CN102120205A - Single-spray gun spraying five-axis hybrid robot - Google Patents

Single-spray gun spraying five-axis hybrid robot Download PDF

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Publication number
CN102120205A
CN102120205A CN2011100428260A CN201110042826A CN102120205A CN 102120205 A CN102120205 A CN 102120205A CN 2011100428260 A CN2011100428260 A CN 2011100428260A CN 201110042826 A CN201110042826 A CN 201110042826A CN 102120205 A CN102120205 A CN 102120205A
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China
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revolute pair
connecting rod
freedom
degree
spray gun
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CN2011100428260A
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Chinese (zh)
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CN102120205B (en
Inventor
沈惠平
邓嘉鸣
蒋益兴
李菊
丁磊
徐小东
徐伟
王凯
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ZHEJIANG LONGYOU LEIDI COATING EQUIPMENT CO Ltd
Changzhou University
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ZHEJIANG LONGYOU LEIDI COATING EQUIPMENT CO Ltd
Changzhou University
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Priority to CN201110042826A priority Critical patent/CN102120205B/en
Publication of CN102120205A publication Critical patent/CN102120205A/en
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Publication of CN102120205B publication Critical patent/CN102120205B/en
Expired - Fee Related legal-status Critical Current
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Abstract

The invention discloses a single-gun spraying hybrid robot which comprises a three-degree-of-freedom hybrid mechanism and a two-degree-of-freedom rotation spray gun mounting seat, wherein the three-degree-of-freedom hybrid mechanism comprises a two-slider drive plane parallel mechanism with a parallelogram structure and a single-degree-of-freedom feed linear mechanism vertical to the moving plane; after a slide seat (4) in linear movement of the feed linear mechanism is connected with an oscillating bar I (8) through a revolute pair VII (R1), a revolute pair VIII (R2) is connected in series with an oscillating bar II (9) to form the two-degree-of-freedom rotation spray gun mounting seat; and a spray gun (P) is fixed on the oscillating bar II (9). The slide seat (4) can be driven by a synchronous belt, a screw rod, a rack or a steel wire rope. The hybrid spraying robot has the advantages of compact structure, flexible movement, decoupling control, large moving work space, high positioning precision, low manufacturing cost and the like, can realize high-quality and high-efficiency spraying, and is reliable in working and simple and convenient in operation.

