CN102513254A - Eight-spatial-degree-of-motion spraying robot - Google Patents
Eight-spatial-degree-of-motion spraying robot Download PDFInfo
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- CN102513254A CN102513254A CN2011104449980A CN201110444998A CN102513254A CN 102513254 A CN102513254 A CN 102513254A CN 2011104449980 A CN2011104449980 A CN 2011104449980A CN 201110444998 A CN201110444998 A CN 201110444998A CN 102513254 A CN102513254 A CN 102513254A
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Abstract
The invention relates to an eight-spatial-degree-of-motion spraying robot, which comprises a first connecting rod, a second connecting rod, a moving platform, eight linear drivers and a machine frame. One end of the first connecting rod is connected to the machine frame through a first spherical pair, and the other end of the connecting rod is connected to the second connecting rod through a second spherical pair; the other end of the second connecting rod is hinged to the moving platform by a first Hooke; and the whole robot is driven by the eight linear drivers to output eight spatial degrees of motion. The spraying robot has the characteristics of flexible and accurate output track, high flexibility, large working space, easy operation and maintenance and is particularly suitable for two-dimensional rotation output spraying which needs the first connecting rod and the second connecting rod to do three-dimensional rotation and the moving platform to output three-dimensional rotation.
Description
Technical field
The present invention relates to the spray robot field, particularly space eight mobility spray robots.
Background technology
Spray robot be a kind of be the industrial robot that can carry out auto spray painting or spray other coating, can alleviate staff's labour intensity, prevent the injury of chemical coating, be widely used in explained hereafter departments such as automobile, instrument, electrical equipment, enamel.Tradition fisher's formula serial machine robot mechanism is because of the restriction of himself structure, exists problems such as mechanism's heaviness, poor rigidity, inertia are big, joint error accumulation, and dynamic performance is relatively poor, is difficult to satisfy the high-speed, high precision job requirements of increasingly stringent.Parallel robot mechanism is that a kind of moving platform is connected through at least two independent motion chains with fixed platform; Mechanism has two or more frees degree; And closed loop mechanism with the parallel way driving; Advantage such as have compact conformation, deviation accumulation is little, precision is high, operating speed is high, dynamic response is good, but also have shortcomings such as working space is less, action underaction.
Summary of the invention
The object of the present invention is to provide space eight mobility spray robots; The weight that can effectively solve traditional fisher's formula serial machine robot mechanism is big, poor rigidity, big, the joint error accumulation of inertia; And the parallel robot mechanism working space is less, the problem separately of action underaction etc.; Need to be specially adapted to first connecting rod and second connecting rod all to realize Three dimensional rotation, moving platform is realized the spraying operation occasion of two dimension rotation output.
The present invention achieves the above object through following technical scheme: space eight mobility spray robots comprise first connecting rod, second connecting rod, moving platform, first linear actuator, second linear actuator, the 3rd linear actuator, the 4th linear actuator, the 5th linear actuator, the 6th linear actuator, the 7th linear actuator, the 8th linear actuator and frame.
Said first connecting rod one end is connected on the frame through first spherical pair; The first connecting rod other end is connected on the second connecting rod through second spherical pair; The second connecting rod other end is connected on the moving platform through first Hooke's hinge; First linear actuator, one end is connected on the frame through the 3rd spherical pair, and the first linear actuator other end is connected on the first connecting rod through the 4th spherical pair, and second linear actuator, one end is connected on the frame through the 5th spherical pair; The second linear actuator other end is connected on the first connecting rod through the 6th spherical pair; The 3rd linear actuator one end is connected on the frame through the 7th spherical pair, and the 3rd linear actuator other end is connected on the first connecting rod through the 8th spherical pair, but first linear actuator, second linear actuator and the 3rd linear actuator move as driving link single driving first connecting rod; The mode that also can make up is united the motion of driving first connecting rod, realizes the Three dimensional rotation of first connecting rod.The 4th linear actuator one end is connected on the first connecting rod through the 9th spherical pair; The 4th linear actuator other end is connected on the second connecting rod through the tenth spherical pair; The 5th linear actuator one end is connected on the first connecting rod through the 11 spherical pair; The 5th linear actuator other end is connected on the second connecting rod through the 12 spherical pair; The 6th linear actuator one end is connected on the first connecting rod through the 13 spherical pair, and the 6th linear actuator other end is connected on the second connecting rod through the 14 spherical pair, but the 4th linear actuator, the 5th linear actuator and the 6th linear actuator move as driving link single driving second connecting rod; The mode that also can make up is united the motion of driving second connecting rod, realizes the Three dimensional rotation of second connecting rod.The 7th linear actuator one end is connected on the second connecting rod through the 15 spherical pair; The 7th linear actuator other end is connected on the moving platform through the 16 spherical pair; The 8th linear actuator one end is connected on the second connecting rod through the 17 spherical pair; The 8th linear actuator other end is connected on the moving platform through the 18 spherical pair, has ring flange on the moving platform, and terminal actuating units such as shower nozzle can be installed on the ring flange.But the 7th linear actuator and the 8th linear actuator are as the motion of driving link single driving moving platform, and the mode that also can make up is united the motion of driving moving platform, realize that the two dimension of moving platform is rotated.
Outstanding advantage of the present invention is:
1, mechanism's output trajectory is flexible, accurate, and flexibility is big, working space is big, and easy operating and maintenance are increased work efficiency and stock utilization, and better effect is played in environmental protection.
2, mechanism structure of the present invention is simple, and is with low cost, need to be specially adapted to first connecting rod and second connecting rod all to realize Three dimensional rotation, and moving platform is realized the spraying operation occasion of two dimension rotation output.
