Multi-connecting-rod spraying mechanical device adopting closed-chain structure

A mechanical device, multi-link technology, applied in the direction of injection device, manipulator, program-controlled manipulator, etc., can solve the problems of large rotational inertia of manipulator, decreased dynamic performance, small bearing capacity, etc., to achieve high rigidity, no accumulated error, load bearing powerful effect

Inactive Publication Date: 2019-04-12
GUANGXI UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The purpose of the present invention is to solve the problems that the driving motors of the articulated manipulator with a series structure are all installed at the joints, resulting in a large moment of inertia of the manipulator, a decrease in dynamic performance, a large cumulative error, a small bearing capacity, and a complex structure.

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  • Multi-connecting-rod spraying mechanical device adopting closed-chain structure

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Embodiment Construction

[0006] A kind of multi-link spraying mechanical device adopting closed chain structure, comprising: base 1, rotatable platform 2, telescopic mechanism, lifting mechanism, pitching mechanism, wrist 13, nozzle 10 and driving device; telescopic mechanism comprises first active rod 3 and Boom 5; one end of the first active rod 3 is hinged with the rotatable platform 2, the boom 5 is curved, and one end of the big arm 5 is hinged with the other end of the first active rod 3; the lifting mechanism includes: the second active rod 4. The second connecting rod 7, the third connecting rod 8 and the lifting rod 11; one end of the second active rod 4 is hinged to the rotatable platform 1, and one end of the second connecting rod 7 is hinged to the other end of the second active rod 4, One end of the third connecting rod 8 is hinged to the middle part of the second connecting rod 7, the lifting rod 11 is curved, and one end of the lifting rod 11 is hinged with the other end of the third con...

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Abstract

The invention discloses a multi-connecting-rod spraying mechanical device adopting a closed-chain structure. The multi-connecting-rod spraying mechanical device comprises a base, a rotatable platform,a telescopic mechanism, a lifting mechanism, a pitching mechanism, a wrist, a spray nozzle and a drive device, wherein the telescopic mechanism comprises a first drive rod and a large arm; the lifting mechanism comprises a second drive rod, a second connecting rod, a third connecting rod and a lifting rod; the pitching mechanism comprises a third drive rod and a pitching rod; and the drive devicecomprises three servo motors which are separately connected to the first drive rod, the second drive rod and the third drive rod. The multi-connecting-rod spraying mechanical device adopts a closed-chain structure and multiple connecting rods, improves operation stability and reliability of the mechanical hand, is free of accumulative errors, is relatively high in precision, is compact in structure, is high in rigidity, is great in bearing ability, is low in inertia, is good in dynamic performance, and is flexible and various in mechanical hand motion track.

Description

technical field [0001] The invention relates to the field of mechanical engineering, in particular to a multi-link spraying mechanical device adopting a closed chain structure. Background technique [0002] At present, most of the general-purpose coating operation manipulators in the manufacturing industry are open-chain series structure joint-type motor-driven manipulators. The rotation of the mechanical arm realizes various actions of the mechanical arm. This structure has the following problems: the arm of the mechanical arm needs to carry the weight of the motor and meet the rigidity requirements, and the cross-sectional size of the arm needs to be made larger, which will increase the load on the driving motor , increasing the moment of inertia of the arm, leading to a decline in the dynamic performance of the manipulator, and the drive motors are installed at the joint position, resulting in large cumulative errors, small load-carrying capacity, complex structure, and l...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B05B13/04B25J9/00
CPCB05B13/04B25J9/003
Inventor 不公告发明人
Owner GUANGXI UNIV
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