CN103008153A - Combined spraying robot system based on redundancy five-degree-of-freedom mechanism module - Google Patents
Combined spraying robot system based on redundancy five-degree-of-freedom mechanism module Download PDFInfo
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- CN103008153A CN103008153A CN2012105535460A CN201210553546A CN103008153A CN 103008153 A CN103008153 A CN 103008153A CN 2012105535460 A CN2012105535460 A CN 2012105535460A CN 201210553546 A CN201210553546 A CN 201210553546A CN 103008153 A CN103008153 A CN 103008153A
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Abstract
The invention relates to a combined spraying robot system based on a redundancy five-degree-of-freedom mechanism module, and mainly aims at the finished automobile spraying operation environment of an automobile. The system consists of a plurality of modularized spraying robot units, wherein the modularized spraying robot units are respectively installed on two sides of the automobile to be sprayed, and the main body structure of each group of the spraying robot unit is a five-degree-of-freedom spatial redundancy spraying mechanism. The system has the advantages of symmetrical structure, easiness in manufacture, easiness in realizing modularized production, lower cost, easiness in control, easiness in guaranteeing spraying precision, big working space and high flexibility degree, can move within a large range on a guide rail and can adapt to the finished automobile spraying operation environments of different automobiles.
Description
Technical field
The present invention relates to mechanical manufacturing field, be specifically related to a kind of modular combination spray robot that can be applied to the vehicle complete vehicle spraying.
Background technology
Along with developing rapidly of modern automobile industry, the continuous adjustment of automobile model and car body design, domestic automobile production is to extensive, high-quality and future development cheaply, the body of a motor car 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 direct impact that has of automobile market competitiveness.Under this background, traditional hand spray can't satisfy the requirement of most of car load factory car body coating, spraying technology has developed into robot of today automatic coating from hand spray, semi-automatic spray gun spraying, only has the production requirement of adopting robot could adapt to this frequent variations.The effect of robot is the control spray gun, makes it in spraying process to keep correct angle and constant distance with sprayed surface.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 inadequate, the shortcoming that control ability is low, the most of automobile coating production lines of China are still adopting the automatic coating machine equipment at present, the automatic spraying robot major part that minority enterprise adopts all is from external equipment manufacturers, these equipment of package import are not only expensive, and maintenance cost is high, in case equipment breaks down, maintenance cycle is longer, might cause in the maintenance period what is more the stopping production of whole production line, 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's Robot industry and automobile industry.
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.Find that by investigation the conventional spray paint robot that has now used all is the serial machine people who 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 machine people is difficult to obtain intellectual property and breaks through because version is single.Hence one can see that, and to spraying robot human body's innovation research and the original innovation of mechanism, to having independent intellectual property right, develop skill content and product competitiveness seem particularly important.
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 spraying robot robot system for solving the problems of the technologies described above.
Combination spraying robot robot system based on redundant five degree of freedom mechanism module provided by the invention, it is characterized in that, this system is by modular spray robot cell formation more than 2 or 2, described modular spray robot unit is installed in respectively the both sides of automobile to be sprayed, each modular spray robot unit main body structure is the spray body of a spatial redundancy five degree of freedom, and described spatial redundancy five degree of freedom is installed on the walked frame unit by a plane two-freedom mechanism and realizes; The motion drag chain is installed on the trailer guide rail, and described vehicle complete vehicle to be sprayed is installed in that constant speed moves on the motion drag chain, every group of spray robot by self independently upright guide rail follow the movement of automobile to be sprayed, finish the spraying operation for the treatment of the spray car car load.
Combination spraying robot robot system in according to the present invention, described plane two-freedom mechanism mainly comprises the moving platform and three side chains that are connected base and moving platform of base, affixed atomizer, described three side chains are respectively: the first main side chain, the second main side chain, the 3rd auxiliary side chain, and wherein each side chain combines by some connecting rods and some revolutes; Described plane two-freedom mechanism by floor installation on upright slide block, so just provide two frees degree for this mechanism: one of them is the free degree around the rotation of base central axis, another is the free degree that moves back and forth at upright guide rail along with upright slide block, described upright guide rail is fixed on the horizontal rotating disc, horizontal rotating disc is installed on the cross sliding clock, so also provide two frees degree for this mechanism: be respectively around the free degree of the axis of horizontal rotating disc rotation and along cross sliding clock in the mobile free degree of horizontal guide rail, the constant speed that is installed in described vehicle complete vehicle to be sprayed on the motion drag chain moves an one-movement-freedom-degree is provided, and has jointly formed described spatial redundancy five degree of freedom structure.
