CN103737588A - Multi-freedom-degree controllable spray painting robot - Google Patents

Abstract

The invention discloses a multi-degree-of-freedom controllable spraying robot. The spraying robot includes a waist lifting mechanism, a shoulder lifting mechanism, an elbow rotating mechanism, a spray gun rotating mechanism, a frame and a rotary platform. The frame is installed on the rotary platform. The main motor can be Installed on the frame, it controls the rotation of the first active rod, the second active rod, the third active rod and the spray gun base, thereby driving the rotation of the waist lifting mechanism, shoulder lifting mechanism, elbow rotating mechanism and spray gun rotating mechanism in the working space. The rod of the present invention can be made into a light rod, the mechanism has good dynamic performance, stable performance and good reliability, and can meet the requirements of high-speed and high-precision spraying; and the working space is large, the flexibility is high, the control is convenient, the processing is simple, and the work is reliable, not only It is suitable for small general spraying operations, and can also be used for large or heavy structural spraying operations.

Description

A multi-degree-of-freedom controllable spraying robot

technical field

The invention relates to the field of industrial robots, in particular to a multi-degree-of-freedom controllable spraying robot.

Background technique

Spraying robot is a kind of industrial robot for spraying operation, which can replace manual, complete various spraying operations in an environmentally friendly and efficient manner. It is widely used in automobile body spraying and other fields, and has become one of the most widely used industrial robots in the market. The existing mechanical structures of spraying robots mainly include parallelogram structure and side-mounted or pendulum structure, which are widely used because of their relatively large working space and relatively flexible movements. However, with the development of the industry, this type of traditional open-chain series spraying robot mechanism has gradually become difficult to meet the needs of production in terms of work space and flexibility, and due to its own structural limitations, the motors need to be installed at the joints, resulting in heavy arm weight, Poor rigidity, large inertia, etc., and poor dynamic performance of the mechanism make it difficult to meet the increasingly stringent requirements for high-speed, high-precision and large-scale spraying operations.

Contents of the invention

The purpose of the present invention is to provide a multi-degree-of-freedom controllable spraying robot, which solves the problem that the working space and flexibility of the traditional open-chain series spraying robot mechanism are not large enough, and the motors need to be installed at the joints, resulting in heavy arm weight, poor rigidity, Problems such as large inertia and poor dynamic performance of the mechanism meet the requirements of high-speed and high-precision spraying. It is not only suitable for small-scale ordinary spraying operations, but also for large-scale or heavy-duty structural spraying operations.

The present invention achieves the above object through the following technical solutions: a multi-degree-of-freedom controllable spraying robot, including a waist lifting mechanism, a shoulder lifting mechanism, an elbow turning mechanism, a spray gun turning mechanism, a frame and a turning platform;

The frame is connected to the slewing platform through the first rotating pair, so as to realize the arbitrary and flexible movement of the entire robot working space;

The waist lifting mechanism includes a first active rod, a first connecting rod and a waist rod. One end of the first active rod is connected to the frame through a second rotating pair, and the other end is connected to the first connecting rod through a third rotating pair; A connecting rod is connected with the waist rod through the fourth rotation pair, and the waist rod is installed on the frame through the fifth rotation pair; the movement of the first active rod can control the rotation of the waist rod in the plane.

The shoulder lifting mechanism includes a second active rod, a second connecting rod, a third connecting rod, a fourth connecting rod and a shoulder rod. One end of the second active rod is connected to the frame through the sixth rotating pair, and the other end is connected through the seventh rotating pair. The rotating pair is connected to one end of the second connecting rod; the other end of the second connecting rod is connected to one end of the third connecting rod through the eighth rotating pair, and the other end of the third connecting rod is installed on the frame through the fifth rotating pair; the fourth connecting rod One end of the rod is connected to the third connecting rod through the eighth rotating pair, and the other end is connected to one end of the shoulder rod through the ninth rotating pair; the other end of the shoulder rod is installed on the waist rod through the tenth rotating pair; the movement of the second active rod can be controlled Rotation of the shoulder rod in the plane.

