CN103433168A - Series-parallel spraying robot with five degrees of freedom - Google Patents

Series-parallel spraying robot with five degrees of freedom Download PDF

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Publication number
CN103433168A
CN103433168A CN2013104053573A CN201310405357A CN103433168A CN 103433168 A CN103433168 A CN 103433168A CN 2013104053573 A CN2013104053573 A CN 2013104053573A CN 201310405357 A CN201310405357 A CN 201310405357A CN 103433168 A CN103433168 A CN 103433168A
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China
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drive motors
bearing
rod
joint
freedom
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CN2013104053573A
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Chinese (zh)
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CN103433168B (en
Inventor
仇云杰
刘辛军
李�杰
王国连
张葛林
丁峰
张成萍
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江苏长虹智能装备集团有限公司
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Publication of CN103433168A publication Critical patent/CN103433168A/en
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Abstract

The invention relates to a series-parallel spraying robot with five degrees of freedom, which has strong flexibility and large working space. The series-parallel spraying robot with five degrees of freedom comprises a basic series movement unit and a tail-end parallel spraying operation unit, wherein the basic series movement unit has three rotational degrees of freedom and a moving degree of freedom and is composed of a vertical body rotating joint, a body lifting guide rail moving joint, a horizontal rotating joint and a posture-adjustment rotating joint orthogonal to the horizontal rotating joint; the tail-end parallel spraying operation unit has two moving degrees of freedom. The series-parallel spraying robot with five degrees of freedom is easy to manufacture and convenient to control and is easily put into modularization.

Description

A kind of five degree of freedom series-parallel connection spray robot
Technical field
The invention belongs to the machine-building design field, be specifically related to a kind of have high flexibility ratio, large flexible five degree of freedom series-parallel connection spray robot.
Background technology
Current, spray robot has become a kind of industrial robot be most widely used.China is as one of most important manufacture base in world wide, just progressively from manufacturing big country, step into manufacture power, market to the demand of spray robot also along with manufacturing development increases day by day, developing rapidly along with China's automobile, aircraft industry particularly, Control During Paint Spraying by Robot becomes and enhances productivity, and guarantees to generate the important technology of quality.Control During Paint Spraying by Robot is the research and development history of existing three more than ten years abroad, at the World Developed Countries spray robot, is widely used.External famous spray robot producer mainly contains the An Chuan etc. of D ü rr (Dole) and EISANMANN (Ai Senman), Japan of ABB, the Germany of Sweden.In addition, all there are the production spray robot in the FANUC company of the KUKA company of Germany, Japan and the ADEPT company of the U.S., external also have some small business to produce and researched and developed the electrostatic powder coating robot, aspect spray robot research and development and spraying technology, all has rich experience.
The development of domestic spray robot starts from the seventies in last century, originally the domestic research to spray robot is basis mainly with the application experience to external spray robot greatly, concentrates on and researches and develops peripheral technology and auxiliary facility so that apply more efficiently spray robot.Be accompanied by recent years developing rapidly of domestic machinery manufacturing industry (as auto manufacturing and aircraft industry), domestic many auto vendors and manufacturing industry company are are also researching and developing the spray robot that is applicable to own enterprise.Launch thus the innovation research of spray robot basic machine and the original innovation of mechanism, to having independent intellectual property right, improve enterprise competitiveness and seem particularly important.
Automobile making, as the emphasis in development of manufacturing, has obtained significant progress under country vigorously supports, and domestic automobile output is also significantly promoting, thereby the equipment relevant to automobile making and technology have been proposed to requirements at the higher level.Automobile making mainly by punching press, be welded, application, the large technique of general assembly four 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, more than 40%, are the critical processes of auto manufacturing.Spraying is one of topmost production technology in automobile making, it not only can improve the corrosion resistance of automobile product, extend automotive service life, it has also the most directly embodied the quality of outer surface of automobile color, gloss and brightness quality, be that people estimate the most intuitively to car mass, thereby the automobile market competitiveness is had to the most directly impact.Determine that the most important factor of coating quality is spray robot; the coating quality of spray robot has obvious lifting than the effect of hand spray and reciprocating engine spraying; spray efficiency is high; the sprayed surface steady quality; workman's working condition is good; can reduce power consumption, almost be subject to the favor of the paint line of all scales enterprise.Spray robot has the following advantages:
1. track is flexible, can complete 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 environmental protection has also been played to certain effect;
2. flexible large, working range is large, and swinging cross spraying that can real many specifications vehicle is produced, as the vehicle body swinging cross such as car, station wagon, pick up spraying is produced;
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 only generally 40%-60%, and the utilization rate of spray robot can reach 90%-95%.
