CN107199560A - A kind of lightweight five degree of freedom controllable-mechanism type high-velocity spray robot - Google Patents

A kind of lightweight five degree of freedom controllable-mechanism type high-velocity spray robot Download PDF

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Publication number
CN107199560A
CN107199560A CN201710539366.XA CN201710539366A CN107199560A CN 107199560 A CN107199560 A CN 107199560A CN 201710539366 A CN201710539366 A CN 201710539366A CN 107199560 A CN107199560 A CN 107199560A
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CN
China
Prior art keywords
revolute pair
sliding sleeve
final stage
follower lever
rod
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201710539366.XA
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Chinese (zh)
Inventor
蔡敢为
韦为
王湘
叶兵
吴承亮
李洪汉
吴长逸
何桂尖
谢声扬
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Guangxi University
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Guangxi University
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
Application filed by Guangxi University filed Critical Guangxi University
Priority to CN201710539366.XA priority Critical patent/CN107199560A/en
Publication of CN107199560A publication Critical patent/CN107199560A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B05SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05BSPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00Machines 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
    • B05B13/02Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04Means 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
    • B05B13/0431Means 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • B25J11/0075Manipulators for painting or coating
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126Rotary actuators

Abstract

A kind of lightweight five degree of freedom controllable-mechanism type high-velocity spray robot, second servomotor drives forearm to rotate by the driving-chain including the second driving lever, forearm drives actuator to be swung on working face by driving-chain, 3rd servomotor drives the second final stage to slide over and moved forward and backward on forearm by the driving-chain including the 3rd driving lever, driving actuator does the adjustment at the elevation angle after second final stage sliding sleeve is transmitted by the driving-chain being made up of first connecting rod to the 15th connecting rod, 4th servomotor controls rotating shaft to be acted relative to the rising height centered on revolute pair four by the driving-chain including the 4th driving lever, control the rising height of actuator.Motor and decelerator are arranged on joint instant invention overcomes existing welding robot, produced movement inertia is big, residual oscillation substantially and the low shortcoming of high speed operation positioning precision, with structural reliability is high, stability is good and the low feature of cost.

Description

A kind of lightweight five degree of freedom controllable-mechanism type high-velocity spray robot
Technical field
The present invention relates to mechanical field, specifically a kind of lightweight five degree of freedom controllable-mechanism type high-velocity spray robot.
Background technology
Since 1980s, people wish to reduce the quality of robot motion's part always to improve its dynamic Can, and achieve gratifying achievement.But these work are all around the rod member quality expansion of mitigation robot.And installed in cascade machine Motor, decelerator at device person joint is actually very big to Robotic Dynamic performance impact.Moreover, in order to ensure that motor output is big Power, its output speed is very high, it is necessary to which the decelerator of big speed ratio is decelerated to the speed of suitable robot work.And grind Small volume processed, the speed reducer with high transmission ratio of light weight are also the comparison stubborn problem that robot of China industry runs into.At present, state Robot motor and one of decelerator and the robot motor of international most advanced level, the gap of decelerator are produced, is exactly quality (weight) and volume are big, and this can cause, and the rotary inertia of robot is big, Robotic Dynamic performance is not good, be also easy to produce larger vibration etc. Problem.If motor, decelerator can be arranged in frame, joint is not mounted within manipulator motion, then is not rotated Big the brought various problems of inertia.
The content of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of lightweight five degree of freedom controllable-mechanism type high-velocity spray machine People.
