CN202377141U - Spraying robot with eight spatial ranges of motion - Google Patents
Spraying robot with eight spatial ranges of motion Download PDFInfo
- Publication number
- CN202377141U CN202377141U CN2011205560444U CN201120556044U CN202377141U CN 202377141 U CN202377141 U CN 202377141U CN 2011205560444 U CN2011205560444 U CN 2011205560444U CN 201120556044 U CN201120556044 U CN 201120556044U CN 202377141 U CN202377141 U CN 202377141U
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- linear actuator
- connecting rod
- spherical pair
- moving platform
- motion
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Abstract
The utility model relates to a spraying robot with eight spatial ranges of motion. The spraying robot comprises a first connecting rod, a second connecting rod, a movable platform, eight linear drivers and a framework, one end of the first connecting rod is connected onto the framework by a first spherical pair, the other end of the first connecting rod is connected onto the second connecting rod by a second spherical pair, the other end of the second connecting rod is connected onto the movable platform by a first hooke hinge, and the integral robot can be jointly driven by the eight linear drivers to output movement with the eight spatial ranges of motion. The spraying robot is flexible and accurate in output trace, high in flexibility, large in working space, easy in operation and maintenance and particularly applicable to spraying operation places with requirements that both a first connecting rod and a second connecting rod need to rotate three-dimensionally and a movable platform needs to output two-dimensional rotation.
Description
Technical field
The present invention relates to the spray robot field, particularly space eight mobility spray robots.
Background technology
Spray robot be a kind of be the industrial robot that can carry out auto spray painting or spray other coating, can alleviate staff's labour intensity, prevent the injury of chemical coating, be widely used in explained hereafter departments such as automobile, instrument, electrical equipment, enamel.Tradition fisher's formula serial machine robot mechanism is because of the restriction of himself structure, exists problems such as mechanism's heaviness, poor rigidity, inertia are big, joint error accumulation, and dynamic performance is relatively poor, is difficult to satisfy the high-speed, high precision job requirements of increasingly stringent.Parallel robot mechanism is that a kind of moving platform is connected through at least two independent motion chains with fixed platform; Mechanism has two or more frees degree; And closed loop mechanism with the parallel way driving; Advantage such as have compact conformation, deviation accumulation is little, precision is high, operating speed is high, dynamic response is good, but also have shortcomings such as working space is less, action underaction.
Summary of the invention
The object of the present invention is to provide space eight mobility spray robots; The weight that can effectively solve traditional fisher's formula serial machine robot mechanism is big, poor rigidity, big, the joint error accumulation of inertia; And the parallel robot mechanism working space is less, the problem separately of action underaction etc.; Need to be specially adapted to first connecting rod and second connecting rod all to realize Three dimensional rotation, moving platform is realized the spraying operation occasion of two dimension rotation output.
The present invention achieves the above object through following technical scheme: space eight mobility spray robots comprise first connecting rod, second connecting rod, moving platform, first linear actuator, second linear actuator, the 3rd linear actuator, the 4th linear actuator, the 5th linear actuator, the 6th linear actuator, the 7th linear actuator, the 8th linear actuator and frame.
Said first connecting rod one end is connected on the frame through first spherical pair; The first connecting rod other end is connected on the second connecting rod through second spherical pair; The second connecting rod other end is connected on the moving platform through first Hooke's hinge; First linear actuator, one end is connected on the frame through the 3rd spherical pair, and the first linear actuator other end is connected on the first connecting rod through the 4th spherical pair, and second linear actuator, one end is connected on the frame through the 5th spherical pair; The second linear actuator other end is connected on the first connecting rod through the 6th spherical pair; The 3rd linear actuator one end is connected on the frame through the 7th spherical pair, and the 3rd linear actuator other end is connected on the first connecting rod through the 8th spherical pair, but first linear actuator, second linear actuator and the 3rd linear actuator move as driving link single driving first connecting rod; The mode that also can make up is united the motion of driving first connecting rod, realizes the Three dimensional rotation of first connecting rod.The 4th linear actuator one end is connected on the first connecting rod through the 9th spherical pair; The 4th linear actuator other end is connected on the second connecting rod through the tenth spherical pair; The 5th linear actuator one end is connected on the first connecting rod through the 11 spherical pair; The 5th linear actuator other end is connected on the second connecting rod through the 12 spherical pair; The 6th linear actuator one end is connected on the first connecting rod through the 13 spherical pair, and the 6th linear actuator other end is connected on the second connecting rod through the 14 spherical pair, but the 4th linear actuator, the 5th linear actuator and the 6th linear actuator move as driving link single driving second connecting rod; The mode that also can make up is united the motion of driving second connecting rod, realizes the Three dimensional rotation of second connecting rod.The 7th linear actuator one end is connected on the second connecting rod through the 15 spherical pair; The 7th linear actuator other end is connected on the moving platform through the 16 spherical pair; The 8th linear actuator one end is connected on the second connecting rod through the 17 spherical pair; The 8th linear actuator other end is connected on the moving platform through the 18 spherical pair, has ring flange on the moving platform, and terminal actuating units such as shower nozzle can be installed on the ring flange.But the 7th linear actuator and the 8th linear actuator are as the motion of driving link single driving moving platform, and the mode that also can make up is united the motion of driving moving platform, realize that the two dimension of moving platform is rotated.