3, through the end effector of different purposes is installed on the moving platform ring flange, the present invention also can be applicable to fields such as carrying, welding, row's barrier, fire-fighting.
Description of drawings
Fig. 1 is the structural representation of space according to the invention eight mobility spray robots.
Fig. 2 is first kind of working state schematic representation of space according to the invention eight mobility spray robots.
Fig. 3 is second kind of working state schematic representation of space according to the invention eight mobility spray robots.
Fig. 4 is the third working state schematic representation of space according to the invention eight mobility spray robots.
Fig. 5 is the 4th a kind of working state schematic representation of space according to the invention eight mobility spray robots.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment technical scheme of the present invention is described further.
Claims (1)
1. space eight mobility spray robots; Comprise first connecting rod, second connecting rod, moving platform, first linear actuator, second linear actuator, the 3rd linear actuator, the 4th linear actuator, the 5th linear actuator, the 6th linear actuator, the 7th linear actuator, the 8th linear actuator and frame, its structure and connected mode are:
Said first connecting rod one end is connected on the frame through first spherical pair; The first connecting rod other end is connected on the second connecting rod through second spherical pair; The second connecting rod other end is connected on the moving platform through first Hooke's hinge; First linear actuator, one end is connected on the frame through the 3rd spherical pair; The first linear actuator other end is connected on the first connecting rod through the 4th spherical pair, and second linear actuator, one end is connected on the frame through the 5th spherical pair, and the second linear actuator other end is connected on the first connecting rod through the 6th spherical pair; The 3rd linear actuator one end is connected on the frame through the 7th spherical pair; The 3rd linear actuator other end is connected on the first connecting rod through the 8th spherical pair, and the 4th linear actuator one end is connected on the first connecting rod through the 9th spherical pair, and the 4th linear actuator other end is connected on the second connecting rod through the tenth spherical pair; The 5th linear actuator one end is connected on the first connecting rod through the 11 spherical pair; The 5th linear actuator other end is connected on the second connecting rod through the 12 spherical pair, and the 6th linear actuator one end is connected on the first connecting rod through the 13 spherical pair, and the 6th linear actuator other end is connected on the second connecting rod through the 14 spherical pair; The 7th linear actuator one end is connected on the second connecting rod through the 15 spherical pair; The 7th linear actuator other end is connected on the moving platform through the 16 spherical pair, and the 8th linear actuator one end is connected on the second connecting rod through the 17 spherical pair, and the 8th linear actuator other end is connected on the moving platform through the 18 spherical pair.
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CN2011104449980A CN102513254A (en) | 2011-12-28 | 2011-12-28 | Eight-spatial-degree-of-motion spraying robot |
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CN2011104449980A CN102513254A (en) | 2011-12-28 | 2011-12-28 | Eight-spatial-degree-of-motion spraying robot |
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
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CN103084300A (en) * | 2013-02-01 | 2013-05-08 | 杭州电子科技大学 | Multiple-degree-of-freedom antitheft door spraying robot |
CN106505399A (en) * | 2015-09-07 | 2017-03-15 | 泰科电子(上海)有限公司 | Assembly system and assembly method |
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CN1944001A (en) * | 2006-10-13 | 2007-04-11 | 燕山大学 | Spacial non-symmetric two freedom rotary parallel mechanism |
US20080069679A1 (en) * | 2005-09-26 | 2008-03-20 | Toshiaki Shimada | Industrial Robot |
CN101224584A (en) * | 2007-11-22 | 2008-07-23 | 山东理工大学 | Parallel mechanism capable of realizing interconversion between 3D translation and 3D rotation |
CN201579789U (en) * | 2009-12-15 | 2010-09-15 | 汕头大学 | Three-rotational DOF parallel-connection robot |
CN102039240A (en) * | 2010-12-31 | 2011-05-04 | 广西大学 | Spraying robot mechanism |
CN202377141U (en) * | 2011-12-28 | 2012-08-15 | 广西大学 | Spraying robot with eight spatial ranges of motion |
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Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
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US20080069679A1 (en) * | 2005-09-26 | 2008-03-20 | Toshiaki Shimada | Industrial Robot |
CN1944001A (en) * | 2006-10-13 | 2007-04-11 | 燕山大学 | Spacial non-symmetric two freedom rotary parallel mechanism |
CN101224584A (en) * | 2007-11-22 | 2008-07-23 | 山东理工大学 | Parallel mechanism capable of realizing interconversion between 3D translation and 3D rotation |
CN201579789U (en) * | 2009-12-15 | 2010-09-15 | 汕头大学 | Three-rotational DOF parallel-connection robot |
CN102039240A (en) * | 2010-12-31 | 2011-05-04 | 广西大学 | Spraying robot mechanism |
CN202377141U (en) * | 2011-12-28 | 2012-08-15 | 广西大学 | Spraying robot with eight spatial ranges of motion |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
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CN103084300A (en) * | 2013-02-01 | 2013-05-08 | 杭州电子科技大学 | Multiple-degree-of-freedom antitheft door spraying robot |
CN103084300B (en) * | 2013-02-01 | 2015-03-18 | 杭州电子科技大学 | Multiple-degree-of-freedom antitheft door spraying robot |
CN106505399A (en) * | 2015-09-07 | 2017-03-15 | 泰科电子(上海)有限公司 | Assembly system and assembly method |
CN106505399B (en) * | 2015-09-07 | 2019-06-07 | 泰科电子(上海)有限公司 | Assembly system and assembly method |
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Application publication date: 20120627 |