To achieve these goals, present invention employs following technical scheme:
A kind of lightweight five degree of freedom controllable-mechanism type high-velocity spray robot, including second support bar, the 3rd support bar, 4th support bar, the second large arm, the third-largest arm, the second driving lever, the 3rd driving lever, the 4th driving lever, the second primary follower lever, 3rd primary follower lever, the 4th primary follower lever, the second primary sliding sleeve, the 3rd primary sliding sleeve, the 4th primary sliding sleeve, second subprime Follower lever, third time level follower lever, the 4th level follower lever, the second triangle part, the 3rd triangle part, the 4th triangle part, the five or three Corner fittings, the second three-level follower lever, the 3rd three-level follower lever, second subprime sliding sleeve, third time level sliding sleeve, the second final stage follower lever, 3rd final stage follower lever, the first contiguous block, the second contiguous block, the first final stage sliding sleeve, the second final stage sliding sleeve, the 3rd final stage sliding sleeve, 8th final stage sliding sleeve, the first guide rod, first connecting rod, second connecting rod, fourth link, seven-link assembly, the 8th connecting rod, the 9th connecting rod, Tenth connecting rod, the 11st connecting rod, forearm, frame, actuator and rotating shaft,
Concrete structure and annexation are as follows:
Second primary sliding sleeve is sleeved in second support bar,
Second subprime sliding sleeve is sleeved in the second large arm,
Second support bar lower end is fixed in frame,
Second support bar upper end is connected with first jiao of the second triangle part and second large arm one end simultaneously by revolute pair two,
The middle part of second large arm is connected in rotating shaft by revolute pair 41,
The second large arm other end is connected on the first contiguous block by revolute pair ten;
Second driving lever one end is connected in frame by revolute pair 43,
The second driving lever other end is connected by revolute pair 44 with second primary follower lever one end,
The second primary follower lever other end is connected on the second primary sliding sleeve by revolute pair 45;
Second subprime follower lever one end is connected to the second primary sliding sleeve by revolute pair 46,
The second subprime follower lever other end is connected by second jiao of revolute pair 47 and the second triangle part;
Second three-level follower lever one end is connected by revolute pair 48 with the third angle of the second triangle part,
The second three-level follower lever other end is connected on second subprime sliding sleeve by revolute pair 49;
3rd primary sliding sleeve is sleeved on the 3rd support bar,
Third time level sliding sleeve is sleeved on the third-largest arm,
3rd support bar lower end is fixed in frame,
3rd post upper is connected by revolute pair San Tong method with first jiao of the 3rd triangle part and the third-largest arm one end,
The middle part of the third-largest arm is connected in rotating shaft by revolute pair 42;
3rd driving lever one end is connected in frame by revolute pair 51,
The 3rd driving lever other end is connected by revolute pair 52 with the 3rd primary follower lever one end,
The 3rd primary follower lever other end is connected on the 3rd primary sliding sleeve by revolute pair 53;
Third time level follower lever one end is connected to the 3rd primary sliding sleeve by revolute pair 54,
Second jiao of connection that the third time level follower lever other end passes through the triangle part of revolute pair 55 the 3rd;
3rd three-level follower lever one end is connected by revolute pair 56 with the third angle of the 3rd triangle part,
The 3rd three-level follower lever other end is connected on third time level sliding sleeve by revolute pair 57,
4th primary sliding sleeve is sleeved on the 4th support bar,
4th support bar lower end is fixed in frame,
4th post upper is connected for first jiao by revolute pair four with the 4th triangle part;
4th driving lever one end is connected in frame by revolute pair 59,
The 4th driving lever other end is connected by revolute pair 60 with the 4th primary follower lever one end,
The 4th primary follower lever other end is connected on the 4th primary sliding sleeve by revolute pair 61;
4th level follower lever one end is connected to the 4th primary sliding sleeve by revolute pair 62,
The 4th level follower lever other end is connected by second jiao of revolute pair 63 and the 4th triangle part,
The third angle of 4th triangle part is connected in rotating shaft by revolute pair 64;
Forearm one end is connected on the first contiguous block by revolute pair 65,
The forearm other end is fixedly connected on the second contiguous block;
First lower end of the guide rod is fixedly connected on the first contiguous block,
First final stage sliding sleeve is sleeved on the first guide rod;
First connecting rod one end is connected on the first final stage sliding sleeve by revolute pair 13,
The first connecting rod other end is connected by revolute pair 14 with second connecting rod one end,
The second connecting rod other end is fixedly connected on forearm;
Second final stage follower lever one end is connected on second subprime sliding sleeve by revolute pair 50;
The second final stage follower lever other end is connected on the first final stage sliding sleeve by revolute pair 66,
3rd final stage follower lever one end is connected on third time level sliding sleeve by revolute pair 58,
The 3rd final stage follower lever other end is connected on the second final stage sliding sleeve by revolute pair 25;
Second final stage sliding sleeve and the 3rd final stage sliding sleeve are sleeved on forearm,
Lead to revolute pair 26 between second final stage sliding sleeve and the 3rd final stage sliding sleeve to connect,
8th connecting rod one end is connected on the 3rd final stage sliding sleeve by revolute pair 27,
The 8th connecting rod other end is connected on the 8th final stage sliding sleeve by revolute pair 28,
8th final stage sliding sleeve is sleeved on the 9th connecting rod,
9th connecting rod one end is connected on the second contiguous block by revolute pair 29,
The 9th connecting rod other end is connected on the tenth connecting rod by revolute pair 30,
11st connecting rod one end is connected on the 8th final stage sliding sleeve by revolute pair 31,
The 11st connecting rod other end is connected to the tenth connecting rod one end by revolute pair 32,
The tenth connecting rod other end is connected on seven-link assembly by revolute pair 33,
Seven-link assembly one end is connected on actuator,
The seven-link assembly other end is connected by revolute pair 20 with fourth link one end,
The fourth link other end is connected on the second contiguous block by revolute pair 19.