Yet, high speed development along with Domestic Automotive Industry, all have higher requirement to output and the quality of automobile product in market, the shortcomings such as existing automatic spraying machine exists that spray efficiency is low, flexibility is lower mostly, spraying profile unification, flexibility are low, waste paint, can't adapt to the Order Mode of current auto-producing flexibility, seriously restrict the development of current auto industry.Although existing part patent of invention also provides mechanism form and the example of some spray robots at present, also more or less there is the poor and flexible not enough shortcoming of flexibility in the spray robot that undeniable these patents provide.Therefore, 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 object of the present invention is to provide a kind of five degree of freedom series-parallel connection spray robot, to adapt to paint line to the flexibility of the spraying robot National People's Congress, high flexibility ratio and the high demand of automatization level.
The invention provides a kind of five degree of freedom series-parallel connection spray robot, it is characterized in that this spray robot comprises basis series connection moving cell and two of unit of end spraying operation in parallel part, described basis series connection moving cell is by the vertical cradle head of fuselage, fuselage riser guide linear joint, horizontally rotate joint and attitude and adjust cradle head four parts compositions, rotation by the vertical cradle head of described fuselage enlarges the spraying scope of spray robot in same level, enlarge the spraying scope of robot at vertical direction by fuselage riser guide linear joint in the elevating movement of vertical direction, adjust the vertical cradle head coordinated movement of various economic factors of fuselage in joint by horizontally rotating joint and attitude and adjust the attitude of spray gun in spatial dimension, thereby adapt to the spraying of different curve workpiece, described end spraying operation in parallel unit is three groups of plane parallel mechanisms that parallel-crank mechanism forms, and can keep the linkage platform stance, and described plane parallel mechanism has two one-movement-freedom-degrees.
The invention provides a kind of five degree of freedom series-parallel connection spray robot, the vertical cradle head of described fuselage comprises turntable driving motor, small synchronous pulley, large synchronous pulley and has the cylindrical turntable of multidiameter; Described fuselage riser guide linear joint comprises linear guides drive motors, shaft coupling, rocker bearing, linear guides and linear slide block; Describedly horizontally rotate joint and comprise little U-shaped rotation seat, large U-shaped seat and little U-shaped rotation seat drive motors; Described attitude is adjusted cradle head and is comprised rotation seat, little U-shaped rotation seat and rotation seat drive motors, the vertical cradle head of fuselage with horizontally rotate the joint quadrature, horizontally rotate joint and attitude adjustment joint quadrature.
The invention provides a kind of five degree of freedom series-parallel connection spray robot, three rotational freedoms and an one-movement-freedom-degree of described basis series connection moving cell, completed by turntable driving motor, little U-shaped rotation seat drive motors, rotation seat drive motors and linear guides drive motors drive respectively.
The invention provides a kind of five degree of freedom series-parallel connection spray robot, described end spraying operation in parallel unit is specially, large arm drive motors and crank drive motors be the logical both sides that are fastened on rotation seat respectively, and large arm coordinates the formation revolute pair with rotation seat by bearing, and are driven by large arm drive motors, crank is connected with the crank drive motors by flat key, and is driven by the crank drive motors, the ear shape connecting rod of rotation seat is connected and forms the passive rotation pair with large arm connecting rod by bearing, one end of bent connecting rod is connected and forms the passive rotation pair by bearing and crank, the other end of bent connecting rod is connected and forms the passive rotation pair by bearing and forearm, the circular hole at the place, obtuse angle of triangular coupling rod is connected and forms the passive rotation pair with large arm by bearing, the circular hole at two other drift angle place is connected and forms the passive rotation pair with large arm connecting rod and forearm connecting rod by bearing respectively, the middle part circular hole of forearm is connected and forms the passive rotation pair with large arm by bearing, and coaxial with triangular coupling rod and the large formed revolute pair of arm, the ear shape connecting rod of the long-armed end of forearm by bearing and moving platform is connected and forms the passive rotation pair, forearm connecting rod one end is connected and forms the passive rotation pair by bearing and triangular coupling rod, the other end vertical connecting rod by bearing and moving platform is connected and forms the passive rotation pair.
