CN103433168B - A kind of five degree of freedom series-parallel connection spray robot - Google Patents
A kind of five degree of freedom series-parallel connection spray robot Download PDFInfo
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- CN103433168B CN103433168B CN201310405357.3A CN201310405357A CN103433168B CN 103433168 B CN103433168 B CN 103433168B CN 201310405357 A CN201310405357 A CN 201310405357A CN 103433168 B CN103433168 B CN 103433168B
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Abstract
The present invention relates to the five degree of freedom series-parallel connection spray robot that a kind of flexibility is strong, high flexibility, working space are large, this five degree of freedom series-parallel connection spray robot comprises basic serial kinematic unit and end spraying operation unit in parallel two parts.Basis serial kinematic unit has three rotational freedoms and an one-movement-freedom-degree, basis serial kinematic unit is by the vertical cradle head of fuselage, fuselage riser guide linear joint, horizontally rotates joint and the pose adjustment cradle head orthogonal with horizontally rotating joint forms; End spraying operation unit in parallel has by two one-movement-freedom-degrees, and this device has and is easy to manufacture, and conveniently controls, and easily realizes the features such as modularization.
Description
Technical field
The invention belongs to machine-building design field, be specifically related to a kind of five degree of freedom series-parallel connection spray robot with high flexibility ratio, large flexibility.
Background technology
Current, spray robot has become a kind of industrial robot be most widely used.China is as one of manufacture base most important in world wide, just progressively step into manufacturing power from manufacture big country, market to spraying robot Man's Demands also along with manufacturing development increases day by day, particularly along with China's automobile, the developing rapidly of aeroplane industry, Control During Paint Spraying by Robot has become enhances productivity, and ensures the important technology generating quality.Control During Paint Spraying by Robot has the research and development history of three more than ten years abroad, is widely used at World Developed Countries spray robot.The spray robot producer of foreign well-known mainly contains the ABB of Sweden, the D ü rr (Dole) of Germany and EISANMANN (Ai Senman), Japanese An Chuan etc.In addition, all there are production spray robot in German KUKA company, the FANUC company of Japan and the ADEPT company of the U.S., external also have some small business produce and have developed electrostatic powder coating robot, in spray robot research and development and spraying technology, all have rich experience.
The development of domestic spray robot starts from the seventies in last century, originally the domestic research to spray robot greatly mainly with based on the application experience to external spray robot, concentrate on research and development neighboring technology and auxiliary facility so that apply spray robot more efficiently.Developing rapidly in recent years along with 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 of oneself enterprise applicable.Launch the innovation research of spray robot basic machine and the original innovation of mechanism thus, to having independent intellectual property right, improving enterprise competitiveness and seeming particularly important.
Automobile making, as the emphasis in development of manufacturing, obtains significant progress under country vigorously supports, and domestic automobile output is also significantly promoting, and thus proposes requirements at the higher level to the equipment relevant to automobile making and technology.Automobile making primarily of punching press, be welded, application, the large technique composition of general assembly four, coating process relate to machinery, electrically, chemical industry, many science and technology such as environmental protection, accounting for four large technology investment volumes more than 40%, is the critical process of auto manufacturing.Spraying is one of topmost production technology in automobile making, it can not only improve the corrosion resistance of automobile product, extend automotive service life, it also the most directly embodies the quality of outer surface of automobile color, gloss and brightness quality, be that people evaluate the most intuitively to car mass, thus having automobile market competitiveness the most directly affects.Determine that the most important factor of coating quality is spray robot; the coating quality of spray robot has obvious lifting compared with the effect of hand spray and reciprocating engine spraying; spray efficiency is high; sprayed surface steady quality; workman's working condition is good; can power consumption be reduced, almost receive the favor of the paint line of all scale enterprises.Spray robot has the following advantages:
1. track is flexible, can complete the spraying task of vehicle body inner surface and outer surface, and profiling spraying profile is accurate, improves the uniformity of film, reduces the consumption of quantity for spray and cleaning solvent, improves the utilization rate of material, also serves certain effect to environmental protection;
2. flexible large, working range is large, can the swinging cross spraying of real many specifications vehicle produce, as the vehicle body swinging cross sprayings such as car, station wagon, pick up are produced;
3. easy to operate and safeguard, can off-line programing, greatly shorten the field adjustable time, modular design can realize Fast Installation and change components and parts, greatly shortens maintenance time;
4. utilization rate of equipment and installations is high, and reciprocating automatic spraying machine utilization rate is generally only 40%-60%, and the utilization rate of spray robot can reach 90%-95%.
