CN113600381B - Double-series-parallel 3P-6R robot collaborative spraying device - Google Patents
Double-series-parallel 3P-6R robot collaborative spraying device Download PDFInfo
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- CN113600381B CN113600381B CN202110719037.XA CN202110719037A CN113600381B CN 113600381 B CN113600381 B CN 113600381B CN 202110719037 A CN202110719037 A CN 202110719037A CN 113600381 B CN113600381 B CN 113600381B
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- guide rail
- mechanical arm
- servo motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
- B05B15/68—Arrangements for adjusting the position of spray heads
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- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention discloses a double-parallel-serial 3P-6R robot collaborative spraying device which comprises a double-X, Y and Z three-axis moving and traveling mechanism, a Z-direction locking mechanism and a spraying mechanical arm. The motion control of the double X, Y and Z three-axis moving and traveling mechanism in the X, Y and Z directions is realized through a gear rack transmission mode; the bearing platform and the guide wheel mechanism are adopted to bear and guide the moving travelling mechanism, and the locking mechanism is arranged in the Z direction, so that the power-off protection effect is achieved, and the safe, stable and reliable movement in the X, Y and Z directions is ensured. The invention relates to a lightweight spraying mechanical arm system which has the characteristics of light weight, large load, large working space and flexible movement; the robot can move in a single direction and can also be linked in three directions, the position and posture of a spray gun at the tail end of the robot can be perpendicular to a sprayed surface at any time, 9-degree-of-freedom control is realized, the task requirement of spraying the outer surface of a large ship body can be met, and the robot has important application value for coating the large ship body.
Description
Technical Field
The invention relates to ship spraying equipment, in particular to a double-parallel-connection 3P-6R robot cooperative spraying device.
Background
The spraying equipment of present large-scale hull surface is mostly single manipulator spraying, and to being sprayed the work piece, single manipulator spraying area is the hemisphere envelope surface, and the efficiency and the scope of spraying have received great restriction, and the spraying quality is unstable moreover, and it is higher to cause returning of hull spraying operation to spout the rate, can not satisfy the requirement of boats and ships spraying to spraying quality and efficiency already.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the problems in the prior art, the invention aims to provide a double-parallel-serial 3P-6R robot cooperative spraying device to improve the spraying efficiency and the spraying quality of the outer surface of a large ship body.
The technical scheme is as follows: a double-series-parallel 3P-6R robot collaborative spraying device comprises:
the double-X-axis, Y-axis and Z-axis mobile travelling mechanism comprises two X-axis mobile travelling mechanisms which are arranged in parallel, wherein two Y-axis mobile travelling mechanisms are erected between the two X-axis mobile travelling mechanisms, and two ends of each Y-axis mobile travelling mechanism are connected with the X-axis mobile travelling mechanisms in a sliding manner, so that each Y-axis mobile travelling mechanism can generate X-direction motion along the X-axis mobile travelling mechanisms; each Y-axis moving travelling mechanism is vertically provided with at least one Z-axis moving travelling mechanism, and the Z-axis moving travelling mechanism is connected with the Y-axis moving travelling mechanism in a sliding manner, so that each Z-axis moving travelling mechanism can generate motion in the Y direction along the Y-axis moving travelling mechanism;
The spraying mechanical arm is arranged on the Z-axis moving and walking mechanism through a mechanical arm mounting platform, and the mechanical arm mounting platform is connected with the Z-axis moving and walking mechanism in a sliding manner so as to drive the spraying mechanical arm to move along the Z-axis moving and walking mechanism in the Z direction;
the Z-direction locking mechanism is arranged on the mechanical arm mounting platform and specifically comprises an electromagnetic valve, a four-bar mechanism and a locking block; the four-bar mechanism comprises a first connecting bar, a second connecting bar, a third connecting bar and an underframe, the first connecting bar is connected with a second connecting bar ball pair, the second connecting bar is connected with a third connecting bar pin shaft, the first connecting bar is movably connected with the underframe, the third connecting bar ball pair is connected with the underframe, and the first connecting bar is connected with the second connecting bar by a three-ball pair connecting bar head; the connecting rod is connected with the connecting rod head of the three-ball pair by using a ball pair, and the locking block is connected with the four-bar mechanism through the connecting rod and moves in a certain range; the output rod of the electromagnetic valve is connected with the four-bar mechanism, when the power is lost, the output rod of the electromagnetic valve retracts to drive the four-bar mechanism to act, so that the locking block on one side of the four-bar mechanism is tightly pressed on the Z-axis movable walking mechanism, and the four-bar mechanism is positioned at a dead point position; after the power is supplied, the output rod of the electromagnetic valve is popped out, the four-rod mechanism drives the locking block to be loosened, and the locking state is released.
