Spraying robot mechanism
A technology of spraying robot and slewing mechanism, applied in the direction of spraying device, etc., can solve the problems of heavy arm, poor rigidity, large inertia, etc., and achieve the effects of good dynamic performance, simple structure and small motion inertia
Inactive Publication Date: 2012-09-26
广西凯纵机械制造有限公司
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Problems solved by technology
[0003] The purpose of the present invention is to provide a spraying robot mechanism, which solves the problems of heavy arms, poor rigidity, and large inertia caused by the installation of the motor of the traditional open-chain series spraying robot mechanism at its hinge, and meets the requirements of high-speed and high-precision spraying, not only Suitable for small general painting jobs as well as large or heavy structural painting jobs
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Embodiment Construction
[0027] The technical scheme of the present invention will be further described below in conjunction with accompanying drawing and embodiment:
[0028] control figure 1 , 7 , 8, 9, 10, 11, a spraying robot mechanism, including a waist rotary mechanism, a shoulder rotary mechanism, an elbow rotary mechanism, a wrist twist mechanism, a spray gun base bending mechanism, a frame 95 and a rotary platform 96. The frame 95 is installed on the rotary platform 96 to realize the flexible movement of the entire robot working space at any position.
[0029] control figure 1 , 2 , 11, the waist turning mechanism is formed by connecting the first active rod 9, the sixth connecting rod 8, the waist rod 12 and the frame. One end of the first active rod 9 is connected to the frame through the eighth rotating pair 97, the other end is connected to the sixth connecting rod 8 through the ninth rotating pair 10, and the other end of the sixth connecting rod 8 is connected to the waist through t...
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The invention relates to a spraying robot mechanism which comprises a waist swing mechanism, a shoulder swing mechanism, an elbow swing mechanism, a wrist swing mechanism, a spray gun base bending mechanism, a rack and a swing platform, wherein the waist swing mechanism, the shoulder swing mechanism and the elbow swing mechanism are connected in series and are chained between the wrist swing mechanism and the rack; the waist swing mechanism, the shoulder swing mechanism and the elbow swing mechanism are controlled by servo motors to swing in the working space; one end of the spray gun base bending mechanism is hinged with a wrist shaft, and the other end is hinged with the rack; and the rack is arranged on the swing platform. Because all the servo motors of the spraying robot mechanism are arranged on the rack and a rod piece can be manufactured into a light rod, the dynamic performance of the mechanism is good and can meet the requirements for high-speed and high-accuracy spraying. The mechanism provided by the invention is simple and compact in structure, reliable in operation, and convenient for transportation and installation, and is suitable for small-size common spraying operation and the spraying operation of large-size or heavy-size structures.
Description
technical field [0001] The invention relates to the field of industrial robots, in particular to a spraying robot mechanism. Background technique [0002] Spraying robot is a kind of industrial robot for spraying operation, which can replace manual, complete various spraying operations in an environmentally friendly and efficient manner. It is widely used in automobile body spraying and other fields, and has become one of the most widely used industrial robots in the market. The existing mechanical structures of spraying robots mainly include parallelogram structure and side-mounted or pendulum structure, which have been widely used because of their larger working space and more flexible movements. However, due to the limitations of its own structure, this type of traditional open-chain series spraying robot mechanism requires the motor to be installed at the joint, resulting in problems such as heavy arm weight, poor rigidity, and large inertia. The dynamic performance of t...
Claims
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IPC IPC(8): B05B13/04
Inventor 蔡敢为张林潘宇晨王红州王汝贵温芳李岩舟陈渊
Owner 广西凯纵机械制造有限公司