CN103623971B - A kind of spray body based on four-degree-of-freedom spray module - Google Patents
A kind of spray body based on four-degree-of-freedom spray module Download PDFInfo
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- CN103623971B CN103623971B CN201310540831.3A CN201310540831A CN103623971B CN 103623971 B CN103623971 B CN 103623971B CN 201310540831 A CN201310540831 A CN 201310540831A CN 103623971 B CN103623971 B CN 103623971B
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Abstract
The present invention relates to a kind of spray body based on four-degree-of-freedom spray module, belong to mechanical manufacturing field.This mechanism comprises base, gantry stand, motion platform and spraying operation module, and gantry stand is fixed on base, and motion platform can realize translation along the guide rail on base; Spraying operation module comprises two spray module, and both structures are identical, and all can realize separately four-degree-of-freedom motion, symmetry is arranged on gantry stand respectively.Each spray module comprises plane five vice mechanism and two telescoping mechanisms, forms a spatial series-parallel mechanism, is positioned at the shower nozzle motion of mechanism end, realizes two one-movement-freedom-degrees and two rotational freedoms by four driven by servomotor.Combined by the motion of motion platform and spraying operation module, this spray body can be made to realize the spraying operation of three one-movement-freedom-degrees and two rotational freedoms.This spray body has symmetrical configuration, high flexibility and higher stiffness, is easy to manufacture, and convenient control, easily realizes modularization.
Description
Technical field
The invention belongs to mechanical manufacturing field, particularly a kind of five degree of freedom spray body based on four-degree-of-freedom spray module.
Background technology
Radome fairing is the important component part of carrier rocket, and according to the difference of carrying duty, the carrier rocket of often kind of model all has the radome fairing of one or more shapes.Radome fairing will meet a very important thermal protection function in the design process, and namely carrier rocket is in running, and satellite is not by the effect of Aerodynamic Heating; When carrier rocket be in face penetrate state time, can regulate the temperature in radome fairing, humidity, to ensure satellite by the impact of low benign environment.The anti-thermal design of current radome fairing mainly contains covering and spraying thermal insulation layer two kinds of methods.It is dumb that skinning method changes insulation thickness, and can only thicken by pasting multi-layer covering, technique is difficult to ensure, is applicable to the occasion that curved surface is uncomplicated, hot-fluid is little.Spraying thermal insulation layer method applying flexible, can change thickness arbitrarily, can spray on the abnormal curved surface of complexity, the material of spraying can change according to demand.Meanwhile, spraying thermal insulation layer method reliability of technology is high, and coating good heat-insulation effect will be the main method of the anti-thermal design of radome fairing.
Radome fairing has that type is many, surface curve is complex-shaped, and spraying profile is complicated, the features such as spray coating operations space is large, and conventional spray paint mode mainly adopts hand spray, by the restriction of manual work, causes that coating quality is poor, spray cycles is long, work situation is severe.In order to change this situation of spray coating operations, manual work need be changed into the flexible automatic coating work based on painting equipment.Adopt the major advantage of painting equipment to be the automation realizing painting operation, when avoiding hand spray, workman is in toxic environment all the time, improves the quality of products and stability, reduces the consumption of coating and energy simultaneously, improve labor productivity.But traditional painting equipment mechanism adopts the cascaded structure of hand type mostly, be limited by existing research level in cascaded structure, be difficult to the requirement arriving radome fairing painting equipment.
Relative to traditional serial mechanism, parallel institution have simple and compact for structure, rigidity is high, load capacity is strong, heavy moving parts is little, be easy to realize the advantages such as high-speed motion.In addition, the Chinese design at parallel institution and controlling party mask have more deep research, therefore, utilize parallel institution to develop radome fairing painting equipment and have advantage.