Further, between X axle removal running gear and the Y axle removal running gear, adopt rack and pinion transmission:
the X-axis moving and traveling mechanism comprises an X-direction servo motor, an X-direction guide rail, an X-direction gear, an X-direction rack, an X-direction bearing platform, an X-direction guide wheel and an X-direction guide wheel pin shaft; the X-direction bearing platform is connected with the X-direction guide rail in a sliding mode, and the Y-axis moving and traveling mechanism is installed on the X-direction bearing platform through a connecting piece; specifically, the X-direction guide rail comprises a T-shaped boss I, an X-direction guide wheel is mounted at the top of the T-shaped boss I, the X-direction bearing platform comprises a groove I, and the groove I is used for accommodating the T-shaped boss I and the X-direction guide wheel; the X-direction guide wheel is connected with the X-direction bearing platform through an X-direction guide wheel pin shaft; the X-direction servo motor is arranged on the X-direction bearing platform and assembled with the X-direction gear, the X-direction rack is arranged on the X-direction guide rail, and the X-direction gear is meshed with the X-direction rack; when the X-direction servo motor rotates, the X-direction servo motor drives the X-direction bearing platform to generate X-direction movement through the X-direction gear, the X-direction rack and the X-direction guide wheel in sequence.
Preferably, flanges are designed on both sides of the X-direction guide wheel.
Further, between the Z-axis moving travelling mechanism and the Y-axis moving travelling mechanism, gear and rack transmission is adopted:
The Y-axis moving and traveling mechanism comprises a Y-direction guide rail, a Y-direction servo motor, a Z-direction guide rail mounting platform, a Y-direction pin shaft, a Y-direction guide wheel, a Y-direction rack and a Y-direction driving gear; the Z-axis moving and traveling mechanism is arranged on the Z-axis guide rail mounting platform; specifically, the Y-guide rail comprises a T-shaped boss II, two ends of the T-shaped boss II are in contact with the Y-guide wheels, the Z-guide rail mounting platform comprises a groove II, and the groove II is used for accommodating the T-shaped boss II and the two Y-guide wheels; the Y-direction guide wheel is connected with the Z-direction guide rail mounting platform through a Y-direction pin shaft; the Y-direction servo motor is arranged on the Z-direction guide rail mounting platform, the Y-direction servo motor is assembled with the Y-direction driving gear, the Y-direction rack is arranged on the Y-direction guide rail, and the Y-direction rack is meshed with the Y-direction driving gear; when the Y-direction servo motor rotates, the Z-direction rail mounting platform is driven to move in the Y direction sequentially through the Y-direction driving gear, the Y-direction rack and the Y-direction guide wheel.
Further, between spraying robotic arm and the Z axle removal running gear, adopt rack and pinion transmission:
the Z-axis moving and traveling mechanism comprises a Z-direction guide rail, a Z-direction sliding block, a Z-direction driving gear, a Z-direction servo motor, a mechanical arm mounting platform and a Z-direction rack; the number of the Z-direction guide rails is 4, the Z-direction guide rails are arranged along the Z axis to form a framework of the Z-axis moving and traveling mechanism, the Z-direction sliding blocks are connected with the Z-direction guide rails in a sliding mode, and the mechanical arm mounting platform is mounted in the framework of the Z-axis moving and traveling mechanism through the Z-direction sliding blocks; the Z-direction rack is arranged on the Z-direction guide rail along the Z direction; a Z-direction servo motor is arranged on the mechanical arm mounting platform, the Z-direction servo motor is assembled with a Z-direction driving gear, and the Z-direction driving gear is meshed with a Z-direction rack; when the Z-direction servo motor rotates, the mechanical arm mounting platform is driven to move up and down sequentially through the Z-direction driving gear, the Z-direction rack and the Z-direction sliding block, and then the spraying mechanical arm is driven to move in the Z direction in space.
