CN103752448A - Multi-degree-of-freedom spraying robot - Google Patents

Multi-degree-of-freedom spraying robot Download PDF

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CN103752448A
CN103752448A CN201310672442.6A CN201310672442A CN103752448A CN 103752448 A CN103752448 A CN 103752448A CN 201310672442 A CN201310672442 A CN 201310672442A CN 103752448 A CN103752448 A CN 103752448A
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connecting rod
rod
rotating pair
spray gun
active
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蔡敢为
丁侃
张�林
石慧
王麾
范雨
关卓怀
王少龙
王小纯
李岩舟
温芳
杨旭娟
周晓蓉
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Guangxi University
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Guangxi University
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    • 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 three-dimensional [3D] surfaces

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  • Robotics (AREA)
  • Spray Control Apparatus (AREA)
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Abstract

本发明公开一种多自由度喷涂机器人，包括腰升降机构、肩升降机构、肘回转机构、喷枪回转机构、机架及回转平台，机架安装在回转平台上，所有电机可安装在机架上，控制第一主动杆、第二主动杆、第三主动杆及喷枪基座回转，从而带动腰升降机构、肩升降机构、肘回转机构及喷枪回转机构在工作空间的回转。本发明杆件可制成轻杆，机构动力学性能好、性能稳定、可靠性好，能满足高速高精度喷涂要求；且工作空间大，灵活度高，控制方便，加工简单，工作可靠，不仅适应于小型普通喷涂作业，还可用于大型或重型结构喷涂作业。

Figure 201310672442

The invention discloses a multi-degree-of-freedom spraying robot, which includes a waist lifting mechanism, a shoulder lifting mechanism, an elbow turning mechanism, a spray gun turning mechanism, a frame and a rotary platform. The frame is installed on the rotary platform, and all motors can be installed on the frame. , control 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, the shoulder lifting mechanism, the elbow rotating mechanism and the spray gun rotating mechanism in the working space. The rod of the present invention can be made into a light rod, the dynamic performance of the mechanism is good, the performance is stable, and the reliability is good, which 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.

Figure 201310672442

Description

一种多自由度喷涂机器人A multi-degree-of-freedom spraying robot

技术领域technical field

本发明涉及工业机器人领域，具体是一种多自由度喷涂机器人。The invention relates to the field of industrial robots, in particular to a multi-degree-of-freedom spraying robot.

背景技术Background technique

喷涂机器人是一种进行喷涂作业的工业机器人，能够代替人工，环保、高效的完成各种喷涂作业，广泛应用于汽车车身喷涂等领域，已成为市场上应用最多的工业机器人之一。现有的喷涂机器人机械结构主要有平行四边形结构和侧置式或摆式结构两种形式，因其具有相对较大工作空间和较为灵活的动作得到了广泛应用。但这类传统开链式串联喷涂机器人机构随着工业的发展，工作空间和灵活度逐渐难以满足生产的需求，并且因其自身结构的限制，电机都需要安装在连接处，导致手臂重量大、刚性差、惯量大等问题，机构动力学性能差，难以满足日益严格的高速高精度及大型喷涂作业要求。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 serial 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 and 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.

发明内容Contents of the invention

本发明的目的在于提供一种多自由度喷涂机器人，解决传统开链式串联喷涂机器人机构工作空间和灵活度不够大，且电机都需要安装在连接处，导致手臂重量大、刚性差、惯量大，机构动力学性能差等问题，满足高速高精度喷涂要求，不仅适应于小型普通喷涂作业，还可用于大型或重型结构喷涂作业。The purpose of the present invention is to provide a multi-degree-of-freedom 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 connection, resulting in heavy arm weight, poor rigidity, and large inertia , Poor dynamic performance of the mechanism and other problems, it meets the requirements of high-speed and high-precision spraying, not only suitable for small-scale ordinary spraying operations, but also for large-scale or heavy-duty structural spraying operations.

