CN103008152A - Modular spray coating device - Google Patents
Modular spray coating device Download PDFInfo
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- CN103008152A CN103008152A CN2012105535193A CN201210553519A CN103008152A CN 103008152 A CN103008152 A CN 103008152A CN 2012105535193 A CN2012105535193 A CN 2012105535193A CN 201210553519 A CN201210553519 A CN 201210553519A CN 103008152 A CN103008152 A CN 103008152A
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Abstract
The invention relates to a high-dexterity and high-flexibility spray coating device capable of moving in a large range. The device has the advantages that the automation degree is high, the application range is wide, and the spray coating device can realize the specified spray coating operation through being matched with a paint conveying system. The spray coating device comprises two parts including a walking machine frame unit and a spray coating operation module unit, wherein a vertical guide rail is arranged on a horizontal slide block through a horizontal turntable, on one hand, the autoroatation around a center axial line of the turntable can be realized, and on the other hand, the reciprocating movement on the horizontal guide rail along with the horizontal slide block can be realized. The spray coating device has the advantages that through the transmission of a horizontal guide rail and the vertical guide rail, the moving range of the device is greatly increased, the flexibility is improved, the redundant degree of freedom is realized in the moving space, the dexterity of the device is improved, and the spray coating operation on most parts to be sprayed and coated or the whole machine can be realized. In addition, the device also has the characteristics that the manufacture is easy, the control is convenient, the modularization can be easily realized, and the like.
Description
Technical field
The invention belongs to the machine-building design field, be specifically related to the modularization spray robot of high flexibility ratio, high flexibility.
Background technology
Up to the present, spray robot has become one of maximum industrial robot of utilization on the market.As manufacturing important base in the world wide, China also increases day by day to the demand of spray robot.Control During Paint Spraying by Robot is the technology of a maturation abroad, has had the research and development of three more than ten years historical.Along with the technology of spray robot is constantly brought forth new ideas, deposition accuracies unprecedentedly improves, and is widely used at the World Developed Countries spray robot.There is the peace river of D ü rr (Dole) and EISANMANN (Ai Senman), Japan of ABB, the Germany of Sweden in famous external spray robot producer, and all there are the production spray robot in the KUKA company of Germany, the FANUC company of Japan and the ADEPT company of the U.S. simultaneously.Also have simultaneously a lot of little manufacturing enterprises to produce and the electrostatic powder coating robot of research and development, in the spray robot field and relevant spraying technology field all have rich experience and technology.
Spray robot starts from the early seventies in last century at home, originally domestic research institution, researches and develops peripheral technology and auxiliary facility and is beneficial to better use spray robot mostly based on carrying out on the basis to the use experience of external spray robot the research of spray robot.Owing to development and the demand of domestic machinery manufacturing industry (auto manufacturing, construction machinery production industry etc.), many auto vendors of China and manufacturing industry company also just are being fit to the spray robot of oneself in R and D in recent years.To spraying robot human body's innovation research and the original innovation of mechanism, to having independent intellectual property right, improve product competitiveness and seem particularly important thus.
Flourish along with domestic motor market, a large amount of liftings of auto output, auto manufacturing has obtained significant progress under the paying close attention to and support of country.Automobile making mainly by punching press, be welded, application, general assembly four large techniques form, coating process relates to many science and technology such as machinery, electric, chemical industry, environmental protection, the four large technology investment volumes that account for are the critical processes of auto manufacturing more than 40%.Find out thus, spraying is one of topmost production technology in the automobile making, it not only can improve the corrosion resistance of automobile product, prolong automotive service life, it has also the most directly embodied the quality of outer surface of automobile color, gloss and brightness quality, that people estimate the most intuitively to car mass, so it is on the most directly impact that has of automobile market competitiveness.Yet the most important factor that determines coating quality is spray robot.The coating quality of spray robot improves than the successful of hand spray and reciprocating engine spraying; spray efficiency is high, the sprayed surface steady quality, and workman's working condition is good; can Reduction of power consumption, be subject to nearly all scale enterprise paint line favor and extensively adopt.Spray robot has the following advantages:
1. track is flexible, can finish the spraying task of vehicle body inner surface and outer surface, and the profiling spraying profile is accurate, has improved the uniformity of filming, and reduces the consumption of quantity for spray and cleaning solvent, improves the utilization rate of material, and certain effect has also been played in environmental protection;
2. flexible large, working range is large, and swinging cross production that can real many kinds vehicle is produced such as vehicle body swinging cross such as car, station wagon, pick ups;
3. easy to operate and maintenance, but off-line programing shortens the field adjustable time greatly, and modular design can realize Fast Installation and change components and parts, greatly shorten maintenance time;
4. utilization rate of equipment and installations is high, and the reciprocating automatic spraying machine utilization rate is 40%-60% only generally, and the utilization rate of spray robot can reach 90%-95%.