Description

Five series-parallel robots of a kind of single spray gun spraying
Technical field
The present invention relates to five series-parallel robots of a kind of single spray gun spraying, specifically utilize hybrid mechanism, for the spray stream waterline of metals such as the plane industrial goods of particularly rectangle or rectangle combination and life goods, working of plastics provides a kind of new and effective spraying robot robot mechanism.
Background technology
Raising along with social development and living standards of the people, market has proposed more and more higher requirement to the surface treatment of industrial goods and life goods (household electrical appliance, instrument and meter shell etc.), a kind of ways and means that spraying is handled as product surface, its development is in the ascendant.Equipment for spraying mainly contains the reciprocal automatic spraying machine of level, vertical back and forth automatic spraying machine, rotary spraying machine, multiaxis top spray machine, multi-joint spray robot etc. both at home and abroad at present.Wherein, various flush coaters are owing to can only finish some simple linear reciprocating motions, and the diversity of surface of the work and complexity make the use of flush coater be subjected to certain restriction.With respect to flush coater, the multiple degrees of freedom spray robot has that track is flexible, control accuracy is high, flexibility is big, working range too, easy to operate and maintenance, advantage that utilization rate of equipment and installations is high, be the preferred unit of high-quality surface application (as the auto industry spraying).At present, multivariant spray robot nearly all adopts serial mechanism, and serial mechanism some itself intrinsic defective, limited etc. as accumulation of error effect, load driving force, and be unsuitable for the streamline spraying of large-scale plane workpiece, thereby limited serial machine people's range of application.Than serial mechanism, hybrid mechanism has advantages such as load capacity is strong, high-speed, high precision, control decoupling zero, working space is big, movement inertia is low, has remedied the shortcoming of serial mechanism and has showed potential wide application prospect.For this reason, the streamline that the present invention is directed to Large Flat flat pattern cube workpiece efficiently sprays characteristics, and hybrid mechanism is applied to spraying coating process, and the good five degree of freedom series-parallel connection of a kind of control decoupling spraying robot robot mechanism is provided.
Summary of the invention
A kind of single-gun-type spraying series-parallel robot provided by the invention, its technical scheme is: comprise a Three Degree Of Freedom hybrid mechanism and the spray gun mount pad that two degrees of freedom is rotated, described Three Degree Of Freedom hybrid mechanism comprises by being fixed on two slide blocks that line slideway one (A) on the frame and line slideway two (B), slide block one (1), slide block two (2), connecting rod one (5), connecting rod two (6) form and drives plane parallel mechanism, and is installed on connecting rod three (7) and perpendicular to the single-degree-of-freedom feeding straight-line mechanism of its plane of movement; One end of connecting rod one (5) is with revolute pair one (R 3) connect and line slideway one (A) formation moving sets one (P 1) slide block one (1), an end of connecting rod two (6) is with revolute pair two (R 6) connect and line slideway two (B) formation moving sets two (P 2) slide block two (2), and an end of connecting rod one (5) and connecting rod two (6) are with revolute pair three (R 4) be connected; Further, in any a bit and on the slide block two (2) on the connecting rod two (6) respectively with revolute pair four (R 5), revolute pair five (R 7) a hinged II level bar group (R who forms by connecting rod three (7), connecting rod four (6 ') 5-R 8-R 7), and make revolute pair four (R 5), revolute pair six (R 8), revolute pair five (R 7), revolute pair two (R 6) formation one parallelogram (R 5-R 8-R 7-R 6-R 5); Then, go up one of fixed installation the single-degree-of-freedom feeding straight-line mechanism of forming by guide rail three (3) and slide (4) at connecting rod three (7) again, go up with revolute pair seven (R at the slide that moves as straight line (4) perpendicular to its plane of movement 1) connect fork one (8) after, use revolute pair eight (R again 2) serial connection fork two (9), constitute the spray gun mount pad that a two degrees of freedom is rotated, and spray gun (P) is fixed on the fork two (9).The driving of slide (4) can be driven by synchronous band driving, leading screw driving, rack drives or steel wire rope.
That these five series-parallel connection spraying robot robot mechanisms have is simple in structure, easy to manufacture, control decoupling zero, big, the positioning accuracy advantages of higher of motion working space, can realize high-quality, high efficiency spraying, and reliable operation, easy and simple to handle, the streamline that is particularly suitable for rectangular planes type metalwork or working of plastics sprays.
Description of drawings
Accompanying drawing 1 is a kind of embodiment structural scheme of mechanism of the present invention.
The specific embodiment
Accompanying drawing 1 is an embodiment of single-gun-type spraying series-parallel robot of the present invention, its technical scheme is: comprise a Three Degree Of Freedom hybrid mechanism and the spray gun mount pad that two degrees of freedom is rotated, described Three Degree Of Freedom hybrid mechanism comprises by being fixed on two slide blocks that line slideway one A on the frame and line slideway two B, slide block 1, slide block 22, connecting rod 1, connecting rod 26 form and drives plane parallel mechanism, and is installed on connecting rod three (7) and perpendicular to the single-degree-of-freedom feeding straight-line mechanism of its plane of movement; One end of connecting rod 1 is with revolute pair one R 3Connect with line slideway one A and constitute moving sets one P 1Slide block 1, an end of connecting rod 26 is with revolute pair two R 6Connect with line slideway two B and constitute moving sets two P 2Slide block 22, and an end of connecting rod 1 and connecting rod 26 are with revolute pair three R 4Be connected; Further, in any a bit and on the slide block 22 of connecting rod 26 respectively with revolute pair four R 5, revolute pair five R 7A hinged II level bar group R by connecting rod 37, connecting rod 46 ' form 5-R 8-R 7, and make revolute pair four R 5, revolute pair six R 8, revolute pair five R 7, revolute pair two R 6Constitute a parallelogram R 5-R 8-R 7-R 6-R 5Then, single-degree-of-freedom feeding straight-line mechanism of forming by guide rail 33 and slide 4 of fixed installation on connecting rod 37 again, usefulness revolute pair seven R on the slide 4 that moves as straight line perpendicular to its plane of movement 1After connecting fork 1, use revolute pair eight R again 2Serial connection fork 29 constitute the spray gun mount pad that a two degrees of freedom is rotated, and spray gun P is fixed on the fork 29.The driving of slide 4 can be driven by synchronous band, also can be driven by leading screw driving, rack drives or steel wire rope.
Its operation principle is: when slide block 1, slide block 22 respectively when line slideway one A and line slideway two B do to move toward complex line, can make main jet rifle P do the arbitrary plane curvilinear motion in two guide rail inboards, velocity magnitude as slide block 1, slide block 22 is identical with direction, and main jet rifle P can realize that then length sprays apart from straight line; And during single-degree-of-freedom feeding straight-line mechanism moving linearly, can satisfy the spraying requirement of surface of the work different distance; When the spray gun mount pad that rotates when two degrees of freedom moved again, this spray robot had five frees degree, can satisfy the spraying of main jet rifle P to any spatial form surface workpiece.
These five series-parallel connection spray robots have compact conformation, move flexibly, control decoupling zero, advantages such as the motion working space is big, positioning accuracy is high, low cost of manufacture, can realize high-quality, high efficiency spraying, and reliable operation, easy and simple to handle.

