CN106695774A - Servo-motor-driven connecting rod type variable-freedom-degree simple coating work mechanical arm - Google Patents
Servo-motor-driven connecting rod type variable-freedom-degree simple coating work mechanical arm Download PDFInfo
- Publication number
- CN106695774A CN106695774A CN201611068621.9A CN201611068621A CN106695774A CN 106695774 A CN106695774 A CN 106695774A CN 201611068621 A CN201611068621 A CN 201611068621A CN 106695774 A CN106695774 A CN 106695774A
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- CN
- China
- Prior art keywords
- connecting rod
- locking device
- wrist
- arm
- servo
- 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
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
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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 3D-surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Spray Control Apparatus (AREA)
- Manipulator (AREA)
Abstract
Disclosed is a servo-motor-driven connecting rod type variable-freedom-degree simple coating work mechanical arm. The mechanical arm comprises a base 1, a large arm 17, a wrist connecting rod pitching mechanism, a wrist 21, a nozzle 22, a servo drive device, a first locking device 8 and a second locking device 16. The wrist connecting rod pitching mechanism is composed of a wrist connecting rod and a pitching mechanism, the wrist connecting rod is connected to the large arm 17 through a ninth rotating pair 19 and a tenth rotating pair 20 which are coaxial, and the pitching mechanism is composed of a driving part 3, a first connecting rod 5, a second connecting rod 10 and a third connecting rod 9, and the first locking device 8 and the second locking device 16 are mounted on a fourth rotating pair 7 and a seventh rotating pair 15. Timely locking is carried out according to different stations of the mechanism, and the first locking device 8 and the second locking device 16 are locked in an electromagnetic manner. According to the arm, the defect that a drive motor of a chain opening structure needs to be mounted at the joint position is overcome, and the number of used controllable drive motors is smaller than that of freedom degrees of the connecting rod mechanism of the coating work mechanical arm.
Description
Technical field
The present invention relates to mechanical field, particularly a kind of servomotor drive link formula can the simple painted operation of variable freedom
Mechanical arm.
Background technology
Over the years, because the personnel of labour market are in short supply, human cost rises year by year, promotes painting operation machinery
Extensive use of the arm in painting operation.Painting operation machinery arm has mechanical and fluid pressure type two types, current painting operation
Most of mechanical arm of mechanical arm is hydraulic-driven, is existed as the medium of transmission power using hydraulic oil due to hydraulic drive
Problems with：Its startability is poor, and easily because producing leakage after inner member abrasion, and the hydraulic oil of leakage can pollute ring
Border；Hydraulic oil temperature influence is larger, and gross efficiency is relatively low, there is noise and vibration sometimes.It sometimes appear that overheat, powerless in work etc.
Phenomenon；Hydraulic Elements requirement on machining accuracy is high, and matching requirements are strict, and manufacture is more difficult, and maintenance requires technology in use
Higher, difficulty is larger.As the increase of painting operation machinery arm function, its hydraulic system become increasingly complex, failure has more
Have sudden, disguised.Mechanical painting operation machinery arm is to realize that painting operation is acted using mechanical transmissioning piece, with firm
Durable the advantages of, but the mechanical painting operation machinery arm of traditional single-degree-of-freedom can not complete the action of complexity, range of application
Extremely limited, the electronic painting operation machinery arm of mechanical controllable mechanism instead of hydraulic drive with linkage, when driving lever by
When servomotor drives, automation, NC postprocessing control are easily realized, solve some shortcomings of hydraulic system presence, but exist
Need to be equipped with the controlled motor with linkage free degree equivalent amount to be controlled the mechanism's weight, fortune that complex structure is brought
Big and high cost the problem of dynamic inertia.
Variable Freedom Mechanism is by the functional requirement that is combined into new topological structure to adapt to different phase.Can apply at present
It is also little in actual Variable Freedom Mechanism, had not seen the Variable Freedom Mechanism for being applied to painting operation machinery arm.
