CN201940317U - Painting robot mechanism - Google Patents

Abstract

Translated fromChinese

本实用新型涉及一种喷涂机器人机构，包括腰回转机构、肩回转机构、肘回转机构、腕扭转机构、喷枪基座弯曲机构、机架及回转平台。所述腰回转机构、肩回转机构、肘回转机构串联链接于腕扭转机构与机架之间，由伺服电机控制腰回转机构、肩回转机构、肘回转机构在工作空间内回转。所述喷枪基座弯曲机构一端与腕轴铰接，另一端与机架铰接。所述机架安装在回转平台上。本机构所有伺服电动机均安装在机架上，杆件可制成轻杆，机构动力学性能较好，能满足高速高精度喷涂的要求。该机构结构简单紧凑，运输安装方便，工作可靠，不仅适用于小型普通喷涂作业，还可用于大型或重型结构喷涂作业。

The utility model relates to a spraying robot mechanism, which comprises a waist rotary mechanism, a shoulder rotary mechanism, an elbow rotary mechanism, a wrist twist mechanism, a spray gun base bending mechanism, a frame and a rotary platform. The waist rotation mechanism, shoulder rotation mechanism and elbow rotation mechanism are connected in series between the wrist rotation mechanism and the frame, and the waist rotation mechanism, shoulder rotation mechanism and elbow rotation mechanism are controlled by servo motors to rotate in the working space. One end of the bending mechanism of the spray gun base is hinged with the wrist shaft, and the other end is hinged with the frame. The frame is installed on the rotary platform. All the servo motors of this mechanism are installed on the frame, and the rods can be made into light rods. The dynamic performance of the mechanism is good, and it can meet the requirements of high-speed and high-precision spraying. The mechanism has a simple and compact structure, convenient transportation and installation, and reliable operation. It is not only suitable for small-scale ordinary spraying operations, but also for large-scale or heavy-duty structural spraying operations.

Description

A kind of spraying robot robot mechanism

Technical field

The utility model relates to the industrial robot field, particularly a kind of spraying robot robot mechanism.

Background technology

Spray robot is a kind of industrial robot that carries out spraying operation, can replace manually, environmental protection, finishes various spraying operations efficiently, is widely used in fields such as body of a motor car spraying, has become one of maximum industrial robot of application on the market.Existing spray robot frame for movement mainly contains parallelogram sturcutre and side-mounted or two kinds of forms of pendulum-type structure, has obtained extensive use because of it has big working space and moves comparatively flexibly.But this quasi-tradition fisher's formula series connection spraying robot robot mechanism is because of the restriction of himself structure, motor all needs to be installed in the junction, problem such as cause that arm weight is big, poor rigidity, inertia are big, the mechanism dynamic poor-performing is difficult to satisfy the high-speed, high precision and the large-scale spraying operation requirement of increasingly stringent.

Summary of the invention

The purpose of this utility model is to provide a kind of spraying robot robot mechanism, the motor that solves traditional fisher's formula series connection spraying robot robot mechanism is installed in its hinge place, problems such as arm heaviness, poor rigidity, the inertia that causes is big, full high-speed, high precision spraying requirement, be not only applicable to small-sized common spraying operation, also can be used for large-scale or the heavy type structure spraying operation.

The utility model achieves the above object by the following technical programs: a kind of spraying robot robot mechanism comprises waist slew gear, shoulder slew gear, elbow slew gear, wrist twist mechanism, spray gun pedestal bending mechanism, frame and revolving dial.Described frame is installed on the revolving dial, realizes entire machine people optional position, the space flexible motion of working.

Described waist slew gear is formed by connecting by first driving lever, the 6th connecting rod, waist bar and frame.First driving lever, one end is connected on the frame by the 8th revolute pair, the other end is connected with the 6th connecting rod by the 9th revolute pair, the 6th connecting rod other end is connected with the waist bar by the 15 revolute pair, waist bar one end links with frame by the 4th revolute pair, and the other end is connected with the shoulder bar by the 6th revolute pair.Described first driving lever is by first driven by servomotor.

