CN107433571A - A kind of new spherical parallel institution of Description on Robots for Coating Automobile - Google Patents
A kind of new spherical parallel institution of Description on Robots for Coating Automobile Download PDFInfo
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- CN107433571A CN107433571A CN201710644560.4A CN201710644560A CN107433571A CN 107433571 A CN107433571 A CN 107433571A CN 201710644560 A CN201710644560 A CN 201710644560A CN 107433571 A CN107433571 A CN 107433571A
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- spherical
- screw
- robots
- platform
- motion platform
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0054—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base
- B25J9/0057—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base with kinematics chains of the type spherical-prismatic-spherical
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention discloses a kind of new spherical parallel institution of Description on Robots for Coating Automobile,Including fixed platform and motion platform,Linked together between fixed platform and motion platform by some branched chains,The upper surface of fixed platform and the lower surface of motion platform are equipped with some spherical grooves,The both ends of some branched chains are equipped with hemispheric socket ring,Screw is fixed with socket ring,The top of screw is located at the inside of spherical groove,The bottom of screw is located at the inside of socket ring,It is socketed between ring and spherical groove by snapping connection together,Branched chain is made up of interior bar and outer bar,And the external diameter of interior bar is equal to the internal diameter of outer bar,Interior bar is directly socketed in the inside of outer bar,And the outer surface of interior bar and the inner surface of outer bar are carved with the anti-slip veins being mutually matched,Installation and removal are all very convenient,Using single side chain branch road,So that it is not interfere with each other between each branched chain,And in the course of the work,The function to branched chain progress telescopic adjustment can be achieved,It is worthy to be popularized.
Description
Technical field
The present invention relates to robot and machinery manufacturing technology field, specially a kind of new spherical of Description on Robots for Coating Automobile
Parallel institution.
Background technology
Painting dressing automobiles are primarily referred to as carrying out continuous coating process processing to car surface so that car surface can have compared with
Strong protection, decoration and other functions, improve the quality and aesthetic measure of automobile.And Control During Paint Spraying by Robot technique is then that one kind can
The industrial robot of automatic sprayed coating is carried out, is just developed early in late 1960s, then just in automobile, instrument
Deng industry in extensive use, substantially increase coating quality and spray efficiency, have in present painting dressing automobiles field compared with
High application rate, the development of Control During Paint Spraying by Robot technology have important influence for the horizontal raising of vehicle coating process.With
The development of social economy and the raising of living standards of the people, China's traffic transport industry also enters new developing period,
In the case of this, auto manufacturing develops rapidly, and automobile manufacturing process is also in constantly improve.The free degree of paint robot is work
An important factor for precision, it is relatively good selection using three-degree-of-freedom spherical parallel mechanism.
Three-degree-of-freedom spherical parallel mechanism is one of typical minority carrier generation lifetime, as typical lower-mobility simultaneously
The shoulder joint of online structure, its structure, motion state and characteristic and human body, hip joint are much like, are highly suitable for humanoid machine
The shoulder joint of people, hip joint prototype body, however, three-degree-of-freedom spherical parallel mechanism does not have in bio-robot technical field
Widely promoted and used, searched to the bottom, following lack be present mainly due to traditional three-degree-of-freedom spherical parallel mechanism
Fall into：(1) each branched chain is made up of two sections of ramuscule chains so that the quantity of overall small side chain is more, and branched chain is in rotary motion
During, small side chain can also carry out rotary motion with branched chain, will produce and interfere between now each small side chain, so as to
It has impact on the proper motion of branched chain；(2) function of branched chain is relatively simple, only has the effect of simple rotary motion, no
The flexible function of branched chain can be realized；(3) traditional sphere parallel mechanism uses the structure design of integration, once one in mechanism
Some widget of individual branched chain breaks down, and this branched chain can not just work on, so as to cause whole spherical surface parallel connected machine
Structure can not also work, now, it is necessary to change whole branched chain so that the installation of branched chain and maintenance operation are all very complicated.
The content of the invention
In order to overcome the shortcomings of prior art, it is in parallel that the present invention provides a kind of new spherical of Description on Robots for Coating Automobile
Mechanism, simple in construction, installation and removal are all very convenient, using single side chain branch road so that it does not interfere with each other between each branched chain, and
In the course of the work, the function to branched chain progress telescopic adjustment can be achieved, be worthy to be popularized.