But, along with the high speed development of Domestic Automotive Industry, the seed output and quality of market to automobile product is proposed higher requirement, 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, cannot adapt to the Order Mode of current auto-producing flexibility, seriously constrain the development of current auto industry.Although at present existing part patent of invention also provides mechanism form and the example of some spray robots, also more or less there is the shortcoming of the poor and flexibility deficiency of flexibility in the spray robot that these patents undeniable provide.Therefore, research and develop new high flexibility, high flexibility, high efficiency spray robot has seemed particularly important, has far reaching significance to the national manufacturing industry level of raising.
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 the paint line demand high to the flexibility of the spraying robot National People's Congress, high flexibility ratio and 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 basic serial kinematic unit and end spraying operation unit in parallel two parts, described basic serial kinematic unit is by the vertical cradle head of fuselage, fuselage riser guide linear joint, horizontally rotate joint and pose adjustment cradle head four part composition, the spray range of spray robot in same level is expanded by the rotation of the vertical cradle head of described fuselage, the spray range of robot at vertical direction is expanded in the elevating movement of vertical direction by fuselage riser guide linear joint, the attitude of spray gun in spatial dimension is adjusted by the vertical cradle head coordinated movement of various economic factors of fuselage horizontally rotating joint and pose adjustment cradle head, thus adapt to the spraying of different curve workpiece, the plane parallel mechanism that described end spraying operation unit in parallel forms for three groups of parallel-crank mechanisms, can keep linkage platform stance, 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 pose adjustment cradle head comprises rotation seat, little U-shaped rotation seat and rotation seat drive motors, and the vertical cradle head of fuselage is with to horizontally rotate joint orthogonal, and it is orthogonal with pose adjustment cradle head to horizontally rotate joint.
The invention provides a kind of five degree of freedom series-parallel connection spray robot, three rotational freedoms of described basic serial kinematic unit and an one-movement-freedom-degree, 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 unit in parallel is specially, large arm drive motors and crank drive motor be the logical both sides being fastened on rotation seat respectively, and large arm to be coordinated with rotation seat by bearing and forms revolute pair, and is driven by large arm drive motors, crank is connected with crank drive motor by flat key, and is driven by crank drive motor, the ear shape connecting rod of rotation seat is connected by bearing and large arm connecting rod and forms passive rotation pair, one end of bent connecting rod is connected by bearing and crank and forms passive rotation pair, the other end of bent connecting rod is connected by bearing and forearm and forms passive rotation pair, the circular hole at the obtuse angle place of triangular coupling rod is connected by bearing and large arm and forms passive rotation pair, the circular hole at two other drift angle place is connected respectively by bearing and large arm connecting rod and forearm connecting rod, and to form passive rotation secondary, the middle part circular hole of forearm is connected by bearing and large arm and forms passive rotation pair, and the revolute pair formed with triangular coupling rod and large arm is coaxial, the long-armed end of forearm is connected by the ear shape connecting rod of bearing and moving platform, and to form passive rotation secondary, forearm connecting rod one end is connected by bearing and triangular coupling rod and forms passive rotation pair, the other end is then connected by the vertical connecting rod of bearing and moving platform, and to form passive rotation secondary.