Described shoulder slew gear is formed by connecting by second driving lever, seven-link assembly, the 8th connecting rod, the 9th connecting rod, shoulder bar and frame.Second driving lever, one end links with frame by the tenth revolute pair, the other end is connected with seven-link assembly by the 11 revolute pair, the seven-link assembly other end is connected with the 8th connecting rod, the 9th connecting rod by the 12 revolute pair, the 8th connecting rod other end links with frame by the 4th revolute pair, the 9th connecting rod other end connects by the 13 revolute pair and shoulder bar chain, and the shoulder bar is connected with toggle link by the 14 revolute pair.Second driving lever is by second driven by servomotor.

Described elbow slew gear is formed by connecting by the 3rd driving lever, first connecting rod, second connecting rod, third connecting rod, the 4th connecting rod, the 5th connecting rod, toggle link.The 3rd driving lever one end is connected with frame by first revolute pair, the other end is connected with first connecting rod by second revolute pair, the first connecting rod other end is connected with second connecting rod, third connecting rod by the 3rd revolute pair, the second connecting rod other end is connected with frame by the 4th revolute pair, the third connecting rod other end is connected with the 4th connecting rod, the 5th connecting rod by the 5th revolute pair, the 4th connecting rod other end is connected with the shoulder bar by the 6th revolute pair, and the 5th connecting rod other end is connected with toggle link by the 7th revolute pair.Toggle link is connected with slide block by chute, be connected with the 15 connecting rod by the 21 revolute pair, be connected with sliding sleeve by slide rail, be connected with the spray gun pedestal by the 28 revolute pair, be connected with the tenth seven-link assembly by the 23 revolute pair, be connected with axle by centre bore the 35 revolute pair.The 3rd driving lever is by the 3rd driven by servomotor.

Described wrist twist mechanism is by the 5th driving lever, the 4th driving lever, the 21 connecting rod, the 20 connecting rod, and the 22 connecting rod, the 23 connecting rod, the 26 connecting rod, the 20 seven-link assembly, the 28 connecting rod, the 29 connecting rod, slide block, the 32 connecting rod, the 30 connecting rod, the 31 connecting rod and axle are formed.The 4th driving lever one end is connected with frame by the 36 revolute pair, and the other end is connected with the 21 connecting rod by the 29 revolute pair.The 5th driving lever one end is connected with frame by the 37 revolute pair, and the other end is connected with the 20 connecting rod by the 30 revolute pair.The 21 connecting rod other end is connected with the 22 connecting rod, the 25 connecting rod by the 31 revolute pair, and the 20 connecting rod other end is connected with the 23 connecting rod, the 24 connecting rod by the 32 revolute pair.The 25 connecting rod, the 24 connecting rod other end are connected with shoulder bar the 6th revolute pair by the 38 revolute pair, the 39 revolute pair.The 22 connecting rod, the 23 connecting rod other end by the 41 revolute pair, the 40 revolute pair, are connected with the 20 seven-link assembly, the 26 connecting rod respectively.The 20 seven-link assembly, the 26 connecting rod one end are connected with the 29 connecting rod, the 28 connecting rod by the 4th ball pair, the 3rd ball pair respectively, and the 20 seven-link assembly, the 26 connecting rod other end are connected with toggle link by the 14 revolute pair.The 29 connecting rod, the 28 connecting rod other end are connected with the 32 connecting rod by the first ball pair, second ball pair respectively, and the 32 connecting rod is connected with slide block, the 30 connecting rod, the 31 connecting rod respectively byrevolute pair 45, the 33 revolute pair, the 34 revolute pair.The 31 connecting rod, the 30 connecting rod other end are connected with axle crank, crank by the 42 revolute pair, the 43 revolute pair respectively.Axle is connected with toggle link by the 35 revolute pair.The axle other end is connected with the spray gun pedestal by the 28 revolute pair.The 5th driving lever, the 4th driving lever are respectively by the 5th servomotor, the control of the 4th servomotor.