Outstanding advantage of the present invention is:
1, mechanism's output trajectory is flexible, accurate, and flexibility is big, working space is big, and easy operating and maintenance are increased work efficiency and stock utilization, and better effect is played in environmental protection.
2, mechanism structure of the present invention is simple, and is with low cost, need to be specially adapted to first connecting rod and second connecting rod all to realize Three dimensional rotation, and moving platform is realized the spraying operation occasion of two dimension rotation output.
3, through the end effector of different purposes is installed on the moving platform ring flange, the present invention also can be applicable to fields such as carrying, welding, row's barrier, fire-fighting.
Description of drawings
Fig. 1 is the structural representation of space according to the invention eight mobility spray robots.
Fig. 2 is first kind of working state schematic representation of space according to the invention eight mobility spray robots.
Fig. 3 is second kind of working state schematic representation of space according to the invention eight mobility spray robots.
Fig. 4 is the third working state schematic representation of space according to the invention eight mobility spray robots.
Fig. 5 is the 4th a kind of working state schematic representation of space according to the invention eight mobility spray robots.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment technical scheme of the present invention is described further.
Map 4, said space eight mobility spray robots are united to drive and are realized the working state schematic representation that the right side sprays down first linear actuator 4, second linear actuator 5, the 3rd linear actuator 30, the 4th linear actuator 9, the 5th linear actuator 24, the 6th linear actuator 25, the 7th linear actuator 12, the 8th linear actuator 18.
Claims (1)
1. space eight mobility spray robots; Comprise first connecting rod, second connecting rod, moving platform, first linear actuator, second linear actuator, the 3rd linear actuator, the 4th linear actuator, the 5th linear actuator, the 6th linear actuator, the 7th linear actuator, the 8th linear actuator and frame, its structure and connected mode are:
Said first connecting rod one end is connected on the frame through first spherical pair; The first connecting rod other end is connected on the second connecting rod through second spherical pair; The second connecting rod other end is connected on the moving platform through first Hooke's hinge; First linear actuator, one end is connected on the frame through the 3rd spherical pair; The first linear actuator other end is connected on the first connecting rod through the 4th spherical pair, and second linear actuator, one end is connected on the frame through the 5th spherical pair, and the second linear actuator other end is connected on the first connecting rod through the 6th spherical pair; The 3rd linear actuator one end is connected on the frame through the 7th spherical pair; The 3rd linear actuator other end is connected on the first connecting rod through the 8th spherical pair, and the 4th linear actuator one end is connected on the first connecting rod through the 9th spherical pair, and the 4th linear actuator other end is connected on the second connecting rod through the tenth spherical pair; The 5th linear actuator one end is connected on the first connecting rod through the 11 spherical pair; The 5th linear actuator other end is connected on the second connecting rod through the 12 spherical pair, and the 6th linear actuator one end is connected on the first connecting rod through the 13 spherical pair, and the 6th linear actuator other end is connected on the second connecting rod through the 14 spherical pair; The 7th linear actuator one end is connected on the second connecting rod through the 15 spherical pair; The 7th linear actuator other end is connected on the moving platform through the 16 spherical pair, and the 8th linear actuator one end is connected on the second connecting rod through the 17 spherical pair, and the 8th linear actuator other end is connected on the moving platform through the 18 spherical pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205560444U CN202377141U (en) | 2011-12-28 | 2011-12-28 | Spraying robot with eight spatial ranges of motion |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205560444U CN202377141U (en) | 2011-12-28 | 2011-12-28 | Spraying robot with eight spatial ranges of motion |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202377141U true CN202377141U (en) | 2012-08-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011205560444U Expired - Fee Related CN202377141U (en) | 2011-12-28 | 2011-12-28 | Spraying robot with eight spatial ranges of motion |
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| Country | Link |
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| CN (1) | CN202377141U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102513254A (en) * | 2011-12-28 | 2012-06-27 | 广西大学 | Eight-spatial-degree-of-motion spraying robot |
-
2011
- 2011-12-28 CN CN2011205560444U patent/CN202377141U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102513254A (en) * | 2011-12-28 | 2012-06-27 | 广西大学 | Eight-spatial-degree-of-motion spraying robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: GUANGXI KAIZHONG MACHINERY MANUFACTURING CO., LTD. Free format text: FORMER OWNER: GUANGXI UNIVERSITY Effective date: 20150423 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| COR | Change of bibliographic data |
Free format text: CORRECT: ADDRESS; FROM: 530004 NANNING, GUANGXI ZHUANG AUTONOMOUS REGION TO: 537609 YULIN, GUANGXI ZHUANG AUTONOMOUS REGION |
|
| TR01 | Transfer of patent right |
Effective date of registration: 20150423 Address after: 537609 Wen Yuan Industrial Park, Bobai County, the Guangxi Zhuang Autonomous Region, Yulin Patentee after: Guangxi Kaizhong Machinery Manufacturing Co., Ltd. Address before: 530004 the Guangxi Zhuang Autonomous Region XiXiangTang Nanning University Road No. 100 Patentee before: Guangxi University |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120815 Termination date: 20171228 |