CN107336218A - A kind of six degree of freedom lightweight multi link spray robot - Google Patents

A kind of six degree of freedom lightweight multi link spray robot Download PDF

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Publication number
CN107336218A
CN107336218A CN201710538270.1A CN201710538270A CN107336218A CN 107336218 A CN107336218 A CN 107336218A CN 201710538270 A CN201710538270 A CN 201710538270A CN 107336218 A CN107336218 A CN 107336218A
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CN
China
Prior art keywords
revolute pair
sliding sleeve
final stage
rod
follower lever
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
CN201710538270.1A
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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 CN201710538270.1A priority Critical patent/CN107336218A/en
Publication of CN107336218A publication Critical patent/CN107336218A/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
    • B05CAPPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C5/00Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00Arms
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/0009Constructional details, e.g. manipulator supports, bases

Abstract

A kind of six degree of freedom lightweight multi link spray robot,First servomotor drives the 4th final stage to slide over and moved forward and backward on forearm by the driving-chain including the first driving lever,Second servomotor drives forearm to be rotated centered on revolute pair 13 by the driving-chain including the second driving lever,The Plane of rotation of revolute pair 13 is parallel to forearm axial cross section,5th servomotor drives forearm to be rotated centered on revolute pair 14 by the driving-chain including the 5th driving lever,The Plane of rotation of revolute pair 14 is parallel to forearm radial section,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,Second final stage sliding sleeve and the 4th final stage sliding sleeve do the adjustment at the elevation angle by driving actuator after the driving-chain transmission that is made up of first connecting rod to the 15th connecting rod,4th servomotor controls the rising height of actuator by the driving-chain including the first driving lever.The present invention has the characteristics that structural reliability is high, stability is good and cost is low.

Description

A kind of six degree of freedom lightweight multi link spray robot
Technical field
The present invention relates to mechanical field, specifically a kind of six degree of freedom lightweight multi link spray robot.
Background technology
Since the 1980s, the quality that people wish to reduce robot motion's part always improves its dynamic Can, and achieve gratifying achievement.But these work are all around the rod member quality expansion of mitigation robot.And it is arranged on 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 are 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 One of gap of robot motor and decelerator and the robot motor of international most advanced level, decelerator is 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 bad, is also easy to produce larger vibration The problems such as.If motor, decelerator can be arranged in frame, be not mounted within joint with manipulator motion, then it is no to turn Various problems caused by dynamic inertia is big.
The content of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of six degree of freedom lightweight multi link spray robot.
To achieve these goals, present invention employs following technical scheme:
A kind of six degree of freedom lightweight multi link spray robot, including first support bar, second support bar, the 3rd support Bar, the 4th support bar, the first large arm, the second large arm, the third-largest arm, the first driving lever, the second driving lever, the 3rd driving lever, Four driving levers, the 5th driving lever, the first primary follower lever, the second primary follower lever, the 3rd primary follower lever, the 4th primary are driven At the beginning of bar, the 5th primary follower lever, the first primary sliding sleeve, the second primary sliding sleeve, the 3rd primary sliding sleeve, the 4th primary sliding sleeve, the 5th Level sliding sleeve, first level follower lever, second subprime follower lever, third time level follower lever, the 4th level follower lever, the 5th level from Lever, the first triangle part, the second triangle part, the 3rd triangle part, the 4th triangle part, the 5th triangle part, the first three-level follower lever, Two three-level follower levers, the 3rd three-level follower lever, the 5th three-level follower lever, first level sliding sleeve, second subprime sliding sleeve, third time level Sliding sleeve, the 5th level sliding sleeve, the first final stage follower lever, the second final stage follower lever, the 3rd final stage follower lever, the 5th final stage are driven Bar, the first contiguous block, the second contiguous block, the 3rd contiguous block, the second final stage sliding sleeve, the 3rd final stage sliding sleeve, the 4th final stage sliding sleeve, Five final stage sliding sleeves, the 6th final stage sliding sleeve, the 7th final stage sliding sleeve, the 8th final stage sliding sleeve, the 9th final stage sliding sleeve, the tenth final stage sliding sleeve, First final stage sliding sleeve, the first guide rod, the second guide rod, first connecting rod, second connecting rod, third connecting rod, fourth link, the 5th connecting rod, Six-bar linkage, seven-link assembly, the 8th connecting rod, the 9th connecting rod, the tenth connecting rod, the 11st connecting rod, the 12nd connecting rod, the 13rd connect Bar, the tenth double leval jib, the 15th connecting rod, the tenth six-bar linkage, the tenth seven-link assembly, the 18th connecting rod, forearm, frame, actuator and Rotating shaft,
Concrete structure and annexation are as follows:
First support bar lower end is fixed in frame, first support bar upper end by revolute pair one simultaneously with the first triangle part First jiao and the connection of first large arm one end, the middle part of the first large arm is connected in rotating shaft by revolute pair 40;
Second support bar lower end is fixed in frame, second support bar upper end by revolute pair two simultaneously with the second triangle part First jiao, first jiao of the 5th triangle part and the connection of second large arm one end, the middle part of the second large arm are connected by revolute pair 41 It is connected in rotating shaft;The second large arm other end is connected on the first contiguous block by revolute pair 13,
3rd support bar lower end is fixed in frame, and the 3rd post upper passes through revolute pair San Tong method and the 3rd triangle part First jiao and the connection of the third-largest arm one end, the middle part of the third-largest arm is connected in rotating shaft by revolute pair 42;
4th support bar lower end is fixed in frame, and the 4th post upper passes through the triangle part first of revolute pair four and the 4th Angle connects;
First primary sliding sleeve is sleeved in first support bar,
Second primary sliding sleeve and the 5th primary sliding sleeve are sleeved in second support bar,
3rd primary sliding sleeve is sleeved on the 3rd support bar,
4th primary sliding sleeve is sleeved on the 4th support bar;
First time level sliding sleeve is sleeved in the first large arm,
