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Six-mobility spraying mechanical arm

A six-degree-of-movement, manipulator technology, applied in manipulators, program-controlled manipulators, injection devices, etc., can solve the problems of small working space, inflexible movements, and accumulation of joint errors in parallel robot mechanisms, and achieve flexible output trajectory of the mechanism and mechanism structure Simple, large workspace effect

Inactive Publication Date: 2014-05-07
GUANGXI UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a six-degree-of-activity spraying manipulator, which can effectively solve the problems of the traditional open-chain series robot mechanism, such as heavy weight, poor rigidity, large inertia, joint error accumulation, small working space of the parallel robot mechanism, and inflexible movements. Respective problems, especially suitable for spraying operations that require the first connecting rod to achieve three-dimensional rotation, and the moving platform to achieve two-dimensional rotation output

Method used

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Embodiment Construction

[0015] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0016] control figure 1 , 2 , 3, 4 and 5, the six-degree-of-motion spraying manipulator consists of the first connecting rod 20, the second connecting rod 10, the moving platform 16, the first linear driver 4, the second linear driver 23, the third linear driver 24, The fourth linear driver 7 , the fifth linear driver 12 , the sixth linear driver 18 and the frame 1 are composed.

[0017] control figure 1 , one end of the first connecting rod 20 is connected to the frame 1 through the first spherical pair 2, the other end of the first connecting rod 20 is connected to the second connecting rod 10 through the first rotating pair 9, and the second connecting rod 10 is another One end is connected to the moving platform 16 through the first Hooke hinge 14, one end of the first linear drive 4 is connected to the frame 1 through ...

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Abstract

The invention relates to a six-mobility spraying mechanical arm, which comprises a first connection rod, a second connection rod, a movable platform, six linear drivers and a frame. One end of the first connection rod is connected to the frame through a first spherical pair, the other end of the first connection rod is connected to the second connection rod through a first rotary pair, the other end of the second connection rod is connected to the movable platform through a first hook joint, and the whole mechanical arm driven by the six linear drivers in a joint mode can output movement with six-mobility space. The six-mobility spraying mechanical arm is flexible and accurate in output track, large in flexibility and working space, easy to operate and maintain and especially suitable for spraying operation occasions requiring the first connection rod to achieve three-dimensional rotation output and the movable platform to achieve two-dimensional rotation output.

Description

technical field [0001] The invention relates to the field of spraying robots, in particular to a six-degree-of-activity spraying manipulator. Background technique [0002] Spraying robot is an industrial robot that can automatically spray paint or spray other coatings. It can reduce the labor intensity of workers and prevent damage from chemical coatings. It is widely used in automobiles, instruments, electrical appliances, enamel and other craft production departments. Due to the limitations of its own structure, the traditional open-chain series robot mechanism has problems such as bulky mechanism, poor rigidity, large inertia, joint error accumulation, etc., and poor dynamic performance, which makes it difficult to meet the increasingly stringent high-speed and high-precision operation requirements. The parallel robot mechanism is a closed-loop mechanism with a moving platform and a fixed platform connected by at least two independent kinematic chains. The mechanism has t...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B05B15/10B25J9/08
Inventor 蔡敢为张金玲潘宇晨王红州黄院星李小清王建亮邓培张林
Owner GUANGXI UNIV
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