The toggle mechanism includes a third active rod, a fifth connecting rod and a toggle rod. One end of the third active rod is installed on the frame through the fifth rotating pair, and the other end is connected to one end of the fifth connecting rod through the eleventh rotating pair. The other end of the fifth connecting rod is connected to the toggle rod through the twelfth revolving pair, and the toggle rod is installed on the shoulder rod through the thirteenth revolving pair; the movement of the third active rod can control the rotation of the toggle rod in the plane.

The rotary mechanism of the spray gun includes a spray gun base and a spray gun, the spray gun base is connected with the toggle through the fourteenth rotating pair, and the spray gun is hinged on the spray gun base through a reaming hole. The movement of the spray gun base can control the rotation of the spray gun in the space. Wherein the motor can be installed on the spray gun base or on the frame or not install the motor according to the work requirements, so that the spray gun base is fixed on the toggle.

The motors installed on the frame can respectively drive the rotation of the first active lever, the second active lever, the third active lever and the spray gun base, thereby controlling the waist lifting mechanism, the shoulder lifting mechanism, the elbow turning mechanism and the spray gun turning The rotation of the mechanism according to the work requirements, and the rotation of the frame on the slewing platform according to the work requirements can realize the flexible movement of the spray gun in the work space and complete the spraying operation.

The outstanding advantages of the present invention are:

1. The robot has a large working space and high flexibility;

2. The main motors can be installed on the frame, which improves the stress of each rod. The robot has a small moment of inertia and good dynamic performance, which can better meet the requirements of high-speed and high-precision spraying;

3. It is connected by a connecting rod and a rotating pair. The structure is simple, and the rod can be made into a light rod, which is easy to disassemble, transport and install, and is easy to maintain. It is not only suitable for small ordinary spraying operations, but also for heavy or large structure spraying operations.

Description of drawings

Fig. 1 is a schematic structural diagram of a multi-degree-of-freedom controllable spraying robot according to the present invention.

Fig. 2 is a schematic structural diagram of a waist lifting mechanism of a multi-degree-of-freedom controllable spraying robot according to the present invention.

Fig. 3 is a schematic structural diagram of a shoulder lifting mechanism of a multi-degree-of-freedom controllable spraying robot according to the present invention.

Fig. 4 is a schematic structural diagram of an elbow rotation mechanism of a multi-degree-of-freedom controllable painting robot according to the present invention.

Fig. 5 is a schematic structural diagram of a spray gun rotary mechanism of a multi-degree-of-freedom controllable spray robot according to the present invention.

Fig. 6 is a schematic structural diagram of a third active rod of a multi-degree-of-freedom controllable painting robot according to the present invention.

Fig. 7 is a schematic diagram of a toggle structure of a multi-degree-of-freedom controllable spraying robot according to the present invention.

Detailed ways

The technical solution of the present invention will be described below in conjunction with the accompanying drawings.

1, 2, 3, 4, 5, the multi-degree-of-freedom controllable spraying robot includes: a waist lifting mechanism, a shoulder lifting mechanism, an elbow rotation mechanism, a spray gun rotation mechanism, a frame 3 and a rotary platform 1 . The frame 3 is installed on the rotary platform 1 to realize any flexible movement of the entire robot working space.

Referring to Fig. 1 and Fig. 2, the frame 3 is connected to the rotary platform 1 through the first rotating pair 2.

Referring to Fig. 1 and Fig. 2, the waist elevating mechanism is composed of a first active rod 5, a first connecting rod 7 and a waist rod 9. The first active rod 5 is connected on the frame 3 through the second rotating pair 4, the other end of the first active rod 5 is connected with the first connecting rod 7 through the third rotating pair 6, and the first connecting rod 7 is connected through the fourth rotating pair 8 Linked to the waist rod 9, one end of the waist rod 9 is installed on the frame 3 through the fifth rotating pair 24. The movement of the first active rod 5 can control the rotation of the waist rod 9 in the plane.