本发明通过以下技术方案达到上述目的：一种多自由度喷涂机器人，包括腰升降机构、肩升降机构、肘回转机构、喷枪回转机构、机架及回转平台；The present invention achieves the above object through the following technical solutions: a multi-degree-of-freedom 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;

所述机架通过第一转动副连接在回转平台上，实现整个机器人工作空间任意灵活运动。The frame is connected to the slewing platform through the first rotating pair, so as to realize arbitrary and flexible movement of the entire robot working space.

所述腰升降机构包括第一主动杆、第一连杆和腰杆，第一主动杆一端通过第二转动副连接在机架上，另一端通过第三转动副与第一连杆一端相连；第一连杆另一端通过第四转动副与腰杆相连，腰杆一端通过第五转动副安装在机架上；第一主动杆的运动可控制腰杆在平面内的转动。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 one end of the first connecting rod through a third rotating pair; The other end of the first connecting rod is connected with the waist bar through the fourth rotating pair, and one end of the waist bar is installed on the frame through the fifth rotating pair; the movement of the first active rod can control the rotation of the waist bar in the plane.

所述肩升降机构包括第二主动杆、第二连杆、第三连杆、第四连杆和肩杆，第二主动杆一端通过第六转动副连接在机架上，另一端通过第七转动副连接在第二连杆一端上；第二连杆另一端通过第八转动副与第三连杆一端相连；第三连杆另一端通过第五转动副连接到机架，第四连杆一端通过第八转动副与第三连杆相连，另一端通过第九转动副与肩杆相连，肩杆通过第十二转动副安装在腰杆上；所述第二主动杆和第三连杆优选为长度尺寸相等的两杆，从而使第二主动杆的运动同步的专递给第三连杆，使控制简单化，并且减少生产成本。第二主动杆的运动可控制肩杆在平面内的转动。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; the other end of the third connecting rod is connected to the frame through the fifth rotating pair, and the fourth connecting rod One end is connected to the third connecting rod through the eighth rotating pair, the other end is connected to the shoulder rod through the ninth rotating pair, and the shoulder rod is installed on the waist rod through the twelfth rotating pair; the second active rod and the third connecting rod It is preferably two rods with the same length and size, so that the movement of the second active rod is synchronously delivered to the third connecting rod, which simplifies the control and reduces the production cost. The movement of the second active rod can control the rotation of the shoulder rod in the plane.

所述肘回转机构包括第三主动杆、第五连杆、第六连杆、第七连杆、第八连杆、第九连杆和肘杆，第三主动杆一端通过第五转动副连接在机架上，另一端通过第十转动副与第五连杆相连；第五连杆通过第十一转动副连接在第六连杆上，第六连杆通过第十二转动副安装在腰杆上，第六连杆一端通过第十一转动副与第七连杆一端相连，第七连杆另一端通过第十三转动副连接在肘杆上，肘杆通过第十四转动副安装在肩杆上，肘杆另一端通过第十五转动副与第八连杆相连，第八连杆通过第十六转动副连接在第六连杆上，第六连杆通过第十六转动副与第九连杆相连，第九连杆另一端通过第十七转动副与第三主动杆相连；第三主动杆的运动可控制肘杆在平面内的转动。其中，第五连杆和第九连杆优选为长度尺寸相等的两杆，第七连杆和第八连杆优选为长度尺寸相等的两杆。这样对应两连杆相等的长度尺寸，可以保证第三主动杆运动的等速传递，方便控制肘杆的运动且降低生产加工成本。The toggle mechanism includes a third active rod, a fifth connecting rod, a sixth connecting rod, a seventh connecting rod, an eighth connecting rod, a ninth connecting rod and a toggle, and one end of the third active rod is connected to the fifth rotating pair On the frame, the other end is connected to the fifth connecting rod through the tenth rotating pair; the fifth connecting rod is connected to the sixth connecting rod through the eleventh rotating pair, and the sixth connecting rod is installed on the waist through the twelfth rotating pair On the rod, one end of the sixth connecting rod is connected to one end of the seventh connecting rod through the eleventh rotating pair, the other end of the seventh connecting rod is connected to the toggle rod through the thirteenth rotating pair, and the toggle rod is installed on the On the shoulder rod, the other end of the toggle rod is connected to the eighth connecting rod through the fifteenth rotating pair, the eighth connecting rod is connected to the sixth connecting rod through the sixteenth rotating pair, and the sixth connecting rod is connected to the sixth connecting rod through the sixteenth rotating pair. The ninth connecting rod is connected, and the other end of the ninth connecting rod is connected with the third active rod through the seventeenth rotating pair; the movement of the third active rod can control the rotation of the toggle in the plane. Wherein, the fifth connecting rod and the ninth connecting rod are preferably two rods having the same length and dimension, and the seventh connecting rod and the eighth connecting rod are preferably two rods having the same length and dimension. In this way, corresponding to the equal length dimensions of the two connecting rods, the constant speed transmission of the motion of the third active rod can be ensured, which facilitates the control of the motion of the toggle rod and reduces the production and processing costs.