The content of the invention
Can the simple painted Work machine of variable freedom it is an object of the invention to provide a kind of servomotor drive link formula
Arm, overcomes the shortcomings of fluid pressure type painting operation machinery arm hydraulic system element required precision high, complex structure, easy oil leakage, overcomes
The motor of open-chain structure is required for being arranged on the shortcoming of joint position, and causes that the quantity of controllable drive motor is less than application
The free degree of Work machine arm link mechanism, overcomes the electronic painting operation machinery arm structure of existing machinery formula to need to be equipped with and connecting rod machine
The controlled motor of structure free degree equivalent amount simplifies the complexity of structure the shortcoming that is controlled, the weight of reducing mechanism,
Movement inertia, volume and cost.To achieve the above object, the invention provides a kind of variable freedom of servomotor drive link formula
Spend simple painted Work machine arm, including base 1, large arm 17, wrist connecting rod luffing mechanism, wrist 21, nozzle 22, servo-drive
Device and the first locking device 8, the second locking device 16；The wrist connecting rod luffing mechanism is by wrist connecting rod and luffing mechanism
Composition, the wrist connecting rod is connected in large arm 17 by coaxial the 9th rotation secondary 19 and the tenth rotation secondary 20, the pitching
Mechanism is made up of driving link 3, first connecting rod 5, second connecting rod 10 and third connecting rod 9, and the one end of driving link 3 rotates secondary 2 by first
It is connected on base 1, the other end rotates secondary 4 and is connected with first connecting rod 5 by second；The other end of first connecting rod 5 passes through the 3rd turn
Dynamic secondary 6 are connected on second connecting rod 10；The another two ends of second connecting rod 10 rotate secondary 11 and are connected with wrist connecting rod 12 by the 5th respectively,
Secondary 7 are rotated by the 4th to be connected with third connecting rod 9.Third connecting rod 9 rotates secondary 18 and is connected with large arm 17 by the 6th, and described the
One locking device 8, the second locking device 16 are separately mounted to the 4th rotation the secondary 7, the 7th and rotate on secondary 15, different according to mechanism
Operating mode is locked in good time；Servo drive includes the first servomotor, is connected to drive it to rotate with driving lever 3；First
Locking device 8, the second locking device 16 are locked using electromagnetic mode.
A kind of servomotor drive link formula of the present invention can variable freedom coating working machine tool arm use controllable many bar closed chains
Mechanism, the motor for overcoming open-chain structure is required for being arranged on the shortcoming of joint position, improves the steady of arm operation
Property and reliability, without accumulated error, precision is higher；Compact conformation, rigidity is high, large carrying capacity, inertia are low, dynamic property is good,
Arm motion track flexible and diverse.Install locking device additional on linkage, and allow it to be locked according to the different operating modes of mechanism
Specific rotation is secondary with loosening, and the free degree of mechanism is reduced in good time, realizes in the case where expected requirement is completed, and uses
The quantity of controllable drive motor, less than the free degree of painting operation machinery arm link mechanism, is to be capable of achieving three certainly using two driving levers
By degree painting operation operation, existing painting operation machinery arm is overcome to need to be equipped with the control with linkage free degree equivalent amount
Motor simplifies the complexity of structure the shortcoming that is controlled, the weight of reducing mechanism, movement inertia, volume and cost, increases
Add the controllability and stability of mechanism, improve operating efficiency.Fluid pressure type painting operation machinery arm hydraulic pressure is also overcomed simultaneously
System element required precision is high, complex structure, easy oil leakage, poor reliability, the low shortcoming of transmission efficiency.
Brief description of the drawings
Fig. 1 is that a kind of servomotor drive link formula of the present invention can the simple painted Work machine arm of variable freedom
Structural representation.
Specific embodiment
A kind of servomotor drive link formula can the simple painted Work machine arm of variable freedom, including base 1, large arm 17,
Wrist connecting rod luffing mechanism, wrist 21, nozzle 22, servo drive and the first locking device 8, the second locking device 16；
The base 1 is arranged on removable revolving dial；The wrist connecting rod luffing mechanism is made up of wrist connecting rod and luffing mechanism,
The wrist connecting rod rotates secondary 20 and is connected in large arm 17 by coaxial 9th rotation secondary 19 and the tenth, the luffing mechanism by
Driving link 3, first connecting rod 5, second connecting rod 10 and third connecting rod 9 are constituted, and the one end of driving link 3 rotates secondary 2 and is connected to by first
On base 1, the other end rotates secondary 4 and is connected with first connecting rod 5 by second；The other end of first connecting rod 5 rotates secondary 6 and connects by the 3rd
It is connected on second connecting rod 10；The another two ends of second connecting rod 10 rotate secondary 11 and are connected with wrist connecting rod 12 by the 5th respectively, by the
Four rotate secondary 7 is connected with third connecting rod 9.Third connecting rod 9 rotates secondary 18 and is connected with large arm 17 by the 6th, first locking
Device 8, the second locking device 16 are separately mounted to the 4th rotation the secondary 7, the 7th and rotate on secondary 15, enter according to the different operating mode of mechanism
Row locking in good time；Servo drive includes the first servomotor, is connected to drive it to rotate with driving lever 3；First locking dress
The 8, second locking device 16 is put to be locked using electromagnetic mode.