Further,
Also include the second servomotor, the 3rd servomotor and the 4th servomotor, revolute pair 43 is by the second servo Motor is driven, and revolute pair 51 is driven by the 3rd servomotor, and revolute pair 59 is driven by the 4th servomotor.
Further,
The revolute pair 13, revolute pair 14, the rotational plane of revolute pair 65 and revolute pair 16 are parallel to small The radial section of arm.
Further,
Revolute pair two, revolute pair three, revolute pair four, revolute pair ten, revolute pair 19, revolute pair 20, revolute pair 20 5th, revolute pair 26, revolute pair 27, revolute pair 28, revolute pair 29, revolute pair 30, revolute pair 30 First, revolute pair 32, revolute pair 33, revolute pair 41, revolute pair 42, revolute pair 43, revolute pair four 14, revolute pair 45, revolute pair 46, revolute pair 47, revolute pair 48, revolute pair 49, revolute pair 50, revolute pair 51, revolute pair 52, revolute pair 53, revolute pair 54, revolute pair 55, revolute pair 56, revolute pair 57, revolute pair 58, revolute pair 59, revolute pair 60, revolute pair 61, revolute pair 62, the rotational plane of revolute pair 63, revolute pair 64, revolute pair 65 and revolute pair 66 is parallel to small The axial cross section of arm.
Further,
The large arm and forearm are coaxially assembled, and the first guide rod is perpendicular to forearm, and second connecting rod is perpendicular to forearm.
Further,
The second final stage sliding sleeve and the 3rd final stage sliding sleeve are regular hexahedron, offer axial manhole;Forearm is Cylindrical bar;Second final stage sliding sleeve and the 3rd final stage sliding sleeve are sleeved on forearm by axial manhole.
Compared with prior art, the beneficial effect that the present invention possesses:
The present invention realizes that the centre of gravity lightweight structure being installed to whole motors and decelerator near pedestal is designed, motor Large Amplitude Motion is not done with decelerator with motion rod member.Overcome existing welding robot and motor and decelerator are arranged on pass On section, produced movement inertia is big, residual oscillation obvious and the low shortcoming of high speed operation positioning precision, with structural reliability High, stability is good and the low feature of cost.
The present invention hangs down two two sets be mutually perpendicular on working face slider-crank mechanisms by two of square sliding block Straight surface structure is linked to together, realizes two driving being mutually perpendicular on working face transmissions.Overcome existing most of connecting rod machine Structure can only plane driving transmission and the shortcomings of space stiffness poor, with that need not install motor and decelerator on joint, just in fact The characteristics of having showed space driving transmission.
The present invention realizes slider-crank mechanism tandem sequence, overcome traditional four bars transmission mechanism integral rigidity it is low and take The big shortcoming in space, with the characteristics of drive mechanism is compact and reliability is high.
The present invention realizes being total to for sliding block rotation and sliding block slip by the way that two sliding blocks through same axis are connected Axle is driven.
Brief description of the drawings
Fig. 1 is the overall structure diagram of lightweight five degree of freedom controllable-mechanism type high-velocity spray robot of the present invention One.
Fig. 2 for lightweight five degree of freedom controllable-mechanism type high-velocity spray robot of the present invention the final stage of control second from The structural representation one of the driving-chain of lever motion.
Fig. 3 for lightweight five degree of freedom controllable-mechanism type high-velocity spray robot of the present invention the final stage of control second from The structural representation two of the driving-chain of lever motion.
Fig. 4 for lightweight five degree of freedom controllable-mechanism type high-velocity spray robot of the present invention the final stage of control the 3rd from The structural representation one of the driving-chain of lever motion.
