CN109605353A - It is a kind of to use nine connecting rod automatic spraying operating mechanical device of closed linkage form - Google Patents
It is a kind of to use nine connecting rod automatic spraying operating mechanical device of closed linkage form Download PDFInfo
- Publication number
- CN109605353A CN109605353A CN201710925559.9A CN201710925559A CN109605353A CN 109605353 A CN109605353 A CN 109605353A CN 201710925559 A CN201710925559 A CN 201710925559A CN 109605353 A CN109605353 A CN 109605353A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- driving lever
- lever
- driving
- articulated
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Spray Control Apparatus (AREA)
Abstract
The present invention is a kind of to use nine connecting rod automatic spraying operating mechanical device of closed linkage form, including pedestal, rotatable platform, and telescoping mechanism, elevating mechanism, nozzle, can be rotated wrist and driving device at luffing mechanism；Telescoping mechanism includes: the first driving lever, the second driving lever, large arm, first connecting rod and second connecting rod, one end of first driving lever is articulated in rotatable platform, one end of second driving lever is articulated in rotatable platform, one end of large arm and the other end of the first driving lever are hinged, one end of first connecting rod and the other end of large arm are hinged, second connecting rod is in bending, and one end of second connecting rod and the other end of the second driving lever are hinged, and the other end of second connecting rod is articulated with the middle part of first connecting rod；Driving device is three servo motors, and the present invention improves manipulator traveling comfort and reliability, no accumulated error, and precision is higher；Compact-sized, rigidity is high, and large carrying capacity, inertia are low, dynamic property is good.
Description
Technical field
The present invention relates to mechanical engineering fields, in particular to a kind of to use nine connecting rod automatic spraying operating of closed linkage form
Mechanical device.
Background technique
Most of currently manufactured general coating manipulator of industry is the cascaded structure joint type motor driven machine for open form
Tool hand is mainly characterized in that driving motor is all mounted on each joint of manipulator, drives manipulator each by motor
The various movements of manipulator are realized in the rotation in a joint.Due to the driving electricity of the cascaded structure articulated robot of open form
Machine is all mounted on the position in joint, and this frame mode has the following problems: manipulator arm needs to carry the weight of motor simultaneously
Rigidity requirement need to be met, arm sectional dimension needs to be made larger, will increase the load of driving motor in this way, increases the fortune of arm
Dynamic inertia, causes manipulator dynamic property to decline, while driving motor is all mounted on joint position and the accumulation of manipulator is caused to miss
Difference is big, bearing capacity is small, structure is complicated, the degree of modularity is low.It is in parallel with the development of motor technology and the raising of control technology
Mechanism provides extensive development space for manipulator, not only has work by controlling motor-driven multiple freedom parallel mechanism
Space is big, flexible movements, the motion profile output of achievable complexity, at the same also have manufacturing cost is low, maintenance simply etc.
Advantage.
Summary of the invention
The purpose of the present invention is to provide a kind of more bar manipulators of painting operation in parallel, and it is mechanical to solve cascaded structure joint type
The driving motor of hand is all mounted on the position in joint, leads to that manipulator rotary inertia is big, dynamic property decline, and accumulated error is big,
The problem of bearing capacity is small, structure is complicated.To achieve the above object, present invention provide the technical scheme that a kind of use closed chain
Nine connecting rod automatic spraying operating mechanical device of structure type, including pedestal, rotatable platform, telescoping mechanism, luffing mechanism, lifting
Mechanism, can be rotated wrist and driving device at nozzle；Telescoping mechanism includes: the first driving lever, the second driving lever, large arm, first
One end of connecting rod and second connecting rod, the first driving lever is articulated in rotatable platform, and one end of the second driving lever is articulated with can
On rotatable platform, one end of large arm and the other end of the first driving lever are hinged, and one end of first connecting rod and the other end of large arm are cut with scissors
It connects, second connecting rod is in bending, and one end of second connecting rod and the other end of the second driving lever are hinged, the other end hinge of second connecting rod
It is connected to the middle part of first connecting rod；Luffing mechanism includes pitch lever and wrist connecting rod, one end of pitch lever and first connecting rod it is another
One end is hinged, and the top of wrist connecting rod and the other end of pitch lever are hinged；Elevating mechanism includes third driving lever and elevating lever,
One end of third driving lever is articulated in rotatable platform, and one end of elevating lever is articulated on the lever arm of second connecting rod, elevating lever
In bending, the other end of third driving lever is articulated in the middle part of the lever arm of elevating lever, the other end and the wrist connecting rod of elevating lever
Lower hinge；Driving device is three servo motors, and servo motor is mounted on rotatable platform, respectively with the first driving lever,
Second driving lever and the connection of third driving lever are each responsible for the first driving lever of driving, second actively to drive corresponding rotation
The swing of bar and third driving lever.
The present invention using controllable more bar parallel institutions, whole driving motors be all mounted on rotatable platform to driving lever into
Row driving, compared with spray coating mechanical hand of connecting, reduces the movement inertia of arm, improves manipulator dynamic property, improve
Manipulator traveling comfort and reliability, no accumulated error is compact-sized, and rigidity is high, and large carrying capacity, inertia is low, dynamic
Performance is good, manipulator nozzle movement track flexible and diverse.
Detailed description of the invention
Fig. 1 is structural schematic diagram according to the present invention.