In each operating mode operation, during 17 lifting of large arm, the second locking device 16 is opened, and the 7th rotates secondary 15 affranchises
Degree, the first locking device 8 is locked, i.e., the 4th kinematic pair 7 loses the free degree.Now, third connecting rod 9, second connecting rod 10, wrist connect
Bar 12 and large arm 17 are mutually relative to lose the free degree, links integral.Now motion passes through first connecting rod 5 under driving link driving
Large arm 17 is delivered to, large arm 17 rotates pair 13 around the 7th and eighth-turn dynamic secondary 15 is rotated and realizes large arm lifting.Wrist connecting rod pitching
When, the first locking device 8 is opened, the degree of affranchising of the 4th kinematic pair 7, and the second locking device 16 is locked, and the 7th rotates secondary 15 loses
The free degree is gone, large arm respect thereto loses the free degree, now moving across first connecting rod 5 and second under the driving of driving link 3 connects
Bar 10 passes to wrist connecting rod 12 and realizes wrist connecting rod pitching.In whole painting operation operation process, the first locking device 8,
Two locking devices 16 select tight lock or open respectively according to different working conditions, common to complete the lifting of large arm 2, wrist connecting rod
12 with the motion such as the pitching of wrist 21, realize the painting operation operation of nozzle 22.First locking device 8, the second locking device 16
Locked using electromagnetic mode, control is easily realized.
Claims (1)
1. a kind of servomotor drive link formula can the simple painted Work machine arm of variable freedom, it is characterised in that including：Base
1st, large arm 17, wrist connecting rod luffing mechanism, wrist 21, nozzle 22, servo drive and the first locking device 8, second are locked
Tight device 16；The base 1 is arranged on removable revolving dial；The wrist connecting rod luffing mechanism is by wrist connecting rod and bows
Mechanism's composition is faced upward, the wrist connecting rod is connected in large arm 17 by coaxial the 9th rotation secondary 19 and the tenth rotation secondary 20, institute
State luffing mechanism to be made up of driving link 3, first connecting rod 5, second connecting rod 10 and third connecting rod 9, the one end of driving link 3 passes through first turn
Dynamic secondary 2 are connected on base 1, and the other end rotates secondary 4 and is connected with first connecting rod 5 by second；The other end of first connecting rod 5 is by the
Three rotate secondary 6 is connected on second connecting rod 10；The another two ends of second connecting rod 10 rotate secondary 11 with wrist connecting rod 12 by the 5th respectively
Connection, rotates secondary 7 and is connected with third connecting rod 9 by the 4th, and third connecting rod 9 rotates secondary 18 and is connected with large arm 17 by the 6th, institute
State the first locking device 8, the second locking device 16 to be separately mounted in secondary 7, the 7th rotation secondary 15 of the 4th rotation, according to mechanism not
Same operating mode is locked in good time；Servo drive includes the first servomotor, is connected to drive it to rotate with driving lever 3；
First locking device 8, the second locking device 16 are locked using electromagnetic mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611068621.9A CN106695774A (en) | 2016-11-29 | 2016-11-29 | Servo-motor-driven connecting rod type variable-freedom-degree simple coating work mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611068621.9A CN106695774A (en) | 2016-11-29 | 2016-11-29 | Servo-motor-driven connecting rod type variable-freedom-degree simple coating work mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106695774A true CN106695774A (en) | 2017-05-24 |
Family
ID=58935028
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611068621.9A Pending CN106695774A (en) | 2016-11-29 | 2016-11-29 | Servo-motor-driven connecting rod type variable-freedom-degree simple coating work mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106695774A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN113231227A (en) * | 2021-05-06 | 2021-08-10 | 清华大学 | Spraying robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102320479A (en) * | 2011-07-01 | 2012-01-18 | 广西大学 | Controllable mechanism type palletizing robot mechanism |
| CN104047315A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Loading mechanism with active metamorphic function |
| JP2014208387A (en) * | 2013-04-16 | 2014-11-06 | トヨタ自動車株式会社 | Robot hand |
| CN104612189A (en) * | 2014-12-25 | 2015-05-13 | 广西大学 | Rotatable type multi-freedom-degree controllable excavating mechanism with active cell changing function |
-
2016
- 2016-11-29 CN CN201611068621.9A patent/CN106695774A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102320479A (en) * | 2011-07-01 | 2012-01-18 | 广西大学 | Controllable mechanism type palletizing robot mechanism |
| JP2014208387A (en) * | 2013-04-16 | 2014-11-06 | トヨタ自動車株式会社 | Robot hand |
| CN104047315A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Loading mechanism with active metamorphic function |
| CN104612189A (en) * | 2014-12-25 | 2015-05-13 | 广西大学 | Rotatable type multi-freedom-degree controllable excavating mechanism with active cell changing function |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN113231227A (en) * | 2021-05-06 | 2021-08-10 | 清华大学 | Spraying robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170524 |