CN101966502A - 基于空间和平面三自由度并联机构的汽车喷涂混联机器人 - Google Patents
基于空间和平面三自由度并联机构的汽车喷涂混联机器人 Download PDFInfo
- Publication number
- CN101966502A CN101966502A CN2010105075735A CN201010507573A CN101966502A CN 101966502 A CN101966502 A CN 101966502A CN 2010105075735 A CN2010105075735 A CN 2010105075735A CN 201010507573 A CN201010507573 A CN 201010507573A CN 101966502 A CN101966502 A CN 101966502A
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- CN
- China
- Prior art keywords
- connecting rod
- freedom
- spraying operation
- side chain
- moving platform
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0447—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles
- B05B13/0452—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles the conveyed articles being vehicle bodies
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
- B25J5/04—Manipulators mounted on wheels or on carriages travelling along a guideway wherein the guideway is also moved, e.g. travelling crane bridge type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Spray Control Apparatus (AREA)
Abstract
Description
Claims (3)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN2010105075735A CN101966502B (zh) | 2010-10-15 | 2010-10-15 | 基于空间和平面三自由度并联机构的汽车喷涂混联机器人 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN2010105075735A CN101966502B (zh) | 2010-10-15 | 2010-10-15 | 基于空间和平面三自由度并联机构的汽车喷涂混联机器人 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN101966502A true CN101966502A (zh) | 2011-02-09 |
CN101966502B CN101966502B (zh) | 2012-12-12 |
Family
ID=43545760
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN2010105075735A Withdrawn - After Issue CN101966502B (zh) | 2010-10-15 | 2010-10-15 | 基于空间和平面三自由度并联机构的汽车喷涂混联机器人 |
Country Status (1)
Country | Link |
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CN (1) | CN101966502B (zh) |
Cited By (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102133560A (zh) * | 2011-02-23 | 2011-07-27 | 常州大学 | 一种多喷枪协同式喷涂五轴混联机器人 |
CN102990663A (zh) * | 2012-12-27 | 2013-03-27 | 广西大学 | 单电机驱动式变胞码垛机 |
CN102990664A (zh) * | 2012-12-27 | 2013-03-27 | 广西大学 | 一种具有变胞功能的码垛机 |
CN103623971A (zh) * | 2013-11-05 | 2014-03-12 | 清华大学 | 一种基于四自由度喷涂模块的喷涂机构 |
CN104511896A (zh) * | 2013-09-28 | 2015-04-15 | 沈阳新松机器人自动化股份有限公司 | 一种自动化协同并联操作装置 |
CN104549849A (zh) * | 2014-12-19 | 2015-04-29 | 上海交通大学 | 自动化喷涂的机器人装备 |
CN104923431A (zh) * | 2014-03-18 | 2015-09-23 | 上海飞机制造有限公司 | 多平行四边形连杆并行驱动的喷涂机器人 |
CN105413921A (zh) * | 2015-11-02 | 2016-03-23 | 清华大学 | 一种适用于大型曲面喷涂的五自由度混联装置 |
CN106335048A (zh) * | 2016-10-25 | 2017-01-18 | 北京航空航天大学 | 一种应用于力反馈设备的新型六自由度混联机构 |
CN107825436A (zh) * | 2017-11-28 | 2018-03-23 | 北京科技大学 | 一种智能漆面护理机器人及其漆面护理的方法 |
CN109051750A (zh) * | 2018-08-03 | 2018-12-21 | 奇瑞万达贵州客车股份有限公司 | 一种两轴并联机器人 |
CN109366451A (zh) * | 2018-10-25 | 2019-02-22 | 北京机械设备研究所 | 一种绳传动三自由度力反馈设备 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19952423A1 (de) * | 1999-10-30 | 2001-05-10 | Hueller Hille Gmbh | Bearbeitungsmaschine zum mehrachsigen Bewegen eines Werkzeuges oder Werkstückes |
WO2004085082A1 (en) * | 2003-03-27 | 2004-10-07 | Honda Motor Co. Ltd. | Coating method and system for forming protective layer |
CN101066593A (zh) * | 2007-06-01 | 2007-11-07 | 浙江理工大学 | 四自由度冗余驱动并联机器人机构 |
CN101491899A (zh) * | 2009-01-16 | 2009-07-29 | 山东科技大学 | 五自由度并联机器人机构 |
US20090205457A1 (en) * | 2004-11-18 | 2009-08-20 | Karl-Erik Neumann | Parallel-Kinematical Machine |