Referring to Fig. 1 and Fig. 3, the shoulder lifting mechanism is composed of the second active rod 27, the second connecting rod 23, the third connecting rod 22, the fourth connecting rod 21 and the shoulder rod 12. The second active lever 27 is connected on the frame 3 through the sixth rotating pair 28, the other end of the second active lever 27 is connected on the second connecting rod 23 through the seventh rotating pair 26, and the other end of the second connecting rod 23 is connected through the eighth rotating pair. The rotating pair 20 is connected with one end of the third connecting rod 22 , and the other end of the third connecting rod 22 is installed on the frame 3 through the fifth rotating pair 24 . One end of the fourth connecting rod 21 is connected to the third connecting rod 22 through the eighth rotating pair 20 , the other end of the fourth connecting rod 21 is connected to the shoulder rod 12 through the ninth rotating pair 11 , and one end of the shoulder rod 12 is installed through the tenth rotating pair 10 On the waist bar 9. The movement of the second active rod 27 can control the rotation of the shoulder rod 12 in the plane.

With reference to Fig. 1,4,6,7, described elbow turning mechanism is made up of the 3rd active lever 25, the 5th connecting rod 29 and toggle lever 17. The third active rod 25 is installed on the frame 3 through the fifth rotating pair 24 . One end of the third active rod 25 is connected to one end of the fifth connecting rod 29 through the eleventh rotating pair 30 , and the other end of the fifth connecting rod 29 is connected to the toggle rod 17 through the twelfth rotating pair 18 . The toggle rod 17 is mounted on the shoulder rod 12 through the thirteenth rotating pair 19 . The movement of the third active rod 25 can control the rotation of the toggle rod 17 in the plane.

Referring to Fig. 1 and Fig. 5, the spray gun rotary mechanism is composed of a spray gun base 14 and a spray gun 16. The spray gun base 14 is connected with the toggle 17 through the fourteenth rotating pair 13 , and the spray gun 16 is hinged on the spray gun base 14 through the reaming hole 15 . The movement of the spray gun base 14 can control the rotation of the spray gun 16 in space.

The rotation of the first active lever 5, the second active lever 27, the third active lever 25 and the spray gun base 14 can be driven respectively by the motor, thereby controlling the waist lifting mechanism, the shoulder lifting mechanism, the elbow rotary mechanism, and the spray gun rotary mechanism to press The rotation required by the work and the rotation of the frame 3 on the rotary platform 1 according to the work requirements can realize the flexible movement of the spray gun 16 in the work space to complete the spraying operation.

Claims (1)

1. the controlled spray robot of multiple degrees of freedom, comprises waist elevating mechanism, shoulder elevating mechanism, elbow slew gear, spray gun slew gear, frame and revolving dial; It is characterized in that:

Described frame is connected on revolving dial by the first revolute pair;

Described waist elevating mechanism comprises the first driving lever, first connecting rod and waist bar, and first driving lever one end is connected in frame by the second revolute pair, and the other end is connected with first connecting rod by the 3rd revolute pair; First connecting rod is connected with waist bar by the 4th revolute pair, and waist bar is arranged in frame by the 5th revolute pair;

Described shoulder elevating mechanism comprises the second driving lever, second connecting rod, third connecting rod, the 4th connecting rod and shoulder bar, and second driving lever one end is connected in frame by the 6th revolute pair, and the other end is connected on second connecting rod one end by the 7th revolute pair; The second connecting rod other end is connected with third connecting rod one end by the 8th revolute pair, and the third connecting rod other end is arranged in frame by the 5th revolute pair; The 4th connecting rod one end is connected with third connecting rod by the 8th revolute pair, and the other end is connected with shoulder bar one end by the 9th revolute pair; The shoulder bar other end is arranged on waist bar by the tenth revolute pair;

Described elbow slew gear comprises the 3rd driving lever, the 5th connecting rod and toggle link, and the 3rd driving lever one end is arranged in frame by the 5th revolute pair, and the other end is connected with the 5th connecting rod one end by the 11 revolute pair; The 5th connecting rod other end is connected on toggle link by the 12 revolute pair, and toggle link is arranged on shoulder bar by the 13 revolute pair;

Described spray gun slew gear comprises spray gun pedestal and spray gun, and spray gun pedestal is connected with toggle link by the 14 revolute pair, and spray gun is hinged on spray gun pedestal by fraising.

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