CN101966501A - Five-degree-of-freedom spraying robot based on three-degree-of-freedom parallel mechanism - Google Patents
Five-degree-of-freedom spraying robot based on three-degree-of-freedom parallel mechanism Download PDFInfo
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- CN101966501A CN101966501A CN2010105075627A CN201010507562A CN101966501A CN 101966501 A CN101966501 A CN 101966501A CN 2010105075627 A CN2010105075627 A CN 2010105075627A CN 201010507562 A CN201010507562 A CN 201010507562A CN 101966501 A CN101966501 A CN 101966501A
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Abstract
The invention relates to a five-degree-of-freedom spraying robot based on a three-degree-of-freedom parallel mechanism, comprising a spraying operation unit, a vertical moving unit and a horizontal moving unit, wherein the spraying operation unit comprises a main body structure and a movable platform provided with an atomizer; the main body structure is a three-degree-of-freedom parallel mechanism of which the round movement frame is installed on a vertical guide rail on two sides to realize vertical movement; the vertical guide rail and the three-degree-of-freedom parallel mechanism are installed on the horizontal guide rail by serving as a whole to realize horizontal movement; the movement of the horizontal moving unit and the movement of the vertical moving unit are combined with the movement of the three-degree-of-freedom parallel mechanism so as to realize the five degrees of freedom movement of an atomizer nozzle on the movable platform. The spraying robot has the advantages of symmetric structure, good flexibility, high rigidity and precision, easy manufacture and convenient control and is easy to realize modularization.
Description
Technical field
The present invention relates to mechanical manufacturing field, be specifically related to a kind of five degree of freedom spray robot that can be applied to auto parts and components spraying production field.
Background technology
Along with developing rapidly of Hyundai Motor industry, the continuous adjustment of automobile model and car body design, domestic automobile production to extensive, high-quality and cheaply direction develop, under this background, traditional hand spray can't satisfy the requirement of most of car load factory car body coating, spraying technology having developed into robot of today from the spraying of hand spray, semi-automatic spray gun and spray automatically step by step has only the production requirement of adopting robot could adapt to this frequent variations.Up to the present, spray robot has become one of maximum industrial robot of utilization on the domestic market.
Spray robot becomes auto industry spray-painting production line and preferred unit, yet because the limitation of China's industrial robot technology, the spray robot of independent research often exists precision not enough, the shortcoming that control ability is low, the most of automobile coating production lines of China are still adopting automatic spraying machine equipment at present, the automatic spraying robot major part that minority enterprise is adopted all is from external equipment manufacturers, these equipment of package import not only cost an arm and a leg, and maintenance cost height, in case equipment breaks down, maintenance cycle is longer, might cause the stopping production of whole production line what is more in the maintenance period, cause the huge wasting of resources of enterprise and property loss, therefore realize the production domesticization of automatic electrostatic coating equipment, raising is to the research level of spray robot, and the technical monopoly of breaking foreign vendor becomes the current problem of needing solution badly, and this is significant for China robot industry and automobile industry.
Find by investigation, the spray robot of the offshore company that domestic most of automobile vendor adopts all is a six degree of freedom, but spray robot only needs five degree of freedom (three one-movement-freedom-degrees and two rotational freedoms) just can finish all spraying operations in actual applications.The conventional spray paint robot that has now used in addition all is the serial mechanism that adopts copy man arm, by making rational planning for of movement locus finished the automatic spraying operation.But because the restriction of China's manufacturing industry overall technology level, so far fail serial machine people's the not high problem of precision is made substantial breakthrough, the control of tandem spray robot is relatively complicated, and this tandem robot is difficult to obtain intellectual property and breaks through because version is single.
With respect to serial mechanism, parallel institution is the closed loop mechanism that is made of a plurality of side chains, have the following advantages: simple and compact for structure, rigidity is high, big, the error free accumulation of bearing capacity on the Unit Weight, heavy moving parts are little, be easy to realize high-speed motion, track is easy to advantages such as control.
Summary of the invention
At above problem, the present invention proposes a kind of five degree of freedom spray robot based on space three-freedom connection-in-parallel mechanism, and its parallel institution that is based on space three-freedom is realized spray equipment vertical and that move horizontally on a large scale on guide rail.
The invention provides a kind of five degree of freedom spray robot based on the three-freedom degree spatial parallel structure, comprise spraying operation unit, vertical moving unit, three parts of horizontal movement unit, described spraying operation unit comprises agent structure and the moving platform of atomizer is installed, the both sides of the circus movement frame of described agent structure respectively are installed on the vertical guide rail realizing moving of vertical direction by the sliding component with motion frame one, and described vertical guide rail and agent structure are installed in as a whole on the horizontal guide rail realizing and move horizontally; When the motion original state, moving platform and motion frame are parallel to each other, the motion of horizontal movement unit, the motion of vertical moving unit are combined with the motion of agent structure, can realize being positioned at the five degree of freedom motion of the atomizer shower nozzle on the described moving platform, described horizontal guide rail can for horizontal linear guide rail or arc-shaped guide rail to be used for adapting to spraying operation to different parts.
