CN102513255A - Seven-mobility spraying robot mechanism - Google Patents
Seven-mobility spraying robot mechanism Download PDFInfo
- Publication number
- CN102513255A CN102513255A CN2011104453435A CN201110445343A CN102513255A CN 102513255 A CN102513255 A CN 102513255A CN 2011104453435 A CN2011104453435 A CN 2011104453435A CN 201110445343 A CN201110445343 A CN 201110445343A CN 102513255 A CN102513255 A CN 102513255A
- Authority
- CN
- China
- Prior art keywords
- linear actuator
- connecting rod
- spherical pair
- mobility
- connection rod
- 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.)
- Pending
Links
Images
Abstract
The invention relates to a seven-mobility spraying robot mechanism, which comprises a first connection rod, a second connection rod, a movable platform, seven linear drivers and a frame. One end of the first connection rod is connected to the frame through a first spherical pair, the other end of the first connection rod is connected to the second connection rod through a first rotary pair, the other end of the second connection rod is connected to the movable platform through a second spherical pair, and the whole robot driven by the seven linear drivers in a joint mode can output movement with seven-mobility space. The seven-mobility spraying robot mechanism is flexible and accurate in output track, large in flexibility and working space, easy to operate and maintain and especially suitable for spraying operation occasions requiring both the first connection rod and the movable platform to achieve three-dimensional rotation output.
Description
Technical field
The present invention relates to the spray robot field, particularly seven mobility spraying robot robot mechanisms.
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 seven mobility spraying robot robot mechanisms; 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 moving platform all to realize the spraying operation occasion that Three dimensional rotation is exported.
The present invention achieves the above object through following technical scheme: seven mobility spraying robot robot mechanisms, 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 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 first revolute pair; The second connecting rod other end is connected on the moving platform through second spherical pair; 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, and the 4th linear actuator other end is connected on the second connecting rod through the tenth spherical pair, the rotation of the 4th linear actuator single driving second connecting rod.The 5th linear actuator one end is connected on the second connecting rod through the 11 spherical pair; The 5th linear actuator other end is connected on the moving platform through the 12 spherical pair; The 6th linear actuator one end is connected on the second connecting rod through the 13 spherical pair; The 6th linear actuator other end is connected on the moving platform through the 14 spherical pair, and the 7th linear actuator one end is connected on the second connecting rod through the 15 spherical pair, and the 7th linear actuator other end is connected on the moving platform through the 16 spherical pair; Have ring flange on the moving platform, terminal actuating units such as shower nozzle can be installed on the ring flange.But the 5th linear actuator, the 6th linear actuator and the 7th 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 the Three dimensional rotation of moving platform.
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 environmental protection is played a role.
2, mechanism structure of the present invention is simple, and is with low cost, need to be specially adapted to first connecting rod and moving platform all to realize the spraying operation occasion of Three dimensional 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 seven mobility spraying robot robot mechanisms according to the invention.
Fig. 2 is first kind of working state schematic representation of seven mobility spraying robot robot mechanisms according to the invention.
Fig. 3 is second kind of working state schematic representation of seven mobility spraying robot robot mechanisms according to the invention.
Fig. 4 is the third working state schematic representation of seven mobility spraying robot robot mechanisms according to the invention.
Fig. 5 is the 4th a kind of working state schematic representation of seven mobility spraying robot robot mechanisms according to the invention.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment technical scheme of the present invention is described further.
Map 4, said seven mobility spray coating mechanical hands are united to drive and are realized the working state schematic representation that the right side sprays down first linear actuator 3, second linear actuator 25, the 3rd linear actuator 26, the 4th linear actuator 20, the 5th linear actuator 6, the 6th linear actuator 9, the 7th linear actuator 15.