Claims (2)

1. a single-gun-type sprays series-parallel robot, comprise a Three Degree Of Freedom hybrid mechanism and the spray gun mount pad that two degrees of freedom is rotated, it is characterized in that described Three Degree Of Freedom hybrid mechanism comprises by being fixed on two slide blocks that line slideway one (A) on the frame and line slideway two (B), slide block one (1), slide block two (2), connecting rod one (5), connecting rod two (6) form drives plane parallel mechanism, and is installed on connecting rod three (7) and perpendicular to the single-degree-of-freedom feeding straight-line mechanism of its plane of movement; One end of connecting rod one (5) is with revolute pair one (R 3) connect and line slideway one (A) formation moving sets one (P 1) slide block one (1), an end of connecting rod two (6) is with revolute pair two (R 6) connect and line slideway two (B) formation moving sets two (P 2) slide block two (2), and an end of connecting rod one (5) and connecting rod two (6) are with revolute pair three (R 4) be connected; Further, in any a bit and on the slide block two (2) on the connecting rod two (6) respectively with revolute pair four (R 5), revolute pair five (R 7) a hinged II level bar group (R who forms by connecting rod three (7), connecting rod four (6 ') 5-R 8-R 7), and make revolute pair four (R 5), revolute pair six (R 8), revolute pair five (R 7), revolute pair two (R 6) formation one parallelogram (R 5-R 8-R 7-R 6-R 5); Then, go up one of fixed installation the single-degree-of-freedom feeding straight-line mechanism of forming by guide rail three (3) and slide (4) at connecting rod three (7) again, go up with revolute pair seven (R at the slide that moves as straight line (4) perpendicular to its plane of movement 1) connect fork one (8) after, use revolute pair eight (R again 2) serial connection fork two (9), constitute the spray gun mount pad that a two degrees of freedom is rotated, and spray gun (P) is fixed on the fork two (9).
2. by the described single-gun-type spraying of claim 1 series-parallel robot, it is characterized in that the driving of described slide (4) can be driven by synchronous band driving, leading screw driving, rack drives or steel wire rope.
CN201110042826A 2011-02-23 2011-02-23 Single-spray gun spraying five-axis hybrid robot Expired - Fee Related CN102120205B (en)

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CN102120205B CN102120205B (en) 2012-09-19

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102448254A (en) * 2011-09-15 2012-05-09 常州大学 Four degree-of-freedom series-parallel surface-mounted manipulator
CN102513434A (en) * 2011-11-29 2012-06-27 中国科学院深圳先进技术研究院 Spray head tilting mechanism
CN104923431A (en) * 2014-03-18 2015-09-23 上海飞机制造有限公司 Spraying robot driven by multiple parallelogram links in parallel
CN106426092A (en) * 2016-10-10 2017-02-22 燕山大学 Movement redundancy five-freedom-degree parallel serial robot
CN113146587A (en) * 2021-01-12 2021-07-23 山东理工大学 Single-layer single-section guide rail type plane robot with double parallelograms

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1246400A (en) * 1999-07-16 2000-03-08 清华大学 Ganty slide block type machine tool structure with virtal shaft driven by internal and external sets
US6328510B1 (en) * 1997-10-20 2001-12-11 HüLLER HILLE GMBH Machine tool for triaxial machining of work pieces
CN101104272A (en) * 2007-08-16 2008-01-16 上海交通大学 Two-degree-of-freedom plane parallel robot mechanism
CN101362336A (en) * 2008-09-11 2009-02-11 上海交通大学 Two-degree of freedom translational parallel manipulator by redundant actuation
CN101480638A (en) * 2009-02-25 2009-07-15 江苏速升自动化装备系统工程有限公司 Manipulator type nozzle

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6328510B1 (en) * 1997-10-20 2001-12-11 HüLLER HILLE GMBH Machine tool for triaxial machining of work pieces
CN1246400A (en) * 1999-07-16 2000-03-08 清华大学 Ganty slide block type machine tool structure with virtal shaft driven by internal and external sets
CN101104272A (en) * 2007-08-16 2008-01-16 上海交通大学 Two-degree-of-freedom plane parallel robot mechanism
CN101362336A (en) * 2008-09-11 2009-02-11 上海交通大学 Two-degree of freedom translational parallel manipulator by redundant actuation
CN101480638A (en) * 2009-02-25 2009-07-15 江苏速升自动化装备系统工程有限公司 Manipulator type nozzle

Non-Patent Citations (1)

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Title
《中国机械工程》 20101130 沈惠平 等 大范围作业数控型二自由度并联操作手及其运动特性的研究 第21卷, 第22期 *

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102448254A (en) * 2011-09-15 2012-05-09 常州大学 Four degree-of-freedom series-parallel surface-mounted manipulator
CN102513434A (en) * 2011-11-29 2012-06-27 中国科学院深圳先进技术研究院 Spray head tilting mechanism
CN102513434B (en) * 2011-11-29 2014-05-21 中国科学院深圳先进技术研究院 Spray head tilting mechanism
CN104923431A (en) * 2014-03-18 2015-09-23 上海飞机制造有限公司 Spraying robot driven by multiple parallelogram links in parallel
CN106426092A (en) * 2016-10-10 2017-02-22 燕山大学 Movement redundancy five-freedom-degree parallel serial robot
CN106426092B (en) * 2016-10-10 2019-03-22 燕山大学 Motion redundancy series parallel robot in five degrees of freedom
CN113146587A (en) * 2021-01-12 2021-07-23 山东理工大学 Single-layer single-section guide rail type plane robot with double parallelograms
CN113146587B (en) * 2021-01-12 2022-03-25 山东理工大学 Single-layer single-section guide rail type plane robot with double parallelograms

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