Yet, along with the high speed development of Domestic Automotive Industry.Automobile product output and quality are had higher requirement, the shortcomings such as existing automatic spraying machine exists mostly that flexibility is lower, spraying profile unification, flexibility are low, waste paint, can not adapt to the Order Mode of current auto-producing flexibility, seriously restrict the development of current auto industry.Thus, research and develop new high flexibility, high flexibility, it is particularly important that high efficiency spray robot has seemed, to improving national manufacturing industry level far reaching significance arranged.
Summary of the invention
The objective of the invention is to adapt to paint line to the higher demand of spray robot flexibility, flexibility ratio and automatization level, to have invented a kind of new spray equipment for solving the problems of the technologies described above.
According to modular painting apparatus of the present invention, it is characterized in that, this spray equipment comprises walked frame unit and two parts of spraying operation modular unit, and described walked frame unit is comprised of horizontal rotating disc, cross sliding clock, horizontal guide rail, upright guide rail and upright slide block; The chassis of wherein said spraying operation modular unit is installed on the upright slide block of walked frame unit, and along with upright slide block can be realized moving back and forth up and down on upright guide rail, simultaneously the spraying operation modular unit can be realized rotation around the central axis on self chassis; Described upright guide rail is installed on the cross sliding clock by horizontal rotating disc, on the one hand around the rotation of center of turntable axis, on the other hand along with cross sliding clock moves back and forth at horizontal guide rail; Described walked frame unit provides along the locomotivity on a large scale of two one-movement-freedom-degree directions of horizontal guide rail and upright guide rail for the spraying operation modular unit, and provides along the turning power on a large scale of two rotational freedom directions of center chassis axis and horizontal rotating disc central axis.
In a feature of the present invention, the spraying operation modular unit comprises that the moving platform of chassis, fixed atomizer and many connecting rods side chain of connecting base plate and moving platform form; Wherein many connecting rods side chain is made of the first main side chain, the second main side chain and the 3rd auxiliary side chain respectively; The first main side chain is from the chassis end to the moving platform end, is followed successively by the second revolute that first of connecting base plate and upper drive connecting rod drives follow-up connecting rod and moving platform in drive connecting rod and the first revolute of upper follow-up connecting rod in revolute, upper drive connecting rod, the connection, upper follow-up connecting rod, the connection; The second main side chain is followed successively by to the moving platform end from the chassis end, and second of connecting base plate and lower drive connecting rod drives revolute, lower drive connecting rod, connects the revolute II of lower drive connecting rod and the revolute I of lower follow-up connecting rod, lower follow-up connecting rod, the lower follow-up connecting rod of connection and moving platform; The 3rd auxiliary side chain is followed successively by to the moving platform end from the chassis end, the auxiliary revolute of difference connecting base plate and parallelogram member I bar far away and connecting base plate and two coaxial lines of the nearly bar of parallelogram member I, parallelogram member I bar far away, the nearly bar of parallelogram member I, the revolute A of connection parallelogram member I and middle guide block, guide block is connected the revolute B of guide block and the nearly bar of parallelogram component II in the middle of bar and the connection in the middle of connecting respectively with the parallelogram component II, parallelogram component II bar far away, the nearly bar of parallelogram component II, the revolute C that connects parallelogram component II and moving platform consists of.