Fig. 5 for lightweight five degree of freedom controllable-mechanism type high-velocity spray robot of the present invention the final stage of control the 3rd from The structural representation two of the driving-chain of lever motion.
Fig. 6 is the triangle part of control the 4th of lightweight five degree of freedom controllable-mechanism type high-velocity spray robot of the present invention The structural representation one of the driving-chain of motion.
Fig. 7 is the triangle part of control the 4th of lightweight five degree of freedom controllable-mechanism type high-velocity spray robot of the present invention The structural representation two of the driving-chain of motion.
Fig. 8 is forearm, the first guide rod of lightweight five degree of freedom controllable-mechanism type high-velocity spray robot of the present invention And the second assemble mechanism schematic diagram one between final stage follower lever.
Fig. 9 is forearm, the first guide rod of lightweight five degree of freedom controllable-mechanism type high-velocity spray robot of the present invention And the second assemble mechanism schematic diagram two between final stage follower lever.
Figure 10 is forearm, the first guide rod of lightweight five degree of freedom controllable-mechanism type high-velocity spray robot of the present invention And the second assemble mechanism schematic diagram three between final stage follower lever.
Figure 11 transports for the control actuator of lightweight five degree of freedom controllable-mechanism type high-velocity spray robot of the present invention Dynamic driving-chain structural representation one.
Figure 12 transports for the control actuator of lightweight five degree of freedom controllable-mechanism type high-velocity spray robot of the present invention Dynamic driving-chain structural representation two.
In figure:
Second servomotor 2a, the 3rd servomotor 3a, the 4th servomotor 4a,
Second support bar 2b, the 3rd support bar 3b, the 4th support bar 4b,
Second large arm 2c, the third-largest arm 3c,
Second driving lever 2d, the 3rd driving lever 3d, the 4th driving lever 4d,
Second primary follower lever 2e, the 3rd primary follower lever 3e, the 4th primary follower lever 4e,
Second primary sliding sleeve 2f, the 3rd primary sliding sleeve 3f, the 4th primary sliding sleeve 4f,
Second subprime follower lever 2g, third time level follower lever 3g, the 4th level follower lever 4g,
Second triangle part 2h, the 3rd triangle part 3h, the 4th triangle part 4h, the 5th triangle part 5h,
Second three-level follower lever 2i, the 3rd three-level follower lever 3i,
Second subprime sliding sleeve 2j, third time level sliding sleeve 3j,
Second final stage follower lever 2k, the 3rd final stage follower lever 3k,
First contiguous block 1n, the second contiguous block 2n,
First final stage sliding sleeve 1p, the second final stage sliding sleeve 2p, the 3rd final stage sliding sleeve 3p, the 8th final stage sliding sleeve 8p,
First guide rod 1q,
First connecting rod 1, second connecting rod 2, fourth link 4, seven-link assembly 7,
8th connecting rod 8, the 9th connecting rod 9, the tenth connecting rod 10, the 11st connecting rod 11,
Forearm 100, frame 99, actuator 98, rotating shaft 97.
Embodiment
Technical scheme is further elaborated below by embodiment.