According to the invention has the advantages that: the lifting of circular-rotation and upright guide rail by vertical turntable, greatly increased the range of movement of device, improved its degree of flexibility, three cradle head routing motions in basis series connection moving cell, can realize the spraying task under multi-pose, improve the flexibility of device, and this five degree of freedom series-parallel connection is sprayed in space and has redundant degree of freedom, can realize the spraying operation to most of parts to be sprayed or complete machine, application scenario is extensive.In addition, the end of this five degree of freedom series-parallel connection spray robot spraying operation in parallel unit has the spray gun of maintenance attitude function, can make the motion of parallel institution motion and the basic moving cell of connecting realize decoupling zero control.To sum up, this five degree of freedom series-parallel connection spray robot, the modular construction characteristics are obvious, manufacture relatively easily, and it is convenient to control, and the spraying scope is large, and high flexibly, flexibility is large, has the Important Project using value.
The accompanying drawing explanation
Fig. 1 is five degree of freedom series-parallel connection spray robot overall schematic of the present invention.
Fig. 2 is five degree of freedom series-parallel connection spray robot side direction spraying schematic diagram of the present invention.
In figure: the 1-base shell, 2-base chassis, the 3-small synchronous pulley, the 4-turntable driving motor, the large synchronous pulley of 5-, the 6-turntable, the 7-connecting cylinder, the 8-wire casing, 9-linear guides drive motors, the 10-shaft coupling, the 11-gripper shoe, 12-optical axis bearing, the 13-linear slide block, the 14-linear guides, the 15-rocker bearing, the 16-cover plate, the 17-can, the 18-spray gun, the 19-moving platform, the 20-forearm, 21-forearm connecting rod, the 22-triangular coupling rod, the large arm of 23-, the large arm connecting rod of 24-, the 25-bent connecting rod, 26-crank drive motors, the 27-crank, the 28-rotation seat, the large arm drive motors of 29-, the little U-shaped rotation seat of 30-, 31-rotation seat drive motors, the little U-shaped rotation seat of 32-drive motors, the large U-shaped seat of 33-, the 34-optical axis, the 35-screw mandrel.
The specific embodiment
Accompanying drawing and the detailed rules for the implementation of five degree of freedom series-parallel connection spraying of the present invention are described as follows:
Technical scheme of the present invention describes and illustration by the embodiment shown in Fig. 1 and Fig. 2.
Five degree of freedom series-parallel connection spray robot of the present invention comprises basis series connection moving cell and end spraying operation in parallel unit two parts.
Described basis series connection moving cell by the vertical cradle head of fuselage, fuselage riser guide linear joint, horizontally rotate joint and attitude and adjust cradle head four parts and form.The vertical cradle head of described fuselage comprises turntable driving motor 4, small synchronous pulley 3, large synchronous pulley 5 and has the cylindrical turntable 6 of multidiameter.Described fuselage riser guide linear joint comprises linear guides drive motors 9, shaft coupling 10, rocker bearing 15, linear guides 14 and linear slide block 13.Describedly horizontally rotate joint and comprise little U-shaped rotation seat 30, large U-shaped seat 33 and little U-shaped rotation seat drive motors 32.Described attitude is adjusted cradle head and is comprised rotation seat 28, little U-shaped rotation seat 30 and rotation seat drive motors 31, the vertical cradle head of fuselage with horizontally rotate the joint quadrature, horizontally rotate joint and attitude adjustment joint quadrature.Annexation and the effect of each parts of basis series connection moving cell are as follows respectively:
Base shell 1 is fastening by bolt and the earth, and firm robot body also supports all parts of robot upper part.Turntable driving motor 4 is fastening by bolt and base shell 1, and the motor shaft of turntable driving motor 4 is connected with small synchronous pulley 3 by general flat key.Turntable 6 is one to have the cylinder turntable of multidiameter, and multidiameter macro-axis place coordinates with the circular hole at base shell 1 central upper portion place by bearing, and the little axle place of turntable 6 is connected with large synchronous pulley 5 by general flat key.Turntable driving motor 4 drives small synchronous pulley 3, and drives large synchronous pulley 5 by Timing Belt, thereby makes the turntable 6 be connected with large synchronous pulley 5 obtain rotating torque.Base chassis 2 coordinates with base shell 1 by seam and bolt, and the transmission mechanisms such as small synchronous pulley 3, large synchronous pulley 5 are packaged in base shell 