The spraying robot robot system of mentioning among the present invention based on redundant five degree of freedom mechanism module has the following advantages: (1) symmetrical configuration, be easy to make, and cost is lower, easier realization modularization processing; (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 large, can realize moving on a large scale on guide rail; (5) flexible degree is high, can adapt to the spraying operation environment of different vehicle complete vehicles, more can increase as required the spraying operation unit module.
Description of drawings
Fig. 1 is embodiment of the invention entire system schematic diagram.
Fig. 2 is spray robot cell schematics in the embodiment of the invention.
Among the figure: 1-automobile to be sprayed, 2A-spray robot unit A, 2B-spray robot unit B, 3-trailer guide rail 4-motion drag chain, 5-horizontal guide rail, 6-cross sliding clock, 7-horizontal rotating disc, 8-upright guide rail, 9-upright slide block, 10-base, 11-the first main side chain, 12-the second main side chain, 13-the 3rd auxiliary side chain, 14-moving platform, 15-atomizer.
The specific embodiment
The combination spraying robot robot system based on redundant five degree of freedom mechanism module that the present invention proposes, 1-2 and embodiment are described in detail as follows by reference to the accompanying drawings:
The combination spray robot system schematic based on redundant five degree of freedom mechanism module of the present invention as shown in Figure 1, this system is made of two modularization spray robot unit 2A and 2B, and being installed in respectively the both sides of automobile 1 to be sprayed, every group of spray robot unit main body structure is the spray body of a spatial redundancy five degree of freedom.Automobile 1 car load to be sprayed is installed in realizes on the motion drag chain 4 that constant speed moves, and motion drag chain 4 is positioned on the trailer guide rail 3.Every group of spray robot followed the movement of automobile 1 to be sprayed by self independent rails, finishes simultaneously the spraying operation for the treatment of spray car 1 car load.
Above-mentioned modular spray robot unit 2A (2B) is mainly a plane two-freedom mechanism and is installed in the redundant five degree of freedom motion of realization on the walked frame unit.Specifically: above-mentioned plane two-freedom mechanism mainly comprises the moving platform 14 and three side chains that are connected base 10 and moving platform 14 of base 10, affixed atomizer 15, be respectively: the first main side chain 11, the second main side chain 12, the 3rd auxiliary side chain 13, wherein each side chain includes some connecting rods and some revolutes.This plane two-freedom mechanism is installed on the upright slide block 9 by base 10, this provides two other free degree for this mechanism, one of them is that another is the free degree that moves back and forth at upright guide rail 8 along with upright slide block 9 around the free degree of base 10 central axis rotation.Described upright guide rail 8 is fixed on the horizontal rotating disc 7, horizontal rotating disc 7 is installed on the cross sliding clock 6, this provides in addition two frees degree for this mechanism, is respectively around the rotary freedom of the axis of horizontal rotating disc 7 with along the one-movement-freedom-degree of cross sliding clock 6 on horizontal guide rail 5.Can find that to sum up this spray body has five frees degree that comprise redundant degree of freedom.
As shown in Figure 2, each modular spray robot unit (2A; Working method 2B) is: it comprises walked frame unit and two parts of spraying operation modular unit, and described walked frame unit is comprised of horizontal rotating disc 7, cross sliding clock 6, horizontal guide rail 5, upright guide rail 8 and upright slide block 9; The chassis 10 of wherein said spraying operation modular unit is installed on the upright slide block 9 of walked frame unit, and along with upright slide block 9 can be realized moving back and forth up and down on upright guide rail 8, simultaneously the spraying operation modular unit can be realized rotation around the central axis on self chassis 10; Described upright guide rail 8 is installed on the cross sliding clock 6 by horizontal rotating disc 7, on the one hand around rotating disk 7 central axis rotations, on the other hand along with cross sliding clock 6 moves back and forth at horizontal guide rail 5; Described walked frame unit provides along the locomotivity on a large scale of two one-movement-freedom-degree directions of horizontal guide rail 5 and upright guide rail 8 for the spraying operation modular unit, and the turning power on a large scale of two rotational freedom directions of 10 central axis and horizontal rotating disc 7 central axis along the chassis is provided.
Still as shown in Figure 2, the concrete structure of the first main side chain 11, the second main side chain 12 and the 3rd auxiliary side chain 13 is composed as follows: 10 ends are followed successively by the second revolute that first of connecting base plate 10 and upper drive connecting rod drives follow-up connecting rod and moving platform 14 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 to moving platform 14 ends to the first main side chain 11 from the chassis; 10 ends are followed successively by to 14 moving platform ends the second main side chain 12 from the chassis, connect the revolute II that second of 10 chassis and lower drive connecting rod drives revolute, lower drive connecting rod, connects 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; 10 ends are followed successively by to 14 moving platform ends the 3rd auxiliary side chain 13 from the chassis, the auxiliary revolute of difference connecting base plate 10 and parallelogram member I bar far away and connecting base plate 10 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.