Described spray gun pedestal bending mechanism is formed by connecting by the 6th driving lever, the tenth connecting rod, the 11 connecting rod, the 12 connecting rod, the 13 connecting rod, the 14 connecting rod, the 15 connecting rod, the 16 connecting rod, the tenth seven-link assembly, the 18 connecting rod, sliding sleeve rotational sleeve, the 19 connecting rod and spray gun pedestal.The 6th driving lever one end is connected with frame by the 16 revolute pair, the other end is connected with the tenth connecting rod by the 17 revolute pair, the tenth connecting rod other end is connected with the 11 connecting rod, the 12 connecting rod by the 18 revolute pair, the 11 connecting rod other end is connected with the 8th connecting rod by the 12 revolute pair, the 12 connecting rod other end is connected with the 13 connecting rod, the 14 connecting rod by the 19 revolute pair, and the 13 connecting rod other end is connected with the shoulder bar by the 13 revolute pair.The 14 connecting rod other end is by the 20 revolute pair and the 15 connecting rod, the 16 connecting rod connects, the 15 connecting rod is connected with toggle link by the 21 revolute pair, the 16 connecting rod other end is connected with the tenth seven-link assembly by the 22 revolute pair, the tenth seven-link assembly is connected with toggle link by the 23 revolute pair, the other end is connected with the 18 connecting rod by the 24 revolute pair, the 18 connecting rod other end is by the 25 revolute pair, be connected with sliding sleeve, sliding sleeve is connected with rotational sleeve by the 44 revolute pair, rotational sleeve is connected with the 19 connecting rod by the 26 revolute pair, the 19 connecting rod other end is connected with the spray gun pedestal by the 27 revolute pair, and the spray gun pedestal is connected with axle by the 28 revolute pair.The 6th driving lever is controlled by the 6th servomotor.

First servomotor, second servomotor, the 3rd servomotor, the 4th servomotor, the 5th servomotor and the 6th servomotor are installed on the described frame.Frame is installed on the revolving dial and realizes entire machine people optional position, the space flexible motion of working.

Described spraying robot robot mechanism is equipped with spray gun device on the spray gun pedestal.By controlling first servomotor, second servomotor, the 3rd servomotor, realize that waist slew gear, shoulder slew gear, elbow slew gear turn round according to job requirement in working space, simultaneously, control the 4th servomotor, the 5th servomotor reverses axle, because the spray gun pedestal links with axle by the 28 revolute pair, therefore, the spray gun pedestal reverses with axle, simultaneously, by controlling the 6th servomotor, realize the 28 revolute pair rotation on axle of spray gun pedestal.According to need of work, the platform revolution is changeed in the frame wraparound, cooperates spray gun device to realize the flexible motion that working space is interior, finishes spraying operation.

The outstanding advantage of the utility model is:

1, all servomotors are installed on the frame, have improved the stressing conditions of each rod member, and robot motion's inertia is little, and dynamic performance is good, can better satisfy at a high speed the accurately requirement of spraying;

2, adopt connecting rod to be connected with transmission, simple in structure, be easy to decompose transportation and installation, maintaining is simple, is satisfying the high-precision while, is not only applicable to small-sized common spraying operation, also can be used for large-scale or the heavy type structure spraying operation;

3,, also can be applicable to various occasions such as carrying, welding, row's barrier, fire-fighting by the end effector of different purposes being installed at the spray gun pedestal.

Description of drawings

Fig. 1 is the structural representation of spraying robot robot mechanism described in the utility model.

Fig. 2 is the waist slew gear structural representation of spraying robot robot mechanism described in the utility model.

Fig. 3 is the shoulder slew gear structural representation of spraying robot robot mechanism described in the utility model.

Fig. 4 is the elbow slew gear structural representation of spraying robot robot mechanism described in the utility model.

Fig. 5 is the wrist twist mechanism structural representation of spraying robot robot mechanism described in the utility model.

Fig. 6 is the spray gun pedestal bending mechanism structural representation of spraying robot robot mechanism described in the utility model.

Fig. 7 is the toggle link structural representation of spraying robot robot mechanism described in the utility model.

Fig. 8 is the wrist twist mechanism partial structurtes schematic diagram of spraying robot robot mechanism described in the utility model.

Fig. 9 is the spray gun pedestal bending mechanism partial structurtes schematic diagram of spraying robot robot mechanism described in the utility model.

Figure 10 is the wrist twist mechanism mandrel structure schematic diagram of spraying robot robot mechanism described in the utility model.

Figure 11 is frame, revolving dial and the servomotor structural representation of spraying robot robot mechanism described in the utility model.

The specific embodiment

Below in conjunction with drawings and Examples the technical solution of the utility model is described further:

Contrast Fig. 1,7,8,9,10,11, a kind of spraying robot robot mechanism comprises waist slew gear, shoulder slew gear, elbow slew gear, wrist twist mechanism, spray gun pedestal bending mechanism,frame 95 and revolving dial 96.Describedframe 95 is installed on the revolving dial 96, realizes entire machine people optional position, the space flexible motion of working.