Second subprime sliding sleeve and the 5th level sliding sleeve are sleeved in the second large arm,
Third time level sliding sleeve is sleeved on the third-largest arm;
First driving lever one end is connected in frame by revolute pair five,
The first driving lever other end is connected by revolute pair six with first primary follower lever one end,
The first primary follower lever other end is connected on the first primary sliding sleeve by revolute pair seven;
First level follower lever one end is connected to the first primary sliding sleeve by revolute pair eight,
First level follower lever other end is connected by second jiao of revolute pair nine and the first triangle part;
First three-level follower lever one end is connected by revolute pair ten with the third angle of the first triangle part,
The first three-level follower lever other end is connected on first level sliding sleeve by revolute pair 11;
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,
5th driving lever one end driving lever revolute pair 67 is connected in frame,
The 5th driving lever other end is connected by revolute pair 68 with the 5th primary follower lever one end,
The 5th primary follower lever other end is connected on the 5th primary sliding sleeve by revolute pair 69,
5th time level follower lever one end is connected to the 5th primary sliding sleeve by revolute pair 70,
The 5th level follower lever other end is connected by second jiao of revolute pair 71 and the 5th triangle part;
5th three-level follower lever one end is connected by revolute pair 72 with the third angle of the 5th triangle part,
The 5th three-level follower lever other end is connected on the 5th level sliding sleeve by revolute pair 73,
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,
The third time level follower lever other end is connected by second jiao of revolute pair 55 and the 3rd triangle part;
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 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 time 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;
First guide rod is fixedly connected on the first contiguous block,
Forearm one end is connected on the first contiguous block of connection by revolute pair 65,
The forearm other end is fixedly connected on the second contiguous block;
Second final stage sliding sleeve, the 3rd final stage sliding sleeve, the 4th final stage sliding sleeve and the 5th final stage sliding sleeve are sleeved on forearm successively;
Tenth final stage sliding sleeve, the first final stage sliding sleeve are sleeved on the first guide rod successively;
Second final stage follower lever one end is connected on second subprime sliding sleeve by revolute pair 14,
The second final stage follower lever other end is connected by revolute pair 79 with first connecting rod one end,
The first connecting rod other end is fixedly connected on the first contiguous block;
5th final stage follower lever one end is connected on the 5th level sliding sleeve by revolute pair 77,
The 5th final stage follower lever other end is connected on the first final stage sliding sleeve by revolute pair 78;
Tenth seven-link assembly one end is connected on the tenth final stage sliding sleeve by revolute pair 75,
The tenth seven-link assembly other end is connected by revolute pair 76 with the 18th connecting rod one end,
The 18th connecting rod other end is fixedly connected on forearm;
First final stage follower lever one end is connected on first level sliding sleeve by revolute pair 12,
The first final stage follower lever other end is connected by revolute pair 15 with second connecting rod one end,
The second connecting rod other end is connected on the 4th final stage sliding sleeve;
Lead to revolute pair 16 between 4th final stage sliding sleeve and the 5th final stage sliding sleeve to connect,
Third connecting rod one end is connected on the 5th final stage sliding sleeve by revolute pair 17,
The third connecting rod other end is connected on the 6th final stage sliding sleeve by revolute pair 18,
6th final stage sliding sleeve is sleeved in fourth link,
Fourth link one end is connected on the second contiguous block by revolute pair 19,
The fourth link other end by revolute pair 20 on first jiao of the 5th triangle part,
5th connecting rod one end is connected on the 6th final stage sliding sleeve by revolute pair 21,
The 5th connecting rod other end is connected to second jiao of the 5th triangle part by revolute pair 22,
Six-bar linkage one end is connected to the third angle of the 5th triangle part by revolute pair 23,
The six-bar linkage other end is connected on the 7th final stage sliding sleeve by revolute pair 24,
7th final stage sliding sleeve is sleeved on seven-link assembly;
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 by revolute pair 25 with the tenth six-bar linkage one end,
The tenth six-bar linkage other end is connected on the second final stage sliding sleeve;
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 to first jiao of the 5th triangle part also by revolute pair 20,
The seven-link assembly other end is connected on the 3rd contiguous block by revolute pair 34;
Second guide rod is fixedly connected on the 3rd contiguous block,
9th final stage sliding sleeve is sleeved on the second guide rod;
12nd connecting rod one end is connected on the 7th final stage sliding sleeve by revolute pair 35,
The 12nd connecting rod other end is connected on the 9th final stage sliding sleeve by revolute pair 36,
13rd connecting rod one end is connected on the 3rd contiguous block by revolute pair 37,
The 13rd connecting rod other end is fixedly connected on actuator,
Tenth double leval jib one end is connected on the 9th final stage sliding sleeve by revolute pair 38,
The tenth double leval jib other end is connected on the 15th connecting rod by revolute pair 39,
The 15th connecting rod other end is fixedly connected on the 13rd connecting rod.
Further,
The revolute pair one, revolute pair two, revolute pair three, revolute pair four, revolute pair five, revolute pair six, revolute pair seven, turn Dynamic pair eight, revolute pair nine, revolute pair ten, revolute pair 11, revolute pair 40, revolute pair 41, revolute pair 42, rotation Pair 43, revolute pair 44, revolute pair 45, revolute pair 46, revolute pair 47, revolute pair 48, turn Dynamic pair 49, revolute pair 51, revolute pair 52, revolute pair 53, revolute pair 54, revolute pair 55, Revolute pair 56, revolute pair 57, revolute pair 59, revolute pair 60, revolute pair 61, revolute pair 62, Revolute pair 63, revolute pair 64, revolute pair 67, revolute pair 68, revolute pair 69, revolute pair 70, Revolute pair 71, revolute pair 72, revolute pair 73, the Plane of rotation phase of revolute pair 77 and revolute pair 78 It is mutually parallel, and parallel to the axial cross section of the first guide rod.
Further,
The revolute pair 17, revolute pair 18, revolute pair 19, revolute pair 20, revolute pair 21, revolute pair two 12, revolute pair 23, revolute pair 24, revolute pair 27, revolute pair 28, revolute pair 29, revolute pair 30, revolute pair 31, revolute pair 32, revolute pair 33, revolute pair 34, revolute pair 35 and revolute pair 36 Plane of rotation is parallel to each other, and perpendicular to the radial section of forearm.
Further,
The rotational plane of the revolute pair 37, revolute pair 38 and revolute pair 39 is parallel to the 13rd connecting rod Radial section.
