CN105690420A - Joint of parallel spray painting robot - Google Patents

Joint of parallel spray painting robot Download PDF

Info

Publication number
CN105690420A
CN105690420A CN 201610173312 CN201610173312A CN105690420A CN 105690420 A CN105690420 A CN 105690420A CN 201610173312 CN201610173312 CN 201610173312 CN 201610173312 A CN201610173312 A CN 201610173312A CN 105690420 A CN105690420 A CN 105690420A
Authority
CN
Grant status
Application
Patent type
Prior art keywords
pairs
platform
connecting
movable
sliding
Prior art date
Application number
CN 201610173312
Other languages
Chinese (zh)
Inventor
褚宏鹏
孙通帅
Original Assignee
褚宏鹏
Priority date (The priority date 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 date listed.)
Filing date
Publication date

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00Joints
    • B25J17/02Wrist joints
    • B25J17/0258Two-dimensional joints

Abstract

A joint of a parallel spray painting robot mainly comprises a fixed platform, a movable platform, an annular guide rail and four motion branch chains connecting the movable platform with the fixed platform. Each motion branch chain is composed of a lower connecting rod, a sliding block and an upper connecting rod. The lower connecting rods are connected with the fixed platform through rotation pairs or spherical pairs. The lower connecting rods and the sliding blocks are connected through rotation pairs or spherical pairs. The sliding blocks and the upper connecting rods are connected through rotation pairs or spherical pairs. The upper connecting rods and the movable platform are connected through rotation pairs or spherical pairs. The sliding blocks in the four motion branch chains are all connected with the annular guide rail through movable pairs. The sliding blocks can only circumferentially slide along the annular guide rail, and the annular guide rail is in a circular ring shape. The movable platform can do two-freedom-degree rotation relative to the fixed platform, and the joint has the beneficial effects of being small in size, large in rigidity, high in precision, large in rotating work space and the like and can be widely applied to the field of robot joints.

Description

并联喷涂机裔人关节 Parallel sprayer descent joint

技术领域 FIELD

[0001 ]本发明涉及一种机器人关节,特别涉及一种并联喷涂机器人关节。 [0001] The present invention relates to a robot joint, particularly, to a painting robot joints parallel.

技术背景 technical background

[0002]随着汽车工业的迅速崛起,汽车自动化喷涂技术也得到了快速发展,由于喷涂机器人的高度柔性化特点,喷涂机器人在自动化喷涂领域得到了广泛应用。 [0002] With the rapid rise of the automobile industry, car automated spraying technology has been rapid development, due to the highly flexible features painting robot, spraying robot has been widely used in the field of automated spraying. 目前喷涂机器人一般多为六自由度串联机器人,串联机器人具有较大的工作空间,但其积累误差大,不利于嗔涂精度的提尚。 Currently painting robots and more generally for six degrees of freedom serial robot, robot series with a larger working space, but its accumulated error is large, is not conducive to anger coated precision mention yet. 然而并联机构相对串联机构具有无累积误差、精度尚、动态响应好等优点,可应用于高精度操作机器人。 However, the relative serial parallel mechanism having means accumulated error, the accuracy is still good dynamic response, etc., it can be applied to high-precision robot operation. 但并联机构的工作空间普遍较小,严重制约了并联机构在工业和机器人等领域的应用。 But the work space parallel mechanism is generally small, severely restricted the application of parallel institutions in the field of industry and robotics.

[0003]结合串、并联机构的优点,可采用混联机构来构建精度较高的工业机器人,例如中国专利CN103433918A公开了一种五自由度混联工业机器人,通过三移动自由度串联机构来调节末端工具位置,通过末端两转动并联机构来调节末端工具姿态。 [0003] combines the advantages of series and parallel mechanism may be employed to construct the hybrid mechanism industrial robots with high precision, for example, Chinese patent CN103433918A discloses a five DOF Hybrid industrial robot, the freedom of movement is regulated by three mechanisms series end of the tool position, by adjusting the attitude of the end tool end two parallel rotation mechanism. 对于该类混联喷涂机器人,其关键技术在于末端姿态调节并联机构,为提高喷涂机器人的精度及其灵活度,要求末端姿态调节并联机构应具有较小的体积和较大的工作空间以及较高的刚度。 For such hybrid painting robot, wherein the end of the key technologies posture adjustment mechanism, improve the accuracy and flexibility of the painting robot, a parallel attitude adjustment required end body should have a smaller volume and larger working space and the high the stiffness. 普通的并联机构很难达到要求,国外对该类机构的研究较早,其中美国专利US5036724公开了一种大工作空间两转动并联机构,并成功应用于工业喷涂机器人腕关节中。 Ordinary parallel mechanism is difficult to meet the requirements, foreign research institutions like the earlier US patent US5036724 which discloses a large work space turning two parallel mechanism, and successfully used in industrial paint robot wrist joint. 目前对小体积、大工作空间转动类并联机构的研究虽取得了一定的成果,但新机构构型仍然较为匮乏,且已公开机构的刚度普遍较小,限制了该类机构在工业机器人中的进一步应用。 Currently on the small size, large work space turning research parallel mechanisms, although achieved some results, but the new body configuration is still relatively scarce, and the stiffness of the public institutions have been generally small, limiting the type of organization in an industrial robot further applications.