Embodiment 1
A kind of lightweight five degree of freedom controllable-mechanism type high-velocity spray robot, including second support bar 2b, the 3rd support Bar 3b, the 4th support bar 4b, the second large arm 2c, the third-largest arm 3c, the second driving lever 2d, the 3rd driving lever 3d, the 4th driving lever 4d, the second primary follower lever 2e, the 3rd primary follower lever 3e, the 4th primary follower lever 4e, the second primary sliding sleeve 2f, the 3rd primary Sliding sleeve 3f, the 4th primary sliding sleeve 4f, second subprime follower lever 2g, third time level follower lever 3g, the 4th level follower lever 4g, the secondth Triangle part 2h, the 3rd triangle part 3h, the 4th triangle part 4h, the 5th triangle part 5h, the second three-level follower lever 2i, the 3rd three-level are driven Bar 3i, second subprime sliding sleeve 2j, third time level sliding sleeve 3j, the second final stage follower lever 2k, the 3rd final stage follower lever 3k, the first connection Block 1n, the second contiguous block 2n, the first final stage sliding sleeve 1p, the second final stage sliding sleeve 2p, the 3rd final stage sliding sleeve 3p, the 8th final stage sliding sleeve 8p, the first guide rod 1q, first connecting rod 1, second connecting rod 2, fourth link 4, seven-link assembly 7, the 8th connecting rod 8, the 9th connecting rod 9, Ten connecting rods 10, the 11st connecting rod 11, forearm 100, frame 99, actuator 98 and rotating shaft 97,
Concrete structure and its annexation are as follows:
As shown in Figures 2 and 3:
Second primary sliding sleeve 2f is sleeved on second support bar 2b,
Second subprime sliding sleeve 2j is sleeved on the second large arm 2c,
Second support bar 2b lower ends are fixed in frame 99,
Second support bar 2b upper ends by revolute pair 2 102 simultaneously with first jiao of the second triangle part 2h and the second large arm 2c One end is connected,
Second large arm 2c middle part is connected in rotating shaft 97 by revolute pair 41,
The second large arm 2c other ends are connected on the first contiguous block 1n by revolute pair 10;
Second driving lever 2d one end is connected in frame 99 by revolute pair 43,
The second driving lever 2d other ends are connected by revolute pair 44 with second primary follower lever 2e one end,
The second primary follower lever 2e other ends are connected on the second primary sliding sleeve 2f by revolute pair 45;
Second subprime follower lever 2g one end is connected to the second primary sliding sleeve 2f by revolute pair 46,
The second subprime follower lever 2g other ends are connected by second jiao of revolute pair 47 and the second triangle part 2h;
Second three-level follower lever 2i one end is connected by revolute pair 48 with the second triangle part 2h the third angle,
The second three-level follower lever 2i other ends are connected on second subprime sliding sleeve 2j by revolute pair 49;
As shown in Figures 4 and 5:
3rd primary sliding sleeve 3f is sleeved on the 3rd support bar 3b,
Third time level sliding sleeve 3j is sleeved on the third-largest arm 3c,
3rd support bar 3b lower ends are fixed in frame 99,
3rd support bar 3b upper ends by revolute pair 3 103 simultaneously with first jiao of the 3rd triangle part 3h and the third-largest arm 3c One end is connected,
The third-largest arm 3c middle part is connected in rotating shaft 97 by revolute pair 42;
3rd driving lever 3d one end is connected in frame 99 by revolute pair 51,
The 3rd driving lever 3d other ends are connected by revolute pair 52 with the 3rd primary follower lever 3e one end,
The 3rd primary follower lever 3e other ends are connected on the 3rd primary sliding sleeve 3f by revolute pair 53;
Third time level follower lever 3g one end is connected to the 3rd primary sliding sleeve 3f by revolute pair 54,
Second jiao of connection that the third time level follower lever 3g other ends pass through the triangle part 3h of revolute pair 55 the 3rd;
3rd three-level follower lever 3i one end is connected by revolute pair 56 with the 3rd triangle part 3h the third angle,
The 3rd three-level follower lever 3i other ends are connected on third time level sliding sleeve 3j by revolute pair 57,
Shown in Fig. 6 and 7:
4th primary sliding sleeve 4f is sleeved on the 4th support bar 4b,
4th support bar 4b lower ends are fixed in frame 99,
4th support bar 4b upper ends are connected for first jiao by revolute pair 4 104 with the 4th triangle part 4h;
4th driving lever 4d one end is connected in frame 99 by revolute pair 59,
The 4th driving lever 4d other ends are connected by revolute pair 60 with the 4th primary follower lever 4e one end,
The 4th primary follower lever 4e other ends are connected on the 4th primary sliding sleeve 4f by revolute pair 61;
4th level follower lever 4g one end is connected to the 4th primary sliding sleeve 4f by revolute pair 62,
The 4th level follower lever 4g other end is connected by second jiao of revolute pair 63 and the 4th triangle part 4h,