Further,
The revolute pair 12, revolute pair 13, revolute pair 14, revolute pair 15, revolute pair 25, revolute pair five 18 and revolute pair 79 rotational plane parallel to the first guide rod radial section.
Further,
The revolute pair 75, revolute pair 76, revolute pair 26, revolute pair 16, revolute pair 65 Radial section of the Plane of rotation parallel to forearm.
Further,
First guide rod is both perpendicular to large arm and forearm, the rotation of the axis of the first guide rod perpendicular to revolute pair 13 Plane;Second guide rod is perpendicular to the 13rd connecting rod;The second connecting rod and the tenth six-bar linkage are all vertical with forearm.
Further,
The second final stage sliding sleeve, the 3rd final stage sliding sleeve, the 4th final stage sliding sleeve, the 5th final stage sliding sleeve, the tenth final stage sliding sleeve It is regular hexahedron with the first final stage sliding sleeve, offers axial manhole;First guide rod and forearm are cylindrical bar;Second end Level sliding sleeve, the 3rd final stage sliding sleeve, the 4th final stage sliding sleeve, the 5th final stage sliding sleeve are sleeved on forearm by axial manhole;The Ten final stage sliding sleeves and the first final stage sliding sleeve are sleeved on the first guide rod by axial manhole.
Further,
Also include the first servomotor, the second servomotor, the 3rd servomotor, the 4th servomotor and the 5th servo electricity Machine, revolute pair five are driven by the first servomotor, and revolute pair 43 is driven by the second servomotor, and revolute pair 67 is by the Five servomotors are driven, and revolute pair 51 is driven by the 3rd servomotor, and revolute pair 59 is driven by the 4th servomotor.
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 designs, 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, caused movement inertia is big, residual oscillation is obvious and the shortcomings such as high speed operation positioning precision is low, has structural reliability High, the features such as stability is good and cost is low.
The present invention is vertical by two of square sliding block by two two sets be mutually perpendicular on working face slider-crank mechanisms Straight surface structure, which 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 difference, motor and decelerator need not install on joint by having, just in fact The characteristics of having showed space driving transmission.
Two sets of slider-crank mechanisms, are realized crank block machine by the present invention by same slide bar symmetrical serial together Structure tandem sequence, the shortcomings that traditional four bar transmission mechanism integral rigidities are low and space-consuming is big is overcome, has drive mechanism tight Gather with reliability it is high the characteristics of.
The present invention realizes sliding block rotation and what sliding block slided is total to 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 one of six degree of freedom lightweight multi link spray robot of the present invention.
Fig. 2 is the partial structural diagram one of six degree of freedom lightweight multi link spray robot of the present invention.
Fig. 3 is the partial structural diagram two of six degree of freedom lightweight multi link spray robot of the present invention.
Fig. 4 is the partial structural diagram three of six degree of freedom lightweight multi link spray robot of the present invention.
Fig. 5 is that the first final stage of control follower lever of six degree of freedom lightweight multi link spray robot of the present invention moves Driving-chain structural representation one.
Fig. 6 is that the first final stage of control follower lever of six degree of freedom lightweight multi link spray robot of the present invention moves Driving-chain structural representation two.
Fig. 7 is that the second final stage of control follower lever of six degree of freedom lightweight multi link spray robot of the present invention moves Driving-chain structural representation one.
Fig. 8 is that the second final stage of control follower lever of six degree of freedom lightweight multi link spray robot of the present invention moves Driving-chain structural representation two.
Fig. 9 is that the final stage follower lever of control the 5th of six degree of freedom lightweight multi link spray robot of the present invention moves Driving-chain structural representation one.
Figure 10 is that the final stage follower lever of control the 5th of six degree of freedom lightweight multi link spray robot of the present invention is transported The structural representation two of dynamic driving-chain.
Figure 11 is that the final stage follower lever of control the 3rd of six degree of freedom lightweight multi link spray robot of the present invention is transported The structural representation one of dynamic driving-chain.
Figure 12 is that the final stage follower lever of control the 3rd of six degree of freedom lightweight multi link spray robot of the present invention is transported The structural representation two of dynamic driving-chain.
Figure 13 is that the triangle part of control the 4th of six degree of freedom lightweight multi link spray robot of the present invention moves The structural representation one of driving-chain.
Figure 14 is that the triangle part of control the 4th of six degree of freedom lightweight multi link spray robot of the present invention moves The structural representation two of driving-chain.
Figure 15 is the first guide rod, forearm, the first company of six degree of freedom lightweight multi link spray robot of the present invention Connect the assemble mechanism schematic diagram one between block, first connecting rod and the second final stage follower lever.
Figure 16 is the first guide rod, forearm and the first company of six degree of freedom lightweight multi link spray robot of the present invention Connect the assemble mechanism schematic diagram between block.
Figure 17 be the forearm of six degree of freedom lightweight multi link spray robot of the present invention, the first final stage follower lever, Assemble mechanism schematic diagram between second final stage follower lever and the 3rd final stage follower lever.
Figure 18 is the transmission of the control actuator motions of six degree of freedom lightweight multi link spray robot of the present invention Chain structure schematic diagram one.
Figure 19 is the transmission of the control actuator motions of six degree of freedom lightweight multi link spray robot of the present invention Chain structure schematic diagram two.
Figure 20 is the transmission of the control actuator motions of six degree of freedom lightweight multi link spray robot of the present invention Chain structure schematic diagram three.
Figure 21 is the transmission of the control actuator motions of six degree of freedom lightweight multi link spray robot of the present invention Chain structure schematic diagram four.
Figure 22 is the transmission of the control actuator motions of six degree of freedom lightweight multi link spray robot of the present invention Chain structure schematic diagram five.
Figure 23 is the 13rd connecting rod, the tenth double leval jib of six degree of freedom lightweight multi link spray robot of the present invention And the 15th assembling structure schematic diagram between connecting rod.
Figure 24 be the 13rd connecting rod of six degree of freedom lightweight multi link spray robot of the present invention, seven-link assembly with And the second assembling structure schematic diagram between guide rod.
Figure 25 is the 12nd connecting rod and the 9th final stage of six degree of freedom lightweight multi link spray robot of the present invention Assembling structure schematic diagram between sliding sleeve.