发明内容 SUMMARY

[0004]为解决上述问题,本发明提供一种并联喷涂机器人关节,可实现动平台相对定平台做两自由度转动,且该关节具有体积小、刚度大、转动工作空间大等优点,可广泛应用于机器人关节中。 [0004] In order to solve the above problems, the present invention provides a parallel painting robot joint, the movable platform may be implemented to do two degrees of freedom relative to a given platform is rotated, and the joint has a small size, high rigidity, a large rotation of the working space can be widely used in robot joints.

[0005]本发明的技术方案具体如下: [0005] aspect of the present invention is as follows:

[0006]本发明主要包括定平台、动平台、环形导轨,连接动、定平台的四条运动支链,其有三种连接方式: [0006] The present invention comprises a fixed platform, the movable platform, the ring rail, the movable connector, four motion branched given platform, which has three connections:

[0007]第一种连接方式:四条运动支链结构相同,每条运动支链均由下连杆、滑块和上连杆组成,下连杆一端与定平台通过定平台转动副连接,下连杆另一端与滑块通过下转动副连接,上连杆一端与动平台通过动平台转动副连接,上连杆另一端与滑块通过上转动副连接;四条运动支链中,四个定平台转动副轴线和四个下转动副轴线汇交于一点P,四个动平台转动副轴线和四个上转动副轴线汇交于一点Q,点Q与所述点P不重合;每条运动支链中的滑块均与环形导轨通过移动副连接,滑块只能沿环形导轨做圆周滑动,环形导轨为圆环形,其中心轴线过所述点P和点Q。 [0007] The first connection: the same four motion branched structure, the branched motion by each lower link, the upper link consisting of the slider and the lower link fixed at one end to the sub-rotatably connected via internet given platform, the the other end of the connecting rod and the sub-slider by rotation of the connector, one end of the link sub-rotatably connected by the movable platform moving platform, the upper link and the other end connected to the slider by rotating the sub; four motion branched chain, given four the axis of rotation of the platform and the sub-sub-four rotational axes intersect at the point P, four sub-rotation axis of the movable platform and the rotation axis of the four sub intersect at point Q, point Q does not coincide with the point P; each movement slider branched chain and are moved by the ring guideway sub connector, the slider can slide along a circular ring guideway, is a circular ring guideway, its central axis through the point P and the point Q.

[0008]第二种连接方式:四条运动支链结构相同,每条运动支链均由下连杆、滑块和上连杆组成,下连杆一端与定平台通过定平台转动副连接,下连杆另一端与滑块通过球面副连接,上连杆一端与动平台通过球面副连接,上连杆另一端与滑块通过上转动副连接;四条运动支链中,四个定平台转动副轴线汇交于一点P,四个上转动副轴线汇交于一点Q,点Q与所述点P不重合;每条运动支链中的滑块均与环形导轨通过移动副连接,滑块只能沿环形导轨做圆周滑动,环形导轨为圆环形,其中心轴线过所述点P和点Q。 [0008] The second connection: the same four motion branched structure, the branched motion by each lower link, the upper link consisting of the slider and the lower link fixed at one end to the sub-rotatably connected via internet given platform, the the other end of the connecting rod is connected with the slider through the sub spherical end of the rod and the movable platform is connected via the sub-spherical upper link and the other end of the slider by rotating the sub connection; four motion branched chain, four sub-rotatably fixed platform axes intersect at the point P, four secondary axis of rotation intersect at the point Q, point Q does not coincide with the point P; each slider movement branched chain are connected to the ring guideway moves through the sub-slider only can do along the circumference of the annular slide rail, the guide rail is a circular ring, the central axis through the point P and the point Q.

[0009]第三种连接方式:四条运动支链结构相同,每条运动支链均由下连杆、滑块和上连杆组成,下连杆一端与定平台通过球面副连接,下连杆另一端与滑块通过下转动副连接,上连杆一端与动平台通过动平台转动副连接,上连杆另一端与滑块通过球面副连接;四条运动支链中,四个下转动副轴线汇交于一点P,四个动平台转动副轴线汇交于一点Q,点Q与所述点P不重合;每条运动支链中的滑块均与环形导轨通过移动副连接,滑块只能沿环形导轨做圆周滑动,环形导轨为圆环形,其中心轴线过所述点P和点Q。 [0009] A third connection: the same four motion branched structure, the branched motion by each lower link, the upper link consisting of the slider and the lower link fixed at one end to the platform by connecting the sub-spherical lower link the other end of the slider is rotated by a sub-connection, one end of the link sub-rotatably connected by the movable platform moving platform, the upper link and the other end connected to the slider via the sub-spherical; four branched chain motion, the four sub-rotation axis intersect at the point P, the movable platform four secondary axis rotation intersect at the point Q, point Q does not coincide with the point P; each slider movement branched chain are connected to the ring guideway moves through the sub-slider only can do along the circumference of the annular slide rail, the guide rail is a circular ring, the central axis through the point P and the point Q.

