CN102513254A - Eight-spatial-degree-of-motion spraying robot - Google Patents

Eight-spatial-degree-of-motion spraying robot Download PDF

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Publication number
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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CN
China
Prior art keywords
linear actuator
rod
spherical pair
moving platform
space
Prior art date
Application number
CN2011104449980A
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Chinese (zh)
Inventor
蔡敢为
王建亮
潘宇晨
王红州
黄院星
张金玲
李小清
邓培
张�林
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广西大学
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Application filed by 广西大学 filed Critical 广西大学
Priority to CN2011104449980A priority Critical patent/CN102513254A/en
Publication of CN102513254A publication Critical patent/CN102513254A/en

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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

Space eight mobility spray robots
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.
Map 1,2,3,4 and 5, said space eight mobility spray robots are made up of first connecting rod 27, second connecting rod 20, moving platform 15, first linear actuator 4, second linear actuator 5, the 3rd linear actuator 30, the 4th linear actuator 9, the 5th linear actuator 24, the 6th linear actuator 25, the 7th linear actuator 12, the 8th linear actuator 18 and frame 1.
Map 1; Said first connecting rod 27 1 ends are connected on the frame 1 through first spherical pair 32; First connecting rod 27 other ends are connected on the second connecting rod 20 through second spherical pair 21; Second connecting rod 20 other ends are connected on the moving platform 15 through first Hooke's hinge 13; First linear actuator, 4 one ends are connected on the frame 1 through the 3rd spherical pair 2, and first linear actuator, 4 other ends are connected on the first connecting rod 27 through the 4th spherical pair 29, and second linear actuator, 5 one ends are connected on the frame 1 through the 5th spherical pair 3; Second linear actuator, 5 other ends are connected on the first connecting rod 27 through the 6th spherical pair 6; The 3rd linear actuator 30 1 ends are connected on the frame 1 through the 7th spherical pair 31, and the 3rd linear actuator 30 other ends are connected on the first connecting rod 27 through the 8th spherical pair 28, but first linear actuator 4, second linear actuator 5 and the 3rd linear actuator 30 are as 27 motions of driving link single driving first connecting rod; The mode that also can make up is united 27 motions of driving first connecting rod, realizes the Three dimensional rotation of first connecting rod 27.The 4th linear actuator 9 one ends are connected on the first connecting rod 27 through the 9th spherical pair 8; The 4th linear actuator 9 other ends are connected on the second connecting rod 20 through the tenth spherical pair 10; The 5th linear actuator 24 1 ends are connected on the first connecting rod 27 through the 11 spherical pair 26; The 5th linear actuator 24 other ends are connected on the second connecting rod 20 through the 12 spherical pair 23; The 6th linear actuator 25 1 ends are connected on the first connecting rod 27 through the 13 spherical pair 7, and the 6th linear actuator 25 other ends are connected on the second connecting rod 20 through the 14 spherical pair 22, but the 4th linear actuator 9, the 5th linear actuator 24 and the 6th linear actuator 25 are as 20 motions of driving link single driving second connecting rod; The mode that also can make up is united 20 motions of driving second connecting rod, realizes the Three dimensional rotation of second connecting rod 20.The 7th linear actuator 12 1 ends are connected on the second connecting rod 20 through the 15 spherical pair 11; The 7th linear actuator 12 other ends are connected on the moving platform 15 through the 16 spherical pair 14; The 8th linear actuator 18 1 ends are connected on the second connecting rod 20 through the 17 spherical pair 19; The 8th linear actuator 18 other ends are connected on the moving platform 15 through the 18 spherical pair 17, have ring flange 16 on the moving platform 15, and terminal actuating units such as shower nozzle can be installed on the ring flange 16.But the 7th linear actuator 12 and the 8th linear actuator 18 are as 15 motions of driving link single driving moving platform, and the mode that also can make up is united 15 motions of driving moving platform, realize that the two dimension of moving platform 15 is rotated.
Map 2, said space eight mobility spray robots are united to drive and are realized the working state schematic representation that the place ahead eminence sprays down first linear actuator 4, second linear actuator 5, the 3rd linear actuator 30, the 4th linear actuator 9, the 5th linear actuator 24, the 6th linear actuator 25, the 7th linear actuator 12, the 8th linear actuator 18.
Map 3, said space eight mobility spray robots are united to drive and are realized the working state schematic representation that the place ahead lower sprays down first linear actuator 4, second linear actuator 5, the 3rd linear actuator 30, the 4th linear actuator 9, the 5th linear actuator 24, the 6th linear actuator 25, the 7th linear actuator 12, the 8th linear actuator 18.
Map 4, said space eight mobility spray robots are united to drive and are realized the working state schematic representation that the right side sprays down first linear actuator 4, second linear actuator 5, the 3rd linear actuator 30, the 4th linear actuator 9, the 5th linear actuator 24, the 6th linear actuator 25, the 7th linear actuator 12, the 8th linear actuator 18.
Map 5, said space eight mobility spray robots are united to drive and are realized the working state schematic representation that the left side sprays down first linear actuator 4, second linear actuator 5, the 3rd linear actuator 30, the 4th linear actuator 9, the 5th linear actuator 24, the 6th linear actuator 25, the 7th linear actuator 12, the 8th linear actuator 18.

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.
CN2011104449980A 2011-12-28 2011-12-28 Eight-spatial-degree-of-motion spraying robot CN102513254A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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