Spraying robot driven by multiple paralleled parallelogram links in series-parallel manner

Abstract

The invention provides a spraying robot driven by multiple paralleled parallelogram links in a series-parallel manner. The spraying robot comprises a serial drive pedestal assembly, three sets of paralleled parallelogram link mechanisms and a movable platform (20). The spraying robot is characterized in that the serial drive pedestal assembly comprises a fixed lower pedestal (2), and three rotary pedestals which are connected in series on the lower pedestal (2) and are formed by a middle pedestal (3), an upper pedestal (4) and a top pedestal (18), a platform of the top pedestal (18) is provided with three sets of driving motors (14, 6, 17), and the three rotary pedestals (3, 4, 18) and the three sets of driving motors (14, 6, 17) drive the movable platform (20) through the three sets of paralleled parallelogram link mechanisms in a cooperation manner. Forward and inverse kinematics solutions of the spraying robot are simple and unique, track planning and control can be achieved easily, the work space of the spraying robot is large, and the spraying robot can spray large-outline complex curved surfaces.

Description

technical field [0001] The present invention relates to a series-parallel driving spraying robot with multiple parallelogram connecting rods in parallel, in particular to a five-degree-of-freedom multi-parallelogram connecting rod parallel driving spraying robot for large-profile complex curved surfaces such as car bodies and aircraft tail fins. robot. Background technique [0002] The spraying process is one of the important processes in the production of most products, and the spraying quality directly determines the product appearance and product quality. The traditional spraying operation method is manual spraying. The mist paint in the spraying process is very harmful to the human body. The lighting and ventilation conditions in the spraying environment are very poor. The quality has a greater impact and causes a waste of spraying materials. Therefore, a large number of spraying robots are used in the industrial field to replace manual spraying, which can not only imp...

AI Technical Summary

Problems solved by technology

[0006] The invention breaks through the defects of the existing tandem spraying robot, such as large size, low efficiency when inverting the position and posture, complex motor control and poor real-time performance, high dustproof and explosion-proof costs of the robot, and high failure rate during spraying operations, and greatly improves the spraying robot. Spraying quality, while significantly reducing its failure rate and maintenance costs

Images