Contrast Fig. 1,2,11, described waist slew gear is formed by connecting byfirst driving lever 9, the 6th connectingrod 8,waist bar 12 and frame.First driving lever, 9 one ends are connected on the frame by the8th revolute pair 97, the other end is connected with the 6th connectingrod 8 by the9th revolute pair 10, the 6th connectingrod 8 other ends are connected withwaist bar 12 by the 15revolute pair 75,waist bar 12 1 ends link with frame by the 4threvolute pair 98, and the other end is connected withshoulder bar 18 by the 6th revolute pair 15.Describedfirst driving lever 9 is driven by first servomotor 105.

Contrast Fig. 1,3,11, described shoulder slew gear is formed by connecting bysecond driving lever 92, seven-link assembly 86, the 8th connectingrod 79, the 9th connectingrod 70,shoulder bar 18 and frame.Second driving lever, 92 1 ends link with frame by the tenthrevolute pair 93, the other end is connected with seven-link assembly 86 by the 11revolute pair 90, seven-link assembly 86 other ends are connected with the 8th connectingrod 79, the 9th connectingrod 70 by the 12revolute pair 78, the 8th connectingrod 79 other ends link with frame by the 4threvolute pair 98, the 9th connectingrod 70 other ends link by the 13revolute pair 69 andshoulder bar 18, andshoulder bar 18 is connected withtoggle link 18 by the 14 revolute pair 22.Second driving lever 92 is driven by second servomotor 101.

Contrast Fig. 1,4,7,11, described elbow slew gear is formed by connecting by the 3rd driving lever 1, first connecting rod 3, second connecting rod 6, third connecting rod 7, the 4th connecting rod 14, the 5th connecting rod 17, toggle link 24.The 3rd driving lever 1 one ends are connected with frame by first revolute pair 4, the other end is connected with first connecting rod 3 by second revolute pair 2, first connecting rod 3 other ends are connected with second connecting rod 6, third connecting rod 7 by the 3rd revolute pair 5, second connecting rod 6 other ends are connected with frame by the4th revolute pair 98, third connecting rod 7 other ends are connected with the 4th connecting rod 14, the 5th connecting rod 17 by the 5th revolute pair 13, the 4th connecting rod 14 other ends are connected withshoulder bar 18 by the 6threvolute pair 15, and the 5th connecting rod 17 other ends are connected withtoggle link 24 by the 7th revolute pair 21.Togglelink 24 is connected withslide block 44 bychute 43, be connected with the 15 connectingrod 61 by the 21revolute pair 55, be connected withsliding sleeve 34 byslide rail 26, be connected withspray gun pedestal 28 by the 28revolute pair 29, be connected with the tenth seven-link assembly 37 by the 23revolute pair 36, be connected withaxle 32 by centre bore the 35 revolute pair 94.The 3rd driving lever 1 is driven by the 3rd servomotor 100.