所述喷枪回转机构包括喷枪基座和喷枪，喷枪基座通过第十八转动副与肘杆相连，喷枪通过铰孔铰接在喷枪基座上。喷枪基座的运动可控制喷枪在空间内的回转。其中电机可安装在喷枪基座上或安装在机架上亦或根据工作要求不安装电机，使喷枪基座固定在肘杆。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 eighteenth 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 base of the spray gun or installed on the frame or not install the motor according to the work requirements, so that the base of the spray gun is fixed on the toggle.

通过安装在机架上的电机可分别驱动所述第一主动杆、第二主动杆、第三主动杆和喷枪基座的回转，从而控制腰升降机构、肩升降机构、肘回转机构、喷枪回转机构按工作要求的回转，及根据工作需要机架在回转平台的绕轴转动，可实现喷枪在工作空间内的灵活运动，完成喷涂作业。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.

本发明的突出优点在于：The outstanding advantages of the present invention are:

1、机器人工作空间大，灵活度高；1. The robot has a large working space and high flexibility;

2、所有电机均可安装在机架上，改善了各杆件的受力情况，机器人运动惯量小，动力学性能好，能较好满足高速高精度喷涂的要求；2. All 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、采用连杆和转动副连接，结构简单，且杆件可做成轻杆易于分解运输及安装，维护保养简单，不仅适用于小型普通喷涂作业，还可用于重型或大型结构喷涂作业。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.

4、采用优选尺寸后，控制简单。4. After adopting the optimal size, the control is simple.

附图说明Description of drawings

图1为本发明所述一种多自由度喷涂机器人的结构示意图。Fig. 1 is a schematic structural diagram of a multi-degree-of-freedom spraying robot according to the present invention.

图2为本发明所述一种多自由度喷涂机器人的腰升降机构结构示意图。Fig. 2 is a schematic structural diagram of a waist lifting mechanism of a multi-degree-of-freedom spraying robot according to the present invention.

图3为本发明所述一种多自由度喷涂机器人的肩升降机构结构示意图。Fig. 3 is a structural schematic diagram of a shoulder lifting mechanism of a multi-degree-of-freedom spraying robot according to the present invention.

图4为本发明所述一种多自由度喷涂机器人的肘回转机构结构示意图。Fig. 4 is a schematic structural diagram of an elbow turning mechanism of a multi-degree-of-freedom painting robot according to the present invention.

图5为本发明所述一种多自由度喷涂机器人的喷枪回转机构结构示意图。Fig. 5 is a structural schematic diagram of a spray gun rotary mechanism of a multi-degree-of-freedom spray robot according to the present invention.

图6为本发明所述一种多自由度喷涂机器人的第三主动杆或第六连杆的结构示意图。Fig. 6 is a schematic structural view of the third active rod or the sixth connecting rod of a multi-degree-of-freedom painting robot according to the present invention.

图7为本发明所述一种多自由度喷涂机器人的肘杆结构示意图。Fig. 7 is a schematic diagram of the toggle structure of a multi-degree-of-freedom painting robot according to the present invention.