1.Turntable 6 is fastenedly connected by bolt and connecting cylinder 7, linear guides drive motors 9 by bolted in connecting cylinder 7, the motor shaft of linear guides drive motors 9 passes the circular hole at connecting cylinder 7 centers, upper surface and is connected with shaft coupling 10, and shaft coupling 10 other ends connect optical axises 34.Groove 8 is fastening by the upper surface of mechanical screw and base shell 1, on the cylinder side wall of connecting cylinder 7, has slotted hole, and the cable of linear guides drive motors 9 is arranged in wire casing 8 through slotted hole.Rocker bearing 15 is fastenedly connected by bolt and connecting cylinder 7, on two upright side walls of rocker bearing 15, by bolted, linear guides 14.Two rocker bearings 15 are each side arranged a linear guides 14, amount to four.All be furnished with the linear slide block 13 coordinated with it on every linear guides 14.Four linear slide blocks are bolted by lifting gripper shoe 11.The middle part of gripper shoe 11 has tapped through hole and coordinates with screw mandrel 35 and forms screw pair, and gripper shoe 11 upper surface left and right sides are fastenedly connected by bolt and optical axis bearing 12.12 of optical axis bearings are connected with optical axis 33 by inner periphery and holding screw, and two optical axis bearings 12 (wherein an optical axis bearing 12 is blocked) are connected (wherein an optical axis 34 is blocked) separately with an optical axis 34.Cover plate 16 is fastenedly connected by bolt and rocker bearing 15, and cover plate 16 center holes coordinate with screw mandrel 35 circular shaft places by bearing, and cover plate 16 plays the effect that keeps rocker bearing 15 rigidity and positioning screw rod 35.Closure 17 is fastening by bolt and connecting cylinder 7 upper surfaces, and closure 17 upper surfaces have two circular holes and form moving sets with smooth cooperation of optical axis 34 respectively.17 pairs of optical axises 34 of closure play the constraint guide effect, and spray robot elevating mechanism and parts are enclosed in to its inside.Optical axis 34 upper circular large end faces are fastenedly connected by bolt and large U-shaped seat 33.Large U-shaped seat 33 rotates shape seat 30 by the bearing fit formation revolute pair of both sides with little U-shaped, and is driven by the little U-shaped rotation seat drive motors 32 that is installed on large U-shaped seat 33 right sides.Rotation seat drive motors 31 is bolted and is anchored on little U-shaped rotation seat 30 lower surfaces, and rotation seat 28 forms revolute pair by bearing and little U-shaped rotation seat 30, and is driven by rotation seat drive motors 31.Three rotational freedoms and an one-movement-freedom-degree of basis series connection moving cell, completed by turntable driving motor 4, little U-shaped rotation seat drive motors 32, rotation seat drive motors 31 and linear guides drive motors 9 drive respectively.
In spraying operation in parallel unit, the annexation of each parts is as follows endways.
Large arm drive motors 29 and crank drive motors 26 be the both sides at rotation seat 28 by bolted respectively.Large arm 23 coordinates the formation revolute pair with rotation seat 28 by bearing, and driven by large arm drive motors 29.Crank 27 is connected with crank drive motors 26 by general flat key, and is driven by crank drive motors 26.The ear shape connecting rod of rotation seat 28 is connected and forms the passive rotation pair with large arm connecting rod 24 by bearing.Bent connecting rod 25 is connected and forms the passive rotation pair by bearing and crank 27, and the other end of bent connecting rod 25 is connected and forms the passive rotation pair by bearing and forearm 20.The circular hole at the place, obtuse angle of triangular coupling rod 22 is connected and forms the passive rotation pair with large arm 23 by bearing, and the circular hole at two other drift angle place is connected and forms the passive rotation pair with large arm connecting rod 24 and forearm connecting rod 21 by bearing respectively.The middle part circular hole of forearm 20 is connected and forms the passive rotation pair with large arm 23 by bearing, and coaxial with triangular coupling rod 22 and the large formed revolute pair of arm 23, the ear shape connecting rod of the long-armed end of forearm 20 by bearing and the moving platform 19 formation passive rotation pair that is connected.Forearm connecting rod 21 1 ends are connected and form the passive rotation pair by bearing and triangular coupling rod 22, and the other end is the formation passive rotation pair that is connected of the vertical connecting rod by bearing and moving platform 19.Spray gun 18 coordinates with the circular hole of moving platform 19, thereby on fastened and moving platform 19.End spraying operation in parallel unit has two one-movement-freedom-degrees, by large arm drive motors 29 and crank drive motors 26, has been coordinated.