4th triangle part 4h the third angle is connected in rotating shaft 97 by revolute pair 64;
As shown in figs. 8-10:
The one end of forearm 100 is connected on the first contiguous block 1n by revolute pair 65,
The other end of forearm 100 is fixedly connected on the second contiguous block 2n;
First guide rod 1q lower ends are fixedly connected on the first contiguous block 1n,
First final stage sliding sleeve 1p is sleeved on the first guide rod 1q;
The one end of first connecting rod 1 is connected on the first final stage sliding sleeve 1p by revolute pair 13,
The other end of first connecting rod 1 is connected by revolute pair 14 with the one end of second connecting rod 2,
The other end of second connecting rod 2 is fixedly connected on forearm 100;
Second final stage follower lever 2k one end is connected on second subprime sliding sleeve 2j by revolute pair 50;
The second final stage follower lever 2k other ends are connected on the first final stage sliding sleeve 1p by revolute pair 66,
As shown in figure 11:
3rd final stage follower lever 3k one end is connected on third time level sliding sleeve 3j by revolute pair 58,
The 3rd final stage follower lever 3k other ends are connected on the second final stage sliding sleeve 2p by revolute pair 25;
Second final stage sliding sleeve 2p and the 3rd final stage sliding sleeve 3p are sleeved on forearm 100,
Lead to revolute pair 26 between second final stage sliding sleeve 2p and the 3rd final stage sliding sleeve 3p to connect,
As shown in figure 11:
The one end of 8th connecting rod 8 is connected on the 3rd final stage sliding sleeve 3p by revolute pair 27,
The other end of 8th connecting rod 8 is connected on the 8th final stage sliding sleeve 8p by revolute pair 28,
8th final stage sliding sleeve 8p is sleeved on the 9th connecting rod 9,
The one end of 9th connecting rod 9 is connected on the second contiguous block 2n by revolute pair 29,
The other end of 9th connecting rod 9 is connected on the tenth connecting rod 10 by revolute pair 30,
The one end of 11st connecting rod 11 is connected on the 8th final stage sliding sleeve 8p by revolute pair 31,
The other end of 11st connecting rod 11 is connected to the one end of the tenth connecting rod 10 by revolute pair 32,
The other end of tenth connecting rod 10 is connected on seven-link assembly 7 by revolute pair 33,
As shown in figure 12:
The one end of seven-link assembly 7 is connected on actuator 98,
The other end of seven-link assembly 7 is connected by revolute pair 20 with the one end of fourth link 4,
The other end of fourth link 4 is connected on the second contiguous block 2n by revolute pair 19.
Further,
Revolute pair 43 is driven by the second servomotor 2a,
Revolute pair 51 is driven by the 3rd servomotor 3a,
Revolute pair 59 is driven by the 4th servomotor 4a.
Further,
The revolute pair 13, revolute pair 14, the rotation of revolute pair 65 and revolute pair 16 Radial section of the plane parallel to forearm 100.
Further,
Revolute pair 2 102, revolute pair 3 103, revolute pair 4 104, revolute pair 10, revolute pair 19, revolute pair 20, revolute pair 25, revolute pair 26, revolute pair 27, revolute pair 28, revolute pair 20 9th, revolute pair 30, revolute pair 31, revolute pair 32, revolute pair 33, revolute pair 41 141st, revolute pair 42, revolute pair 43, revolute pair 44, revolute pair 45, revolute pair four 16, revolute pair 47, revolute pair 48, revolute pair 49, revolute pair 50, revolute pair 51, revolute pair 52, revolute pair 53, revolute pair 54, revolute pair 55, turn Dynamic pair 56, revolute pair 57, revolute pair 58, revolute pair 59, revolute pair 60, Revolute pair 61, revolute pair 62, revolute pair 63, revolute pair 64, revolute pair 65 165 and revolute pair 66 rotational plane parallel to forearm 100 axial cross section.
Further,
The large arm 97 and forearm 100 are coaxially assembled,
First guide rod 1q perpendicular to forearm 100,
Second connecting rod 2 is perpendicular to forearm 100.
Further,
It is describedSecond final stage sliding sleeve 2p and the 3rd final stage sliding sleeve 3pIt is regular hexahedron, offers axial manhole;
Forearm 100 is cylindrical bar;Second final stage sliding sleeve 2p and the 3rd final stage sliding sleeve 3pIt is sleeved on by axial manhole On forearm 100.
Second servomotor drives forearm to rotate by the driving-chain including the second driving lever, and forearm is driven by driving-chain Actuator swings on working face, and the 3rd servomotor passes through the end of driving-chain driving second including the 3rd driving lever Level is slided over to be moved forward and backward on forearm, and the second final stage sliding sleeve is passed by the driving-chain being made up of first connecting rod to the 15th connecting rod Actuator is driven to do the adjustment at the elevation angle after passing, the 4th servomotor controls rotating shaft relative by the driving-chain including the 4th driving lever Rising height action centered on revolute pair four, that is, control the rising height of actuator.