Figure 26 is the forearm of six degree of freedom lightweight multi link spray robot of the present invention, the second final stage sliding sleeve, the Assemble mechanism schematic diagram between four final stage sliding sleeves, the first final stage follower lever and the 3rd final stage follower lever.
Figure 27 is the overall structure diagram two of six degree of freedom lightweight multi link spray robot of the present invention.
In figure:
First servomotor 1a, the second servomotor 2a, the 3rd servomotor 3a,
4th servomotor 4a, the 5th servomotor 5a,
First support bar 1b, second support bar 2b, the 3rd support bar 3b, the 4th support bar 4b,
First large arm 1c, the second large arm 2c, the third-largest arm 3c,
First driving lever 1d, the second driving lever 2d, the 3rd driving lever 3d, the 4th driving lever 4d, the 5th driving lever 5d,
First primary follower lever 1e, the second primary follower lever 2e, the 3rd primary follower lever 3e,
4th primary follower lever 4e, the 5th primary follower lever 5e,
First primary sliding sleeve 1f, the second primary sliding sleeve 2f, the 3rd primary sliding sleeve 3f,
4th primary sliding sleeve 4f, the 5th primary sliding sleeve 5f,
First level follower lever 1g, second subprime follower lever 2g, third time level follower lever 3g,
4th level follower lever 4g, the 5th level follower lever 5g
First triangle part 1h, the second triangle part 2h, the 3rd triangle part 3h, the 4th triangle part 4h, the 5th triangle part 5h,
First three-level follower lever 1i, the second three-level follower lever 2i, the 3rd three-level follower lever 3i, the 5th three-level follower lever 5i,
First level sliding sleeve 1j, second subprime sliding sleeve 2j, third time level sliding sleeve 3j, the 5th level sliding sleeve 3j,
First final stage follower lever 1k, the second final stage follower lever 2k, the 3rd final stage follower lever 3k, the 5th final stage follower lever 5k,
First contiguous block 1p, the second contiguous block 2n, the 3rd contiguous block 3n,
Second final stage sliding sleeve 2p, the 3rd final stage sliding sleeve 3p, the 4th final stage sliding sleeve 4p, the 5th final stage sliding sleeve 5p,
6th final stage sliding sleeve 6p, the 7th final stage sliding sleeve 7p, the 8th final stage sliding sleeve 8p, the 9th final stage sliding sleeve 9p,
Tenth final stage sliding sleeve 10p, the first final stage sliding sleeve 11p,
First guide rod 1q, the second guide rod 2q,
First connecting rod 1, second connecting rod 2, third connecting rod 3, fourth link 4, the 5th connecting rod 5,
Six-bar linkage 6, seven-link assembly 7, the 8th connecting rod 8, the 9th connecting rod 9, the tenth connecting rod 10,
11st connecting rod 11, the 12nd connecting rod 12, the 13rd connecting rod 13, the tenth double leval jib 14,
15th connecting rod 15, the tenth six-bar linkage 16, the tenth seven-link assembly 17, the 18th connecting rod 18,
Forearm 100, frame 99, actuator 98, rotating shaft 97.
Embodiment
Technical scheme is further elaborated below by embodiment.
Embodiment 1
A kind of six degree of freedom lightweight multi link spray robot, including first support bar 1b, second support bar 2b, the 3rd Support bar 3b, the 4th support bar 4b, the first large arm 1c, the second large arm 2c, the third-largest arm 3c, the first driving lever 1d, second are actively Bar 2d, the 3rd driving lever 3d, the 4th driving lever 4d, the 5th driving lever 5d, the first primary follower lever 1e, the second primary follower lever 2e, the 3rd primary follower lever 3e, the 4th primary follower lever 4e, the 5th primary follower lever 5e, the first primary sliding sleeve 1f, the second primary Sliding sleeve 2f, the 3rd primary sliding sleeve 3f, the 4th primary sliding sleeve 4f, the 5th primary sliding sleeve 5f, first level follower lever 1g, second subprime Follower lever 2g, third time level follower lever 3g, the 4th level follower lever 4g, the 5th level follower lever 5g, the first triangle part 1h, second Triangle part 2h, the 3rd triangle part 3h, the 4th triangle part 4h, the 5th triangle part 5h, the first three-level follower lever 1i, the second three-level from Lever 2i, the 3rd three-level follower lever 3i, the 5th three-level follower lever 5i, first level sliding sleeve 1j, second subprime sliding sleeve 2j, third time Level sliding sleeve 3j, the 5th level sliding sleeve 3j, the first final stage follower lever 1k, the second final stage follower lever 2k, the 3rd final stage follower lever 3k, the Five final stage follower lever 5k, the first contiguous block 1p, the second contiguous block 2n, the 3rd contiguous block 3n, the second final stage sliding sleeve 2p, the 3rd final stage Sliding sleeve 3p, the 4th final stage sliding sleeve 4p, the 5th final stage sliding sleeve 5p, the 6th final stage sliding sleeve 6p, the 7th final stage sliding sleeve 7p, the 8th final stage are slided Cover 8p, the 9th final stage sliding sleeve 9p, the tenth final stage sliding sleeve 10p, the first final stage sliding sleeve 11p, the first guide rod 1q, the second guide rod 2q, the One connecting rod 1, second connecting rod 2, third connecting rod 3, fourth link 4, the 5th connecting rod 5, six-bar linkage 6, seven-link assembly 7, the 8th connecting rod 8th, the 9th connecting rod 9, the tenth connecting rod 10, the 11st connecting rod 11, the 12nd connecting rod 12, the 13rd connecting rod 13, the tenth double leval jib 14, 15 connecting rods 15, the tenth six-bar linkage 16, the tenth seven-link assembly 17, the 18th connecting rod 18, forearm 100, frame 99, actuator 98 and turn Axle 97,
Concrete structure and annexation are as follows:
As shown in figs. 2 to 4:
First support bar 1b lower ends are fixed in frame 99, first support bar 1b upper ends by revolute pair 1 simultaneously with First first jiao of triangle part 1h and the connection of first large arm 1c one end, the first large arm 1c middle part are connected by revolute pair 40 It is connected in rotating shaft 97;
Second support bar 2b lower ends are fixed in frame 99, second support bar 2b upper ends by revolute pair 2 102 simultaneously with Second first jiao of triangle part 2h, first jiao of the 5th triangle part 5h and the connection of second large arm 2c one end, the second large arm 2c middle part It is connected to by revolute pair 41 in rotating shaft 97;The second large arm 2c other ends are connected to first by revolute pair 13 On contiguous block 1p (shown in Fig. 5~7),
3rd support bar 3b lower ends are fixed in frame 99, the 3rd support bar 3b upper ends by revolute pair 3 103 simultaneously with 3rd first jiao of triangle part 3h and the connection of the third-largest arm 3c one end, the third-largest arm 3c middle part passes through revolute pair 42 It is connected in rotating shaft 97;
4th support bar 4b lower ends are fixed in frame 99, and the 4th support bar 4b upper ends pass through revolute pair 4 104 and the 4th First jiao of connection of triangle part 4h;
As shown in Figure 2:
First primary sliding sleeve 1f is sleeved on first support bar 1b,
The second primary primary sliding sleeve 2f of sliding sleeve 2f and the 5th are sleeved on second support bar 2b,