Contrast Fig. 1,5,7,8,10,11, described wrist twist mechanism is made up of the5th driving lever 84, the 4th driving lever the 81, the 21 connecting rod the 71, the 20 connectingrod 72, the 22 connecting rod the 19, the 23 connecting rod the 62, the 26 connecting rod the 52, the 20 seven-link assembly the 56, the 28 connecting rod the 51, the 29 connectingrods 23, slide block the 44, the 32 connecting rod the 46, the 30 connecting rod the 41, the 31 connectingrod 42 and axle 32.The4th driving lever 81 1 ends are connected with frame by the 36revolute pair 82, and the other end is connected with the 21 connectingrod 71 by the 29 revolute pair 80.The5th driving lever 84 1 ends are connected with frame by the 37revolute pair 85, and the other end is connected with the 20 connectingrod 72 by the 30 revolute pair 83.The 21 connectingrod 71 other ends are connected with the 22 connecting rod the 19, the 25 connectingrod 16 by the 31revolute pair 63, and the 20 connectingrod 72 other ends are connected with the 23 connecting rod the 62, the 24 connectingrod 65 by the 32 revolute pair 66.The 25 connecting rod the 16, the 24 connectingrod 65 other ends are connected withshoulder bar 18 the 6threvolute pair 15 by the 38 revolute pair the 64, the 39 revolute pair 73.The 22 connecting rod the 19, the 23 connectingrod 62 other ends by the 41 revolute pair the 57, the 40revolute pair 54, are connected with the 20 seven-link assembly the 56, the 26 connectingrod 52 respectively.The 20 seven-link assembly the 56, the 26 connectingrod 52 1 ends are connected with the 29 connecting rod the 23, the 28 connectingrod 51 by the4th ball pair 58, the 3rd ball secondary 53 respectively, and the 20 seven-link assembly the 56, the 26 connectingrod 52 other ends pass through the 14revolute pair 22 and are connected with toggle link 24.The 29 connecting rod the 23, the 28 connectingrod 51 other ends are connected with the 32 connectingrod 46 by thefirst ball pair 48, second ball secondary 50 respectively, and the 32 connectingrod 46 passes through revolute pair the 45, the 33 revolute pair the 47, the 34revolute pair 49 and is connected with slide block the 44, the 30 connecting rod the 41, the 31 connectingrod 42 respectively.The 31 connecting rod the 42, the 30 connectingrod 41 other ends are connected with axle crank 107, crank 106 by the 42 revolute pair the 39, the 43revolute pair 40 respectively.Axle 32 is connected withtoggle link 24 by the 35 revolute pair 94.The axle other end is connected withspray gun pedestal 28 by the 28 revolute pair 29.The5th driving lever 84, the4th driving lever 81 are respectively by the 5th servomotor 99,104 controls of the 4th servomotor.

Contrast Fig. 1,6,7,9,11, described spray gun pedestal bending mechanism is formed by connecting by the6th driving lever 89, the tenth connecting rod the 87, the 11 connecting rod the 76, the 12 connecting rod the 74, the 13 connecting rod the 68, the 14 connecting rod the 20, the 15 connecting rod the 61, the 16 connectingrod 59, the tenth seven-link assembly the 37, the 18 connectingrod 25, slidingsleeve 34 rotational sleeves the 33, the 19 connectingrod 31 and spray gun pedestal 28.The6th driving lever 89 1 ends are connected with frame by the 16revolute pair 91, the other end is connected with the tenth connectingrod 87 by the 17revolute pair 88, the tenth connectingrod 87 other ends are connected with the 11 connecting rod the 76, the 12 connectingrod 74 by the 18revolute pair 77, the 11 connectingrod 76 other ends are connected with the 8th connectingrod 79 by the 12revolute pair 78, the 12 connectingrod 74 other ends are connected with the 13 connecting rod the 68, the 14 connectingrod 20 by the 19revolute pair 67, and the 13 connectingrod 68 other ends are connected withshoulder bar 18 by the 13 revolute pair 69.The 14 connectingrod 20 other ends are by the 20revolute pair 60 and the 15 connectingrod 61, the 16 connectingrod 59 connects, the 15 connectingrod 61 is connected withtoggle link 24 by the 21revolute pair 55, the tenth seven-link assembly 37 other ends are connected with the tenth seven-link assembly 37 by the 22revolute pair 38, the tenth seven-link assembly 37 is connected withtoggle link 24 by the 23revolute pair 36, the other end is connected with the 18 connectingrod 25 by the 24revolute pair 35, the 18 connectingrod 25 other ends are by the 25revolute pair 27, be connected withsliding sleeve 34, slidingsleeve 34 is connected withrotational sleeve 33 by the 44revolute pair 108,rotational sleeve 33 is connected with the 19 connectingrod 31 by the 26revolute pair 26, the 19 connectingrod 31 other ends are connected withspray gun pedestal 28 by the 27revolute pair 30, andspray gun pedestal 28 is connected withaxle 32 by the 28 revolute pair 29.The6th driving lever 89 is by 103 controls of the 6th servomotor.

Contrast Figure 11 is equipped with first servomotor 105, second servomotor 101, the 3rd servomotor 100, the 4th servomotor 104, the 5th servomotor 99, the 6th servomotor 103 on the described frame.Frame is installed on the revolving dial and realizes entire machine people optional position, the space flexible motion of working.