[0010]本发明与现有技术相比具有如下优点: [0010] The present invention and the prior art has the following advantages:

[0011] (I)关节的动平台相对定平台转动工作空间大,转动角度可达±90度;(2)关节体积小,刚度大;(3)关节的四条运动支链之间相互耦合,大大提高了关节的受力性能;(4)关节中部为中空结构,线缆、管道等可从关节中间穿过,便于喷涂。 [0011] (I) of the moving platform relative to the joint rotation of the large working space given platform, the rotation angle of up to ± 90 degrees; Small (2) the volume of the joint, stiffness; mutual coupling between the four branched motion (3) joints, greatly improving the mechanical behavior of the joint; (4) may pass through the center joint from the intermediate joint is hollow, cables, pipes, etc., to facilitate spraying.

附图说明 BRIEF DESCRIPTION

[0012]图1是本发明实施例1立体结构示意简图. [0012] FIG. 1 is a schematic diagram of a three-dimensional structure of the present embodiment of the invention.

[0013]图2是本发明实施例1偏转状态立体结构示意简图. [0013] FIG. 2 is a perspective schematic structural diagram of a deflected state embodiment of the present invention.

[0014]图3是本发明实施例2立体结构示意简图. [0014] FIG. 3 is a perspective schematic structural diagram of embodiment 2 of the present embodiment of the invention.

[0015]图4是本发明实施例2偏转状态立体结构示意简图. [0015] Example 2 FIG 4 is a perspective schematic structural diagram of a deflected state embodiment of the present invention.

[0016]图5是本发明实施例3立体结构示意简图. [0016] FIG. 5 is a schematic diagram of three-dimensional structure of the present embodiment of the invention.

[0017]图6是本发明实施例3偏转状态立体结构示意简图. [0017] Example 3 FIG. 6 is a perspective schematic structural diagram of a deflected state embodiment of the present invention.

[0018] 图中:1.定平台,2.动平台,(厶3,83,03,03).下连杆,(厶4,84,04,04).滑块,(八5,B5,C5,D5).上连杆,6.环形导轨。 [0018] FIG: a given platform, the movable platform 2, (Si 3,83,03,03) lower link (Si 4,84,04,04) slider (eight 5, B5... , C5, D5). upper link, 6 ring guideway.

具体实施方式 detailed description

[0019]下面结合附图和实施例对本发明作进一步说明,在所有实施例中,所述Rij表示一个转动副,sij表示一个球面副,P ij表示一个移动副,其中i,j为自然数。 [0019] The drawings and embodiments below in conjunction with the present invention will be further described, in all embodiments, the Rij designates a rotational sub, Sij represents a spherical joint, P ij denotes a mobile vice, where i, j is a natural number.

[0020] 实施例1 [0020] Example 1

[0021]如图1、图2所示是本发明公开的第I个实施例,一种并联喷涂机器人关节,主要包括定平台1、动平台2、环形导轨6,连接动、定平台的四条运动支链。 [0021] As shown in FIG 1, FIG. 2 of the present invention is disclosed in Example I of embodiment a parallel painting robot joints, including a fixed platform, the movable platform 2, the annular rail 6, connected to move, given platform four sports branches. 四条运动支链结构相同,其中第一运动支链由下连杆A3、滑块A4和上连杆A5组成,下连杆A3—端与定平台I之间通过转动副Rl I连接,下连杆A3另一端与滑块A4通过转动副Rl 2连接;上连杆A5—端与滑块A4通过转动副R13连接,上连杆A5另一端与动平台2之间通过转动副R14连接。 The same four motion branched structure, wherein the first motion branched lower link A3, A4 and the upper link sliders composition A5, and the fixed end of the lower link A3- internet connection I between I by the rotation of the sub-Rl, even under the other end of the lever and the slider A3 A4 Rl 2 is connected via swivel joint; A5- end of the upper link is rotated by the sub slider R13 connected A4, A5 and the upper link and the other end connected to the movable platform 2 by rotation between the sub-R14. 第二运动支链由下连杆B3、滑块B4和上连杆B5组成,下连杆B3—端与定平台I之间通过转动副R21连接,下连杆B3另一端与滑块B4通过转动副R22连接;上连杆B5—端与滑块B4通过转动副R23连接,上连杆B5另一端与动平台2之间通过转动副R24连接。 Branched by the second motion link B3, B4 and the upper link sliders composition B5, between the lower link and the fixed end B3- I internet connection by rotating the sub-R21, the other end of the lower link slide B3 and B4 by R22 connected to the swivel joint; B5- end of the upper link connected to the slider by rotating the sub-B4 R23, the other end of the upper link B5 by rotation of the movable platform is connected between the two sub-R24. 第三运动支链由下连杆C3、滑块C4和上连杆C5组成,下连杆C3—端与定平台I之间通过转动副R31连接,下连杆C3另一端与滑块C4通过转动副R32连接;上连杆C5—端与滑块C4通过转动副R33连接,上连杆C5另一端与动平台2之间通过转动副R34连接。 A third motion branched C3 lower link, upper link and slider C4 C5 form, with the fixed end of the lower link C3- internet connection by rotation between the sub-R31 I, the other end of the lower link by C3 and C4 slider R32 connected to the swivel joint; C5- end of the upper link connected to the slider by rotating the sub-C4 R33, C5 and the other end of the upper link connected to the movable platform 2 by rotation between the sub-R34. 第四运动支链由下连杆D3、滑块D4和上连杆D5组成,下连杆D3—端与定平台I之间通过转动副R41连接,下连杆D3另一端与滑块D4通过转动副R42连接;上连杆D5—端与滑块D4通过转动副R43连接,上连杆D5另一端与动平台2之间通过转动副R44连接。 Branched by the fourth motion link D3, D4, and the upper link slider D5 composition, with the fixed end of the lower link D3- internet connection by rotation between the sub-R41 I, the other end of the lower link via D3 and D4 the slider R42 connected to the swivel joint; D5- end of the upper link connected to the slider by rotating the sub-D4 R43, D5 and the other end of the upper link connected to the movable platform 2 by rotation between the sub-R44.