3rd primary sliding sleeve 3f is sleeved on the 3rd support bar 3b,
4th primary sliding sleeve 4f is sleeved on the 4th support bar 4b;
First time level sliding sleeve 1j is sleeved on the first large arm 1c,
Second subprime sliding sleeve 2j and the 5th time level sliding sleeve 5j is sleeved on the second large arm 2c,
Third time level sliding sleeve 3j is sleeved on the third-largest arm 3c;
As shown in Fig. 5~6:
First driving lever 1d one end is connected in frame 99 by revolute pair 5 105,
The first driving lever 1d other ends are connected by revolute pair 6 106 with first primary follower lever 1e one end,
The first primary follower lever 1e other ends are connected on the first primary sliding sleeve 1f by revolute pair 7 107;
First level follower lever 1g one end is connected to the first primary sliding sleeve 1f by revolute pair 8 108,
First level follower lever 1g other end is connected by second jiao of revolute pair 9 109 and the first triangle part 1h;
First three-level follower lever 1i one end is connected by revolute pair 10 with the first triangle part 1h the third angle,
The first three-level follower lever 1i other ends are connected on first level sliding sleeve 1j by revolute pair 11;
As shown in FIG. 7 and 8:
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 9 and 10:
5th driving lever 5d one end driving lever revolute pair 67 is connected in frame 99,
The 5th driving lever 5d other ends are connected by revolute pair 68 with the 5th primary follower lever 5e one end,
The 5th primary follower lever 5e other ends are connected on the 5th primary sliding sleeve 5f by revolute pair 69,
5th level follower lever 5g one end is connected to the 5th primary sliding sleeve 5f by revolute pair 70,
The 5th level follower lever 5g other end is connected by second jiao of revolute pair 71 and the 5th triangle part 5h;
5th three-level follower lever 5i one end is connected by revolute pair 72 with the 5th triangle part 5h the third angle,
The 5th three-level follower lever 5i other ends are connected on the 5th level sliding sleeve 5j by revolute pair 73,
As shown in FIG. 11 and 12:
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,
The third time level follower lever 3g other ends are connected by second jiao of revolute pair 55 and the 3rd triangle part 3h;
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 Figure 13~14
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 seen in figs. 15-17:
First guide rod 1q one end is fixedly connected on the first contiguous block 1p,
The one end of forearm 100 is connected on the first contiguous block 1p of connection by revolute pair 65,
The other end of forearm 100 is fixedly connected on the second contiguous block 2n;
Second final stage sliding sleeve 2p, the 3rd final stage sliding sleeve 3p, the 4th final stage sliding sleeve 4p and the 5th final stage sliding sleeve 5p are set with successively On forearm 100;
Tenth final stage sliding sleeve 10p, the first final stage sliding sleeve 11p are sleeved on the first guide rod 1q successively;
As shown in figure 15:
Second final stage follower lever 2k one end is connected on second subprime sliding sleeve 2j by revolute pair 14,
The second final stage follower lever 2k other ends are connected by revolute pair 79 with the one end of first connecting rod 1,
The other end of first connecting rod 1 is fixedly connected on the first contiguous block 1p;
As shown in Figure 10:
5th final stage follower lever 5k one end is connected on the 5th level sliding sleeve 5j by revolute pair 77,
The 5th final stage follower lever 5k other ends are connected on the first final stage sliding sleeve 11p by revolute pair 78;
As shown in figure 15:
The one end of tenth seven-link assembly 17 is connected on the tenth final stage sliding sleeve 10p by revolute pair 75,
The other end of tenth seven-link assembly 17 is connected by revolute pair 76 with the one end of the 18th connecting rod 18,
The other end of 18th connecting rod 18 is fixedly connected on forearm 100;
As shown in figure 26:
First final stage follower lever 1k one end is connected on first level sliding sleeve 1j by revolute pair 12,
The first final stage follower lever 1k other ends are connected by revolute pair 15 with the one end of second connecting rod 2,
The other end of second connecting rod 2 is connected on the 4th final stage sliding sleeve 4p;
As shown in Figures 18 and 19:
Lead to revolute pair 16 between 4th final stage sliding sleeve 4p and the 5th final stage sliding sleeve 5p to connect,
The one end of third connecting rod 3 is connected on the 5th final stage sliding sleeve 5p by revolute pair 17,
The other end of third connecting rod 3 is connected on the 6th final stage sliding sleeve 6p by revolute pair 18,
6th final stage sliding sleeve 6p is sleeved in fourth link 4,
The one end of fourth link 4 is connected on the second contiguous block 2n by revolute pair 19,
The other end of fourth link 4 by revolute pair 20 on first jiao of the 5th triangle part 5h,
The one end of 5th connecting rod 5 is connected on the 6th final stage sliding sleeve 6p by revolute pair 21,
The other end of 5th connecting rod 5 is connected to second jiao of the 5th triangle part 5h by revolute pair 22,
The one end of six-bar linkage 6 is connected to the 5th triangle part 5h the third angle by revolute pair 23,
The other end of six-bar linkage 6 is connected on the 7th final stage sliding sleeve 7p by revolute pair 24,
7th final stage sliding sleeve 7p is sleeved on seven-link assembly 7;
As shown in figure 26:
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 by revolute pair 25 with the one end of the tenth six-bar linkage 16,
The other end of tenth six-bar linkage 16 is connected on the second final stage sliding sleeve 2p;
As shown in Figure 20~22:
Lead to revolute pair 26 between second final stage sliding sleeve 2p and the 3rd final stage sliding sleeve 3p to connect,
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,
The one end of seven-link assembly 7 is connected to first jiao of the 5th triangle part 5h also by revolute pair 20,
The other end of seven-link assembly 7 is connected on the 3rd contiguous block 3n by revolute pair 34;
As shown in Figure 23~25:
Second guide rod 2q one end is fixedly connected on the 3rd contiguous block 3n,
9th final stage sliding sleeve 9p is sleeved on the second guide rod 2q;
The one end of 12nd connecting rod 12 is connected on the 7th final stage sliding sleeve 7p by revolute pair 35,
The other end of 12nd connecting rod 12 is connected on the 9th final stage sliding sleeve 9p by revolute pair 36,
The one end of 13rd connecting rod 13 is connected on the 3rd contiguous block 3n by revolute pair 37,
The other end of 13rd connecting rod 13 is fixedly connected on actuator 98,
The one end of tenth double leval jib 14 is connected on the 9th final stage sliding sleeve 9p by revolute pair 38,
The other end of tenth double leval jib 14 is connected on the 15th connecting rod 15 by revolute pair 39,
The other end of 15th connecting rod 15 is fixedly connected on the 13rd connecting rod 13.