Agent structure among the present invention is the three-freedom degree spatial parallel structure, it comprise a moving platform, a motion frame and connect described moving platform and the motion frame between first side chain, second side chain and the 3rd side chain, the circumference of the identical and circular motion bracket of five equilibrium of the structure of three side chains; Described first side chain, second side chain, the 3rd side chain include slide block, connecting rod and kinematic pair group, the kinematic pair group of each side chain respectively has three kinematic pairs: one is the revolute pair that is connected between motion frame and the slide block, one is the moving sets that is connected between slide block and the connecting rod, the 3rd is the ball pair that is connected between connecting rod and the moving platform, when described moving sets is driven, realize an one-movement-freedom-degree and two rotational freedoms of moving platform.
Five degree of freedom motion among the present invention is three one-movement-freedom-degrees and two rotational freedoms.
According to the present invention,, can carry out spraying operation to the auto parts and components of difformity and specification with described spray robot because this robot has the advantage of parallel institution and serial mechanism simultaneously.
Spray robot among the present invention has following advantage: (1) flexible degree height can adapt to the spraying operation environment of different parts; (2) its speed is fast, flexibility good; (3) with respect to the easier control of serial mechanism, deposition accuracies is easy to guarantee; (4) working space is big, can realize moving on a large scale on guide rail; (5) symmetrical configuration is easy to make, and cost is lower, easier realization modularization processing.
Description of drawings
Fig. 1 is the structural representation of the embodiment of the invention.
1-horizontal guide rail, 2-vertical guide rail, 3-third connecting rod, 4-first slide block, 5-first connecting rod, 6-motion frame, 7-second connecting rod, 8-second slide block, 9-moving platform, 10-atomizer, 11-the 3rd slide block, 12-parts to be sprayed among the figure.
The specific embodiment
The five degree of freedom spray robot that the present invention proposes based on the three-freedom degree spatial parallel structure, in conjunction with the accompanying drawings 1 and embodiment be described in detail as follows:
Five degree of freedom spray robot based on the three-freedom degree spatial parallel structure of the present invention comprises spraying operation unit, horizontal movement unit and three parts of vertical moving unit.The mechanism of described realization spraying action is a three-freedom degree spatial parallel structure, this three-freedom degree spatial parallel structure constitutes the agent structure of robot, the both sides of the circus movement frame 6 of this parallel institution and vertical guide rail 2 are connected by moving sets, realize vertically moving of spray robot on a large scale; Motion frame 6 is connected with horizontal guide rail 1 by moving sets as a whole with vertical guide rail 2, realizes moving horizontally of spray robot on a large scale.
The spraying operation unit of described spray robot, comprise an atomizer 10, moving platform 9, a circus movement frame 6 and connect identical first, second of structure between described moving platform 9 and the motion frame 6 and the 3rd side chain, described atomizer 10 is installed on the moving platform 9, during original state, moving platform 9 and motion frame 6 are parallel to each other.Described three side chains five equilibrium symmetry on moving platform and motion frame is 120 ° of layouts, and the mechanism of three side chains is identical, and first side chain comprises first slide block 4, first connecting rod 5 and kinematic pair group; Second side chain comprises second slide block 8, second connecting rod 7 and kinematic pair group; The 3rd side chain comprises the 3rd slide block 11, third connecting rod 3 and kinematic pair group.Described kinematic pair group respectively has three kinematic pairs, is respectively: connect the moving sets between revolute pair, connection first slide block 4 and the first connecting rod 5 between first slide block 4 and the motion frame 6, connect the ball pair between first connecting rod 5 and the moving platform 9; And the revolute pair between connection second slide block 8 and the motion frame 6, the moving sets between second slide block 8 and the second connecting rod 7, the ball pair between second connecting rod 7 and the moving platform 9; And connect revolute pair between the 3rd slide block 11 and the motion frame 6, and connect the moving sets between the 3rd slide block 11 and the third connecting rod 3, connect the ball pair between third connecting rod 3 and the moving platform 9.Three above-mentioned moving sets are driven respectively, and the pose of control moving platform 9 is realized the motion of an one one-movement-freedom-degree and two rotational freedoms.
By the motion of horizontal movement unit, the motion of vertical moving unit and the motion of space parallel mechanism unit are combined, can realize the five degree of freedom motion of this spray robot, can finish spraying operation to the overwhelming majority's auto parts and components.Present embodiment Fig. 1 middle guide 1 is rectilinear, be understandable that, its guide rail 1 can be become crooked arc if needed, spraying operation environment with the parts to be sprayed 12 that adapt to difformity and specification, because motion frame 9 is vertically placed, be convenient to the large-scale auto parts and components of some sprayings simultaneously.
The symmetrical configuration of spray robot of the present invention, flexibility is good, precision and rigidity height, is easy to make, and convenient control realizes the modularization manufacturing easily.
