CN109604093A - It is a kind of to use closing chain mechanism combination drive parallel connection automatic spraying operating mechanical device - Google Patents
It is a kind of to use closing chain mechanism combination drive parallel connection automatic spraying operating mechanical device Download PDFInfo
- Publication number
- CN109604093A CN109604093A CN201710925551.2A CN201710925551A CN109604093A CN 109604093 A CN109604093 A CN 109604093A CN 201710925551 A CN201710925551 A CN 201710925551A CN 109604093 A CN109604093 A CN 109604093A
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- CN
- China
- Prior art keywords
- forearm
- drive rod
- connecting rod
- connect
- large arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
It is a kind of to use closing chain mechanism combination drive parallel connection automatic spraying operating mechanical device, it is characterised in that: including large arm, big arm link, large arm drive rod, forearm, small arm link, forearm drive rod, connecting rod, electric pushrod, wrist connecting rod, wrist, nozzle, pedestal, rotatable platform and servo drive；Forearm one end is connected on wrist connecting rod, the forearm other end is connect with small arm link one end, small arm link is connect with forearm drive rod one end, the forearm drive rod other end is connected on pedestal, wrist connecting rod one end is connected on forearm, described big arm link one end is connected in the middle part of large arm, the big arm link other end is connect with large arm drive rod one end, the large arm drive rod other end is connected on rotatable platform, two motors are mounted on workbench by the present invention, it is big to overcome cascaded structure articulated robot rotary inertia, dynamic performance is poor, the shortcomings that structure is complicated, the advantages of combining constant speed motor and servo motor, with being easy to control, it is quick on the draw, manufacture the low advantage of maintenance cost.
Description
Technical field
It is especially a kind of to be made using closing chain mechanism combination drive automatic spraying in parallel the invention belongs to mechanical engineering field
Industry mechanical device.
Background technique
Most of currently manufactured general spray coating mechanical hand of industry is the cascaded structure joint type motor driven machine for open form
Tool hand is mainly characterized in that driving motor is all mounted on each joint of manipulator, drives manipulator each by motor
The various movements of manipulator are realized in the rotation in a joint.Due to the driving electricity of the cascaded structure articulated robot of open form
Machine is all mounted on the position in joint, and this frame mode has the following problems: manipulator arm needs to carry the weight of motor simultaneously
Rigidity requirement need to be met, arm sectional dimension needs to be made larger, will increase the load of driving motor in this way, increases the fortune of arm
Dynamic inertia, causes manipulator dynamic property to decline, while driving motor is all mounted on joint position and the accumulation of manipulator is caused to miss
Difference is big, bearing capacity is small, accumulated error is big, bearing capacity is small, structure is complicated, the degree of modularity is low.With the hair of motor technology
The raising of exhibition and control technology, parallel institution provide extensive development space for manipulator, motor-driven mostly certainly by control
Not only there is big working space, flexible movements, the motion profile output of achievable complexity by degree parallel institution, while also there is system
Make the advantages that at low cost, maintenance is simple.
Hybrid Input Five―bar Mechanism is driven using two kinds of motors (constant speed motor and servo motor) of different nature, in machinery
There is a good compromise that it is controllable, adjustable to be well positioned to meet modern mechanical to adapt to working flexibility feature in performance and cost
It is required that combination drive manipulator has very big application space in the epoch of flexible production.
Summary of the invention
It is an object of the invention to overcome existing spray coating mechanical hand driving motor to be all mounted on the position in joint, lead to machinery
The problem of hand rotary inertia is big, dynamic property declines, and accumulated error is big, and bearing capacity is small, structure is complicated.
The invention discloses a kind of combination drive Multi-freedom-degreemanipulator manipulators, and two motors are mounted on workbench, are adopted
It is used to control the angular dimension of wrist pitching with an electric pushrod, two motors is mounted on workbench, are overcome
Cascaded structure articulated robot rotary inertia is big, and dynamic performance is poor, the disadvantage that structure is complicated, the degree of modularity is low, in conjunction with
The advantages of constant speed motor and servo motor, has the advantages that be easy to control, be quick on the draw, to manufacture maintenance cost low.The present invention
Be achieved through the following technical solutions above functions: a kind of combination drive multi-freedom parallel connection spraying operation manipulator, feature exist
In: connect including large arm, big arm link, large arm drive rod, forearm, small arm link, forearm drive rod, connecting rod, electric pushrod, wrist
Bar, wrist, nozzle, pedestal, rotatable platform and servo drive；Forearm one end is connected on wrist connecting rod, and forearm is another
End is connect with small arm link one end, and small arm link is connect with forearm drive rod one end, and the forearm drive rod other end is connected to pedestal
On, connecting rod one end connect with small arm link one end, connects in the middle part of the other end and large arm, and electric pushrod one end is connected on forearm,
The electric pushrod other end is connected on wrist connecting rod, and wrist connecting rod one end is connected on forearm, big arm link one end connection
In the middle part of large arm, the big arm link other end is connect with large arm drive rod one end, and the large arm drive rod other end is connected to rotatable flat
On platform, servo drive includes first servo motor and the second servo motor, and first servo motor is connect with large arm drive rod,
Second servo motor is connect with forearm drive rod.