Further,
The revolute pair 1, revolute pair 2 102, revolute pair 3 103, revolute pair 4 104, revolute pair 5 105, rotation Pair 6 106, revolute pair 7 107, revolute pair 8 108, revolute pair 9 109, revolute pair 10, revolute pair 11, revolute pair 40, revolute pair 41, revolute pair 42, revolute pair 43, revolute pair 44, rotation Pair 45, revolute pair 46, revolute pair 47, revolute pair 48, revolute pair 49, Revolute pair 51, revolute pair 52, revolute pair 53, revolute pair 54, revolute pair 55 155th, revolute pair 56, revolute pair 57, revolute pair 59, revolute pair 60, revolute pair 60 One 161, revolute pair 62, revolute pair 63, revolute pair 64, revolute pair 67, revolute pair 68, revolute pair 69, revolute pair 70, revolute pair 71, revolute pair 72, rotation The Plane of rotation of pair 73, revolute pair 77 and revolute pair 78 is parallel to each other, and is led parallel to first Bar 1q axial cross section.
Further,
The revolute pair 17, revolute pair 18, revolute pair 19, revolute pair 20, revolute pair two 11, revolute pair 22, revolute pair 23, revolute pair 24, revolute pair 27, rotation Pair 28, revolute pair 29, revolute pair 30, revolute pair 31, revolute pair 32, turn Dynamic secondary 33, the Plane of rotation of revolute pair 34, revolute pair 35 and revolute pair 36 is mutual It is parallel, and perpendicular to the radial section of forearm 100.
Further,
The rotational plane of the revolute pair 37, revolute pair 38 and revolute pair 39 parallel to The radial section of 13rd connecting rod 13.
Further,
The revolute pair 12, revolute pair 13, revolute pair 14, revolute pair 15, revolute pair two 15, radial section of the rotational plane of revolute pair 58 and revolute pair 79 parallel to the first guide rod 1q.
Further,
The revolute pair 75, revolute pair 76, revolute pair 26, revolute pair 16, turn Radial section of the Plane of rotation of dynamic pair 65 parallel to forearm.
Further,
The first guide rod 1q is both perpendicular to large arm 97 and forearm 100, and the first guide rod 1q axis is perpendicular to revolute pair 13 rotational plane;The second guide rod 2q is perpendicular to the 13rd connecting rod 13;The six-bar linkage of second connecting rod 2 and the tenth 16 is all vertical with forearm.
Further,
The second final stage sliding sleeve 2p, the 3rd final stage sliding sleeve 3p, the 4th final stage sliding sleeve 4p, the 5th final stage sliding sleeve 5p, the tenth Final stage sliding sleeve 10p and the first final stage sliding sleeve 11p is regular hexahedron, offers axial manhole;First guide rod 1q and forearm It is cylindrical bar;Second final stage sliding sleeve 2p, the 3rd final stage sliding sleeve 3p, the 4th final stage sliding sleeve 4p, the 5th final stage sliding sleeve 5p pass through axle It is sleeved on to manhole on forearm;Tenth final stage sliding sleeve 10p and the first final stage sliding sleeve 11p are sleeved on by axial manhole On first guide rod 1q.
Further,
Revolute pair 5 105 is driven by the first servomotor 1a,
Revolute pair 43 is driven by the second servomotor 2a,
Revolute pair 67 is driven by the 5th servomotor 5a,
Revolute pair 51 is driven by the 3rd servomotor 3a,
Revolute pair 59 is driven by the 4th servomotor 4a.
First servomotor by driving-chain including the first driving lever drive the 4th final stage slide over done on forearm it is front and rear Motion, the second servomotor drive forearm to be rotated centered on revolute pair 13 by the driving-chain including the second driving lever, turn The Plane of rotation of dynamic pair 13 is driven parallel to forearm axial cross section, the 5th servomotor by the driving-chain including the 5th driving lever Dynamic forearm is rotated centered on revolute pair 14, and the Plane of rotation of revolute pair 14 is parallel to forearm radial section, the 3rd servo Motor drives the second final stage to slide over and moved forward and backward on forearm by the driving-chain including the 3rd driving lever, the second final stage sliding sleeve The elevation angle is done by driving actuator after the driving-chain transmission that is made up of first connecting rod to the 15th connecting rod with the 4th final stage sliding sleeve Adjustment, the 4th servomotor control the rising height of actuator by the driving-chain including the first driving lever.