Has the advantages that:
compared with the prior art, the invention has the following remarkable advantages:
(1) the invention can carry out the double-series-parallel spraying mechanical arm collaborative spraying, and compared with the hemisphere enveloping surface of the single spraying mechanical arm, the enveloping surface formed by the collaborative spraying is a full-coverage sphere enveloping surface, thereby increasing the spraying area range, improving the coating efficiency and having high adaptability to the spraying of complex parts.
(2) The cooperative spraying device can realize multi-freedom combined motion and independent motion of each degree of freedom, and can be used under different working conditions.
(3) The invention combines the moving walking mechanisms in the X direction, the Y direction and the Z direction with the spraying mechanical arm, can realize the control of 9 degrees of freedom, ensures the quality of spraying different complex free-form surfaces by enabling the position and the posture of a spray gun at the tail end of the robot to be vertical to the sprayed surface at any time, and effectively avoids the phenomena of sagging, pinholes, bubbling, orange peel and the like generated in the spraying process particularly for some narrow and large-curvature areas.
(4) The invention can increase the motion range of the spraying mechanical arm in space, thereby being very suitable for spraying different segmental ship components, meeting different processing process requirements of large component size, complex and changeable geometric surface shape and high spraying quality requirement, and obviously improving the spraying quality and efficiency of the segmental ship.
(5) The invention realizes the bearing and guiding functions by arranging the bearing platform and the guide wheel mechanism, and the Z-direction locking mechanism is used for power-off protection, thereby ensuring the reliable transmission in the X, Y and Z directions.
(6) The invention has compact structure, high rigidity and small deformation, and solves the problems of large single robot spraying device, inflexible movement and the like; and a large number of standard parts are used, so that the production period is short, the production cost is low, and the maintenance period is short.
Drawings
FIG. 1 is a double-series-parallel 3P-6R robot cooperative spraying device of the invention;
FIG. 2 is an envelope surface of a double-series-parallel cooperative spraying robot arm of the present invention;
FIG. 3 is the X-direction moving mechanism of FIG. 1;
FIG. 4 is a Y-direction moving mechanism of FIG. 1;
FIG. 5 is the Z-direction movement mechanism and the spray robot of FIG. 1;
FIG. 6 is a Z-direction locking mechanism;
FIG. 7 is a Y-direction moving traveling mechanism;
FIG. 8 is a cross-sectional view of the gear rack in the Y-direction;
FIG. 9 is a Y-direction drive schematic;
FIG. 10 is an X-direction mobile traveling mechanism;
FIG. 11 is a cross-sectional view of the mobile carriage in the X direction;
FIG. 12 is a Z-direction mobile carriage;
fig. 13 shows the assembled relationship of the Z-direction slider and the guide rail.
Detailed Description
The technical solution of the present invention will be further described in detail with reference to the following examples and accompanying drawings.
As shown in figure 1, the invention comprises a double-X-direction, double-Y-direction and double-Z-direction moving travelling mechanism, and a spraying mechanical arm is arranged on the Z-direction moving travelling mechanism. The motion of three direction is realized through servo motor control rack and pinion to this embodiment, and at the transmission process, leading wheel and load-bearing platform play direction and bear the weight of the effect for when using rack and pinion transmission, only need less power, can realize the reliable motion of X, Y, Z direction. The movement of the invention in all directions can be independently controlled by using the servo motor, and the supplementary spraying can be carried out aiming at the area of the spraying leakage. The invention can also carry out robot double-series-parallel cooperative spraying, and the generated spraying area is the full-coverage spherical enveloping surface shown in figure 2.