[0022]第一运动支链中滑块A4与环形导轨6通过移动副P15连接,滑块A4只能沿环形导轨6做圆周滑动;第二运动支链中滑块B4与环形导轨6通过移动副P25连接,滑块B4只能沿环形导轨6做圆周滑动;第三运动支链中滑块C4与环形导轨6通过移动副P35连接,滑块C4只能沿环形导轨6做圆周滑动;第四运动支链中滑块D4与环形导轨6通过移动副P45连接,滑块D4只能沿环形导轨6做圆周滑动。 [0022] The first A4 motion branched slider 6 is connected with the annular guide rail by moving the sub-P15, A4 slide rail 6 can be slid along the circumference of the ring; the second motion B4 branched slider by moving the annular rail 6 P25 connected to the sub slider B4 rail 6 can slide along a circular ring; third motion slider branched C4 annular rail 6 is connected with the sub-P35 by moving the slider C4 rail 6 can slide along a circular ring; first D4 slider movement with the ring a branched four rail 6 through a mobile sub-P45, D4 slide rail 6 can slide along a circular ring.

[0023]所述转动副R11、转动副R12、转动副R21、转动副R22、转动副R31、转动副R32、转动副R41、转动副R42的轴线汇交于一点P;所述转动副R13、转动副R14、转动副R23、转动副R24、转动副R33、转动副R34、转动副R43、转动副R44的轴线汇交于一点Q,点Q与所述点P不重合。 [0023] The rotation of the sub-R11, rotating pair R12, rotating pair R21, rotating pair R22, rotating pair R31, rotating pair R32, rotating pair R41, R42 of the sub-axis of rotation intersect at the point P; the rotation of the sub-R13, rotation of the sub-R14, rotating pair R23, rotating pair R24, rotating pair R33, rotating pair R34, rotating pair R43, R44 axis of rotation of the sub intersect at the point Q, point Q with the point P do not coincide. 所述环形导轨6为圆环形,其中心轴线过所述点P和点Q。 The annular rail 6 is circular, the central axis through the point P and the point Q.

