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Six-freedom-degree light multi-connection-rod coating robot

A spraying robot, lightweight technology, applied in the field of machinery, can solve problems such as easy to generate large vibration, poor dynamic performance of the robot, and large moment of inertia of the robot

Inactive Publication Date: 2017-11-10
GUANGXI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, one of the gaps between domestic robot motors and reducers and international advanced robot motors and reducers is that the mass (weight) and volume are large, which will lead to large moment of inertia of the robot, poor dynamic performance of the robot, and easy Problems such as large vibration

Method used

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  • Six-freedom-degree light multi-connection-rod coating robot
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  • Six-freedom-degree light multi-connection-rod coating robot

Examples

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Embodiment 1

[0178] A six-degree-of-freedom lightweight multi-link spraying robot, including a first support rod 1b, a second support rod 2b, a third support rod 3b, a fourth support rod 4b, a first arm 1c, a second arm 2c, The third large arm 3c, the first active lever 1d, the second active lever 2d, the third active lever 3d, the fourth active lever 4d, the fifth active lever 5d, the first primary driven lever 1e, and the second primary driven lever 2e, the third primary driven rod 3e, the fourth primary driven rod 4e, the fifth primary driven rod 5e, the first primary sliding sleeve 1f, the second primary sliding sleeve 2f, the third primary sliding sleeve 3f, the fourth primary Sliding sleeve 4f, fifth primary sliding sleeve 5f, first secondary follower lever 1g, second secondary follower lever 2g, third secondary follower lever 3g, fourth secondary follower lever 4g, fifth Stage follower lever 5g, first triangle piece 1h, second triangle piece 2h, third triangle piece 3h, fourth trian...

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Abstract

The invention provides a six-freedom-degree light multi-connection-rod coating robot. A first servo motor drives a fourth-final-stage sliding sleeve to conduct frontward and backward movement on a forearm through a transmission chain comprising a first driving rod. A second servo motor drives the forearm to rotate with a thirteenth rotation pair as the center through a transmission chain comprising a second driving rod. The rotation plane of the thirteenth rotation pair is parallel to the axial section of the forearm. The fifth servo motor drives the forearm to rotate with a fourteenth rotation pair as the center through a transmission chain comprising a fifth driving rod. The rotation plane of the fourteenth rotation pair is parallel to the radial section of the forearm. A third servo motor drives a second last-stage sliding sleeve to conduct frontward and backward movement on the forearm through a transmission chain comprising a third driving rod. The second last-stage sliding sleeve and the fourth last-stage sliding sleeve are in transmission through a transmission chain composed of fifteen connection rods including from the first connection rod to the fifteenth connection rod and then drive an actuator to conduct elevation angle adjustment. A fourth servo motor controls the lifting height of the actuator through the transmission chain comprising the first driving rod. The six-freedom-degree light multi-connection-rod coating robot has the advantages of being high in structural reliability, good in stability, low in cost and the like.

Description

technical field [0001] The invention relates to the field of machinery, in particular to a six-degree-of-freedom lightweight multi-link spraying robot. Background technique [0002] Since the 1980s, people have been hoping to reduce the mass of the robot's moving parts to improve its dynamic performance, and achieved promising results. But these works are all around reducing the mass of robot rods. The motors and reducers installed at the joints of the serial robot actually have a great influence on the dynamic performance of the robot. Moreover, in order to ensure that the motor outputs high power and its output speed is very high, a reducer with a large transmission ratio is required to decelerate it to a speed suitable for the robot to work. And the development of a large transmission ratio reducer with small size and light weight is also a difficult problem encountered by my country's robot industry. At present, one of the gaps between domestic robot motors and reduce...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J18/00B05C5/00
CPCB25J9/0009B05C5/00B25J18/00
Inventor 蔡敢为韦为王湘叶兵吴承亮李洪汉吴长逸何桂尖谢声扬
Owner GUANGXI UNIV
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