CN201807494U (zh) * | 2010-10-15 | 2011-04-27 | 江苏长虹涂装机械有限公司 | 基于空间和平面三自由度并联机构的汽车喷涂混联机器人 |
-
2010
- 2010-10-15 CN CN2010105075735A patent/CN101966502B/zh not_active Withdrawn - After Issue
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19952423A1 (de) * | 1999-10-30 | 2001-05-10 | Hueller Hille Gmbh | Bearbeitungsmaschine zum mehrachsigen Bewegen eines Werkzeuges oder Werkstückes |
WO2004085082A1 (en) * | 2003-03-27 | 2004-10-07 | Honda Motor Co. Ltd. | Coating method and system for forming protective layer |
US20090205457A1 (en) * | 2004-11-18 | 2009-08-20 | Karl-Erik Neumann | Parallel-Kinematical Machine |
CN101066593A (zh) * | 2007-06-01 | 2007-11-07 | 浙江理工大学 | 四自由度冗余驱动并联机器人机构 |
CN101491899A (zh) * | 2009-01-16 | 2009-07-29 | 山东科技大学 | 五自由度并联机器人机构 |
CN201807494U (zh) * | 2010-10-15 | 2011-04-27 | 江苏长虹涂装机械有限公司 | 基于空间和平面三自由度并联机构的汽车喷涂混联机器人 |
Cited By (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102133560A (zh) * | 2011-02-23 | 2011-07-27 | 常州大学 | 一种多喷枪协同式喷涂五轴混联机器人 |
CN102990663A (zh) * | 2012-12-27 | 2013-03-27 | 广西大学 | 单电机驱动式变胞码垛机 |
CN102990664A (zh) * | 2012-12-27 | 2013-03-27 | 广西大学 | 一种具有变胞功能的码垛机 |
CN102990664B (zh) * | 2012-12-27 | 2015-04-01 | 广西大学 | 一种具有变胞功能的码垛机 |
CN104511896B (zh) * | 2013-09-28 | 2016-02-10 | 沈阳新松机器人自动化股份有限公司 | 一种自动化协同并联操作装置 |
CN104511896A (zh) * | 2013-09-28 | 2015-04-15 | 沈阳新松机器人自动化股份有限公司 | 一种自动化协同并联操作装置 |
CN103623971B (zh) * | 2013-11-05 | 2016-02-10 | 清华大学 | 一种基于四自由度喷涂模块的喷涂机构 |
CN103623971A (zh) * | 2013-11-05 | 2014-03-12 | 清华大学 | 一种基于四自由度喷涂模块的喷涂机构 |
CN104923431A (zh) * | 2014-03-18 | 2015-09-23 | 上海飞机制造有限公司 | 多平行四边形连杆并行驱动的喷涂机器人 |
CN104549849A (zh) * | 2014-12-19 | 2015-04-29 | 上海交通大学 | 自动化喷涂的机器人装备 |
CN104549849B (zh) * | 2014-12-19 | 2017-01-11 | 上海交通大学 | 自动化喷涂的机器人装备 |
CN105413921A (zh) * | 2015-11-02 | 2016-03-23 | 清华大学 | 一种适用于大型曲面喷涂的五自由度混联装置 |
CN105413921B (zh) * | 2015-11-02 | 2017-11-14 | 清华大学 | 一种适用于大型曲面喷涂的五自由度混联装置 |
CN106335048A (zh) * | 2016-10-25 | 2017-01-18 | 北京航空航天大学 | 一种应用于力反馈设备的新型六自由度混联机构 |
CN107825436A (zh) * | 2017-11-28 | 2018-03-23 | 北京科技大学 | 一种智能漆面护理机器人及其漆面护理的方法 |
CN107825436B (zh) * | 2017-11-28 | 2021-02-12 | 北京科技大学 | 一种智能漆面护理机器人及利用其进行漆面护理的方法 |
CN109051750A (zh) * | 2018-08-03 | 2018-12-21 | 奇瑞万达贵州客车股份有限公司 | 一种两轴并联机器人 |
CN109366451A (zh) * | 2018-10-25 | 2019-02-22 | 北京机械设备研究所 | 一种绳传动三自由度力反馈设备 |
CN109366451B (zh) * | 2018-10-25 | 2020-10-20 | 北京机械设备研究所 | 一种绳传动三自由度力反馈设备 |
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Publication number | Publication date |
---|---|
CN101966502B (zh) | 2012-12-12 |
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C14 | Grant of patent or utility model | ||
GR01 | Patent grant | ||
CP01 | Change in the name or title of a patent holder | ||
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Address after: 224051 No. 10 hope Avenue, Ting Lake Economic Development Zone, Jiangsu, Yancheng City Patentee after: JIANGSU CHANGHONG INTELLIGENT EQUIPMENT Co.,Ltd. Address before: 224051 No. 10 hope Avenue, Ting Lake Economic Development Zone, Jiangsu, Yancheng City Patentee before: Jiangsu Changhong Automotive Equipment Group Co.,Ltd. |
|
AV01 | Patent right actively abandoned | ||
AV01 | Patent right actively abandoned | ||
AV01 | Patent right actively abandoned |
Granted publication date: 20121212 Effective date of abandoning: 20230712 |
|
AV01 | Patent right actively abandoned |
Granted publication date: 20121212 Effective date of abandoning: 20230712 |