In a feature of the present invention, 1. the middle guide block in the above-mentioned the 3rd auxiliary side chain connects by revolute with the lower drive connecting rod of being connected in the main side chain, and this revolute is 1. coaxial with the revolute I that is connected lower drive connecting rod and lower follow-up connecting rod.
In a feature of the present invention, wherein all revolute axis of the first main side chain, the second main side chain and the 3rd auxiliary side chain are all parallel, and wherein the driving revolute in the first main side chain and the second main side chain is that active drive is secondary, and all the other revolutes are passive pair.
Beneficial effect according to spray equipment of the present invention is: by the transmission of horizontal guide rail and upright guide rail, greatly increased the range of movement of device, improved its degree of flexibility, and in space, has redundant degree of freedom, improved the flexibility of device, can realize the spraying operation to most of parts to be sprayed or complete machine, the application scenario is extensive.This device also has the manufacturing of being easy in addition, convenient control, and the spraying operation cellular construction is compact, easily realizes the characteristics such as modularization.
Description of drawings
Fig. 1 is the spray robot overall schematic of the embodiment of the invention.
Fig. 2 is the spraying operation modular unit schematic diagram of the embodiment of the invention.
Among the figure: drive connecting rod, the nearly bar of 17-parallelogram member I under follow-up connecting rod, 11-parallelogram component II bar far away, the nearly bar of 12-parallelogram component II, 13-moving platform, 14-atomizer, 15-parallelogram member I bar far away, the 16-under guide block, the 10-in the middle of 1-horizontal guide rail, 2-cross sliding clock, 3-horizontal rotating disc, 4-upright guide rail, 5-upright slide block, 6-chassis, the upper drive connecting rod of 7-, the upper follow-up connecting rod of 8-, 9-.
The specific embodiment
Spray equipment of the present invention reaches by reference to the accompanying drawings embodiment and is described in detail as follows:
Technical scheme of the present invention is carried out illustration by embodiment as illustrated in fig. 1 and 2.
This spray equipment comprises walked frame unit and two parts of spraying operation modular unit, the chassis 6 of spraying operation module is installed on the upright slide block 5 of walked frame unit, and can realize moving back and forth up and down at upright guide rail 4 along with upright slide block 5, the spraying operation module can realize rotation around the central axis on chassis 6 simultaneously.
Above-mentioned upright guide rail 4 is installed on the cross sliding clock 2 by horizontal rotating disc 3, on the one hand can be around the central axis rotation of horizontal rotating disc 3, and on the other hand can be along with cross sliding clock 2 moves back and forth at horizontal guide rail 1.Hence one can see that, this walked frame unit provides along the locomotivity on a large scale of two one-movement-freedom-degree directions of horizontal guide rail 1 and upright guide rail 4 for the spraying operation modular unit, and the turning power on a large scale of two rotational freedom directions of 6 central axis and horizontal rotating disc 3 central axis along the chassis is provided.
