A six-degree-of-freedom self-reconfigurable parallel spraying robot

Abstract

A six-degree-of-freedom self-reconfigurable parallel spray painting robot consists of a sprayer, a sprayer supporting platform, three sprayer hinges with completely the same structure, three completely identical long fulcrum bars, a brake, three cylinders with the same specifications, three structurally identical support hinges and a rack. The spray painting robot can realize four configurations,and appropriate configurations can be flexibly selected to accomplish different working contents. Compared with a traditional series spray painting robot, the parallel spray painting robot is light and simple in body, high in flexibility, good in stability and excellent in dynamic response, and can adapt to different spray painting works, from simple linear spray painting to complicated spatial curved spray painting, through flexible conversion of the configurations.

Description

technical field [0001] The invention relates to the field of painting robots, in particular to a six-degree-of-freedom self-reconfiguration parallel painting robot. Background technique [0002] In modern society, almost every mature industrial product is inseparable from the spraying industry. The quality of spraying directly determines the appearance and quality of the product. A beautiful appearance will have a positive impact on buyers and users. As one of the important processes in the production of most products, the traditional operation method of the spraying process is manual spraying. However, the paint itself contains toxic substances, which poses a huge hazard to the health of workers. Moreover, subjective factors such as the skills of the operators often affect the quality of the workers. Affect the spraying effect, cause waste, and have adverse effects. Social needs make the production of spraying robots a matter of course, and even better spraying robots are ...

AI Technical Summary

Problems solved by technology

[0003] Nowadays, because the tandem robot has a large working space and relatively simple structure and control, most of the spraying robots are tandem robotic arms, and the attitude of the nozzle at the end is determined by the parameters of each driving joint of the robotic arm. However, such In order to obtain a high repeatability positioning accuracy of the spraying robot so as to control the spraying robot well for spraying operations, drive motors must be placed at each joint, which will make the robot’s mechanism heavy, the terminal load is large, and the dynamic load is large during work. , poor dynamic response

For example, a five-degree-of-freedom hybrid spraying robot disclosed in Chinese patent 201310405357.3 is composed of a basic serial motion unit and an end-parallel spraying operation unit, which is easy to realize modularization, but its internal structure is complicated, the end load is large, and the whole mechanism is cumbersome

[0004] At present, there has not been a six-degree-of-freedom self-reconfiguration parallel type, which has high flexibility, good stability, light body, and good dynamic response. It can adapt to different social production needs through flexible configuration changes, and perfectly completes Innovative invention design of spraying robot structure for spraying work from simple straight lines to complex space curves

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