According to the invention has the advantages that: by the circular-rotation of vertical turntable and the lifting of upright guide rail, considerably increase the range of movement of device, improve its degree of flexibility, three cradle head routing motions in the serial kinematic unit of basis, 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 spraying operation unit in parallel of this five degree of freedom series-parallel connection spray robot has maintenance spray gun attitude function, and parallel institution motion can be made to realize uneoupled control with the motion of basic serial kinematic unit.To sum up, this five degree of freedom series-parallel connection spray robot, modular construction feature is obvious, manufactures relatively easy, and it is convenient to control, and spray range is large, high flexibly, flexible large, has Important Project using value.
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 of the present invention spraying schematic diagram.
In figure: 1-base shell, 2-base chassis, 3-small synchronous pulley, 4-turntable driving motor, the large synchronous pulley of 5-, 6-turntable, 7-connecting cylinder, 8-wire casing, 9-linear guides drive motors, 10-shaft coupling, 11-gripper shoe, 12-optical axis bearing, 13-linear slide block, 14-linear guides, 15-rocker bearing, 16-cover plate, 17-can, 18-spray gun, 19-moving platform, 20-forearm, 21-forearm connecting rod, 22-triangular coupling rod, 23-large arm, 24-large arm connecting rod, 25-bent connecting rod, 26-crank drive motor, 27-crank, 28-rotation seat, 29-large arm drive motors, the little U-shaped rotation seat of 30-, 31-rotation seat drive motors, 32-little U-shaped rotation seat drive motors, the large U-shaped seat of 33-, 34-optical axis, 35-screw mandrel.
Detailed description of the invention
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 is described 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 basic serial kinematic unit and end spraying operation unit in parallel two parts.
Described basic serial kinematic unit by the vertical cradle head of fuselage, fuselage riser guide linear joint, horizontally rotate joint and pose adjustment cradle head four part forms.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 pose adjustment cradle head comprises rotation seat 28, little U-shaped rotation seat 30 and rotation seat drive motors 31, and the vertical cradle head of fuselage is with to horizontally rotate joint orthogonal, and it is orthogonal with pose adjustment cradle head to horizontally rotate joint.Annexation and the effect of each parts of basis serial kinematic unit are as follows respectively:
Base shell 1 is fastening with the earth by bolt, and firm robot body also supports all parts of robot upper part.Turntable driving motor 4 by bolt and base shell 1 fastening, the motor shaft of turntable driving motor 4 is connected with small synchronous pulley 3 by general flat key.Turntable 6 is a cylinder turntable with multidiameter, and multidiameter macro-axis place is coordinated by the circular hole of bearing with base shell 1 central upper portion place, 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, thus makes the turntable 6 be connected with large synchronous pulley 5 obtain rotating torque.Base chassis 2 is coordinated with base shell 1 by seam and bolt, is packaged in base shell 1 by the transmission mechanisms such as small synchronous pulley 3, large synchronous pulley 5.Turntable 6 is fastenedly connected by bolt and connecting cylinder 7, linear guides drive motors 9 is fastened by bolts in connecting cylinder 7, the motor shaft of linear guides drive motors 9 passes the circular hole at center, connecting cylinder 7 upper surface and is connected with shaft coupling 10, and shaft coupling 10 other end connects optical axis 34.Groove 8 is fastening by the upper surface of mechanical screw and base shell 1, and 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, and two upright side walls of rocker bearing 15 are fastened by bolts linear guides 14.Two rocker bearings 15 each side arrange a linear guides 14, amount to four.Every bar linear guides 14 is all furnished with the linear slide block 13 coordinated with it.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 is fastenedly connected by bolt and optical axis bearing 12.Optical axis bearing 12 is 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 with an optical axis 34 (wherein an optical axis 34 is blocked) separately.Cover plate 16 is fastenedly connected by bolt and rocker bearing 15, and cover plate 16 center hole is coordinated with screw mandrel 35 circular shaft place by bearing, and cover plate 16 plays the effect keeping rocker bearing 15 rigidity and positioning screw rod 35.Closure 17 by bolt and connecting cylinder 7 upper surface fastening, closure 17 upper surface has two circular holes coordinate smooth with optical axis 34 forms moving sets respectively.Closure 17 pairs of optical axises 34 play constraint guide effect, and spray robot elevating mechanism and parts are sealed therein.Optical axis 34 upper circular large end face is fastenedly connected by bolt and large U-shaped seat 33.Large U-shaped seat 33 and little U-shaped rotate shape seat 30 and form revolute pair by the bearing fit of both sides, and are driven by the little U-shaped rotation seat drive motors 32 be installed on the right side of large U-shaped seat 33.Rotation seat drive motors 31 is bolted and is anchored on little U-shaped rotation seat 30 lower surface, 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 of basis serial kinematic unit and an one-movement-freedom-degree, 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 end spraying operation unit in parallel, the annexation of each parts is as follows.