Claims (9)

1. a kind of six degree of freedom lightweight multi link spray robot, it is characterised in that including first support bar, the second support Bar, the 3rd support bar, the 4th support bar, the first large arm, the second large arm, the third-largest arm, the first driving lever, the second driving lever, Three driving levers, the 4th driving lever, the 5th driving lever, the first primary follower lever, the second primary follower lever, the 3rd primary follower lever, 4th primary follower lever, the 5th primary follower lever, the first primary sliding sleeve, the second primary sliding sleeve, the 3rd primary sliding sleeve, the 4th primary Sliding sleeve, the 5th primary sliding sleeve, first level follower lever, second subprime follower lever, third time level follower lever, the 4th level are driven Bar, the 5th level follower lever, the first triangle part, the second triangle part, the 3rd triangle part, the 4th triangle part, the 5th triangle part, the firstth Three-level follower lever, the second three-level follower lever, the 3rd three-level follower lever, the 5th three-level follower lever, first level sliding sleeve, second subprime Sliding sleeve, third time level sliding sleeve, the 5th level sliding sleeve, the first final stage follower lever, the second final stage follower lever, the 3rd final stage follower lever, 5th final stage follower lever, the first contiguous block, the second contiguous block, the 3rd contiguous block, the second final stage sliding sleeve, the 3rd final stage sliding sleeve, Four final stage sliding sleeves, the 5th final stage sliding sleeve, the 6th final stage sliding sleeve, the 7th final stage sliding sleeve, the 8th final stage sliding sleeve, the 9th final stage sliding sleeve, Tenth final stage sliding sleeve, the first final stage sliding sleeve, the first guide rod, the second guide rod, first connecting rod, second connecting rod, third connecting rod, the 4th connect Bar, the 5th connecting rod, six-bar linkage, seven-link assembly, the 8th connecting rod, the 9th connecting rod, the tenth connecting rod, the 11st connecting rod, the 12nd connect Bar, the 13rd connecting rod, the tenth double leval jib, the 15th connecting rod, the tenth six-bar linkage, the tenth seven-link assembly, the 18th connecting rod, forearm, machine Frame, actuator and rotating shaft,
Concrete structure and annexation are as follows:
First support bar lower end is fixed in frame, first support bar upper end by revolute pair one simultaneously with the first triangle part first Angle and the connection of first large arm one end, the middle part of the first large arm is connected in rotating shaft by revolute pair 40;
Second support bar lower end is fixed in frame, second support bar upper end by revolute pair two simultaneously with the second triangle part first Angle, first jiao of the 5th triangle part and the connection of second large arm one end, the middle part of the second large arm is connected to by revolute pair 41 In rotating shaft;The second large arm other end is connected on the first contiguous block by revolute pair 13,
3rd support bar lower end is fixed in frame, and the 3rd post upper passes through revolute pair San Tong method and the 3rd triangle part first Angle and the connection of the third-largest arm one end, the middle part of the third-largest arm is connected in rotating shaft by revolute pair 42;
4th support bar lower end is fixed in frame, and the 4th post upper passes through four and the 4th triangle part of revolute pair, first jiao of company Connect;
First primary sliding sleeve is sleeved in first support bar,
Second primary sliding sleeve and the 5th primary sliding sleeve are sleeved in second support bar,
3rd primary sliding sleeve is sleeved on the 3rd support bar,
4th primary sliding sleeve is sleeved on the 4th support bar;
First time level sliding sleeve is sleeved in the first large arm,
Second subprime sliding sleeve and the 5th level sliding sleeve are sleeved in the second large arm,
Third time level sliding sleeve is sleeved on the third-largest arm;
First driving lever one end is connected in frame by revolute pair five,
The first driving lever other end is connected by revolute pair six with first primary follower lever one end,
The first primary follower lever other end is connected on the first primary sliding sleeve by revolute pair seven;
First level follower lever one end is connected to the first primary sliding sleeve by revolute pair eight,
First level follower lever other end is connected by second jiao of revolute pair nine and the first triangle part;
First three-level follower lever one end is connected by revolute pair ten with the third angle of the first triangle part,
The first three-level follower lever other end is connected on first level sliding sleeve by revolute pair 11;
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,
5th driving lever one end driving lever revolute pair 67 is connected in frame,
The 5th driving lever other end is connected by revolute pair 68 with the 5th primary follower lever one end,
The 5th primary follower lever other end is connected on the 5th primary sliding sleeve by revolute pair 69,
5th time level follower lever one end is connected to the 5th primary sliding sleeve by revolute pair 70,
The 5th level follower lever other end is connected by second jiao of revolute pair 71 and the 5th triangle part;
5th three-level follower lever one end is connected by revolute pair 72 with the third angle of the 5th triangle part,
The 5th three-level follower lever other end is connected on the 5th level sliding sleeve by revolute pair 73,
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,
The third time level follower lever other end is connected by second jiao of revolute pair 55 and the 3rd triangle part;
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 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 time 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;
First guide rod is fixedly connected on the first contiguous block,
Forearm one end is connected on the first contiguous block of connection by revolute pair 65,
The forearm other end is fixedly connected on the second contiguous block;
Second final stage sliding sleeve, the 3rd final stage sliding sleeve, the 4th final stage sliding sleeve and the 5th final stage sliding sleeve are sleeved on forearm successively;
Tenth final stage sliding sleeve, the first final stage sliding sleeve are sleeved on the first guide rod successively;
Second final stage follower lever one end is connected on second subprime sliding sleeve by revolute pair 14,
The second final stage follower lever other end is connected by revolute pair 79 with first connecting rod one end,
The first connecting rod other end is fixedly connected on the first contiguous block;
5th final stage follower lever one end is connected on the 5th level sliding sleeve by revolute pair 77,
The 5th final stage follower lever other end is connected on the first final stage sliding sleeve by revolute pair 78;
Tenth seven-link assembly one end is connected on the tenth final stage sliding sleeve by revolute pair 75,
The tenth seven-link assembly other end is connected by revolute pair 76 with the 18th connecting rod one end,
The 18th connecting rod other end is fixedly connected on forearm;
First final stage follower lever one end is connected on first level sliding sleeve by revolute pair 12,
The first final stage follower lever other end is connected by revolute pair 15 with second connecting rod one end,
The second connecting rod other end is connected on the 4th final stage sliding sleeve;
Lead to revolute pair 16 between 4th final stage sliding sleeve and the 5th final stage sliding sleeve to connect,
Third connecting rod one end is connected on the 5th final stage sliding sleeve by revolute pair 17,
The third connecting rod other end is connected on the 6th final stage sliding sleeve by revolute pair 18,
6th final stage sliding sleeve is sleeved in fourth link,
Fourth link one end is connected on the second contiguous block by revolute pair 19,
The fourth link other end by revolute pair 20 on first jiao of the 5th triangle part,
5th connecting rod one end is connected on the 6th final stage sliding sleeve by revolute pair 21,
The 5th connecting rod other end is connected to second jiao of the 5th triangle part by revolute pair 22,
Six-bar linkage one end is connected to the third angle of the 5th triangle part by revolute pair 23,
The six-bar linkage other end is connected on the 7th final stage sliding sleeve by revolute pair 24,
7th final stage sliding sleeve is sleeved on seven-link assembly;
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 by revolute pair 25 with the tenth six-bar linkage one end,
The tenth six-bar linkage other end is connected on the second final stage sliding sleeve;
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 to first jiao of the 5th triangle part also by revolute pair 20,
The seven-link assembly other end is connected on the 3rd contiguous block by revolute pair 34;
Second guide rod is fixedly connected on the 3rd contiguous block,
9th final stage sliding sleeve is sleeved on the second guide rod;
12nd connecting rod one end is connected on the 7th final stage sliding sleeve by revolute pair 35,
The 12nd connecting rod other end is connected on the 9th final stage sliding sleeve by revolute pair 36,
13rd connecting rod one end is connected on the 3rd contiguous block by revolute pair 37,
The 13rd connecting rod other end is fixedly connected on actuator,
Tenth double leval jib one end is connected on the 9th final stage sliding sleeve by revolute pair 38,
The tenth double leval jib other end is connected on the 15th connecting rod by revolute pair 39,
The 15th connecting rod other end is fixedly connected on the 13rd connecting rod.
