Spraying robot driven by multiple parallelogram links in parallel

Abstract

The invention provides a spraying robot driven by multiple parallelogram links in parallel. The spraying robot comprises a pedestal (3), a big-arm driving motor (4), a small-arm driving motor (10), a pitch adjusting motor (8), a movable platform (18) and three paralleled parallelogram link mechanisms. The spraying robot is characterized in that the big-arm driving motor (4), the small-arm driving motor (10), and the pitch adjusting motor (8) are all arranged on one end of the pedestal (3), and the three paralleled parallelogram link mechanisms cooperate with one another to drive the movable platform (18). According to the invention, a three-parallelogram-link driving manner is employed, when the three parallelogram link mechanisms are designed, the maximum pressure angle is limited, in the working range, no matter the robot rotates to any position, the transmission performance of movements and forces can remain excellent.

Description

technical field [0001] The invention relates to a multi-parallelogram connecting rod parallel-driven spraying robot, in particular to a six-degree-of-freedom multi-parallelogram connecting rod parallel-driven spraying robot suitable for large-profile complex curved surfaces such as car bodies and aircraft tail fins. Background technique [0002] The spraying process is one of the important processes in the production of most industrial products, and the spraying quality directly determines the product appearance and product quality. The traditional spraying method is mostly manual spraying. Because the mist paint is harmful to the human body during the spraying process, and the lighting and ventilation conditions in the spraying environment are very poor, so a large number of spraying robots have been used in the industrial field to replace manual spraying, which not only effectively improves labor efficiency. Conditions, improve product quality and utilization of spraying m...

AI Technical Summary

Problems solved by technology

[0010] In order to overcome the above-mentioned many technical problems, the present invention provides a multi-parallelogram connecting rod parallel drive spraying robot, the main drive motor of which is placed in the end of the base of the spraying robot, such a novel series-parallel hybrid six-degree-of-freedom spraying robot is easy to Realize vertical spraying on complex curved surfaces, with excellent transmission characteristics, high safety and reliability, easy maintenance, light weight, high dynamic performance, high rigidity, simple control, easy to meet dustproof and explosion-proof requirements, and convenient to handle paint mixing pipelines It can be widely used in industrial production departments such as automobiles, instruments, electrical appliances, enamel, and aviation, especially for the spraying of complex curved surfaces of large-profile components such as automobile bodies and aircraft tail fins.

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