Series connection nine-degree-of-freedom spraying robot

Abstract

The invention relates to spraying equipment, in particular to a series connection nine-degree-of-freedom spraying robot. The spraying robot comprises a work execution mechanism, a work positioning mechanism and an auxiliary supporting mechanism, wherein the work execution mechanism is connected with the work positioning mechanism in series. According to the series connection nine-degree-of-freedomspraying robot, a form in which a 9R main body structure and an auxiliary supporting device are combined is adopted in the aspect of the structure, so that the operation flexibility is met, and the problem that part of the joint load is too large is solved; a special 9-shaft series connection design is adopted in the aspect of motion space so that the robot ca enter a semi-closed space for spraying operation, and a larger flexible working space is achieved; in the aspect of driving control, the joint control is easy, and different modes of control schemes can be realized; the working positioning mechanism and the auxiliary supporting mechanism are controlled in a cooperative mode, and the work execution mechanism is independently controlled; and fixed region detection and trajectory prediction are combined on the anti-collision design.

Description

technical field [0001] The invention relates to a spraying equipment, in particular to a serial nine-degree-of-freedom spraying robot. Background technique [0002] Spraying is an essential process in the manufacturing industry. The main problem in spraying is that the paint mist and volatilized solvents formed during the spraying process will produce a large amount of harmful substances such as benzene and aldehydes, causing serious environmental pollution. It is not conducive to the health of operators. The need to replace traditional manual spraying with automated spraying is particularly urgent. However, most of the current spraying equipment is limited by the characteristics of the working space and the cost of development. Therefore, research on spraying robot technology is very important to meet the growing automatic spraying of complex components. meaning. At present, most spraying robots are 6-axis or 7-axis series robots, which are widely used in automobile manuf...

AI Technical Summary

Problems solved by technology

[0002] Spraying is an essential process in the manufacturing industry. The main problem in spraying is that the paint mist and volatilized solvents formed during the spraying process will produce a large amount of harmful substances such as benzene and aldehydes, causing serious environmental pollution. It is not conducive to the health of operators

The need to replace traditional manual spraying with automated spraying is particularly urgent. However, most of the current spraying equipment is limited by the characteristics of the working space and the cost of development. Therefore, research on spraying robot technology is very important to meet the growing automatic spraying of complex components. the meaning of

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