Six-degree-of-freedom seven-rod series-parallel spraying robot

A technology of spraying robot and degrees of freedom, applied in the direction of spraying device, etc., can solve the problems of affecting spraying efficiency of spraying robot, large cumulative error of joints, prolong spraying time, etc., and achieve the effect of reducing the difficulty of control programming, enhancing rigidity and reducing its own weight.

Inactive Publication Date: 2015-11-18
GUANGXI UNIV
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Most of the existing spraying robots adopt a six-degree-of-freedom series structure driven by servo motors. In this structure, all motors are installed at the arm joints, resulting in low overall rigidity of the robot, poor dynamic performance, large cumulative error of joints, large moment of inertia, and limited working range. Limited, these factors directly affect the spraying efficiency of the spraying robot, reduce the spraying quality, increase the spraying time, and prolong the spraying time, thus increasing the spraying cost

Method used

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  • Six-degree-of-freedom seven-rod series-parallel spraying robot

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Embodiment Construction

[0026] control Figure 1 to Figure 4 , the six-degree-of-freedom seven-bar series-parallel spraying robot of the present invention includes a base rotating sleeve 3, a base cover 2, a rotating frame 1, an active rod 4, a linear drive 12, a support rod 6, an active connecting rod 5, a moving Arm platform 7, rotating arm 8, swing arm 9, nozzle platform 10, nozzle 11, first servo motor 13, second servo motor 15, third servo motor 17, fourth servo motor 19, fifth servo motor 21, the first One speed reducer 14, the second speed reducer 16, the third speed reducer 18, the fourth speed reducer 20 and the fifth speed reducer 22, the specific structure and connection method are:

[0027] control figure 1 and figure 2 , the first servo motor 13 is connected to the first reducer 14, the first reducer 14 is connected to the base cover 2 through the first rotating pair 23, the base cover 2 is fixedly connected to the base rotating sleeve 3, and the rotating frame 1 Connected with the f...

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Abstract

The invention provides a six-degree-of-freedom seven-rod series-parallel spraying robot. According to the spraying robot, a driving rod, a linear driver and a support rod are connected with a rotating rack, a driving connecting rod is connected with the driving rod, the other end of the driving connecting rod is connected with the support rod, a movable arm table and the support rod are connected with the linear driver, a rotating arm is connected with the movable arm table, a swing arm is connected with the rotating arm, a sprayer table is connected to the swing arm, and a sprayer is connected to the sprayer table. Single series structure applied by the original robot is replaced by a series-parallel integral structure, so that the rigidity is high. A parallelogram four-linkage mechanism is applied to the six-degree-of-freedom seven-rod series-parallel spraying robot, so that accurate control is easy to realize. The six-degree-of-freedom seven-rod series-parallel spraying robot is suitable for manufacturing various mechanical arms and other engineering machinery.

Description

technical field [0001] The invention relates to the field of construction machinery, in particular to a six-degree-of-freedom seven-bar series-parallel spraying robot. Background technique [0002] With the continuous development and improvement of modern spraying technology, the reform of spraying machine technology is also carried out all the time. Nowadays, the requirements for automated industrial production are gradually increasing, and the principles of safety production and environmental protection production are constantly implemented. The emergence of spraying robots has become inevitable. , and this high-tech spraying equipment can also meet these requirements of various workpieces very well. [0003] Spraying robot, also called painting robot, is an industrial robot that can automatically spray paint or spray other coatings. The painting robot is mainly composed of a robot body, a computer and a corresponding control system. Most of them adopt 5 or 6 degrees of ...

Claims

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Application Information

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IPC IPC(8): B05B13/04
CPCB05B13/0431
Inventor 蔡敢为陈渊李智杰张永文李俊明王湘王龙李荣康段铭钰彭凡黄逸哲
Owner GUANGXI UNIV
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