016-01-18 | 2016-04-27 | 广西大学 | Four-degree-of-freedom multi-link controllable mechanism type backhoe excavator |
| CN105945918A (en) * | 2016-06-23 | 2016-09-21 | 广西大学 | Five-degree-of-freedom series-parallel mechanism type controllable welding robot |
| CN106002938A (en) * | 2016-06-12 | 2016-10-12 | 广西大学 | Linear rotation hybrid drive controllable mechanism type robot |
| CN106994682A (en) * | 2017-05-27 | 2017-08-01 | 李双双 | A kind of new type mechanical device of teaching |
| CN107378909A (en) * | 2017-09-06 | 2017-11-24 | 重庆交通大学 | Runway block removing robot |
| CN107670882A (en) * | 2017-09-21 | 2018-02-09 | 刘瑞 | A kind of auto parts spray treatment device |
| CN109108671A (en) * | 2018-10-29 | 2019-01-01 | 福州大学 | One kind is for processing five axis series-parallel machine tool of tubular components |
| CN110038749A (en) * | 2019-04-30 | 2019-07-23 | 清研同创机器人（天津）有限公司 | A kind of spray robot |
| CN110743736A (en) * | 2019-11-13 | 2020-02-04 | 合肥工业大学 | Suspension type six-degree-of-freedom series-parallel spraying robot |
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| US4776230A (en) * | 1986-04-18 | 1988-10-11 | Susnjara Kenneth J | Actuator assembly for industrial robots |
| CN103521381A (en) * | 2013-09-09 | 2014-01-22 | 江苏长虹智能装备集团有限公司 | Rotary table upright type five-freedom-degree mixed-connecting spray painting robot |
| CN103538053A (en) * | 2012-07-17 | 2014-01-29 | 昆山华恒焊接股份有限公司 | Six-freedom-degree spray coating robot |
| CN103737207A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | Parallel-serial welding robot mechanism with six degrees of freedom |
| CN204976631U (en) * | 2015-07-28 | 2016-01-20 | 广西凯纵机械制造有限公司 | Eight pole connection in series -parallel spraying machine people of 6 -degree of freedom |
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Patent Citations (5)
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| US4776230A (en) * | 1986-04-18 | 1988-10-11 | Susnjara Kenneth J | Actuator assembly for industrial robots |
| CN103538053A (en) * | 2012-07-17 | 2014-01-29 | 昆山华恒焊接股份有限公司 | Six-freedom-degree spray coating robot |
| CN103521381A (en) * | 2013-09-09 | 2014-01-22 | 江苏长虹智能装备集团有限公司 | Rotary table upright type five-freedom-degree mixed-connecting spray painting robot |
| CN103737207A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | Parallel-serial welding robot mechanism with six degrees of freedom |
| CN204976631U (en) * | 2015-07-28 | 2016-01-20 | 广西凯纵机械制造有限公司 | Eight pole connection in series -parallel spraying machine people of 6 -degree of freedom |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105525638A (en) * | 2016-01-18 | 2016-04-27 | 广西大学 | Four-degree-of-freedom multi-link controllable mechanism type backhoe excavator |
| CN106002938A (en) * | 2016-06-12 | 2016-10-12 | 广西大学 | Linear rotation hybrid drive controllable mechanism type robot |
| CN105945918A (en) * | 2016-06-23 | 2016-09-21 | 广西大学 | Five-degree-of-freedom series-parallel mechanism type controllable welding robot |
| CN106994682A (en) * | 2017-05-27 | 2017-08-01 | 李双双 | A kind of new type mechanical device of teaching |
| CN107378909A (en) * | 2017-09-06 | 2017-11-24 | 重庆交通大学 | Runway block removing robot |
| CN107670882A (en) * | 2017-09-21 | 2018-02-09 | 刘瑞 | A kind of auto parts spray treatment device |
| CN109108671A (en) * | 2018-10-29 | 2019-01-01 | 福州大学 | One kind is for processing five axis series-parallel machine tool of tubular components |
| CN109108671B (en) * | 2018-10-29 | 2023-09-12 | 福州大学 | Five-axis parallel-serial machine tool for processing cylindrical parts |
| CN110038749A (en) * | 2019-04-30 | 2019-07-23 | 清研同创机器人（天津）有限公司 | A kind of spray robot |
| CN110743736A (en) * | 2019-11-13 | 2020-02-04 | 合肥工业大学 | Suspension type six-degree-of-freedom series-parallel spraying robot |
| CN110743736B (en) * | 2019-11-13 | 2020-08-04 | 合肥工业大学 | Suspension type six-degree-of-freedom series-parallel spraying robot |
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Application publication date: 20151118 |
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