1. 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.Wherein all revolute axis of the first main side chain 11, the second main side chain 12 and the 3rd auxiliary side chain 13 are all parallel, and wherein the active rotation pair in the first main side chain 11 and the second main side chain 12 is that active drive is secondary, and all the other revolutes are passive pair.
Modular combination spraying robot robot system of the present invention is mainly used in the spraying operation environment of vehicle complete vehicle.Its modularization is mainly reflected in can add arbitrarily group spray robot unit module according to the actual requirements in described system, to adapt to the variation of different automobile types and output, the relation staggered relatively of many group spray robot unit modules is also comparatively flexible, and the horizontal guide rail in the single spray robot and upright guide rail also can change relative position relation according to the actual requirements in addition.This type of apparent change all should be in order to adapt to actual spraying environment, and small adjustment and the change made in this patent protection domain.
Claims (2)
1. combination spraying robot robot system based on redundant five degree of freedom mechanism module, it is characterized in that, this system is by modular spray robot cell formation more than 2 or 2, described modular spray robot unit is installed in respectively the both sides of automobile to be sprayed, each modular spray robot unit main body structure is the spray body of a spatial redundancy five degree of freedom, and described spatial redundancy five degree of freedom is installed on the walked frame unit by a plane two-freedom mechanism and realizes; The motion drag chain is installed on the trailer guide rail, and described vehicle complete vehicle to be sprayed is installed in that constant speed moves on the motion drag chain, every group of spray robot by self independently upright guide rail follow the movement of automobile to be sprayed, finish the spraying operation for the treatment of the spray car car load.
2. combination spraying robot robot system according to claim 1, described plane two-freedom mechanism mainly comprises the moving platform and three side chains that are connected base and moving platform of base, affixed atomizer, described three side chains are respectively: the first main side chain, the second main side chain, the 3rd auxiliary side chain, and wherein each side chain combines by some connecting rods and some revolutes; Described plane two-freedom mechanism by floor installation on upright slide block, so just provide two frees degree for this mechanism: one of them is the free degree around the rotation of base central axis, another is the free degree that moves back and forth at upright guide rail along with upright slide block, described upright guide rail is fixed on the horizontal rotating disc, horizontal rotating disc is installed on the cross sliding clock, so also provide two frees degree for this mechanism: be respectively around the free degree of the axis of horizontal rotating disc rotation and along cross sliding clock in the mobile free degree of horizontal guide rail, the constant speed that is installed in described vehicle complete vehicle to be sprayed on the motion drag chain moves an one-movement-freedom-degree is provided, and has jointly formed described spatial redundancy five degree of freedom structure.
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Cited By (8)
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| CN103301986A (en) * | 2013-05-31 | 2013-09-18 | 长城汽车股份有限公司 | Automatic spraying device for automotive character logo |
| 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 |
| CN104437937A (en) * | 2014-12-16 | 2015-03-25 | 清华大学 | Five-degree-of-freedom series-parallel spraying mechanism for passenger car |
| CN104589334A (en) * | 2014-12-22 | 2015-05-06 | 湖北文理学院 | Five-axis multifunctional manipulator |
| CN105396727A (en) * | 2015-11-23 | 2016-03-16 | 江苏长虹智能装备集团有限公司 | Five-degree-of-freedom hybrid mechanism for automotive body spraying |
| CN109013107A (en) * | 2018-09-25 | 2018-12-18 | 江苏安迪泰机车制造有限公司 | Painting line transporting equipment |
| CN110181536A (en) * | 2019-06-28 | 2019-08-30 | 华中科技大学无锡研究院 | System for high-speed rail Location vehicle |
| CN111215277A (en) * | 2020-01-15 | 2020-06-02 | 四川久享实业有限公司 | Automatic furniture paint spraying room |
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| CN109013107A (en) * | 2018-09-25 | 2018-12-18 | 江苏安迪泰机车制造有限公司 | Painting line transporting equipment |
| CN109013107B (en) * | 2018-09-25 | 2024-01-26 | 江苏安迪泰机车制造有限公司 | Transport equipment for paint spraying production line |
| CN110181536A (en) * | 2019-06-28 | 2019-08-30 | 华中科技大学无锡研究院 | System for high-speed rail Location vehicle |
| CN111215277A (en) * | 2020-01-15 | 2020-06-02 | 四川久享实业有限公司 | Automatic furniture paint spraying room |
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Application publication date: 20130403 |