[0024] 实施例2 [0024] Example 2

[0025]如图3、图4所示是本发明公开的第2个实施例,一种并联喷涂机器人关节,主要包括定平台1、动平台2、环形导轨6,连接动、定平台的四条运动支链。 [0025] FIG. 3, FIG. 4 shows the present invention disclosed in the second embodiment, a parallel painting robot joints, including a fixed platform, the movable platform 2, the annular rail 6, connected to move, given platform four sports branches. 四条运动支链结构相同,其中第一运动支链由下连杆A3、滑块A4和上连杆A5组成,下连杆A3—端与定平台I之间通过转动副Rll连接,下连杆A3另一端与滑块A4通过球面副S12连接;上连杆A5—端与滑块A4通过转动副R13连接,上连杆A5另一端与动平台2之间通过球面副S14连接。 The same four motion branched structure, wherein the first motion branched lower link A3, A4 and the upper link sliders composition A5, and the fixed end of the lower link A3- internet connection between the swivel joint Rll I, lower link A3 A4 other end of the slider are connected by a spherical sub S12; A5- end of the upper link is connected to the slider by rotating the sub-A4 R13, the other end of the upper link and the movable A5 internet connection between the two sub-spherical S14. 第二运动支链由下连杆B3、滑块B4和上连杆B5组成,下连杆B3—端与定平台I之间通过转动副R21连接,下连杆B3另一端与滑块B4通过球面副S22连接;上连杆B5—端与滑块B4通过转动副R23连接,上连杆B5另一端与动平台2之间通过球面副S24连接。 Branched by the second motion link B3, B4 and the upper link sliders composition B5, between the lower link and the fixed end B3- I internet connection by rotating the sub-R21, the other end of the lower link slide B3 and B4 by S22 spherical sub connector; B5- end of the upper link is connected to the slider by rotating the sub-B4 R23, B5 and the other end of the upper link between the movable platform 2 by a spherical sub S24. 第三运动支链由下连杆C3、滑块C4和上连杆C5组成,下连杆C3—端与定平台I之间通过转动副R31连接,下连杆C3另一端与滑块C4通过球面副S32连接;上连杆C5—端与滑块C4通过转动副R33连接,上连杆C5另一端与动平台2之间通过球面副S34连接。 A third motion branched C3 lower link, upper link and slider C4 C5 form, with the fixed end of the lower link C3- internet connection by rotation between the sub-R31 I, the other end of the lower link by C3 and C4 slider S32 spherical sub connector; C5- end of the upper link connected to the slider by rotating the sub-C4 R33, C5 and the other end of the link between the movable platform 2 by a spherical sub S34. 第四运动支链由下连杆D3、滑块D4和上连杆D5组成,下连杆D3—端与定平台I之间通过转动副R41连接,下连杆D3另一端与滑块D4通过球面副S42连接;上连杆D5—端与滑块D4通过转动副R43连接,上连杆D5另一端与动平台2之间通过球面副S44连接。 Branched by the fourth motion link D3, D4, and the upper link slider D5 composition, with the fixed end of the lower link D3- internet connection by rotation between the sub-R41 I, the other end of the lower link via D3 and D4 the slider S42 spherical sub connector; D5- end of the upper link connected to the slider by rotating the sub-D4 R43, D5 and the other end of the link between the movable platform 2 by a spherical sub S44.

[0026] 第一运动支链中滑块A4与环形导轨6通过移动副P15连接,滑块A4只能沿环形导轨6做圆周滑动;第二运动支链中滑块B4与环形导轨6通过移动副P25连接,滑块B4只能沿环形导轨6做圆周滑动;第三运动支链中滑块C4与环形导轨6通过移动副P35连接,滑块C4只能沿环形导轨6做圆周滑动;第四运动支链中滑块D4与环形导轨6通过移动副P45连接,滑块D4只能沿环形导轨6做圆周滑动。 [0026] The first A4 slider motion branched annular rail 6 through a mobile sub-P15, A4 slide rail 6 can be slid along the circumference of the ring; the second motion B4 branched slider by moving the annular rail 6 P25 connected to the sub slider B4 rail 6 can slide along a circular ring; third motion slider branched C4 annular rail 6 is connected with the sub-P35 by moving the slider C4 rail 6 can slide along a circular ring; first D4 slider movement with the ring a branched four rail 6 through a mobile sub-P45, D4 slide rail 6 can slide along a circular ring.

[0027]所述转动副R11、转动副R21、转动副R31、转动副R41的轴线汇交于一点P;所述转动副R13、转动副R23、转动副R33、转动副R43的轴线汇交于一点Q,点Q与所述点P不重合。 [0027] The rotation of the sub-R11, rotating pair R21, rotating pair R31, R41 of the sub-axis of rotation intersect at the point P; the rotation of the sub-R13, rotating pair R23, rotating pair R33, R43 axis of rotation intersect at the sub point Q, point Q with the point P do not coincide. 所述环形导轨6为圆环形,其中心轴线过所述点P和点Q。 The annular rail 6 is circular, the central axis through the point P and the point Q.