Summary of the invention
The object of the invention is to adapt to that rocket radome fairing type is many, surface curve is complex-shaped, spray coating operations space be large, coating quality and required precision high, develop a kind of five degree of freedom spray body based on four-degree-of-freedom spray module, this spray body spray coating operations space is large, flexible strong, can meet the radome fairing heat insulating coat automatic coating that spraying coating process path complexity requires, quality is high.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of spray body based on four-degree-of-freedom spray module, it is characterized in that, this mechanism comprises base, gantry stand, motion platform and spraying operation module, this gantry stand is fixed on base, base is provided with guide rail, motion platform is arranged on base by the guide rail of base, and motion platform can realize translation along the guide rail on base; Described spraying operation module comprises the first identical spray module of structure and the second spray module, and this two spray module is all provided with shower nozzle, can realize separately four-degree-of-freedom motion, respectively on symmetrical two curb girders be arranged on gantry stand; The four-degree-of-freedom motion of spray module, in conjunction with the translation of motion platform, can control position and the attitude of shower nozzle, realize five degree of freedom spraying operation.
Technical characterstic of the present invention and beneficial effect:
The present invention is directed to that radome fairing type is many, surface curve is complex-shaped, spray coating operations space be large, coating quality and required precision high, utilize parallel-connection structure to develop radome fairing painting equipment mechanism.Spray body of the present invention based on a kind of spray module of four-degree-of-freedom, and introduces hybrid connected structure.Spray body mainly comprises the functional units such as base, gantry stand, motion platform and spraying operation module; Spraying operation module can realize the motion of four frees degree respectively.The four-degree-of-freedom motion of spray module, in conjunction with the translation of motion platform, can control position and the attitude of shower nozzle, realize five degree of freedom spraying operation; This spray body combines that parallel institution is simple and compact for structure, rigidity is high, load capacity is strong, heavy moving parts is little, be easy to realize the feature of high-speed motion, can meet the requirement of rocket radome fairing spraying.
Mechanism has the advantages that structure is simple, rigidity is high and dynamic property is good, can realize complex-curved spraying operation, introduce parallel-connection structure, can ensure the high accuracy of spraying operation, high-quality, high flexibility.Meanwhile, described spray body symmetrical configuration, is easy to manufacture, and convenient control, easily realizes modularization.
Accompanying drawing explanation
Fig. 1 is the three-dimensional structure schematic diagram of the embodiment of the present invention
Fig. 2 is the floor map of the embodiment of the present invention
Fig. 3 is the spray module structural representation of the embodiment of the present invention
Fig. 4 is spray module midplane five vice mechanism structural representation
Fig. 5 is the first telescopic branched chain structural representation in spray module
Fig. 6 is the second telescopic branched chain structural representation in spray module
In figure: 1-base, 2-gantry stand, 3-first spray module, 4-second spray module, 5-radome fairing, 6-motion platform, 301-first connecting rod, 302-second connecting rod, 303-third connecting rod, 304 double leval jib, 305-the 5th connecting rod, 306-first drive motors, 307-second drive motors, 308-first extension sleeve, 309-first expansion link, 310-shower nozzle fork, 311-the 3rd drive motors, 312-second extension sleeve, 313-second stretches, 314-shower nozzle, 315-four-wheel drive motor
Detailed description of the invention
The spray body that the present invention is based on four-degree-of-freedom spray module by reference to the accompanying drawings and embodiment be described in detail as follows:
The present invention is described for the spray body of a fairing of launch vehicle; but be appreciated that; those skilled in the art is on the basis of said structure; to the suitable adjustment that structure and the quantity of spray module are carried out as requested, or to overall structure carry out apparent replacement or amendment all should within the protection domain of technical scheme of the present invention.
The present invention is based on the structure of a spray body embodiment of four-degree-of-freedom spray module as shown in Figure 1, 2, spray body of the present invention mainly comprises base 1, gantry stand 2, motion platform 6 and spraying operation module.Gantry stand 2 is fixed on base 1, is provided with guide rail in the middle part of base 1, and motion platform 6 is connected on base 1 by the guide rail in the middle part of base 1, and radome fairing 5 to be sprayed is arranged on motion platform 6.Spraying operation module comprises the first spray module 3 and the second spray module 4, and be arranged symmetrically on the crossbeam of gantry stand 2 both sides, both structures are identical.The present invention realizes five degree of freedom spraying operation by the cooperative motion of spray module 3,4 and motion platform 6.
