Novel spherical parallel mechanism of automobile coating robot

Abstract

The invention discloses a novel spherical parallel mechanism of an automobile coating robot. The novel spherical parallel mechanism of the automobile coating robot comprises a fixed platform and a movable platform, and the fixed platform and the movable platform are connected together through a plurality of branched chains. A plurality of spherical grooves are formed in the upper surface of the fixed platform and the lower surface of the movable platform. Semi-spherical sleeve-joint rings are arranged at the two ends of the branched chains. Rotating balls are fixedly arranged in the sleeve-joint rings, the upper portions of the rotating balls are arranged inside the spherical grooves, and the lower portions of the rotating balls are arranged in the sleeve-joint rings. The sleeve-joint rings and the spherical grooves are connected together through buckles. Each branched chain is composed of an inner rod and an outer rod, wherein the external diameter of the inner rod is equal to the internal diameter of the outer rod, the inner rod is directly sleeved with the outer rod, and the outer surface of the inner rod and the inner surface of the outer rod are engraved with matched antiskid threads. According to the novel spherical parallel mechanism of the automobile coating robot, both assembly and disassembly are quite convenient, the branched chains are free of mutual interference by adoption of a single-branched-chain branch, the branched chains can extend out and draw back for adjustment in the operation process, and the novel spherical parallel mechanism is worthy of popularization.

Description

technical field [0001] The invention relates to the technical field of robots and machinery manufacturing, in particular to a novel spherical parallel mechanism of an automobile painting robot. Background technique [0002] Automobile painting mainly refers to the continuous coating process on the surface of the automobile, so that the surface of the automobile can have strong protection, decoration and other functions, and improve the quality and aesthetics of the automobile. The robot spraying process is an industrial robot that can automatically spray paint. It was invented as early as the end of the 1960s, and then it was widely used in industries such as automobiles and instruments, which greatly improved the quality and efficiency of spraying. In today's automobile painting field, there is a high application rate, and the development of robot spraying technology has an important impact on the improvement of the automobile painting process level. With the development o...

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Problems solved by technology

[0003] The three-degree-of-freedom spherical parallel mechanism is one of the typical parallel mechanisms with few degrees of freedom. As a typical parallel mechanism with few degrees of freedom, its structure, motion state and characteristics are very similar to the shoulder joint and hip joint of the human body, and it is very suitable for humanoid robots. However, the three-degree-of-freedom spherical parallel mechanism has not been widely promoted and used in the field of bionic robotics. The fundamental reason is that the traditional three-degree-of-freedom spherical parallel mechanism has the following defects: (1) Each branch chain is composed of two small branch chains, so that the overall number of small branch chains is relatively large. During the rotation of the branch chains, the small branch chains will also rotate with the branch chains. At this time, each There will be mutual interference between the small branch chains, which affects the normal movement of the branch chains; (2) the function of the branch chains is relatively simple, and it only has the effect of simple rotation and rotation, and cannot realize the function of branch chain expansion and contraction; (3) The traditional spherical parallel mechanism adopts an integrated structural design. Once a small part of a branch chain in the mechanism fails, the branch chain cannot continue to work, resulting in the failure of the entire spherical parallel mechanism. At this time, it needs to be replaced. The entire branch chain makes the installation and maintenance operations of the branch chain complicated

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