Specifically, the double-X-axis, Y-axis and Z-axis mobile travelling mechanism comprises two X-axis mobile travelling mechanisms 1 which are arranged in parallel, two Y-axis mobile travelling mechanisms 2 are erected between the two X-axis mobile travelling mechanisms 1, and two ends of each Y-axis mobile travelling mechanism 2 are connected with the X-axis mobile travelling mechanism 1 in a sliding manner, so that each Y-axis mobile travelling mechanism 2 can move in the X direction along the X-axis mobile travelling mechanism 1; each Y-axis moving travelling mechanism 2 is vertically provided with at least one Z-axis moving travelling mechanism 4, and each Z-axis moving travelling mechanism 4 is connected with the Y-axis moving travelling mechanism 2 in a sliding manner, so that each Z-axis moving travelling mechanism 4 can generate motion in the Y direction along the Y-axis moving travelling mechanism 2; as shown in fig. 3 to 5, the X-direction traveling mechanism 1, the Y-direction traveling mechanism 2, the coating robot 3, and the Z-direction traveling mechanism 4 in fig. 1 are partially enlarged views.
Further, between the X-axis moving travelling mechanism 1 and the Y-axis moving travelling mechanism 2, the gear and rack transmission is adopted, and the specific implementation mode is as follows:
as shown in fig. 10 and 11, the X-axis moving and traveling mechanism includes an X-direction servomotor, an X-direction rail 17 (preferably, a dual rail structure), an X-direction gear 18, an X-direction rack 19, an X-direction carriage 20, an X-direction guide wheel 21, and an X-direction guide wheel pin 22. Wherein, X is to bearing platform 20 and X to guide rail 17 sliding connection, and Y axle removes running gear 2 and installs on X is to bearing platform 20 through the connecting piece. Specifically, the X-guide rail 17 includes a T-shaped boss I171, the top of the T-shaped boss I171 is mounted with the X-guide wheel 21, the X-bearing platform 20 includes a groove I201, and the groove I201 is used for accommodating the T-shaped boss I171 and the X-guide wheel 21; the X-direction guide wheel 21 is connected with the X-direction bearing platform 20 through an X-direction guide wheel pin shaft 22; an X-direction servo motor is arranged on an X-direction bearing platform 20 and assembled with an X-direction gear 18, an X-direction rack 19 is welded on an X-direction guide rail, and the X-direction gear 18 is meshed with the X-direction rack 19; when the X-direction servo motor rotates, it sequentially passes through the X-direction gear 18, the X-direction rack 19, and the X-direction guide wheel 21 to drive the X-direction carrying platform 20 to generate the movement in the X-direction.
As shown in fig. 10 and 11, the X-direction guide wheel 21 is provided with flanges at both sides, which can be used for bearing the weight perpendicular to the X-direction and can also be used for guiding the X-direction.
Further, between the Z-axis moving travelling mechanism 4 and the Y-axis moving travelling mechanism 2, a gear and rack transmission is adopted, and the specific implementation mode is as follows:
as shown in fig. 7 to 9, the Y-axis moving and traveling mechanism 2 includes a Y-guide rail 5, a Y-servo motor 6, a Z-guide rail mounting platform 7, a Y-pin 8, a Y-guide wheel 9, a Z-fixing support 10, a screw 11, a Y-rack 12, and a Y-drive gear 16. Specifically, the Y-guide rail 5 includes a T-shaped boss II 501, two ends of the T-shaped boss II 501 are respectively provided with a Y-guide wheel 9, the Z-guide rail mounting platform 7 includes a groove II 701, and the groove II 701 is used for accommodating the T-shaped boss II 501 and the two Y-guide wheels 9; the Y-direction guide wheel 9 is connected with the Z-direction guide rail mounting platform 7 through a Y-direction pin shaft 8; a Y-direction servo motor 6 is arranged on a Z-direction guide rail mounting platform 7, the Y-direction servo motor 6 is assembled with a Y-direction driving gear 16, a Y-direction rack 12 is welded on the Y-direction guide rail 5, and the Y-direction rack 12 is meshed with the Y-direction driving gear 16; when the Y-direction servo motor 6 rotates, the Z-direction rail mounting platform 7 is driven to move in the Y direction by the Y-direction drive gear 16, the Y-direction rack 12, and the Y-direction guide wheel 9 in sequence. The Z-direction fixed support 10 is installed on the Z-direction guide rail installation platform 7 through a screw 11, and the Z-axis moving travelling mechanism 4 is fixed on the Z-direction guide rail installation platform 7 through the Z-direction fixed support 10, so that the movement of the Z-axis moving travelling mechanism 4 is realized.