[0028] 实施例3 [0028] Example 3

[0029]如图5、图6所示是本发明公开的第3个实施例,一种并联喷涂机器人关节,主要包括定平台1、动平台2、环形导轨6,连接动、定平台的四条运动支链。 [0029] FIG. 5, FIG. 6 of the present invention is disclosed in the third embodiment, a parallel painting robot joints, including a fixed platform, the movable platform 2, the annular rail 6, connected to move, given platform four sports branches. 四条运动支链结构相同,其中第一运动支链由下连杆A3、滑块A4和上连杆A5组成,下连杆A3—端与定平台I之间通过球面副S11连接,下连杆A3另一端与滑块A4通过转动副R12连接;上连杆A5—端与滑块A4通过球面副S13连接,上连杆A5另一端与动平台2之间通过转动副R14连接。 The same four motion branched structure, wherein the first motion branched lower link A3, A4 and the upper link sliders composition A5, and the fixed end of the lower link A3- internet connection between the spherical sub S11 I, lower link A3 A4 and the other end connected to the slider by rotating the sub-R12; A5- end of the upper link connected to the slider by the sub S13 spherical A4, A5 and the upper link and the other end connected to the movable platform 2 by rotation between the sub-R14. 第二运动支链由下连杆B3、滑块B4和上连杆B5组成,下连杆B3—端与定平台I之间通过球面副S21连接,下连杆B3另一端与滑块B4通过转动副R22连接;上连杆B5—端与滑块B4通过球面副S23连接,上连杆B5另一端与动平台2之间通过转动副R24连接。 Branched by the second motion link B3, B4 and the upper link sliders composition B5, between the lower link and the fixed end B3- I via internet spherical sub S21, the other end of the lower link slide B3 and B4 by R22 connected to the swivel joint; the end of the slide rod B5- B4 via the spherical sub S23, B5 and the other end of the upper link connected to the movable platform 2 by rotation between the sub-R24. 第三运动支链由下连杆C3、滑块C4和上连杆C5组成,下连杆C3—端与定平台I之间通过球面副S31连接,下连杆C3另一端与滑块C4通过转动副R32连接;上连杆C5—端与滑块C4通过球面副S33连接,上连杆C5另一端与动平台2之间通过转动副R34连接。 A third motion branched C3 lower link, upper link and slider C4 C5 form, with the fixed end of the lower link C3- internet connection between the spherical sub S31 I, the other end of the lower link by C3 and C4 slider R32 connected to the swivel joint; C5- end of the upper link connected to the slider by the sub S33 spherical C4, C5 and the other end of the upper link connected to the movable platform 2 by rotation between the sub-R34. 第四运动支链由下连杆D3、滑块D4和上连杆D5组成,下连杆D3—端与定平台I之间通过球面副S41连接,下连杆D3另一端与滑块D4通过转动副R42连接;上连杆D5—端与滑块D4通过球面副S43连接,上连杆D5另一端与动平台2之间通过转动副R44连接。 Branched by the fourth motion link D3, D4, and the upper link slider D5 composition, with the fixed end of the lower link D3- internet connection between the spherical sub S41 I, the other end of the lower link via D3 and D4 the slider R42 connected to the swivel joint; D5- end of the upper link connected to the slider by the sub S43 spherical D4, D5 and the other end of the upper link connected to the movable platform 2 by rotation between the sub-R44.

[0030] 第一运动支链中滑块A4与环形导轨6通过移动副P15连接,滑块A4只能沿环形导轨 [0030] The first A4 motion branched slider 6 is connected with the annular guide rail by moving the sub-P15, can slide along the ring guideway A4

6做圆周滑动;第二运动支链中滑块B4与环形导轨6通过移动副P25连接,滑块B4只能沿环形导轨6做圆周滑动;第三运动支链中滑块C4与环形导轨6通过移动副P35连接,滑块C4只能沿环形导轨6做圆周滑动;第四运动支链中滑块D4与环形导轨6通过移动副P45连接,滑块D4只能沿环形导轨6做圆周滑动。 6 a circular slide; the second motion slider B4 branched annular rail 6 through a mobile sub-P25, B4 slide rail 6 can slide along a circular ring; C4 annular slider third motion branched chain rail 6 by moving the sub connector P35, C4 slide rail 6 can slide along a circular ring; D4 annular slider fourth motion branched chain rail 6 through a mobile sub-P45, D4 slider 6 can slide along the guide rail in a circular ring .

[0031]所述转动副R12、转动副R22、转动副R32、转动副R42的轴线汇交于一点P;所述转动副R14、转动副R24、转动副R34、转动副R44的轴线汇交于一点Q,点Q与所述点P不重合。 [0031] The rotation of the sub-R12, rotating pair R22, rotating pair R32, R42 axis of rotation of the sub intersect at the point P; the rotation of the sub-R14, rotating pair R24, rotating pair R34, R44 axis of rotation intersect at the sub point Q, point Q with the point P do not coincide. 所述环形导轨6为圆环形,其中心轴线过所述点P和点Q。 The annular rail 6 is circular, the central axis through the point P and the point Q.

Claims (3)