Above-mentioned spraying operation modular unit comprises that the moving platform 13 of chassis 6, fixed atomizer 14 and many connecting rods side chain of connecting base plate 6 and moving platform 13 form.Described many connecting rods side chain has three groups, is made of the first main side chain, the second main side chain and the 3rd auxiliary side chain respectively.Wherein, 6 ends are followed successively by the second revolute of follow-up connecting rod 8 and moving platform 13 in the first revolute that first of connecting base plate 6 and upper drive connecting rod 7 drive drive connecting rod 7 and upper follow-up connecting rod 8 in revolute, upper drive connecting rod 7, the connection, upper follow-up connecting rod 8, the connection to moving platform 13 ends to the first main side chain from the chassis; 6 ends are followed successively by to moving platform 13 ends the second main side chain from the chassis, and second of connecting base plate 6 and lower drive connecting rod 16 drives the revolute II of revolute, lower drive connecting rod 16, the revolute I that connects lower drive connecting rod 16 and lower follow-up connecting rod 10, lower follow-up connecting rod 10, the lower follow-up connecting rod 10 of connection and moving platform 13; 6 ends are followed successively by to moving platform 13 ends the 3rd auxiliary side chain from the chassis, the auxiliary revolute of two coaxial lines (difference connecting base plate 6 and parallelogram member I bar 15 far away, and chassis 6 and the nearly bar 17 of parallelogram member I), parallelogram member I bar 15 far away, the nearly bar 17 of parallelogram member I, the revolute A that connects parallelogram member I and middle guide block 9, revolute B (guide block 9 and parallelogram component II bar 11 far away in the middle of connecting respectively, guide block 9 and the nearly bar 12 of parallelogram component II in the middle of connecting), parallelogram component II bar 11 far away, the nearly bar 12 of parallelogram component II, revolute C (connecting parallelogram component II and moving platform 13) consists of.1. middle guide block 9 in the above-mentioned the 3rd auxiliary side chain connects by revolute with the lower drive connecting rod 16 of being connected in the main side chain, and this revolute is 1. coaxial with the revolute I that is connected lower drive connecting rod 16 and lower follow-up connecting rod 10.
All revolute axis in three groups of side chains are all parallel, and wherein the driving revolute in the first main side chain and the second main side chain is that active drive is secondary, and all the other revolutes are passive pair.Wherein the first driving revolute is preferably arcuate structure, thereby makes the moving platform range of movement larger, more flexible.Hence one can see that, and the first main side chain in the spraying operation modular unit and the effect of the second main side chain are to control the position of the moving platform 13 of fixed atomizer 14, and it provides two one-movement-freedom-degrees in the side chain plane.The effect of the 3rd auxiliary side chain is to control the attitude of moving platform 13, makes the Fixed posture angle on its maintenance and chassis 6.
The present invention is illustrated with an exemplary embodiments, but be appreciated that, those skilled in the art is not in the situation that exceed the scope of the invention, can the relative position relation of horizontal guide rail and upright guide rail be changed, or whole spray equipment carried out 90 ° of apparent variation and modifications such as orientation inversion, to be used for adapting to the parts to be sprayed of difformity and specification or the spraying operation environment of complete machine.
Claims (4)
1. a modular painting apparatus is characterized in that, this spray equipment comprises walked frame unit and two parts of spraying operation modular unit, and described walked frame unit is comprised of horizontal rotating disc, cross sliding clock, horizontal guide rail, upright guide rail and upright slide block; The chassis of wherein said spraying operation modular unit is installed on the upright slide block of walked frame unit, and along with upright slide block can be realized moving back and forth up and down on upright guide rail, simultaneously the spraying operation modular unit can be realized rotation around the central axis on self chassis; Described upright guide rail is installed on the cross sliding clock by horizontal rotating disc, on the one hand around the rotation of center of turntable axis, on the other hand along with cross sliding clock moves back and forth at horizontal guide rail; Described walked frame unit provides along the locomotivity on a large scale of two one-movement-freedom-degree directions of horizontal guide rail and upright guide rail for the spraying operation modular unit, and provides along the turning power on a large scale of two rotational freedom directions of center chassis axis and horizontal rotating disc central axis.