Also comprises a Y-direction gear 13, a Y-direction fixed shaft 14 and a key A15; the Y-gear 13 and the Y-drive gear 16 are gears of the same size but have different functions, and the Y-gear 13 plays a role of bearing the weight in the Z-direction, while the Y-drive gear 16 mainly plays a role of driving the Z-guide rail mounting platform 7. Specifically, the Y-direction fixing shaft 14 is mounted on the Z-direction rail mounting platform, the key groove of the Y-direction fixing shaft 14 is mounted with the Y-direction gear 13, the Y-direction gear 13 is assembled with the key a 15, the key a 15 is used for ensuring the circumferential fixation of the Y-direction gear 13, and the Y-direction gear 13 rotates with the Y-direction fixing shaft 14 as an axis.
Further, between the spraying mechanical arm 3 and the Z-axis moving and traveling mechanism 4, the Z-direction movement is realized in a gear and rack transmission manner, and the specific implementation manner is as follows:
as shown in fig. 12 and 13, the Z-axis moving and traveling mechanism 4 includes a Z-direction guide rail 25, a Z-direction slider 25, a Z-direction drive gear 26, a Z-direction servo motor 27, a robot arm mounting platform 28, and a Z-direction rack 29; the number of the Z-direction guide rails 24 is 4, the Z-direction guide rails are arranged along the Z axis to form a framework of the Z-axis moving and traveling mechanism 4, the Z-direction sliding blocks 25 are connected with the Z-direction guide rails 24 in a sliding mode, and the mechanical arm mounting platform 28 is mounted in the framework of the Z-axis moving and traveling mechanism 4 through the Z-direction sliding blocks 25; the Z-direction rack 29 is welded on the Z-direction guide rail 24 along the Z direction; a Z-direction servo motor 27 is arranged on a mechanical arm mounting platform 28, the Z-direction servo motor 27 is assembled with a Z-direction driving gear 26, and the Z-direction driving gear 26 is meshed with a Z-direction rack 29; when the Z-direction servo motor 27 rotates, the mechanical arm mounting platform 28 is driven to move up and down sequentially through the Z-direction driving gear 26, the Z-direction rack 29 and the Z-direction slider 25, and then the movement of the spraying mechanical arm 3 in the space Z direction is realized.
The invention also provides a Z-direction locking mechanism which can effectively solve the safety problem caused when the Z-direction drive servo motor suddenly loses power for the spraying mechanical arm 3 and has double protection effects.
Specifically, as shown in fig. 6, the Z-direction locking mechanism is mounted on the robot arm mounting platform 28, and specifically includes an electromagnetic valve 36, a four-bar mechanism, and a locking block 23; the locking block 23 is connected with a four-bar mechanism through a connecting rod 34, the solenoid valve 36 is connected with a spring and then connected with an output rod 37, and the tail end of the output rod 37 is connected with the four-bar mechanism. The four-bar mechanism comprises a first connecting rod 31, a second connecting rod 32, a third connecting rod 33 and a chassis 35; the locking block 23 is connected with the connecting rod 34 through a ball pair, so that the locking block 23 can move in a certain range; the connecting rod 34 is connected with the three-ball pair connecting rod head 30 through a ball pair, the head of the three-ball pair connecting rod head 30 is connected with the first connecting rod 31 and the second connecting rod 32 of the four-bar mechanism through the ball pair, the third connecting rod 33 of the four-bar mechanism is connected to the upper surface of the base frame 35 through the ball pair, the third connecting rod 33 is connected with the second connecting rod 32 through a pin shaft, and the tail end of the second connecting rod 32 is connected with an output rod of the electromagnetic valve through the ball pair, so that the output rod is flexibly linked with the second connecting rod when power is on or off.
When power is suddenly lost, the electromagnetic valve 36 loses power, the output rod 37 of the electromagnetic valve 36 is downward under the action of the spring, so that the locking block 23 is tightly pressed in the groove of the Z-direction guide rail 24, and the locking block 23 is tightly pressed on the groove because the four-bar mechanism is positioned at the dead point position at the moment, so that the mechanical arm mounting platform 28 is prevented from falling; when the power is supplied, the output rod 37 of the electromagnetic valve 36 is popped out, the locking block 23 is released, the contact locking is realized, and the Z-axis moving and traveling mechanism 4 recovers the motion.