In the present invention, end spraying operation in parallel unit has the function that keeps the spray gun attitude, and in the spraying operation engineering, large arm drive motors 29 and 26 cooperations of crank drive motors can realize spray gun moving back and forth in same level.Turntable driving motor 4 driven machine people fuselages rotate, and can enlarge spray gun job area planar.Linear guides drive motors 9 driven machines are man-machine descends lifting with it, can increase the spraying operation scope of spray gun at vertical direction.Little U-shaped rotation seat drive motors 32 drives little U-shaped rotation seat 30, and rotation seat drive motors 31 drives rotation seat 28, and both coordinate in order to adjust the attitude of spray gun, thereby adapts to the spraying of different curve.
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 turntable and upright guide rail be changed, or whole spray equipment is carried out to 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 five degree of freedom series-parallel connection spray robot, it is characterized in that this spray robot comprises basis series connection moving cell and two of unit of end spraying operation in parallel part, described basis series connection moving cell is by the vertical cradle head of fuselage, fuselage riser guide linear joint, horizontally rotate joint and attitude and adjust cradle head four parts compositions, rotation by the vertical cradle head of described fuselage enlarges the spraying scope of spray robot in same level, enlarge the spraying scope of robot at vertical direction by fuselage riser guide linear joint in the elevating movement of vertical direction, adjust the vertical cradle head coordinated movement of various economic factors of fuselage in joint by horizontally rotating joint and attitude and adjust the attitude of spray gun in spatial dimension, thereby adapt to the spraying of different curve workpiece, described end spraying operation in parallel unit is three groups of plane parallel mechanisms that parallel-crank mechanism forms, and can keep the linkage platform stance, and described plane parallel mechanism has two one-movement-freedom-degrees.
2. five degree of freedom series-parallel connection spray robot according to claim 1, the vertical cradle head of described fuselage comprises turntable driving motor (4), small synchronous pulley (3), large synchronous pulley (5) and has the cylindrical turntable (6) of multidiameter; Described fuselage riser guide linear joint comprises linear guides drive motors (9), shaft coupling (10), rocker bearing (15), linear guides (14) and linear slide block (13); Describedly horizontally rotate joint and comprise little U-shaped rotation seat (30), large U-shaped seat (33) and little U-shaped rotation seat drive motors (32); Described attitude is adjusted cradle head and is comprised rotation seat (28), little U-shaped rotation seat (30) and rotation seat drive motors (31), the vertical cradle head of fuselage with horizontally rotate the joint quadrature, horizontally rotate joint and attitude adjustment joint quadrature.
3. five degree of freedom series-parallel connection spray robot according to claim 1 and 2, three rotational freedoms and an one-movement-freedom-degree of described basis series connection moving cell, completed by turntable driving motor (4), little U-shaped rotation seat drive motors (32), rotation seat drive motors (31) and linear guides drive motors (9) drive respectively.
4. five degree of freedom series-parallel connection spray robot according to claim 1 and 2, described end spraying operation in parallel unit is specially, large arm drive motors (29) and crank drive motors (26) be the logical both sides that are fastened on rotation seat (28) respectively, large arm (23) coordinates the formation revolute pair with rotation seat (28) by bearing, and driven by large arm drive motors (29); Crank (27) is connected with crank drive motors (26) by flat key, and is driven by crank drive motors (26); the ear shape connecting rod of rotation seat (28) is connected and forms the passive rotation pair with large arm connecting rod (24) by bearing, one end of bent connecting rod (25) is connected and forms the passive rotation pair by bearing and crank (27), the other end of bent connecting rod (25) is connected and forms the passive rotation pair by bearing and forearm (20), the circular hole at the place, obtuse angle of triangular coupling rod (22) is connected and forms the passive rotation pair with large arm (23) by bearing, the circular hole at two other drift angle place is connected and forms the passive rotation pair with large arm connecting rod (24) and forearm connecting rod (21) by bearing respectively, the middle part circular hole of forearm (20) is connected and forms the passive rotation pair with large arm (23) by bearing, and coaxial with triangular coupling rod (22) and the large formed revolute pair of arm (23), the ear shape connecting rod of the long-armed end of forearm (20) by bearing and moving platform (19) the formation passive rotation pair that is connected, forearm connecting rod (21) one ends are by bearing and triangular coupling rod (22) the formation passive rotation pair that is connected, the other end is the formation passive rotation pair that is connected of the vertical connecting rod by bearing and moving platform (19).