Specific embodiment
It is a kind of to use nine connecting rod automatic spraying operating mechanical device of closed linkage form, comprising: pedestal 12, rotatable platform
1, telescoping mechanism, elevating mechanism, nozzle 10, can be rotated wrist 13 and driving device at luffing mechanism；Telescoping mechanism includes:
One driving lever 2, the second driving lever 3, large arm 4, first connecting rod 6 and second connecting rod 5, one end of the first driving lever 2 is articulated with can
On rotatable platform 1, one end of the second driving lever 3 is articulated in rotatable platform 1, and one end of large arm 4 is another with the first driving lever 2
One end is hinged, and one end of first connecting rod 6 and the other end of large arm 4 are hinged, and second connecting rod 5 is in the one of bending and second connecting rod 5
End is hinged with the other end of the second driving lever 3, and the other end of the second connecting rod 5 is articulated in the middle part of the lever arm of first connecting rod 6；When
When one driving lever 2 turns left, large arm 4 is moved downward, so that first connecting rod 6 be driven to move upwards, and when the second driving lever 3 to
When turning right dynamic, second connecting rod 5 is moved upwards, on the contrary then make first so that first connecting rod 6 obtains the bigger amplitude moved upwards
Connecting rod 6 moves downward.Luffing mechanism includes pitch lever 9 and wrist connecting rod 11, and one end of pitch lever 9 is another with first connecting rod 6
One end is hinged, and the top of wrist connecting rod 11 and the other end of pitch lever 9 are hinged；When first connecting rod 6 moves upwards, pitch lever 9
Also it moves upwards, it is on the contrary then make wrist connecting rod 11 so that wrist connecting rod 11 drives and can be rotated wrist and nozzle and move downward
Drive can be rotated wrist and nozzle moves upwards.Elevating mechanism includes third driving lever 7 and elevating lever 8, third driving lever 7
One end is articulated in rotatable platform 1, and one end of elevating lever 8 is articulated on the lever arm of second connecting rod 5, and the elevating lever 8 is in bending
Shape, the other end of third driving lever 7 are articulated in the middle part of the lever arm of elevating lever 8, under the other end and wrist connecting rod 11 of elevating lever 8
Portion is hinged；When third driving lever 7 moves downward, elevating lever 8 can be driven to decline, so that wrist connecting rod 11 declines, instead
Then make wrist connecting rod 11 rise.Driving device be three servo motors, respectively with the first driving lever 2, the second driving lever 3 and
Third driving lever 7 connects, and to drive corresponding rotation, is each responsible for the first driving lever 2 of driving, the second driving lever 3 and third
The swing of driving lever 7.
In use, being acted accordingly by the mutual cooperation of telescoping mechanism, luffing mechanism and elevating mechanism, as the first master
When lever 2, the second driving lever 3 and third driving lever 7 move downward, wrist connecting rod 11 can be realized bends down movement, at this point,
If third driving lever 7 continues to move right the ascending motion, it can be achieved that wrist connecting rod 11, when the first driving lever 2, the second driving lever
3 and third driving lever 7 when moving right, then the realization of wrist connecting rod 11 is steeved movement.The various movements of wrist connecting rod 11 drive
The various movements of the progress painting operation of nozzle 10.
Controllable drive motor is mounted on revolving platform by the present invention, simplifies the complexity of structure, reducing mechanism
Each connecting rod rod piece is made into lighter bar by weight, volume and cost, mechanical arm of the invention, so that entire mechanism kinematic inertia
Small, dynamic performance is good, easily controllable, by the way that revolving platform, the revolution working space for making mechanical arm possess 360 degree, work is arranged
It is big to make spatial dimension.
Claims (1)
1. a kind of use nine connecting rod automatic spraying operating mechanical device of closed linkage form, it is characterised in that: including pedestal, can turn
Moving platform, telescoping mechanism, elevating mechanism, nozzle, can be rotated wrist and driving device at luffing mechanism；Telescoping mechanism includes:
One driving lever, the second driving lever, large arm, first connecting rod and second connecting rod, one end of the first driving lever, which is articulated with, rotatably puts down
On platform, one end of the second driving lever is articulated in rotatable platform, and one end of large arm and the other end of the first driving lever are hinged, the
One end of one connecting rod and the other end of large arm are hinged, and second connecting rod is in bending, one end of second connecting rod and the second driving lever
The other end is hinged, and the other end of second connecting rod is articulated with the middle part of first connecting rod；Luffing mechanism includes that pitch lever and wrist connect
Bar, one end of pitch lever and the other end of first connecting rod are hinged, and the top of wrist connecting rod and the other end of pitch lever are hinged；Lifting
Mechanism includes third driving lever and elevating lever, and one end of third driving lever is articulated in rotatable platform, one end of elevating lever
It is articulated on the lever arm of second connecting rod, elevating lever is in bending, and the other end of third driving lever is articulated in the lever arm of elevating lever
Portion, the other end of elevating lever and the lower hinge of wrist connecting rod；Driving device is three servo motors, and servo motor is mounted on can
On revolving platform, it is connect respectively with the first driving lever, the second driving lever and third driving lever, to drive corresponding rotation, point
The swing of the first driving lever, the second driving lever and third driving lever Fu Ze not driven.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710925559.9A CN109605353A (en) | 2017-10-04 | 2017-10-04 | It is a kind of to use nine connecting rod automatic spraying operating mechanical device of closed linkage form |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710925559.9A CN109605353A (en) | 2017-10-04 | 2017-10-04 | It is a kind of to use nine connecting rod automatic spraying operating mechanical device of closed linkage form |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109605353A true CN109605353A (en) | 2019-04-12 |
Family
ID=66001513
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710925559.9A Withdrawn CN109605353A (en) | 2017-10-04 | 2017-10-04 | It is a kind of to use nine connecting rod automatic spraying operating mechanical device of closed linkage form |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109605353A (en) |
-
2017
- 2017-10-04 CN CN201710925559.9A patent/CN109605353A/en not_active Withdrawn
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190412 |