  1. 1.一种并联喷涂机器人关节,其有定平台、动平台、环形导轨,连接动、定平台的四条运动支链,其特征在于:四条运动支链结构相同,每条运动支链均由下连杆、滑块和上连杆组成,下连杆一端与定平台通过定平台转动副连接,下连杆另一端与滑块通过下转动副连接,上连杆一端与动平台通过动平台转动副连接,上连杆另一端与滑块通过上转动副连接;四条运动支链中,四个定平台转动副轴线和四个下转动副轴线汇交于一点P,四个动平台转动副轴线和四个上转动副轴线汇交于一点Q,点Q与所述点P不重合;每条运动支链中的滑块均与环形导轨通过移动副连接,滑块只能沿环形导轨做圆周滑动,环形导轨为圆环形,其中心轴线过所述点P和点Q。 A four parallel movement branched painting robot joints, which have a given platform, the movable platform, the ring rail, the movable connector, the fixed platform, wherein: the same four motion branched structure, each of the motion by the branched link, the upper link consisting of the slider and the lower link fixed at one end to the sub-platform rotatably connected by a given platform, the other end of the lower link sub-rotatably connected to the slider through one end of the upper link and the movable platform is rotated by the movable platform sub-connector, the other end of the link sub-rotatably connected with the slider through; four motion branched chain, four sub-set internet rotational axis intersect at the point P and the four secondary axis, four sub-rotation axis of the movable platform and four secondary axis rotation intersect at the point Q, point Q does not coincide with the point P; each slider movement branched chain are connected to the ring guideway moves through the sub-slider along only a circular ring guideway sliding guide for the circular ring, the central axis through the point P and the point Q.
  2. 2.—种并联喷涂机器人关节,其有定平台、动平台、环形导轨,连接动、定平台的四条运动支链,其特征在于:四条运动支链结构相同,每条运动支链均由下连杆、滑块和上连杆组成,下连杆一端与定平台通过定平台转动副连接,下连杆另一端与滑块通过球面副连接,上连杆一端与动平台通过球面副连接,上连杆另一端与滑块通过上转动副连接;四条运动支链中,四个定平台转动副轴线汇交于一点P,四个上转动副轴线汇交于一点Q,点Q与所述点P不重合;每条运动支链中的滑块均与环形导轨通过移动副连接,滑块只能沿环形导轨做圆周滑动,环形导轨为圆环形,其中心轴线过所述点P和点Q。 2.- four kinds of motion parallel branched painting robot joints, which have a given platform, the movable platform, the ring rail, the movable connector, the fixed platform, wherein: the same four motion branched structure, each of the motion by the branched link, the upper link consisting of the slider and the lower link fixed at one end to the sub-platform rotatably connected by a given platform, the other end of the lower link is connected to the slider via the sub-spherical, and the upper end of the movable rod through the sub internet connection spherical, the other end of the upper link connected to the slider by rotation of the sub; four motion branched chain, four sub given platform rotation axis intersect at the point P, four secondary axis of rotation intersect at the point Q, the point Q point P does not overlap; each slider movement branched chain are connected to the sub-ring guideway moves through, the slider can slide along a circular ring guideway, is a circular ring guideway, its central axis and through the point P Q. point
  3. 3.—种并联喷涂机器人关节,其有定平台、动平台、环形导轨,连接动、定平台的四条运动支链,其特征在于:四条运动支链结构相同,每条运动支链均由下连杆、滑块和上连杆组成,下连杆一端与定平台通过球面副连接,下连杆另一端与滑块通过下转动副连接,上连杆一端与动平台通过动平台转动副连接,上连杆另一端与滑块通过球面副连接;四条运动支链中,四个下转动副轴线汇交于一点P,四个动平台转动副轴线汇交于一点Q,点Q与所述点P不重合;每条运动支链中的滑块均与环形导轨通过移动副连接,滑块只能沿环形导轨做圆周滑动,环形导轨为圆环形,其中心轴线过所述点P和点Q。 3.- four kinds of motion parallel branched painting robot joints, which have a given platform, the movable platform, the ring rail, the movable connector, the fixed platform, wherein: the same four motion branched structure, each of the motion by the branched link, the upper link consisting of the slider and the lower link fixed at one end to the platform by connecting the sub-spherical, and the other end of the lower link sub-rotatably connected by the slider, one end of the upper link and the movable platform is rotated via the sub movable platform , the upper link and the other end connected to the slider by a spherical joint; four branched chain motion, the four sub-rotation axis intersect at the point P, the movable platform four secondary axis rotation intersect at the point Q, the point Q point P does not overlap; each slider movement branched chain are connected to the sub-ring guideway moves through, the slider can slide along a circular ring guideway, is a circular ring guideway, its central axis and through the point P Q. point
CN 201610173312 2016-03-24 2016-03-24 Joint of parallel spray painting robot CN105690420A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201610173312 CN105690420A (en) 2016-03-24 2016-03-24 Joint of parallel spray painting robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 201610173312 CN105690420A (en) 2016-03-24 2016-03-24 Joint of parallel spray painting robot

Publications (1)

Publication Number Publication Date
CN105690420A true true CN105690420A (en) 2016-06-22

Family

ID=56232721

Family Applications (1)

Application Number Title Priority Date Filing Date
CN 201610173312 CN105690420A (en) 2016-03-24 2016-03-24 Joint of parallel spray painting robot

Country Status (1)

Country Link
CN (1) CN105690420A (en)