Claims (6)

1. a kind of lightweight five degree of freedom controllable-mechanism type high-velocity spray robot, it is characterised in that including second support bar, At the beginning of three support bars, the 4th support bar, the second large arm, the third-largest arm, the second driving lever, the 3rd driving lever, the 4th driving lever, second It is level follower lever, the 3rd primary follower lever, the 4th primary follower lever, the second primary sliding sleeve, the 3rd primary sliding sleeve, the 4th primary sliding Set, second subprime follower lever, third time level follower lever, the 4th level follower lever, the second triangle part, the 3rd triangle part, the four or three Corner fittings, the 5th triangle part, the second three-level follower lever, the 3rd three-level follower lever, second subprime sliding sleeve, third time level sliding sleeve, second Final stage follower lever, the 3rd final stage follower lever, the first contiguous block, the second contiguous block, the first final stage sliding sleeve, the second final stage sliding sleeve, Three final stage sliding sleeves, the 8th final stage sliding sleeve, the first guide rod, first connecting rod, second connecting rod, fourth link, seven-link assembly, the 8th connect Bar, the 9th connecting rod, the tenth connecting rod, the 11st connecting rod, forearm, frame, actuator and rotating shaft,
Concrete structure and annexation are as follows:
Second primary sliding sleeve is sleeved in second support bar,
Second subprime sliding sleeve is sleeved in the second large arm,
Second support bar lower end is fixed in frame,
Second support bar upper end is connected with first jiao of the second triangle part and second large arm one end simultaneously by revolute pair two,
The middle part of second large arm is connected in rotating shaft by revolute pair 41,
The second large arm other end is connected on the first contiguous block by revolute pair ten;
Second driving lever one end is connected in frame by revolute pair 43,
The second driving lever other end is connected by revolute pair 44 with second primary follower lever one end,
The second primary follower lever other end is connected on the second primary sliding sleeve by revolute pair 45;
Second subprime follower lever one end is connected to the second primary sliding sleeve by revolute pair 46,
The second subprime follower lever other end is connected by second jiao of revolute pair 47 and the second triangle part;
Second three-level follower lever one end is connected by revolute pair 48 with the third angle of the second triangle part,
The second three-level follower lever other end is connected on second subprime sliding sleeve by revolute pair 49;
3rd primary sliding sleeve is sleeved on the 3rd support bar,
Third time level sliding sleeve is sleeved on the third-largest arm,
3rd support bar lower end is fixed in frame,
3rd post upper is connected by revolute pair San Tong method with first jiao of the 3rd triangle part and the third-largest arm one end,
The middle part of the third-largest arm is connected in rotating shaft by revolute pair 42;
3rd driving lever one end is connected in frame by revolute pair 51,
The 3rd driving lever other end is connected by revolute pair 52 with the 3rd primary follower lever one end,
The 3rd primary follower lever other end is connected on the 3rd primary sliding sleeve by revolute pair 53;
Third time level follower lever one end is connected to the 3rd primary sliding sleeve by revolute pair 54,
Second jiao of connection that the third time level follower lever other end passes through the triangle part of revolute pair 55 the 3rd;
3rd three-level follower lever one end is connected by revolute pair 56 with the third angle of the 3rd triangle part,
The 3rd three-level follower lever other end is connected on third time level sliding sleeve by revolute pair 57,
4th primary sliding sleeve is sleeved on the 4th support bar,
4th support bar lower end is fixed in frame,
4th post upper is connected for first jiao by revolute pair four with the 4th triangle part;
4th driving lever one end is connected in frame by revolute pair 59,
The 4th driving lever other end is connected by revolute pair 60 with the 4th primary follower lever one end,
The 4th primary follower lever other end is connected on the 4th primary sliding sleeve by revolute pair 61;
4th level follower lever one end is connected to the 4th primary sliding sleeve by revolute pair 62,
The 4th level follower lever other end is connected by second jiao of revolute pair 63 and the 4th triangle part,
The third angle of 4th triangle part is connected in rotating shaft by revolute pair 64;
Forearm one end is connected on the first contiguous block by revolute pair 65,
The forearm other end is fixedly connected on the second contiguous block;
First lower end of the guide rod is fixedly connected on the first contiguous block,
First final stage sliding sleeve is sleeved on the first guide rod;