Contrast Fig. 1,2,3,4,5,6, described spraying robot robot mechanism is equipped with spray gun device 109 on the spray gun pedestal 28.By controlling first servomotor 105, second servomotor 101, the 3rd servomotor 100, realize that waist slew gear, shoulder slew gear, elbow slew gear turn round according to job requirement in working space, simultaneously, control the 4th servomotor 104, the 5th servomotor 99 reversesaxle 32, becausespray gun pedestal 28 links withaxle 32 by the 28revolute pair 29, therefore,spray gun pedestal 28 reverses withaxle 32, simultaneously, by controlling the 6th private clothes motor 103, realize the 28revolute pair 29 rotations onaxle 32 of spray gun pedestal 28.According to need of work, platform 96 revolutions are changeed inframe 95 wraparounds, and the flexible motion that cooperates spray gun device 109 to realize in the working space is finished spraying operation.

Claims (1)

Translated fromChinese

1.一种喷涂机器人机构，其特征在于，该机构包括腰回转机构、肩回转机构、肘回转机构、腕扭转机构、喷枪基座弯曲机构、机架及回转平台，所述机架安装在回转平台上，其结构和连接方式为：1. a spraying robot mechanism, it is characterized in that, this mechanism comprises waist rotary mechanism, shoulder rotary mechanism, elbow rotary mechanism, wrist torsion mechanism, spray gun base bending mechanism, frame and rotary platform, and described frame is installed on rotary On the platform, its structure and connection method are:所述腰回转机构由第一主动杆、第六连杆、腰杆及机架连接而成，第一主动杆一端通过第八转动副连接到机架上，另一端通过第九转动副与第六连杆连接，第六连杆另一端通过第十五转动副与腰杆连接，腰杆一端通过第四转动副与机架链接，另一端通过第六转动副与肩杆连接，所述第一主动杆由第一伺服电机驱动，The lumbar slewing mechanism is composed of the first active rod, the sixth connecting rod, the waist rod and the frame. One end of the first active rod is connected to the frame through the eighth rotating pair, and the other end is connected to the ninth rotating pair through the ninth rotating pair. The six connecting rods are connected, and the other end of the sixth connecting rod is connected to the waist rod through the fifteenth rotating pair, one end of the waist rod is connected to the frame through the fourth rotating pair, and the other end is connected to the shoulder rod through the sixth rotating pair. an active lever is driven by a first servo motor,所述肩回转机构由第二主动杆、第七连杆、第八连杆、第九连杆、肩杆及机架连接而成，第二主动杆一端通过第十转动副与机架链接，另一端通过第十一转动副与第七连杆连接，第七连杆另一端通过第十二转动副与第八连杆、第九连杆连接，第八连杆另一端通过第四转动副与机架链接，第九连杆另一端通过第十三转动副与肩杆链接，肩杆通过第十四转动副与肘杆连接，第二主动杆由第二伺服电机驱动，The shoulder slewing mechanism is composed of the second active rod, the seventh connecting rod, the eighth connecting rod, the ninth connecting rod, the shoulder rod and the frame. One end of the second active rod is connected to the frame through the tenth rotating pair. The other end is connected with the seventh connecting rod through the eleventh rotating pair, the other end of the seventh connecting rod is connected with the eighth connecting rod and the ninth connecting rod through the twelfth rotating pair, and the other end of the eighth connecting rod is connected through the fourth rotating pair Linked with the rack, the other end of the ninth connecting rod is linked with the shoulder rod through the 13th revolving pair, the shoulder rod is connected with the toggle rod through the 14th revolving pair, the second active rod is driven by the second servo motor,所述肘回转机构由第三主动杆、第一连杆、第二连杆、第三连杆、第四连杆、第五连杆、肘杆连接而成，第三主动杆一端通过第一转动副与机架连接，另一端通过第二转动副与第一连杆连接，第一连杆另一端通过第三转动副与第二连杆、第三连杆连接，第二连杆另一端通过第四转动副与机架连接，第三连杆另一端通过第五转动副与第四连杆、第五连杆连接，第四连杆另一端通过第六转动副与肩杆连接，第五连杆另一端通过第七转动副与肘杆连接，肘杆通过滑槽与滑块连接，通过第二十一转动副与第十五连杆连接，通过滑轨与滑动套筒连接，通过第二十八转动副与喷枪基座连接，通过第二十三转动副与第十七连杆连接，通过中心孔第三十五转动副与心轴连接，第三主动杆由第三伺服电机驱动，The toggle mechanism is formed by connecting the third active rod, the first connecting rod, the second connecting rod, the third connecting rod, the fourth connecting rod, the fifth connecting rod and the toggle rod. One end of the third active rod passes through the first The rotating pair is connected with the frame, the other