Each part mentioned above specific embodiment structure is respectively described below:
In the present embodiment, as shown in Figure 1, 2, the crossbeam of described gantry stand 2 is triangularly arranged, and the first spray module 3 and the second spray module 4 are arranged symmetrically on gantry stand 2, both structures are identical, and each spray module all can realize separately the motion of four frees degree.Described motion platform 6 bottom is provided with groove, be connected on base 1 by the guide rail of two in the middle part of base 1, article two, guide rail is list structure, is parallel to each other at sustained height, and motion platform 6 is driven by driver (not shown in FIG.) and carries out translational motion along guide rail relative to base 1.Described radome fairing 5 entirety is in half truncated cone-shaped, and the curved surface of its generatrix direction is the smooth surface having certain curvature, is the curved surface needing spraying.Whole mechanism is combined by the motion of motion platform 6 and spray module 3,4 and realizes five degree of freedom spraying operation.
In the present embodiment, described first spray module 3 is structurally identical with the second spray module 4, is described for the structure of concrete structure to spray module of the first spray module 3.As shown in Figure 3, the first spray module 3 is made up of plane five vice mechanism, two telescopic branched chains, forms spatial series-parallel mechanism, two one-movement-freedom-degrees when realizing spraying operation and two rotational freedoms.As shown in Figure 3,4, above-mentioned plane five vice mechanism comprises first connecting rod 301, second connecting rod 302, third connecting rod 303, double leval jib 304, the 5th connecting rod 305 and is arranged on first drive motors 306 and second drive motors 307 at first connecting rod 301 two ends.Be interconnected respectively by revolute pair between above-mentioned five connecting rods, there are two translational degree of freedom.Wherein second connecting rod 302 and double leval jib 304 form the first side chain, and third connecting rod 303 and the 5th connecting rod 305 form the second side chain, and the first side chain is structurally identical with the second side chain, and composition parallel institution, drives the translational motion of shower nozzle planar two-freedom.Spray module is connected by first connecting rod 301 and gantry stand 2.Above-mentioned plane five vice mechanism is driven by the first drive motors 306 and the second drive motors 307 being arranged on first connecting rod 301 two ends, the rotary motion of control link 302,303 respectively, thus control plane five vice mechanism planar completes the translational motion of two-freedom.
On the basis of above-mentioned each plane five vice mechanism, introduce two telescopic branched chains, spray module adds two rotary freedoms.As shown in Fig. 3,5,6, above-mentioned telescopic branched chain comprises the first telescopic branched chain be made up of the first extension sleeve 308, first expansion link 309 and shower nozzle fork 310, the second telescopic branched chain be made up of the second extension sleeve 312, second expansion link 313 and shower nozzle 314, and the 3rd drive motors 311, four-wheel drive motor 315.As shown in Fig. 3,5, the first extension sleeve 308 in the first telescopic branched chain is hollow columnar structures, and the first expansion link 309 is cylindrical-shaped structure.First extension sleeve 308 one end is connected with the 5th connecting rod 305 by revolute pair, the other end is connected by moving sets one end with the first expansion link 309, the other end of the first expansion link 309 is connected by revolute pair one end with shower nozzle fork 310, the middle part of shower nozzle fork 310 is connected to the hinged place of double leval jib 304 and the 5th connecting rod 305 by revolute pair, shower nozzle 314 is arranged on the other end of shower nozzle fork 310.Control the stretching motion between the first extension sleeve 308 and the first expansion link 309 by the 3rd drive motors 311 being arranged on the first extension sleeve 308 upper end, control the rotation of shower nozzle fork 310, thus drive shower nozzle 314 to rotate.As shown in Fig. 3,6, the second extension sleeve 312 in the second telescopic branched chain is hollow columnar structures, and the second expansion link 313 is cylindrical-shaped structure.One end of second extension sleeve 312 is connected to by revolute pair in the branch 3101 of shower nozzle fork 310 one end setting, the other end is connected by moving sets one end with the second expansion link 313, and the other end of the second expansion link 313 is connected with the branch 3141 arranged in the middle part of shower nozzle 314 by revolute pair.Control the stretching motion between the second extension sleeve 312 and the second expansion link 313 by four-wheel drive motor 315, thus control shower nozzle 314 completes another direction rotation around shower nozzle fork 310.Above-mentioned first telescopic branched chain and the second telescopic branched chain cooperative motion, control shower nozzle spatial attitude, complete the rotary motion of two-freedom.