First connecting rod one end is connected on the first final stage sliding sleeve by revolute pair 13,
The first connecting rod other end is connected by revolute pair 14 with second connecting rod one end,
The second connecting rod other end is fixedly connected on forearm;
Second final stage follower lever one end is connected on second subprime sliding sleeve by revolute pair 50;
The second final stage follower lever other end is connected on the first final stage sliding sleeve by revolute pair 66,
3rd final stage follower lever one end is connected on third time level sliding sleeve by revolute pair 58,
The 3rd final stage follower lever other end is connected on the second final stage sliding sleeve by revolute pair 25;
Second final stage sliding sleeve and the 3rd final stage sliding sleeve are sleeved on forearm,
Lead to revolute pair 26 between second final stage sliding sleeve and the 3rd final stage sliding sleeve to connect,
8th connecting rod one end is connected on the 3rd final stage sliding sleeve by revolute pair 27,
The 8th connecting rod other end is connected on the 8th final stage sliding sleeve by revolute pair 28,
8th final stage sliding sleeve is sleeved on the 9th connecting rod,
9th connecting rod one end is connected on the second contiguous block by revolute pair 29,
The 9th connecting rod other end is connected on the tenth connecting rod by revolute pair 30,
11st connecting rod one end is connected on the 8th final stage sliding sleeve by revolute pair 31,
The 11st connecting rod other end is connected to the tenth connecting rod one end by revolute pair 32,
The tenth connecting rod other end is connected on seven-link assembly by revolute pair 33,
Seven-link assembly one end is connected on actuator,
The seven-link assembly other end is connected by revolute pair 20 with fourth link one end,
The fourth link other end is connected on the second contiguous block by revolute pair 19.
2. lightweight five degree of freedom controllable-mechanism type high-velocity spray robot as claimed in claim 1, it is characterised in that also wrap The second servomotor, the 3rd servomotor and the 4th servomotor are included, revolute pair 43 is driven by the second servomotor, is rotated Pair 51 is driven by the 3rd servomotor, and revolute pair 59 is driven by the 4th servomotor.
3. lightweight five degree of freedom controllable-mechanism type high-velocity spray robot as claimed in claim 1, it is characterised in that described Revolute pair 13, revolute pair 14, revolute pair 65 and revolute pair 16 rotational plane parallel to forearm radial section.
4. lightweight five degree of freedom controllable-mechanism type high-velocity spray robot as claimed in claim 1, it is characterised in that rotate Pair two, revolute pair three, revolute pair four, revolute pair ten, revolute pair 19, revolute pair 20, revolute pair 25, revolute pair 20 6th, revolute pair 27, revolute pair 28, revolute pair 29, revolute pair 30, revolute pair 31, revolute pair 30 2nd, revolute pair 33, revolute pair 41, revolute pair 42, revolute pair 43, revolute pair 44, revolute pair four 15, revolute pair 46, revolute pair 47, revolute pair 48, revolute pair 49, revolute pair 50, revolute pair five 11, revolute pair 52, revolute pair 53, revolute pair 54, revolute pair 55, revolute pair 56, revolute pair 57, revolute pair 58, revolute pair 59, revolute pair 60, revolute pair 61, revolute pair 62, revolute pair 63, axial cross section of the rotational plane of revolute pair 64, revolute pair 65 and revolute pair 66 parallel to forearm.
5. lightweight five degree of freedom controllable-mechanism type high-velocity spray robot as claimed in claim 1, it is characterised in that described Large arm and forearm are coaxially assembled, and the first guide rod is perpendicular to forearm, and second connecting rod is perpendicular to forearm.
6. lightweight five degree of freedom controllable-mechanism type high-velocity spray robot as claimed in claim 1, it is characterised in that described Second final stage sliding sleeve and the 3rd final stage sliding sleeve are regular hexahedron, offer axial manhole;Forearm is cylindrical bar;Second end Level sliding sleeve and the 3rd final stage sliding sleeve are sleeved on forearm by axial manhole.
CN201710539366.XA 2017-07-04 2017-07-04 A kind of lightweight five degree of freedom controllable-mechanism type high-velocity spray robot Pending CN107199560A (en)

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CN108686848A (en) * 2018-05-22 2018-10-23 杨杰 A kind of comprehensive paint spraying apparatus

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* Cited by examiner, † Cited by third party
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CN108686848A (en) * 2018-05-22 2018-10-23 杨杰 A kind of comprehensive paint spraying apparatus
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Application publication date: 20170926