CN201310405357.3A 2013-09-09 2013-09-09 A kind of five degree of freedom series-parallel connection spray robot CN103433168B (en)

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Cited By (14)

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CN103692433A (en) * 2013-12-23 2014-04-02 厦门理工学院 Model decoupling three-arm-lever five-freedom-degree translation welding robot and decoupling method thereof
CN103722553A (en) * 2013-12-17 2014-04-16 广西大学 Multi-degree-of-freedom parallel-mechanism type controllable welding robot
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
CN105107660A (en) * 2015-09-01 2015-12-02 江苏新光数控技术有限公司 Large-area paint spraying robot for vehicle surface spraying
CN105214878A (en) * 2015-10-21 2016-01-06 国家电网公司 The paint finishing of Pneumatic elevation
CN105214876A (en) * 2015-09-29 2016-01-06 深圳瑞和建筑装饰股份有限公司 From mobile spray robot
CN105234030A (en) * 2015-10-21 2016-01-13 国家电网公司 Spraying system with electric lifting function
CN106142102A (en) * 2016-08-15 2016-11-23 江苏新光数控技术有限公司 A kind of streamline Glue Spreading Robot
CN108274457A (en) * 2018-04-19 2018-07-13 北京航空航天大学 A kind of four-degree-of-freedom robot arm
CN108686853A (en) * 2018-05-02 2018-10-23 深圳市绿恩贝智能科技有限公司 A kind of track machine people spray equipment
CN109395940A (en) * 2018-11-05 2019-03-01 马鞍山汉祺智能科技有限公司 A kind of purely mechanic driven type spray robot
WO2019071465A1 (en) * 2017-10-11 2019-04-18 清华大学 Parallel manipulator having five degrees of freedom, and multi-axis machining device developed therefrom
CN110328077A (en) * 2019-07-15 2019-10-15 合肥工业大学 A kind of integrated mixed connection spray robot with moving lifting holder
CN110743736A (en) * 2019-11-13 2020-02-04 合肥工业大学 Suspension type six-degree-of-freedom series-parallel spraying robot

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CN103722553A (en) * 2013-12-17 2014-04-16 广西大学 Multi-degree-of-freedom parallel-mechanism type controllable welding robot
CN103722553B (en) * 2013-12-17 2016-06-15 广西大学 A kind of controlled welding robot of multiple freedom parallel mechanism formula
CN103692433A (en) * 2013-12-23 2014-04-02 厦门理工学院 Model decoupling three-arm-lever five-freedom-degree translation welding robot and decoupling method thereof
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
CN105107660A (en) * 2015-09-01 2015-12-02 江苏新光数控技术有限公司 Large-area paint spraying robot for vehicle surface spraying
CN105214876A (en) * 2015-09-29 2016-01-06 深圳瑞和建筑装饰股份有限公司 From mobile spray robot
CN105214878A (en) * 2015-10-21 2016-01-06 国家电网公司 The paint finishing of Pneumatic elevation
CN105234030A (en) * 2015-10-21 2016-01-13 国家电网公司 Spraying system with electric lifting function
CN106142102A (en) * 2016-08-15 2016-11-23 江苏新光数控技术有限公司 A kind of streamline Glue Spreading Robot
WO2019071465A1 (en) * 2017-10-11 2019-04-18 清华大学 Parallel manipulator having five degrees of freedom, and multi-axis machining device developed therefrom
CN108274457A (en) * 2018-04-19 2018-07-13 北京航空航天大学 A kind of four-degree-of-freedom robot arm
CN108274457B (en) * 2018-04-19 2021-03-09 北京航空航天大学 Four-degree-of-freedom robot operating arm
CN108686853A (en) * 2018-05-02 2018-10-23 深圳市绿恩贝智能科技有限公司 A kind of track machine people spray equipment
CN109395940A (en) * 2018-11-05 2019-03-01 马鞍山汉祺智能科技有限公司 A kind of purely mechanic driven type spray robot
CN110328077A (en) * 2019-07-15 2019-10-15 合肥工业大学 A kind of integrated mixed connection spray robot with moving lifting holder
CN110743736A (en) * 2019-11-13 2020-02-04 合肥工业大学 Suspension type six-degree-of-freedom series-parallel spraying robot

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