具体实施方式Detailed ways

下面结合附图对本发明的技术方案作说明。The technical solution of the present invention will be described below in conjunction with the accompanying drawings.

对照图1、2、3、4、5，所述一种多自由度喷涂机器人包括：腰升降机构、肩升降机构、肘回转机构、喷枪回转机构、机架3及回转平台1。所述机架3安装在回转平台1上，实现整个机器人工作空间任意灵活运动。Referring to Figures 1, 2, 3, 4, 5, the multi-degree-of-freedom 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.

对照图1、图2，所述机架3通过第一转动副2连接在回转平台1上。Referring to FIG. 1 and FIG. 2 , the frame 3 is connected to the rotary platform 1 through the first rotating pair 2 .

对照图1、图2，所述腰升降机构由第一主动杆5、第一连杆8和腰杆10组成。第一主动杆5通过第二转动副4连接在机架3上，第一主动杆5另一端通过第三转动副7与第一连杆8相连，第一连杆8通过第四转动副9与腰杆10相连，腰杆10一端通过第五转动副34安装在机架3上。第一主动杆5的运动可控制腰杆10在平面内的转动。Referring to Fig. 1 and Fig. 2, the waist elevating mechanism is composed of a first active rod 5, a first connecting rod 8 and a waist rod 10. 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 8 through the third rotating pair 7, and the first connecting rod 8 is connected through the fourth rotating pair 9 It is connected with the waist rod 10 , and one end of the waist rod 10 is installed on the frame 3 through the fifth rotating pair 34 . The movement of the first active rod 5 can control the rotation of the waist rod 10 in the plane.

对照图1、图3，所述肩升降机构由第二主动杆37、第二连杆33、第三连杆31、第四连杆28及肩杆16组成。第二主动杆37通过第六转动副38连接在机架3上，第二主动杆37另一端通过第七转动副36连接在第二连杆33上，第二连杆33另一端通过第八转动副30与第三连杆31相连，第三连杆31另一端通过第五转动副34连接到机架3。第四连杆28一端通过第八转动副30与第三连杆31相连，第四连杆28另一端通过第九转动副14与肩杆16相连，肩杆16通过第十二转动副12安装在腰杆10上。第二主动杆37的运动可控制肩杆16在平面内的转动。Referring to Fig. 1 and Fig. 3, the shoulder lifting mechanism is composed of the second active rod 37, the second connecting rod 33, the third connecting rod 31, the fourth connecting rod 28 and the shoulder rod 16. The second active rod 37 is connected to the frame 3 through the sixth rotating pair 38, the other end of the second active rod 37 is connected to the second connecting rod 33 through the seventh rotating pair 36, and the other end of the second connecting rod 33 is connected to the second connecting rod 33 through the eighth rotating pair. The rotating pair 30 is connected to the third connecting rod 31 , and the other end of the third connecting rod 31 is connected to the frame 3 through the fifth rotating pair 34 . One end of the fourth connecting rod 28 is connected with the third connecting rod 31 through the eighth rotating pair 30, and the other end of the fourth connecting rod 28 is connected with the shoulder rod 16 through the ninth rotating pair 14, and the shoulder rod 16 is installed through the twelfth rotating pair 12 On the waist bar 10. The movement of the second active rod 37 can control the rotation of the shoulder rod 16 in the plane.