The technical solution adopted for the present invention to solve the technical problems is：A kind of new spherical of Description on Robots for Coating Automobile is simultaneously
Online structure, include the fixed platform and motion platform of polygon, pass through some branches between the fixed platform and motion platform
Chain link together, has been grouped together into rotating between the fixed platform and motion platform by some branched chains
The heart, the motion platform can be relatively fixed platform around center of rotation and be rotated in three dimensions, the upper table of the fixed platform
Face and the lower surface of motion platform are provided with some spherical grooves, and the both ends of some branched chains are provided with hemispheric set
Ring is connect, is fixedly installed screw in the socket ring, the top of the screw is located at the inside of spherical groove, the screw
Bottom be located at the inside of socket ring, the screw can rotate in spherical groove internal rotating, it is described be socketed ring and spherical groove it
Between by snapping connection together, the branched chain is made up of interior bar and outer bar, and the external diameter of interior bar be equal to outer bar internal diameter, institute
State the inside that interior bar is directly socketed in outer bar.
As a kind of preferable technical scheme of the present invention, the quantity of the branched chain is not less than three, and some described
Branched chain is respectively provided on the connecting line of the corresponding corner of fixed platform and motion platform, and the quantity of the branched chain determines certainly
By the quantity spent.
As a kind of preferable technical scheme of the present invention, friction layer of silica gel is provided between the spherical groove and screw,
The thickness of the friction layer of silica gel is equal to the semidiameter of spherical groove and screw, and the friction rubber layer be evenly distributed on it is spherical
Between groove and screw.
As a kind of preferable technical scheme of the present invention, the pivot center either pivot center of some branched chains
Extended line is by center of rotation, and the central point that the extended line of pivot center or pivot center passes through motion platform.
As a kind of preferable technical scheme of the present invention, the diameter of the socket ring is identical with the diameter of spherical groove.
As a kind of preferable technical scheme of the present invention, the fixed platform, motion platform and branched chain use 304 not
Rust Steel material is made.
As a kind of preferable technical scheme of the present invention, and the outer surface of the interior bar and the inner surface of outer bar are carved with phase
The anti-slip veins mutually matched.
Compared with prior art, the beneficial effects of the invention are as follows：The new spherical parallel institution is real by setting branched chain
Movable platform is showed and has been relatively fixed the function that platform is rotated at random rotation in three dimensions, suitable for the shoulder joint of bio-robot
With the motion of hip region, bio-robot technical field is can be widely used in, passes through the group to branched chain interior bar and outer bar
Box-like structure design, the function of branch chain length regulation is realized, so as to meet in the course of work the needs of for length adjustment,
From the point of view of on the whole, the new spherical parallel institution is simple in construction, and installation and removal are all very convenient, using single side chain branch road so that
It does not interfere with each other, is worthy to be popularized between each branched chain.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is branched chain structural representation of the present invention；
Fig. 3 is spherical groove of the present invention and socket ring annexation structural representation.
In figure：1- fixed platforms；2- motion platforms；3- branched chains；4- spherical grooves；5- is socketed ring；6- screws；7- cards
Button；8- interior bars；9- outer bars；10- anti-slip veins；11- friction layer of silica gel.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
The explanation of following embodiment is refer to the attached drawing, can be to the specific embodiment implemented to the example present invention.
The direction and position term that the present invention is previously mentioned, for example, " on ", " in ", " under ", "front", "rear", "left", "right", " interior ", "
Outside ", " side " etc., only it is direction and position with reference to annexed drawings.Therefore, the direction and position term used is to illustrate
And understand the present invention, and it is not used to the limitation present invention.