end is connected with the first connecting rod through the second rotating pair, the other end of the first connecting rod is connected with the second connecting rod and the third connecting rod through the third rotating pair, and the other end of the second connecting rod The fourth connecting rod is connected to the frame through the fourth rotating pair, the other end of the third connecting rod is connected to the fourth connecting rod and the fifth connecting rod through the fifth rotating pair, the other end of the fourth connecting rod is connected to the shoulder rod through the sixth rotating pair, and the other end of the third connecting rod is connected to the shoulder rod through the sixth rotating pair. The other end of the fifth connecting rod is connected to the toggle lever through the seventh rotating pair, the toggle lever is connected to the slider through the chute, connected to the fifteenth connecting rod through the twenty-first rotating pair, connected to the sliding sleeve through the slide rail, and connected to the sliding sleeve through the The twenty-eighth revolving pair is connected to the base of the spray gun, the twenty-third revolving pair is connected to the seventeenth connecting rod, the thirty-fifth revolving pair is connected to the mandrel through the central hole, and the third active rod is driven by the third servo motor drive,所述腕扭转机构由第五主动杆、第四主动杆、第二十一连杆、第二十连杆，第二十二连杆、第二十三连杆、第二十六连杆、第二十七连杆、第二十八连杆、第二十九连杆、滑块、第三十二连杆、第三十连杆、第三十一连杆及心轴组成，第四主动杆一端通过第三十六转动副与机架连接，另一端通过第二十九转动副与第二十一连杆连接，第五主动杆一端通过第三十七转动副与机架连接，另一端通过第三十转动副与第二十连杆连接，第二十一连杆另一端通过第三十一转动副与第二十二连杆、第二十五连杆连接，第二十连杆另一端通过第三十二转动副与第二十三连杆、第二十四连杆连接，第二十五连杆、第二十四连杆另一端通过第三十八转动副、第三十九转动副与肩杆第六转动副连接，第二十二连杆、第二十三连杆另一端分别通过第四十一转动副、第四十转动副，与第二十七连杆、第二十六连杆连接，第二十七连杆、第二十六连杆一端分别通过第四球副、第三球副与第二十九连杆、第二十八连杆连接，第二十七连杆、第二十六连杆另一端通过第十四转动副与肘杆连接，第二十九连杆、第二十八连杆另一端分别通过第一球副、第二球副与第三十二连杆连接，第三十二连杆通过转动副45、第三十三转动副、第三十四转动副分别与滑块、第三十连杆、第三十一连杆连接，第三十一连杆、第三十连杆另一端分别通过第四十二转动副、第四十三转动副与心轴曲柄、曲柄连接，心轴通过第三十五转动副与肘杆连接，心轴另一端通过第二十八转动副与喷枪基座连接，第五主动杆、第四主动杆分别由第五伺服电机、第四伺服电机控制，The wrist twisting mechanism consists of the fifth active rod, the fourth active rod, the twenty-first connecting rod, the twentieth connecting rod, the twenty-second connecting rod, the twenty-third connecting rod, the twenty-sixth connecting rod, The 27th connecting rod, the 28th connecting rod, the 29th connecting rod, the slider, the 32nd connecting rod, the 30th connecting rod, the 31st connecting rod and the mandrel, the fourth One end of the active rod is connected to the frame through the thirty-sixth rotating pair, the other end is connected to the twenty-first connecting rod through the twenty-ninth rotating pair, one end of the fifth active rod is connected to the frame through the thirty-seventh rotating pair, The other end is connected with the 20th connecting rod through the 30th revolving pair, the other end of the 21st connecting rod is connected with the 22nd connecting rod and the 25th connecting rod through the 31st revolving pair, and the 20th connecting rod The other end of the connecting rod is connected with the twenty-third connecting rod and the twenty-fourth connecting rod through the thirty-second rotating pair, and the other ends of the twenty-fifth connecting rod and the twenty-fourth connecting rod are connected through the thirty-eighth rotating pair, The thirty-ninth revolving pair is connected with the sixth revolving pair of the shoulder bar, and the other ends of the twenty-second connecting rod and the twenty-third connecting rod respectively pass through the forty-first revolving pair, the fortieth revolving The connecting rod and the twenty-sixth connecting rod are connected; connection, the other ends of the twenty-seventh connecting rod and the twenty-sixth connecting rod are connected with the toggle joint through the fourteenth rotating pair, and the other ends of the twenty-ninth connecting