Large arm drive motors 29 and crank drive motor 26 are respectively by the both sides of bolted at rotation seat 28.Large arm 23 to be coordinated with rotation seat 28 by bearing and forms revolute pair, and is driven by large arm drive motors 29.Crank 27 is connected with crank drive motor 26 by general flat key, and is driven by crank drive motor 26.The ear shape connecting rod of rotation seat 28 is connected by bearing and large arm connecting rod 24 and forms passive rotation pair.Bent connecting rod 25 is connected by bearing and crank 27 and forms passive rotation pair, and the other end of bent connecting rod 25 is connected by bearing and forearm 20 and forms passive rotation pair.The circular hole at the obtuse angle place of triangular coupling rod 22 is connected by bearing and large arm 23, and to form passive rotation secondary, and the circular hole at two other drift angle place is connected respectively by bearing and large arm connecting rod 24 and forearm connecting rod 21 and forms passive rotation pair.The middle part circular hole of forearm 20 is connected by bearing and large arm 23 and forms passive rotation pair, and the revolute pair formed with triangular coupling rod 22 and large arm 23 is coaxial, the long-armed end of forearm 20 is connected by the ear shape connecting rod of bearing and moving platform 19, and to form passive rotation secondary.Forearm connecting rod 21 one end is connected by bearing and triangular coupling rod 22, and to form passive rotation secondary, and the other end is then connected by bearing and the vertical connecting rod of moving platform 19 and forms passive rotation pair.Spray gun 18 coordinates with the circular hole of moving platform 19, thus fastened with on moving platform 19.End spraying operation unit in parallel has two one-movement-freedom-degrees, has been coordinated by large arm drive motors 29 and crank drive motor 26.
In the present invention, end spraying operation unit in parallel has the function keeping spray gun attitude, and in spraying operation engineering, large arm drive motors 29 and crank drive motor 26 cooperation can realize spray gun moving back and forth in same level.Turntable driving motor 4 driven machine people fuselage rotates, and can expand spray gun job area planar.The man-machine body oscilaltion of linear guides drive motors 9 driven machine, 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 the attitude in order to adjust spray gun, thus 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 when exceeding the scope of the invention, can change the relative position relation of turntable and upright guide rail, or whole spray equipment is carried out apparent change and the amendments such as 90 ° of orientation inversions, to be used for adapting to difformity and the parts to be sprayed of specification or the spraying operation environment of complete machine.