对照图1、4、6、7，所述肘回转机构由第三主动杆35、第五连杆29、第六连杆27、第七连杆25、第八连杆15、第九连杆11及肘杆22组成。第三主动杆35通过第五转动副34连接在机架3上。第三主动杆35一端通过第十转动副32与第五连杆29相连，第五连杆29通过第十一转动副26连接在第六连杆27上。第六连杆27通过第十二转动副12安装在腰杆10上，第六连杆27一端通过第十一转动副26与第七连杆25相连，第七连杆25另一端通过第十三转动副23连接在肘杆22上。肘杆22通过第十四转动副24安装在肩杆16上。肘杆22另一端通过第十五转动副17与第八连杆15相连，第八连杆15通过第十六转动副13连接在第六连杆27上，第六连杆27通过第十六转动副13与第九连杆11相连，第九连杆11另一端通过第十七转动副6与第三主动杆35相连。第三主动杆35的运动可控制肘杆22在平面内的转动。With reference to Fig. 1, 4, 6, 7, described elbow turning mechanism is made up of the 3rd active rod 35, the 5th connecting rod 29, the 6th connecting rod 27, the 7th connecting rod 25, the 8th connecting rod 15, the 9th connecting rod 11 and toggle 22 form. The third active lever 35 is connected to the frame 3 through the fifth rotating pair 34 . One end of the third active rod 35 is connected to the fifth connecting rod 29 through the tenth rotating pair 32 , and the fifth connecting rod 29 is connected to the sixth connecting rod 27 through the eleventh rotating pair 26 . The sixth connecting rod 27 is installed on the waist rod 10 through the twelfth rotating pair 12, one end of the sixth connecting rod 27 is connected with the seventh connecting rod 25 through the eleventh rotating pair 26, and the other end of the seventh connecting rod 25 is connected through the tenth rotating pair. Three rotating pairs 23 are connected on the toggle lever 22 . The toggle rod 22 is mounted on the shoulder rod 16 through a fourteenth rotating pair 24 . The other end of the toggle lever 22 is connected to the eighth connecting rod 15 through the fifteenth rotating pair 17, the eighth connecting rod 15 is connected to the sixth connecting rod 27 through the sixteenth rotating pair 13, and the sixth connecting rod 27 is connected to the sixth connecting rod 27 through the sixteenth rotating pair. The rotating pair 13 is connected with the ninth connecting rod 11 , and the other end of the ninth connecting rod 11 is connected with the third driving rod 35 through the seventeenth rotating pair 6 . The movement of the third active lever 35 can control the rotation of the toggle lever 22 in the plane.

对照图1、图5，所述喷枪回转机构由喷枪基座19及喷枪21组成。喷枪基座19通过第十八转动副18与肘杆22相连，喷枪21通过铰孔20铰接在喷枪基座19上。喷枪基座19的运动可控制喷枪21在空间的回转。Referring to Fig. 1 and Fig. 5, the rotary mechanism of the spray gun is composed of a spray gun base 19 and a spray gun 21. The spray gun base 19 is connected to the toggle lever 22 through the eighteenth rotating pair 18 , and the spray gun 21 is hinged on the spray gun base 19 through the reaming hole 20 . The movement of the spray gun base 19 can control the rotation of the spray gun 21 in space.

通过安装在机架上的电机可分别驱动所述第一主动杆5、第二主动杆37、第三主动杆35和喷枪基座19的回转，从而控制腰升降机构、肩升降机构、肘回转机构和喷枪回转机构按工作要求的回转，及根据工作需要机架3在回转平台1的绕轴转动，可实现喷枪21在工作空间内的灵活运动，完成喷涂作业。The rotation of the first active lever 5, the second active lever 37, the third active lever 35 and the spray gun base 19 can be driven respectively by the motor installed on the frame, thereby controlling the waist lifting mechanism, the shoulder lifting mechanism, and the elbow rotation The rotation of the mechanism and the spray gun rotary mechanism according to the work requirements, 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 21 in the work space and complete the spraying operation.

Claims (2)