2. spray equipment according to claim 1, described spraying operation modular unit comprise that the moving platform of chassis, fixed atomizer and many connecting rods side chain of connecting base plate and moving platform form; Wherein many connecting rods side chain is made of the first main side chain, the second main side chain and the 3rd auxiliary side chain respectively; The first main side chain is from the chassis end to the moving platform end, is followed successively by the second revolute that first of connecting base plate and upper drive connecting rod drives follow-up connecting rod and moving platform in drive connecting rod and the first revolute of upper follow-up connecting rod in revolute, upper drive connecting rod, the connection, upper follow-up connecting rod, the connection; The second main side chain is followed successively by to the moving platform end from the chassis end, and second of connecting base plate and lower drive connecting rod drives revolute, lower drive connecting rod, connects the revolute II of lower drive connecting rod and the revolute I of lower follow-up connecting rod, lower follow-up connecting rod, the lower follow-up connecting rod of connection and moving platform; The 3rd auxiliary side chain is followed successively by to the moving platform end from the chassis end, the auxiliary revolute of difference connecting base plate and parallelogram member I bar far away and connecting base plate and two coaxial lines of the nearly bar of parallelogram member I, parallelogram member I bar far away, the nearly bar of parallelogram member I, the revolute A of connection parallelogram member I and middle guide block, guide block is connected the revolute B of guide block and the nearly bar of parallelogram component II in the middle of bar and the connection in the middle of connecting respectively with the parallelogram component II, parallelogram component II bar far away, the nearly bar of parallelogram component II, the revolute C that connects parallelogram component II and moving platform consists of.
3. spray equipment according to claim 2,1. the middle guide block in the above-mentioned the 3rd auxiliary side chain connects by revolute with the lower drive connecting rod of being connected in the main side chain, and this revolute is 1. coaxial with the revolute I that is connected lower drive connecting rod and lower follow-up connecting rod.
4. according to the described spray equipment of one of the claims, wherein all revolute axis of the first main side chain, the second main side chain and the 3rd auxiliary side chain are all parallel, wherein the driving revolute in the first main side chain and the second main side chain is that active drive is secondary, and all the other revolutes are passive pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012105535193A CN103008152A (en) | 2012-12-19 | 2012-12-19 | Modular spray coating device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2012105535193A CN103008152A (en) | 2012-12-19 | 2012-12-19 | Modular spray coating device |
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| CN103008152A true CN103008152A (en) | 2013-04-03 |
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| CN2012105535193A Pending CN103008152A (en) | 2012-12-19 | 2012-12-19 | Modular spray coating device |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103240614A (en) * | 2013-05-06 | 2013-08-14 | 江苏国威工程机械有限公司 | Redundant driving five-axis linkage hybrid machine tool |
| CN103433168A (en) * | 2013-09-09 | 2013-12-11 | 江苏长虹智能装备集团有限公司 | Series-parallel spraying robot with five degrees of freedom |
| CN103521381A (en) * | 2013-09-09 | 2014-01-22 | 江苏长虹智能装备集团有限公司 | Rotary table upright type five-freedom-degree mixed-connecting spray painting robot |
| CN104549849A (en) * | 2014-12-19 | 2015-04-29 | 上海交通大学 | Automatic spraying robot device |
| CN105834028A (en) * | 2015-01-13 | 2016-08-10 | 上海航天设备制造总厂 | Automatic spray system and method for heat insulating layer of cryogenic tank of rocket |
| CN106238255A (en) * | 2016-09-18 | 2016-12-21 | 上海发那科机器人有限公司 | A kind of spray robot Dual-encoder redundant system |
| CN107020212A (en) * | 2016-02-01 | 2017-08-08 | 易发精机股份有限公司 | Five axle flush coaters |
| CN107029923A (en) * | 2017-05-23 | 2017-08-11 | 李培培 | One kind is used for automobile and processes spray-painting plant |
| CN112079277A (en) * | 2020-08-06 | 2020-12-15 | 盐城工学院 | Lift is carried in car spraying |
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| CN106238255A (en) * | 2016-09-18 | 2016-12-21 | 上海发那科机器人有限公司 | A kind of spray robot Dual-encoder redundant system |
| CN106238255B (en) * | 2016-09-18 | 2019-01-15 | 上海发那科机器人有限公司 | A kind of spray robot Dual-encoder redundant system |
| CN107029923A (en) * | 2017-05-23 | 2017-08-11 | 李培培 | One kind is used for automobile and processes spray-painting plant |
| CN112079277A (en) * | 2020-08-06 | 2020-12-15 | 盐城工学院 | Lift is carried in car spraying |
| CN112079277B (en) * | 2020-08-06 | 2021-12-28 | 盐城工学院 | Lift is carried in car spraying |
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Application publication date: 20130403 |