Claims (2)
1. a five degree of freedom series-parallel connection spray robot, it is characterized in that this spray robot comprises basic serial kinematic unit and end spraying operation unit in parallel two parts, described basic serial kinematic unit is by the vertical cradle head of fuselage, fuselage riser guide linear joint, horizontally rotate joint and pose adjustment cradle head four part composition, the spray range of spray robot in same level is expanded by the rotation of the vertical cradle head of described fuselage, the spray range of robot at vertical direction is expanded in the elevating movement of vertical direction by fuselage riser guide linear joint, by horizontally rotating joint, pose adjustment cradle head and the vertical cradle head coordinated movement of various economic factors of fuselage adjust the attitude of spray gun in spatial dimension, thus adapt to the spraying of different curve workpiece, the plane parallel mechanism that described end spraying operation unit in parallel forms for three groups of parallel-crank mechanisms, linkage platform stance can be kept, described plane parallel mechanism has two one-movement-freedom-degrees, and 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 pose adjustment cradle head comprises rotation seat (28), little U-shaped rotation seat (30) and rotation seat drive motors (31), the vertical cradle head of fuselage is with to horizontally rotate joint orthogonal, and it is orthogonal with pose adjustment cradle head to horizontally rotate joint.
2. five degree of freedom series-parallel connection spray robot according to claim 1, three rotational freedoms of described basic serial kinematic unit and an one-movement-freedom-degree, 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.
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| CN201310405357.3A CN103433168B (en) | 2013-09-09 | 2013-09-09 | A kind of five degree of freedom series-parallel connection spray robot |
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| CN201310405357.3A CN103433168B (en) | 2013-09-09 | 2013-09-09 | A kind of five degree of freedom series-parallel connection spray robot |
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| CN103433168B true CN103433168B (en) | 2016-04-27 |
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| CN103722553B (en) * | 2013-12-17 | 2016-06-15 | 广西大学 | A kind of controlled welding robot of multiple freedom parallel mechanism formula |
| CN103692433B (en) * | 2013-12-23 | 2017-02-08 | 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 |
| CN105214878B (en) * | 2015-10-21 | 2018-06-29 | 国网安徽省电力公司检修公司 | The paint finishing of Pneumatic elevation |
| CN105234030B (en) * | 2015-10-21 | 2018-04-03 | 国网安徽省电力公司检修公司 | The paint finishing of electric up-down |
| 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 |
| 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 |
| CN110405723A (en) * | 2019-08-13 | 2019-11-05 | 杭州天铭科技股份有限公司 | A kind of movable type robot palletizer |
| CN110743736B (en) * | 2019-11-13 | 2020-08-04 | 合肥工业大学 | Suspension type six-degree-of-freedom series-parallel spraying robot |
| CN113561162B (en) * | 2021-08-30 | 2023-03-31 | 苏州极攀企业管理合伙企业(有限合伙) | Five-degree-of-freedom series-parallel machining robot |
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| JPH0283191A (en) * | 1988-09-19 | 1990-03-23 | Toshiba Corp | Industrial robot |
| CN101412008A (en) * | 2007-10-18 | 2009-04-22 | 山东科技大学 | Special type rust-cleaning spraying robot for building cabin of shipping |
| CN102059187A (en) * | 2009-11-17 | 2011-05-18 | 赵德志 | Small-size spraying robot |
| CN102039240B (en) * | 2010-12-31 | 2012-09-26 | 广西大学 | Spraying robot mechanism |
| CN103008152A (en) * | 2012-12-19 | 2013-04-03 | 江苏长虹汽车装备集团有限公司 | Modular spray coating device |
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Address after: 224051 hope avenue of Yancheng City Pavilion Lake, Yancheng City, Jiangsu Patentee after: JIANGSU CHANGHONG INTELLIGENT EQUIPMENT Co.,Ltd. Address before: 224051 hope avenue of Yancheng City Pavilion Lake, Yancheng City, Jiangsu Patentee before: Jiangsu Changhong Intelligent Equipment Group |
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Effective date of registration: 20230621 Address after: No. 268 Environmental Protection Avenue, Tinghu District, Yancheng City, Jiangsu Province, 224000 Patentee after: JIANGSU CHANGHONG INTELLIGENT EQUIPMENT Co.,Ltd. Patentee after: TSINGHUA University Address before: No. 5, Hope Avenue, Tinghu New District, Yancheng City, Jiangsu Province 224051 Patentee before: JIANGSU CHANGHONG INTELLIGENT EQUIPMENT Co.,Ltd. |