The invention is not restricted to the above-mentioned specific embodiment, those skilled in the art makes corresponding substitutions and modifications under the enlightenment of technical scheme of the present invention, all within the protection domain of claim of the present invention.
Claims (3)
1. five degree of freedom spray robot based on the three-freedom degree spatial parallel structure, comprise spraying operation unit, vertical moving unit, three parts of horizontal movement unit, described spraying operation unit comprises agent structure and the moving platform of atomizer is installed, the both sides of the circus movement frame of described agent structure respectively are installed on the vertical guide rail realizing moving of vertical direction by the sliding component with motion frame one, and described vertical guide rail and agent structure are installed in as a whole on the horizontal guide rail realizing and move horizontally; When the motion original state, moving platform and motion frame are parallel to each other, the motion of horizontal movement unit, the motion of vertical moving unit are combined with the motion of agent structure, can realize being positioned at the five degree of freedom motion of the atomizer shower nozzle on the described moving platform, described horizontal guide rail can for horizontal linear guide rail or arc-shaped guide rail to be used for adapting to spraying operation to different parts; Wherein said agent structure is the three-freedom degree spatial parallel structure, it comprise a moving platform, a motion frame and connect described moving platform and the motion frame between first side chain, second side chain and the 3rd side chain, the circumference of the identical and circular motion bracket of five equilibrium of the structure of three side chains; Described first side chain, second side chain, the 3rd side chain include slide block, connecting rod and kinematic pair group, each side chain kinematic pair group respectively has three kinematic pairs: one is that to be connected in revolute pair between motion frame and the slide block, one be that to be connected in moving sets between slide block and the connecting rod, the 3rd be the ball pair that is connected between connecting rod and the moving platform, when described moving sets is driven, realize an one-movement-freedom-degree and two rotational freedoms of moving platform.
2. spray robot as claimed in claim 1 is characterized in that described five degree of freedom motion is three one-movement-freedom-degrees and two rotational freedoms.
3. spray robot according to claim 1 and 2 can be used for the automatic spraying operation of auto parts and components.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010105075627A CN101966501A (en) | 2010-10-15 | 2010-10-15 | Five-degree-of-freedom spraying robot based on three-degree-of-freedom parallel mechanism |
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| CN2010105075627A CN101966501A (en) | 2010-10-15 | 2010-10-15 | Five-degree-of-freedom spraying robot based on three-degree-of-freedom parallel mechanism |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102133560A (en) * | 2011-02-23 | 2011-07-27 | 常州大学 | Multi-spray gun synergic spray-coating five-axis series-parallel connected robot |
| CN103008153A (en) * | 2012-12-19 | 2013-04-03 | 江苏长虹汽车装备集团有限公司 | Combined spraying robot system based on redundancy five-degree-of-freedom mechanism module |
| CN104437937A (en) * | 2014-12-16 | 2015-03-25 | 清华大学 | Five-degree-of-freedom series-parallel spraying mechanism for passenger car |
| CN104668131A (en) * | 2015-02-10 | 2015-06-03 | 徐州工业职业技术学院 | Guide post type sucking disc wall-climbing spraying robot |
| CN104741270A (en) * | 2015-04-10 | 2015-07-01 | 清华大学 | Series-parallel connection mechanism for spray-coating of automobile bumpers |
| CN107008602A (en) * | 2017-06-13 | 2017-08-04 | 山东大学 | Series-parallel spray robot |
| CN107262317A (en) * | 2013-11-22 | 2017-10-20 | Ntn株式会社 | Link Actuation Device |
| CN113021303A (en) * | 2021-03-01 | 2021-06-25 | 清华大学 | Four-degree-of-freedom parallel mechanism and industrial robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102133560A (en) * | 2011-02-23 | 2011-07-27 | 常州大学 | Multi-spray gun synergic spray-coating five-axis series-parallel connected robot |
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| CN107262317A (en) * | 2013-11-22 | 2017-10-20 | Ntn株式会社 | Link Actuation Device |
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| CN104741270B (en) * | 2015-04-10 | 2017-05-17 | 清华大学 | Series-parallel connection mechanism for spray-coating of automobile bumpers |
| CN104741270A (en) * | 2015-04-10 | 2015-07-01 | 清华大学 | Series-parallel connection mechanism for spray-coating of automobile bumpers |
| CN107008602A (en) * | 2017-06-13 | 2017-08-04 | 山东大学 | Series-parallel spray robot |
| CN107008602B (en) * | 2017-06-13 | 2023-02-24 | 山东大学 | Series-parallel type spraying robot |
| CN113021303A (en) * | 2021-03-01 | 2021-06-25 | 清华大学 | Four-degree-of-freedom parallel mechanism and industrial robot |
| CN113021303B (en) * | 2021-03-01 | 2022-08-09 | 清华大学 | Four-degree-of-freedom parallel mechanism and industrial robot |
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Application publication date: 20110209 |