rod and the twenty-eighth connecting rod are respectively passed through the first ball pair, The second ball pair is connected with the 32nd connecting rod, and the 32nd connecting rod is respectively connected with the slider, the 30th connecting rod, the third The eleventh connecting rod is connected, the other end of the thirty-first connecting rod and the thirty-first connecting rod are respectively connected to the spindle crank and the crank through the forty-second revolving pair and the forty-third revolving pair, and the spindle is connected through the thirty-fifth The rotary pair is connected with the toggle lever, the other end of the mandrel is connected with the spray gun base through the twenty-eighth rotary pair, the fifth active rod and the fourth active rod are respectively controlled by the fifth servo motor and the fourth servo motor,所述喷枪基座弯曲机构由第六主动杆、第十连杆、第十一连杆、第十二连杆、第十三连杆、第十四连杆、第十五连杆、第十六连杆、第十七连杆、第十八连杆、滑动套筒转动套筒、第十九连杆及喷枪基座连接而成，第六主动杆一端通过第十六转动副与机架连接，另一端通过第十七转动副与第十连杆连接，第十连杆另一端通过第十八转动副与第十一连杆、第十二连杆连接，第十一连杆另一端通过第十二转动副与第八连杆连接，第十二连杆另一端通过第十九转动副与第十三连杆、第十四连杆连接，第十三连杆另一端通过第十三转动副与肩杆连接，第十四连杆另一端通过第二十转动副与第十五连杆、第十六连杆连接，第十五连杆通过第二十一转动副与肘杆连接，第十六连杆另一端通过第二十二转动副与第十七连杆连接，第十七连杆通过第二十三转动副与肘杆连接，另一端通过第二十四转动副与第十八连杆连接，第十八连杆另一端通过第二十五转动副，与滑动套筒连接，滑动套筒通过第四十四转动副与转动套筒连接，转动套筒通过第二十六转动副与第十九连杆连接，第十九连杆另一端通过第二十七转动副与喷枪基座连接，喷枪基座通过第二十八转动副与心轴连接，第六主动杆由第六伺服电机控制。The spray gun base bending mechanism consists of the sixth active rod, the tenth connecting rod, the eleventh connecting rod, the twelfth connecting rod, the thirteenth connecting rod, the fourteenth connecting rod, the fifteenth connecting rod, the tenth connecting rod Six connecting rods, the seventeenth connecting rod, the eighteenth connecting rod, the sliding sleeve rotating sleeve, the nineteenth connecting rod and the base of the spray gun are connected, and one end of the sixth active rod is connected to the frame through the sixteenth rotating pair The other end is connected to the tenth connecting rod through the seventeenth rotating pair, the other end of the tenth connecting rod is connected to the eleventh connecting rod and the twelfth connecting rod through the eighteenth rotating pair, and the other end of the eleventh connecting rod The twelfth revolving pair is connected to the eighth connecting rod, the other end of the twelfth connecting rod is connected to the thirteenth connecting rod and the fourteenth connecting rod through the nineteenth revolving pair, and the other end of the thirteenth connecting rod is connected through the tenth The third rotating pair is connected with the shoulder rod, the other end of the fourteenth connecting rod is connected with the fifteenth connecting rod and the sixteenth connecting rod through the twentieth rotating pair, and the fifteenth connecting rod is connected with the toggle rod through the twenty-first rotating pair The other end of the sixteenth connecting rod is connected with the seventeenth connecting rod through the twenty-second rotating pair, the seventeenth connecting rod is connected with the toggle through the twenty-third rotating pair, and the other end is connected through the twenty-fourth rotating pair It is connected with the eighteenth connecting rod. The other end of the eighteenth connecting rod is connected with the sliding sleeve through the twenty-fifth rotating pair. The sliding sleeve is connected with the rotating sleeve through the forty-fourth rotating pair. The rotating sleeve passes through the The twenty-sixth rotating pair is connected with the nineteenth connecting rod, the other end of the nineteenth connecting rod is connected with the spray gun base through the twenty-seventh rotating pair, the spray gun base is connected with the mandrel through the twenty-eighth rotating pair, the sixth The active lever is controlled by the sixth servo motor.

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