1.一种多自由度喷涂机器人，包括腰升降机构、肩升降机构、肘回转机构、喷枪回转机构、机架及回转平台，其特征在于：1. A multi-degree-of-freedom spraying robot, comprising a waist elevating mechanism, a shoulder elevating mechanism, an elbow revolving mechanism, a spray gun revolving mechanism, a frame and a rotary platform, is characterized in that: 所述机架通过第一转动副连接在回转平台上；The frame is connected to the slewing platform through the first rotating pair; 所述腰升降机构包括第一主动杆、第一连杆和腰杆，第一主动杆一端通过第二转动副连接在机架上，另一端通过第三转动副与第一连杆一端相连；第一连杆另一端通过第四转动副与腰杆相连，腰杆一端通过第五转动副安装在机架上；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 one end of the first connecting rod through a third rotating pair; The other end of the first connecting rod is connected to the waist rod through the fourth rotation pair, and one end of the waist rod is installed on the frame through the fifth rotation pair; 所述肩升降机构包括第二主动杆、第二连杆、第三连杆、第四连杆和肩杆，第二主动杆一端通过第六转动副连接在机架上，另一端通过第七转动副连接在第二连杆一端上；第二连杆另一端通过第八转动副与第三连杆一端相连；第三连杆另一端通过第五转动副连接到机架，第四连杆一端通过第八转动副与第三连杆相连，另一端通过第九转动副与肩杆相连，肩杆通过第十二转动副安装在腰杆上；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; the other end of the third connecting rod is connected to the frame through the fifth rotating pair, and the fourth connecting rod One end is connected to the third connecting rod through the eighth rotating pair, the other end is connected to the shoulder rod through the ninth rotating pair, and the shoulder rod is installed on the waist rod through the twelfth rotating pair; 所述肘回转机构包括第三主动杆、第五连杆、第六连杆、第七连杆、第八连杆、第九连杆和肘杆，第三主动杆一端通过第五转动副连接在机架上，另一端通过第十转动副与第五连杆相连；第五连杆通过第十一转动副连接在第六连杆上，第六连杆通过第十二转动副安装在腰杆上，第六连杆一端通过第十一转动副与第七连杆一端相连，第七连杆另一端通过第十三转动副连接在肘杆上，肘杆通过第十四转动副安装在肩杆上，肘杆另一端通过第十五转动副与第八连杆相连，第八连杆通过第十六转动副连接在第六连杆上，第六连杆通过第十六转动副与第九连杆相连，第九连杆另一端通过第十七转动副与第三主动杆相连；The toggle mechanism includes a third active rod, a fifth connecting rod, a sixth connecting rod, a seventh connecting rod, an eighth connecting rod, a ninth connecting rod and a toggle, and one end of the third active rod is connected to the fifth rotating pair On the frame, the other end is connected to the fifth connecting rod through the tenth rotating pair; the fifth connecting rod is connected to the sixth connecting rod through the eleventh rotating pair, and the sixth connecting rod is installed on the waist through the twelfth rotating pair On the rod, one end of the sixth connecting rod is connected to one end of the seventh connecting rod through the eleventh rotating pair, the other end of the seventh connecting rod is connected to the toggle rod through the thirteenth rotating pair, and the toggle rod is installed on the On the shoulder rod, the other end of the toggle rod is connected to the eighth connecting rod through the fifteenth rotating pair, the eighth connecting rod is connected to the sixth connecting rod through the sixteenth rotating pair, and the sixth connecting rod is connected to the sixth connecting rod through the sixteenth rotating pair. The ninth connecting rod is connected, and the other end of the ninth connecting rod is connected with the third active rod through the seventeenth rotating pair; 所述喷枪回转机构包括喷枪基座和喷枪，喷枪基座通过第十八转动副与肘杆相连，喷枪通过铰孔铰接在喷枪基座上。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 eighteenth rotating pair, and the spray gun is hinged on the spray gun base through a reaming hole. 2.根据权利要求1所述的多自由度喷涂机器人，其特征在于：所述第二主动杆和第三连杆为长度尺寸相等的两杆，第五连杆和第九连杆为长度尺寸相等的两杆，第七连杆和第八连杆为长度尺寸相等的两杆。2. The multi-degree-of-freedom spraying robot according to claim 1, characterized in that: the second active rod and the third connecting rod are two rods with equal length dimensions, and the fifth connecting rod and the ninth connecting rod have length dimensions Equal two rods, the seventh connecting rod and the eighth connecting rod are two rods equal in length and dimension.
CN201310672442.6A 2013-12-07 2013-12-07 Multi-degree-of-freedom spraying robot Pending CN103752448A (en)

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CN107199560A (en) * 2017-07-04 2017-09-26 广西大学 A kind of lightweight five degree of freedom controllable-mechanism type high-velocity spray robot
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Application publication date: 20140430