High-precision ultra-large-stroke painting robot telescopic arm adopting statically indeterminate structure

Abstract

The invention discloses a high-precision ultra-large-stroke painting robot telescopic arm adopting a statically indeterminate structure. The high-precision ultra-large-stroke painting robot telescopic arm comprises a fixed base, an n-regular-polygonal connecting structure, a tail end workbench structure and a plurality of sets of shear fork serial mechanisms. The shear fork serial mechanisms comprise the n sets of shear fork serial mechanisms which are hinged to the fixed base and the tail end workbench structure. The vertexes of the n-regular-polygonal connecting structure are hinged to the shear fork serial mechanisms. Each set of shear fork serial mechanism comprises a long connecting rod, a short connecting rod, a top revolute pair, end revolute pairs and a middle revolute pair. Compared with the traditional telescopic arm design, the requirement for machining and assembling can be effectively lowered, the lateral rigidity of the telescopic arm is improved, better lateral positioning precision can be achieved during movement, the effect that the position of the center of the tail end workbench structure is unchanged on the plane in the telescoping process of the telescopic arm can be guaranteed, and the motion stability and the vertical positioning precision are guaranteed.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a telescopic arm of a high-precision super-large-stroke spraying robot adopting a super-statically indeterminate structure. Background technique [0002] The longitudinal telescopic arm is used as a guiding mechanism for the super-large workspace robot to provide movement in the vertical direction, which directly determines the vertical movement range of the robot, and then affects the reachable workspace of the robot. Its longitudinal telescopic arm is connected in series with two lateral moving mechanisms to realize the movement of the robot in three degrees of freedom in space. At present, the existing longitudinal telescopic arms are generally composed of a slider and a scissor mechanism on both sides, similar to an elevator, and the movement of the slider drives the scissor mechanism to realize the telescopic boom; The relative movement realizes the height adjustment of the ...

AI Technical Summary

Problems solved by technology

However, the multi-stage lifting mechanism involved in the above-mentioned patent is essentially a telescopic arm of a slider and a double-sided scissor mechanism. The joint between the scissor mechanism and the bottom includes two ways of slider connection and hinge connection. The processing and assembly process requirements Once the accuracy of some parts cannot meet the requirements, the accuracy of the lifting frame will be greatly affected; there is only a double-sided scissors mechanism, and its lateral rigidity is difficult to guarantee; during the adjustment process, the slider and the base that cooperate with the base The relative position of the working end changes, resulting in a change in the relative position between the center of the working end and the base, causing the center of gravity of the end to shift relative to the fixed base

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