Claims (5)
1. The utility model provides a spraying device is in coordination with double-series-parallel connection 3P-6R robot which characterized in that includes:
the double-X-axis, Y-axis and Z-axis moving travelling mechanism comprises two X-axis moving travelling mechanisms (1) which are arranged in parallel, two Y-axis moving travelling mechanisms (2) are erected between the two X-axis moving travelling mechanisms (1), and two ends of each Y-axis moving travelling mechanism (2) are connected with the X-axis moving travelling mechanism (1) in a sliding manner, so that each Y-axis moving travelling mechanism (2) can move in the X direction along the X-axis moving travelling mechanism (1); each Y-axis moving travelling mechanism (2) is vertically provided with at least one Z-axis moving travelling mechanism (4), and the Z-axis moving travelling mechanisms (4) are connected with the Y-axis moving travelling mechanisms (2) in a sliding manner, so that each Z-axis moving travelling mechanism (4) can move along the Y-axis moving travelling mechanism (2) in the Y direction;
The spraying mechanical arm (3) is mounted on the Z-axis moving and traveling mechanism (4) through a mechanical arm mounting platform (28), and the mechanical arm mounting platform (28) is connected with the Z-axis moving and traveling mechanism (4) in a sliding mode, so that the spraying mechanical arm (3) is driven to move in the Z direction along the Z-axis moving and traveling mechanism (4);
the Z-direction locking mechanism is arranged on the mechanical arm mounting platform (28) and specifically comprises an electromagnetic valve (36), a four-bar mechanism and a locking block (23); the locking block (23) is connected with the four-bar mechanism through a connecting rod (34), the electromagnetic valve (36) is connected with the spring and then connected with an output rod (37), and the tail end of the output rod (37) is connected with the four-bar mechanism; the four-bar mechanism comprises a first connecting bar (31), a second connecting bar (32), a third connecting bar (33) and a chassis (35); the locking block (23) is connected with the connecting rod (34) through a ball pair, so that the locking block (23) can move in a certain range; the connecting rod (34) is connected with a three-ball-pair connecting rod head (30) through a ball pair, the head of the three-ball-pair connecting rod head (30) is connected with a first connecting rod (31) and a second connecting rod (32) of a four-bar mechanism through the ball pair, a third connecting rod (33) of the four-bar mechanism is connected to the upper surface of a chassis (35) through the ball pair, the third connecting rod (33) is connected with the second connecting rod (32) through a pin shaft, and the tail end of the second connecting rod (32) is connected with an output rod of an electromagnetic valve through the ball pair, so that the output rod is flexibly linked with the second connecting rod when power is on and off; when power is suddenly lost, the electromagnetic valve (36) is lost, the output rod (37) of the electromagnetic valve (36) is downward under the action of the spring, so that the locking block (23) is pressed in the groove of the Z-guide rail (24), and the locking block (23) is tightly pressed on the groove because the four-bar mechanism is positioned at a dead point position at the moment, so that the mechanical arm mounting platform (28) is prevented from falling; when the power is supplied, the output rod (37) of the electromagnetic valve (36) pops up, the locking block (23) is released and locked in a contact way, and the Z-axis moving walking mechanism (4) restores to move.
2. The double-series-parallel 3P-6R robot collaborative spraying device according to claim 1, wherein a gear rack transmission is adopted between the X-axis moving travelling mechanism (1) and the Y-axis moving travelling mechanism (2):
the X-axis moving and traveling mechanism comprises an X-direction servo motor, an X-direction guide rail (17), an X-direction gear (18), an X-direction rack (19), an X-direction bearing platform (20), an X-direction guide wheel (21) and an X-direction guide wheel pin shaft (22); the X-direction bearing platform (20) is connected with the X-direction guide rail (17) in a sliding mode, and the Y-axis moving walking mechanism (2) is installed on the X-direction bearing platform (20) through a connecting piece; specifically, the X-direction guide rail (17) comprises a T-shaped boss I (171), an X-direction guide wheel (21) is installed at the top of the T-shaped boss I (171), the X-direction bearing platform (20) comprises a groove I (201), and the groove I (201) is used for accommodating the T-shaped boss I (171) and the X-direction guide wheel (21); the X-direction guide wheel (21) is connected with the X-direction bearing platform (20) through an X-direction guide wheel pin shaft (22); the X-direction servo motor is arranged on the X-direction bearing platform (20), the X-direction servo motor is assembled with the X-direction gear (18), the X-direction rack (19) is arranged on the X-direction guide rail, and the X-direction gear (18) is meshed with the X-direction rack (19); when the X-direction servo motor rotates, the X-direction servo motor drives the X-direction bearing platform (20) to move in the X direction sequentially through the X-direction gear (18), the X-direction rack (19) and the X-direction guide wheel (21).