Claims (1)
1. seven mobility spraying robot robot mechanisms; 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 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 first revolute pair; The second connecting rod other end is connected on the moving platform through second spherical pair; 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 second connecting rod through the 11 spherical pair; The 5th linear actuator other end is connected on the moving platform through the 12 spherical pair, and the 6th linear actuator one end is connected on the second connecting rod through the 13 spherical pair, and the 6th linear actuator other end is connected on the moving platform through the 14 spherical pair; The 7th linear actuator one end is connected on the second connecting rod through the 15 spherical pair, and the 7th linear actuator other end is connected on the moving platform through the 16 spherical pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011104453435A CN102513255A (en) | 2011-12-28 | 2011-12-28 | Seven-mobility spraying robot mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011104453435A CN102513255A (en) | 2011-12-28 | 2011-12-28 | Seven-mobility spraying robot mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102513255A true CN102513255A (en) | 2012-06-27 |
Family
ID=46284467
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011104453435A Pending CN102513255A (en) | 2011-12-28 | 2011-12-28 | Seven-mobility spraying robot mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102513255A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106551925A (en) * | 2015-09-30 | 2017-04-05 | 中国医科大学附属第医院 | Tung oil tree kind shell refines lignans extract, preparation method and applications |
| CN110314784A (en) * | 2019-07-15 | 2019-10-11 | 合肥工业大学 | A kind of mobile spray robot with scalable mechanical arm for marine surface coating |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN202377140U (en) * | 2011-12-28 | 2012-08-15 | 广西大学 | Seven-range-of-motion spraying robot mechanism |
-
2011
- 2011-12-28 CN CN2011104453435A patent/CN102513255A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN202377140U (en) * | 2011-12-28 | 2012-08-15 | 广西大学 | Seven-range-of-motion spraying robot mechanism |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106551925A (en) * | 2015-09-30 | 2017-04-05 | 中国医科大学附属第医院 | Tung oil tree kind shell refines lignans extract, preparation method and applications |
| CN110314784A (en) * | 2019-07-15 | 2019-10-11 | 合肥工业大学 | A kind of mobile spray robot with scalable mechanical arm for marine surface coating |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102039240B (en) | Spraying robot mechanism | |
| CN103707292B (en) | Based on the 6DOF industrial robot of XYZ rectangular co-ordinate joint and attitude wrist | |
| CN103737588A (en) | Multi-freedom-degree controllable spray painting robot | |
| CN201940317U (en) | Painting robot mechanism | |
| CN103736617B (en) | A kind of five degree of freedom controllable-mechanism type flush coater | |
| CN105057148A (en) | Six-degree-of-freedom seven-rod series-parallel spraying robot | |
| CN202377140U (en) | Seven-range-of-motion spraying robot mechanism | |
| CN102513255A (en) | Seven-mobility spraying robot mechanism | |
| CN102120205B (en) | Single-spray gun spraying five-axis hybrid robot | |
| CN202378046U (en) | Robot mechanism with seven ranges of motion in space | |
| CN102513254A (en) | Eight-spatial-degree-of-motion spraying robot | |
| CN202377141U (en) | Spraying robot with eight spatial ranges of motion | |
| CN202377146U (en) | Six-activity-degree spraying manipulator | |
| CN102514001A (en) | Spatial eight-degrees-of-freedom welding robot mechanism | |
| CN102513258B (en) | Six-mobility spraying mechanical arm | |
| CN204746702U (en) | Seven pole connection in series -parallel spraying machine people of 6 -degree of freedom | |
| CN101966506B (en) | Plane three degree-of-freedom parallel mechanism and spray painting robot | |
| CN109590992B (en) | Multi-joint parallel bionic robot | |
| CN202555453U (en) | Two degree-of-freedom parallel spraying robot | |
| CN102513993A (en) | Seven-range of motion carrying robot | |
| CN202378052U (en) | Robot palletizer with six ranges of motion | |
| CN202357162U (en) | 3-3-3 type nine-range-of-motion robot mechanism | |
| CN102431030A (en) | Spatial six-mobility drilling robot mechanism | |
| CN102514000A (en) | Six-motion stacking robot | |
| CN202480091U (en) | Welding robot mechanism with space eight motion degrees |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20120627 |