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5642469A (en) * 1994-11-03 1997-06-24 University Of Washington Direct-drive manipulator for pen-based force display
US6658962B1 (en) * 2001-10-31 2003-12-09 Ross-Hime Designs, Incorporated Robotic manipulator
CN1631612A (en) * 2005-01-04 2005-06-29 浙江理工大学 Tri-freedom degree parallel connection posture controlling mechanism for spherical surface with circular guide
CN101100065A (en) * 2007-07-26 2008-01-09 北京交通大学 Revolute joints non-overconstraint four-freedom parallel robot mechanism
CN101104269A (en) * 2007-08-08 2008-01-16 燕山大学 Robot shoulder joint
CN103217986A (en) * 2013-03-13 2013-07-24 北京航空航天大学 Two-freedom-degree parallel-connection rotation mechanism with spherical surface pure-rolling property
CN103433916A (en) * 2013-08-06 2013-12-11 北京航空航天大学 Two-degree-of-freedom equal-diameter sphere pure-rolling parallel rotating mechanism
CN104308834A (en) * 2014-10-24 2015-01-28 天津大学 Symmetric three-rotation parallel mechanism
CN105291094A (en) * 2015-11-27 2016-02-03 中国地质大学(武汉) Translation and rotating decoupling six-degree-of-freedom heavy load robot mechanism
CN205386829U (en) * 2016-03-24 2016-07-20 褚宏鹏 Parallelly connected spraying robot joint

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5642469A (en) * 1994-11-03 1997-06-24 University Of Washington Direct-drive manipulator for pen-based force display
US6658962B1 (en) * 2001-10-31 2003-12-09 Ross-Hime Designs, Incorporated Robotic manipulator
CN1631612A (en) * 2005-01-04 2005-06-29 浙江理工大学 Tri-freedom degree parallel connection posture controlling mechanism for spherical surface with circular guide
CN101100065A (en) * 2007-07-26 2008-01-09 北京交通大学 Revolute joints non-overconstraint four-freedom parallel robot mechanism
CN101104269A (en) * 2007-08-08 2008-01-16 燕山大学 Robot shoulder joint
CN103217986A (en) * 2013-03-13 2013-07-24 北京航空航天大学 Two-freedom-degree parallel-connection rotation mechanism with spherical surface pure-rolling property
CN103433916A (en) * 2013-08-06 2013-12-11 北京航空航天大学 Two-degree-of-freedom equal-diameter sphere pure-rolling parallel rotating mechanism
CN104308834A (en) * 2014-10-24 2015-01-28 天津大学 Symmetric three-rotation parallel mechanism
CN105291094A (en) * 2015-11-27 2016-02-03 中国地质大学(武汉) Translation and rotating decoupling six-degree-of-freedom heavy load robot mechanism
CN205386829U (en) * 2016-03-24 2016-07-20 褚宏鹏 Parallelly connected spraying robot joint

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
QIANG ZENG等: "Structural synthesis and analysis of serial–parallel hybrid mechanisms", 《MECHANISM AND MACHINE THEORY》 *
侯雨雷等: "新型过约束球面并联式关节机构仿生设计", 《中国机械工程》 *
刘婧芳等: "4类具有一级节点的1T对称耦合机构的构型综合", 《中国科技论文》 *

Similar Documents

Publication Publication Date Title
Tsai et al. Kinematics and optimization of a spatial 3-UPU parallel manipulator
Yang et al. Kinematic design of a six-DOF parallel-kinematics machine with decoupled-motion architecture
US20120079908A1 (en) Parallel robot
JP2001293676A (en) Parallel link robot
CN104096998A (en) Multi-degree of freedom parallel mechanism type spot welding robot
CN101518898A (en) Parallel mechanism with three freedom degrees of twice rotation and once motion
CN1673606A (en) Space four freedom mechanism for realizing three rotating and one moving
CN201579789U (en) Three-rotational DOF parallel-connection robot
CN101745820A (en) Three-degree-of-freedom parallel mechanism type dual head for five-axis machine tools and control method
CN102179807A (en) Parallel mechanism with changeable freedom degree
CN102248535A (en) Branch three-leg five-DOF (degree of freedom) parallel mechanism containing double-compound drive
Gogu Fully-isotropic over-constrained parallel wrists with two degrees of freedom
CN101224584A (en) Parallel mechanism capable of realizing interconversion between 3D translation and 3D rotation
CN101767335A (en) Twin-translation-rotation partial decoupling parallel mechanism
CN1417003A (en) Parallel robot mechanism with three-freedom rotating platform
CN103144106A (en) Asymmetric parallel mechanism having three DOF (degrees of freedom) including two rotations and one movement
CN103737207A (en) Parallel-serial welding robot mechanism with six degrees of freedom
CN101259617A (en) Fork four-freedom parallel connection robot mechanism
GB2454721A (en) Controlling the translation and orientation of a moveable platform with six-degrees-of--freedom
CN103737577A (en) Six-freedom-degree industrial robot with ball screw pair transmission
CN101497198A (en) Three-freedom degree rotary motion parallel connection mechanism with remote motion centre
CN103586862A (en) Novel three-branched-chain six-degree-of-freedom robot
CN2762940Y (en) Spherical surface three-freedom parallel mechanism
CN1544210A (en) Rotating parallel robot mechanism with two degrees of freedom
US20110072929A1 (en) Parallel mechanism and moveable linkage thereof

Legal Events

Date Code Title Description
C06 Publication
C10 Entry into substantive examination