Embodiment：
As shown in Figure 1, Figure 2 and Figure 3, the invention provides a kind of new spherical parallel institution of Description on Robots for Coating Automobile,
Fixed platform 1 and motion platform 2 including polygon, pass through some branched chains 3 between the fixed platform 1 and motion platform 2
Link together, be grouped together between the fixed platform 1 and motion platform 2 by some branched chains 3 in rotating
The heart, the motion platform 2 can be relatively fixed platform 1 around center of rotation and be rotated in three dimensions, the fixed platform 1 it is upper
Surface and the lower surface of motion platform 2 are provided with some spherical grooves 4, and the both ends of some branched chains 3 are provided with hemisphere
The socket ring 5 of shape, described be socketed in ring 5 are fixedly installed screw 6, and the top of the screw 6 is located at the interior of spherical groove 4
Portion, the bottom of the screw 6 are located at the inside of socket ring 5, and the screw 6 can rotate in the internal rotating of spherical groove 4, described
Linked together between socket ring 5 and spherical groove 4 by buckle 7, the branched chain 3 is made up of interior bar 8 and outer bar 9, and interior bar 8
External diameter be equal to the internal diameter of outer bar 9, the interior bar 8 is directly socketed in the inside of outer bar 9, and the outer surface of the interior bar 8 and outer
The inner surface of bar 9 is carved with the anti-slip veins 10 being mutually matched, and flexible knot is formed by the mutual frictional fit of interior bar 8 and outer bar 9
Structure, the length of appropriate adjustment branched chain 3 can be carried out, so as to meet the length adjustment demand being in course of adjustment.
The technical scheme is that：The quantity of the branched chain 3 is not less than three, and some described branched chains 3 are divided
It is not located on the connecting line of the corresponding corner of fixed platform 1 and motion platform 2, the quantity of the branched chain 3 determines the free degree
Quantity, the concept of the free degree is explained further below：Freedom-degree spherical surface parallel connected mechanism belongs to the category of freedom degree parallel connection mechanism,
Its motion platform 2 is typically connected with fixed platform 1 by several branched chains 3, and motion platform 2 can be around the fixing point phase of space one
Do Three dimensional rotation for fixed platform 1, this fixing point is referred to as the center of rotation of three-degree-of-freedom spherical parallel mechanism, to sum up for,
In the present invention, the free degree had both been the number of branched chain 3；Friction layer of silica gel is provided between the spherical groove 4 and screw 6
11, the thickness of the friction layer of silica gel 11 is equal to the semidiameter of spherical groove 4 and screw 6, and the friction rubber layer 11 is uniform
It is distributed between spherical groove 4 and screw 6, passes through the friction position-limiting action spherical groove 4 and screw 6 of the layer of silica gel 11 that rubs
Between can not be spontaneous generation relative slide, it is necessary to it is artificial be adjusted could full angular regulation, such structure design
So that the adjustment process of screw 6 is simpler convenient；The pivot center of some branched chains 3 either pivot center prolongs
Long line is by center of rotation, and the extended line of pivot center or pivot center passes through the central point of motion platform 2 so that branch
Chain 3 rotates around center of rotation always；The diameter of the socket ring 5 is identical with the diameter of spherical groove 4 so that buckle 7 will can cover
Ring 5 is connect to be connected together with what spherical groove 4 consolidated；The fixed platform 1, motion platform 2 and branched chain 3 are stainless using 304
Steel material is made, and 304 stainless steel materials have the advantages of intensity is high, durable in use.
It is other, in the present invention, it is also necessary to which further explanation is：In the present invention, it is each in order to better illustrate
Annexation between structure, it is six by the quantity set of branched chain 3, but in the application of reality, however it is not limited to it is specific
Quantity, but specific quantity is set according to the demand of reality, it should be appreciated that in the present invention, it is impossible to by branch
The quantity of chain 3 is as qualifications.
The main characteristic of the invention lies in that the new spherical parallel institution realizes movable platform by setting branched chain
The function that platform is rotated at random rotation in three dimensions is relatively fixed, suitable for the shoulder joint and hip region of bio-robot
Motion, can be widely used in bio-robot technical field, by designing the fabricated structure of branched chain interior bar and outer bar,
Realize branch chain length regulation function, so as to meet in the course of work the needs of for length adjustment, on the whole from the point of view of, should
New spherical parallel institution, simple in construction, installation and removal are all very convenient, using single side chain branch road so that between each branched chain
It does not interfere with each other, is worthy to be popularized.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit requires rather than described above limits, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.Any reference in claim should not be considered as to the involved claim of limitation.