Detailed description of the invention
Fig. 1 is a kind of machine using closing chain mechanism combination drive parallel connection automatic spraying operating mechanical device of the present invention
Structure schematic diagram
Specific embodiment
It is a kind of to use closing chain mechanism combination drive parallel connection automatic spraying operating mechanical device, including large arm 6, big arm link
4, large arm drive rod 5, forearm 7, small arm link 8, forearm drive rod 9, connecting rod 13, electric pushrod 3, wrist connecting rod 11, wrist 12,
Nozzle 10, pedestal 2, rotatable platform 1 and servo drive, 7 one end of forearm are connected on wrist connecting rod 11, and forearm 7 is another
End is connect with small 8 one end of arm link, and small arm link 8 is connect with 9 one end of forearm drive rod, and 9 other end of forearm drive rod is connected to
On pedestal 2,13 one end of connecting rod connect with small 8 one end of arm link, connects in the middle part of the other end and large arm 6, the connection of 3 one end of electric pushrod
On forearm 7,3 other end of electric pushrod is connected on wrist connecting rod 11, and 11 one end of wrist connecting rod is connected on forearm 7, described
Big 4 one end of arm link is connected to 6 middle part of large arm, connects in the middle part of big 4 other end of arm link and large arm drive rod 5, large arm drive rod 5
The other end is connected on rotatable platform 1, and servo drive includes first servo motor and the second servo motor, the first servo
Motor is connect with large arm drive rod 5, and the second servo motor is connect with forearm drive rod 9.
In use, the large arm drive rod 5 is controlled by first servo motor, forearm drive rod 9 is driven by the second servo motor
Dynamic, the electric pushrod 3 is controlled by a direct current constant-seed motor in itself.By in servo drive motor and electric pushrod
Corresponding movement is realized in the combination drive cooperation of constant speed direct current generator, passes through turning for two servo motors to servo drive
The track abundant movement of manipulator spray head flexible and diverse is realized in the control of the telescopic displacement of angle control and electric pushrod.
Controllable drive motor is mounted on revolving platform by the present invention, simplifies the complexity of structure, reducing mechanism
Each connecting rod rod piece is made into lighter bar by weight, volume and cost, mechanical arm of the invention, so that entire mechanism kinematic inertia
Small, dynamic performance is good, easily controllable, by the way that revolving platform, the revolution working space for making mechanical arm possess 360 degree, work is arranged
It is big to make spatial dimension.
Claims (1)
1. it is a kind of using closing chain mechanism combination drive parallel connection automatic spraying operating mechanical device, it is characterised in that: including large arm,
Big arm link, large arm drive rod, forearm, small arm link, forearm drive rod, connecting rod, electric pushrod, wrist connecting rod, wrist, spray
Mouth, pedestal, rotatable platform and servo drive；Forearm one end is connected on wrist connecting rod, and the forearm other end and forearm connect
The connection of bar one end, small arm link are connect with forearm drive rod one end, and the forearm drive rod other end is connected on pedestal, connecting rod one end
It connect with small arm link one end, connected in the middle part of the other end and large arm, electric pushrod one end is connected on forearm, and electric pushrod is another
End is connected on wrist connecting rod, and wrist connecting rod one end is connected on forearm, and described big arm link one end is connected in the middle part of large arm, greatly
The arm link other end is connect with large arm drive rod one end, and the large arm drive rod other end is connected on rotatable platform, servo-drive
Device includes first servo motor and the second servo motor, and first servo motor is connect with large arm drive rod, the second servo motor
It is connect with forearm drive rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710925551.2A CN109604093A (en) | 2017-10-04 | 2017-10-04 | It is a kind of to use closing chain mechanism combination drive parallel connection automatic spraying operating mechanical device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710925551.2A CN109604093A (en) | 2017-10-04 | 2017-10-04 | It is a kind of to use closing chain mechanism combination drive parallel connection automatic spraying operating mechanical device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109604093A true CN109604093A (en) | 2019-04-12 |
Family
ID=66001625
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710925551.2A Withdrawn CN109604093A (en) | 2017-10-04 | 2017-10-04 | It is a kind of to use closing chain mechanism combination drive parallel connection automatic spraying operating mechanical device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109604093A (en) |
-
2017
- 2017-10-04 CN CN201710925551.2A patent/CN109604093A/en not_active Withdrawn
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190412 |
|
| WW01 | Invention patent application withdrawn after publication |