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Flexible rope driving series-parallel spraying robot mechanism and operating method thereof

A spraying robot and cable-driven technology, applied in the field of robotics, can solve problems such as limited working space, small load capacity, and poor dynamic characteristics

Active Publication Date: 2020-07-03
HEFEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Since the longer the ball screw, the lower its rigidity, the working space under this mechanism is limited
In the patent CN106078800B-a hybrid mechanical arm driven by a seven-degree-of-freedom cable-rod compound and its handling method, the structure of the main mechanical arm is in series, and the joints are driven in series and parallel by flexible cables, which still have small load capacity and low dynamic characteristics. Poor and poor stability

Method used

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  • Flexible rope driving series-parallel spraying robot mechanism and operating method thereof
  • Flexible rope driving series-parallel spraying robot mechanism and operating method thereof
  • Flexible rope driving series-parallel spraying robot mechanism and operating method thereof

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Embodiment Construction

[0065] combine figure 1 , 2 , 3, 10, 11, 12 and 13, a cable-driven hybrid spraying robot mechanism, consisting of a static platform frame 1, a cable guide pulley assembly 2, a driving mechanism 3, a transmission cable 4, a moving platform 5, and workpiece transmission The organization consists of 6.

[0066] Wherein, the static platform frame 1 is composed of an upper rectangular frame 1001 , a lower rectangular frame 1002 , a frame base 1003 , a vertical frame edge 1004 , side baffles 1005 and a bottom baffle 1006 . Four vertical frames 1004 connect the upper rectangular frame 1001, the lower rectangular frame 1002 and the frame base 1003 to form two upper and lower three-dimensional spaces, wherein the upper three-dimensional space will be the movement space of the moving platform 5, and the lower three-dimensional space will centrally place the driving mechanism 3. Install side baffles 1005 on the four sides of the lower three-dimensional space, and install a bottom baffl...

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Abstract

The invention discloses a flexible rope driving series-parallel spraying robot mechanism and an operating method thereof. The flexible rope driving series-parallel spraying robot mechanism is composedof a static platform frame, a flexible rope guiding pulley block system, driving flexible ropes, a movable platform and a driving mechanism, wherein a movable platform shell is connected with eight flexible ropes in parallel and is driven by the eight flexible ropes to realize three translational motion degrees of freedom; and a spray gun is connected with the movable platform shell in series through a candan universal joint and is connected with four flexible ropes in parallel and is driven by the four flexible ropes to realize two rotating degrees of freedom. The flexible rope driving series-parallel spraying robot mechanism has the following benefits: the flexible ropes are connected with the spray gun at the tail end in parallel and control three translational motion degrees of freedom and two rotating degrees of freedom of the spray gun; the flexible rope driving series-parallel spraying robot mechanism has the characteristics of being small in movement inertia and flexible in action; and driving electric appliances are mounted on the bottom layer of the static platform frame in a centralized manner to easily realize explosion prevention.

Description

technical field [0001] The invention relates to the field of robots, in particular to a cable-driven hybrid spraying robot mechanism and an operation method thereof. Background technique [0002] Surface spraying is a very important part of manufacturing. Almost all mechanical and electrical products, electronic products, furniture, etc. in modern life involve surface spraying in their manufacturing process. The traditional surface spraying technology is mainly manual. During the spraying process on the surface of the product, a large amount of amine, aldehyde, benzene and other harmful substances volatilized by the paint coating seriously pollute the working environment, which is harmful to the health of workers and labor emotions. It has a great negative impact, which in turn affects the spraying quality, spraying efficiency and paint utilization. The emergence of spraying robots has liberated workers from the harmful working environment, greatly improved production effic...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J11/00
CPCB25J9/0072B25J11/0075B25J9/0078B25J9/0093Y02P70/10
Inventor 訾斌王旭王正雨王道明钱森游玮郑磊
Owner HEFEI UNIV OF TECH
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