3. The double-series-parallel 3P-6R robot-coordinated spraying device as claimed in claim 2, wherein flanges are designed on both sides of the X-direction guide wheel (21).
4. The double-series-parallel 3P-6R robot collaborative spraying device according to claim 1, wherein a gear rack transmission is adopted between the Z-axis moving travelling mechanism (4) and the Y-axis moving travelling mechanism (2):
the Y-axis moving and traveling mechanism (2) comprises a Y-direction guide rail (5), a Y-direction servo motor (6), a Z-direction guide rail mounting platform (7), a Y-direction pin shaft (8), a Y-direction guide wheel (9), a Y-direction rack (12) and a Y-direction driving gear (16); the Z-axis moving and traveling mechanism (4) is arranged on the Z-axis guide rail mounting platform (7); specifically, the Y-direction guide rail (5) comprises a T-shaped boss II (501), two ends of the T-shaped boss II (501) are in contact with the Y-direction guide wheels (9), the Z-direction guide rail mounting platform (7) comprises a groove II (701), and the groove II (701) is used for accommodating the T-shaped boss II (501) and the two Y-direction guide wheels (9); the Y-direction guide wheel (9) is connected with the Z-direction guide rail mounting platform (7) through a Y-direction pin shaft (8); the Y-direction servo motor (6) is mounted on the Z-direction guide rail mounting platform (7), the Y-direction servo motor (6) is assembled with the Y-direction driving gear (16), the Y-direction rack (12) is arranged on the Y-direction guide rail (5), and the Y-direction rack (12) is meshed with the Y-direction driving gear (16); when the Y-direction servo motor (6) rotates, the Z-direction rail mounting platform (7) is driven to move in the Y direction through the Y-direction driving gear (16), the Y-direction rack (12) and the Y-direction guide wheel (9) in sequence.
5. The double-parallel-serial 3P-6R robot cooperative spraying device as claimed in claim 1, wherein a gear rack transmission is adopted between the spraying mechanical arm (3) and the Z-axis moving and walking mechanism (4):
the Z-axis moving and traveling mechanism (4) comprises a Z-direction guide rail (24), a Z-direction sliding block (25), a Z-direction driving gear (26), a Z-direction servo motor (27), a mechanical arm mounting platform (28) and a Z-direction rack (29); the number of the Z-direction guide rails (24) is 4, the Z-direction guide rails are arranged along the Z axis to form a framework of the Z-axis moving and traveling mechanism (4), the Z-direction sliding blocks (25) are connected with the Z-direction guide rails (24) in a sliding mode, and the mechanical arm mounting platform (28) is mounted in the framework of the Z-axis moving and traveling mechanism (4) through the Z-direction sliding blocks (25); a Z-direction rack (29) is arranged on the Z-direction guide rail (24) along the Z direction; a Z-direction servo motor (27) is arranged on a mechanical arm mounting platform (28), the Z-direction servo motor (27) is assembled with a Z-direction driving gear (26), and the Z-direction driving gear (26) is meshed with a Z-direction rack (29); when the Z-direction servo motor (27) rotates, the mechanical arm mounting platform (28) is driven to move up and down sequentially through the Z-direction driving gear (26), the Z-direction rack (29) and the Z-direction slider (25), and then the spraying mechanical arm (3) is driven to move in the Z direction of the space.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110719037.XA CN113600381B (en) | 2021-06-28 | 2021-06-28 | Double-series-parallel 3P-6R robot collaborative spraying device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110719037.XA CN113600381B (en) | 2021-06-28 | 2021-06-28 | Double-series-parallel 3P-6R robot collaborative spraying device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113600381A CN113600381A (en) | 2021-11-05 |
| CN113600381B true CN113600381B (en) | 2022-05-24 |
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