2. six degree of freedom lightweight multi link spray robot as claimed in claim 1, it is characterised in that the revolute pair First, revolute pair two, revolute pair three, revolute pair four, revolute pair five, revolute pair six, revolute pair seven, revolute pair eight, revolute pair nine, turn Dynamic pair ten, revolute pair 11, revolute pair 40, 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 51, revolute pair 52, revolute pair 53, revolute pair 54, revolute pair 55, revolute pair 56, rotation Pair 57, revolute pair 59, revolute pair 60, revolute pair 61, revolute pair 62, revolute pair 63, rotation Pair 64, revolute pair 67, revolute pair 68, revolute pair 69, revolute pair 70, revolute pair 71, rotation Pair 72, revolute pair 73, the Plane of rotation of revolute pair 77 and revolute pair 78 are parallel to each other, and parallel to the The axial cross section of one guide rod.
3. six degree of freedom lightweight multi link spray robot as claimed in claim 1, it is characterised in that the revolute pair ten 7th, revolute pair 18, revolute pair 19, revolute pair 20, revolute pair 21, revolute pair 22, revolute pair 23, turn Dynamic pair 24, revolute pair 27, revolute pair 28, revolute pair 29, revolute pair 30, revolute pair 31, turn Dynamic secondary 32, the Plane of rotation of revolute pair 33, revolute pair 34, revolute pair 35 and revolute pair 36 is mutual It is parallel, and perpendicular to the radial section of forearm.
4. six degree of freedom lightweight multi link spray robot as claimed in claim 1, it is characterised in that the revolute pair three 17, radial section of the rotational plane of revolute pair 38 and revolute pair 39 parallel to the 13rd connecting rod.
5. six degree of freedom lightweight multi link spray robot as claimed in claim 1, it is characterised in that the revolute pair ten 2nd, revolute pair 13, revolute pair 14, revolute pair 15, revolute pair 25, revolute pair 58 and revolute pair 79 Radial section of the rotational plane parallel to the first guide rod.
6. six degree of freedom lightweight multi link spray robot as claimed in claim 1, it is characterised in that the revolute pair seven 15, revolute pair 76, revolute pair 26, revolute pair 16, the Plane of rotation of revolute pair 65 are parallel to forearm Radial section.
7. six degree of freedom lightweight multi link spray robot as claimed in claim 1, it is characterised in that first guide rod Both perpendicular to large arm and forearm, the rotational plane of the axis of the first guide rod perpendicular to revolute pair 13;Second guide rod hangs down Directly in the 13rd connecting rod;The second connecting rod and the tenth six-bar linkage are all vertical with forearm.
8. six degree of freedom lightweight multi link spray robot as claimed in claim 1, it is characterised in that second final stage Sliding sleeve, the 3rd final stage sliding sleeve, the 4th final stage sliding sleeve, the 5th final stage sliding sleeve, the tenth final stage sliding sleeve and the first final stage sliding sleeve are just Hexahedron, offer axial manhole;First guide rod and forearm are cylindrical bar;Second final stage sliding sleeve, the 3rd final stage sliding sleeve, 4th final stage sliding sleeve, the 5th final stage sliding sleeve are sleeved on forearm by axial manhole;Tenth final stage sliding sleeve and the first final stage Sliding sleeve is sleeved on the first guide rod by axial manhole.
9. six degree of freedom lightweight multi link spray robot as claimed in claim 1, it is characterised in that also watched including first Motor, the second servomotor, the 3rd servomotor, the 4th servomotor and the 5th servomotor are taken, revolute pair five is watched by first Motor driving is taken, revolute pair 43 is driven by the second servomotor, and revolute pair 67 is driven by the 5th servomotor, is rotated Pair 51 is driven by the 3rd servomotor, and revolute pair 59 is driven by the 4th servomotor.
CN201710538270.1A 2017-07-04 2017-07-04 A kind of six degree of freedom lightweight multi link spray robot Pending CN107336218A (en)

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CN103521381A (en) * 2013-09-09 2014-01-22 江苏长虹智能装备集团有限公司 Rotary table upright type five-freedom-degree mixed-connecting spray painting robot
CN103752449A (en) * 2013-12-07 2014-04-30 广西大学 Spray-coating robot with parallel structure
CN104923431A (en) * 2014-03-18 2015-09-23 上海飞机制造有限公司 Spraying robot driven by multiple parallelogram links in parallel

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CN110013937A (en) * 2019-04-02 2019-07-16 清华大学 The automobile body-in-white paint finishing of 3D vision

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Application publication date: 20171110