Claims (7)
- A kind of 1. new spherical parallel institution of Description on Robots for Coating Automobile, it is characterised in that：Fixed platform (1) including polygon With motion platform (2), linked together between the fixed platform (1) and motion platform (2) by some branched chains (3), institute State and be grouped together into center of rotation by some branched chains (3) between fixed platform (1) and motion platform (2), it is described Motion platform (2) can be relatively fixed platform (1) around center of rotation and be rotated in three dimensions, the fixed platform (1) it is upper Surface and the lower surface of motion platform (2) are provided with some spherical grooves (4), and the both ends of some branched chains (3) are respectively provided with There is hemispheric socket ring (5), be fixedly installed screw (6) in the socket ring (5), the top of the screw (6) is set In the inside of spherical groove (4), the bottom of the screw (6) is located at the inside of socket ring (5), and the screw (6) can be in ball Shape groove (4) internal rotating rotates, and is linked together between the socket ring (5) and spherical groove (4) by buckle (7), described point Side chain (3) is made up of interior bar (8) and outer bar (9), and the external diameter of interior bar (8) is equal to the internal diameter of outer bar (9), and the interior bar (8) is straight Female connector is connected on the inside of outer bar (9).
- A kind of 2. new spherical parallel institution of Description on Robots for Coating Automobile according to claim 1, it is characterised in that：It is described The quantity of branched chain (3) is not less than three, and some described branched chains (3) are respectively provided at fixed platform (1) and motion platform (2) on the connecting line of corresponding corner, the quantity of the branched chain (3) determines the quantity of the free degree.
- A kind of 3. new spherical parallel institution of Description on Robots for Coating Automobile according to claim 1, it is characterised in that：It is described Friction layer of silica gel (11) is provided between spherical groove (4) and screw (6), the thickness of the friction layer of silica gel (11) is equal to spherical The semidiameter of groove (4) and screw (6), and the friction rubber layer (11) be evenly distributed on spherical groove (4) and screw (6) it Between.
- A kind of 4. new spherical parallel institution of Description on Robots for Coating Automobile according to claim 1, it is characterised in that：It is some The extended line of the pivot center of the branched chain (3) either pivot center is by center of rotation, and pivot center or rotation The central point that the extended line of axis passes through motion platform (2).
- A kind of 5. new spherical parallel institution of Description on Robots for Coating Automobile according to claim 1, it is characterised in that：It is described The diameter for being socketed ring (5) is identical with the diameter of spherical groove (4).
- A kind of 6. new spherical parallel institution of Description on Robots for Coating Automobile according to claim 1, it is characterised in that：It is described Fixed platform (1), motion platform (2) and branched chain (3) are made of 304 stainless steel materials.
- A kind of 7. new spherical parallel institution of Description on Robots for Coating Automobile according to claim 1, it is characterised in that：It is described The outer surface of interior bar (8) and the inner surface of outer bar (9) are carved with the anti-slip veins (10) being mutually matched.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710644560.4A CN107433571A (en) | 2017-08-01 | 2017-08-01 | A kind of new spherical parallel institution of Description on Robots for Coating Automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710644560.4A CN107433571A (en) | 2017-08-01 | 2017-08-01 | A kind of new spherical parallel institution of Description on Robots for Coating Automobile |
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| CN107433571A true CN107433571A (en) | 2017-12-05 |
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| CN201710644560.4A Pending CN107433571A (en) | 2017-08-01 | 2017-08-01 | A kind of new spherical parallel institution of Description on Robots for Coating Automobile |
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Cited By (3)
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| CN107932482A (en) * | 2017-12-14 | 2018-04-20 | 天津理工大学 | A kind of five-freedom parallel structure of achievable Three dimensional rotation and bidimensional moving movement |
| CN108445598A (en) * | 2018-01-26 | 2018-08-24 | 苏州佳世达光电有限公司 | A kind of camera lens module and Optical devices |
| CN109466652A (en) * | 2018-10-26 | 2019-03-15 | 华中科技大学 | A kind of multiple degrees of freedom trunk mechanism suitable for biped robot |
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|---|---|---|---|---|
| CN107932482A (en) * | 2017-12-14 | 2018-04-20 | 天津理工大学 | A kind of five-freedom parallel structure of achievable Three dimensional rotation and bidimensional moving movement |
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| CN109466652A (en) * | 2018-10-26 | 2019-03-15 | 华中科技大学 | A kind of multiple degrees of freedom trunk mechanism suitable for biped robot |
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