The operation principle of the present embodiment is that above-mentioned connecting rod 301,302,303,304 and 305 forms plane five vice mechanism, connecting rod 301 is fixed on gantry stand 2, by the first drive motors 306 and drive link 302 and 303 rotation respectively of the second drive motors 307, thus drivening rod 304 and 305 rotates, and controls whole mechanism and planar realizes two one-movement-freedom-degrees.First telescopic branched chain is connected on the 5th connecting rod 305 by revolute pair, is driven by the 3rd drive motors 311, controls the stretching motion between the first extension sleeve 308 and the first expansion link 309, thus controls the rotation of shower nozzle fork 310, drives shower nozzle 314 to rotate.Second telescopic branched chain is connected on shower nozzle fork 310 by revolute pair, driven by four-wheel drive motor 315, control the stretching motion between the second extension sleeve 312 and the second expansion link 313, thus control shower nozzle 314 completes another direction rotation around shower nozzle fork 310.Whole spray module drives shower nozzle can realize the spraying operation of two one-movement-freedom-degrees and two rotational freedoms in space.
Operationally, spray module 3 and 4 is arranged symmetrically on gantry stand 2, and radome fairing 5 moves upward in the side perpendicular to above-mentioned plane five vice mechanism along the guide rail on base 1 with motion platform 6, realizes the 3rd one-movement-freedom-degree.In spraying operation, by motion platform 6 integration of operation together with spray module 3,4, realize the spraying operation of three one-movement-freedom-degrees and two rotational freedoms.Because radome fairing 5 curved surface to be sprayed is variable curvature curved surface, along with the change of radome fairing 5 spraying position, need position and the attitude of constantly adjustment spraying 5.Spray body controls the position of spraying by translational motion, ensures the fixed range between shower nozzle 314 end and radome fairing 5 curved surface to be sprayed; Controlled the attitude of spraying by rotary motion, remain shower nozzle 314 and curved vertical to be sprayed, thus ensure the stability in spraying operation and uniformity, realize the high-quality spraying operation to radome fairing 5 curved surface.
Claims (3)
1. the spray body based on four-degree-of-freedom spray module, it is characterized in that, this mechanism comprises base, gantry stand, motion platform and spraying operation module, this gantry stand is fixed on base, base is provided with guide rail, motion platform is arranged on base by the guide rail of base, and motion platform can realize translation along the guide rail on base; Described spraying operation module comprises the first identical spray module of structure and the second spray module, and this two spray module is all provided with shower nozzle, can realize separately four-degree-of-freedom motion, respectively on symmetrical two curb girders be arranged on gantry stand; The four-degree-of-freedom motion of spray module, in conjunction with the translation of motion platform, can control position and the attitude of shower nozzle, realize five degree of freedom spraying operation; Described first spray module and the second spray module are made up of plane five vice mechanism and two telescopic branched chains respectively, form the spatial series-parallel mechanism with four frees degree, during spraying operation, plane five vice mechanism realizes two one-movement-freedom-degrees, and two telescopic branched chains realize two rotational freedoms.
2. mechanism as claimed in claim 1, it is characterized in that, described plane five vice mechanism is parallel closed loop mechanism, comprise first connecting rod (301), second connecting rod (302), third connecting rod (303), double leval jib (304), the 5th connecting rod (305), and be arranged on the first drive motors (306) and second drive motors (307) at first connecting rod (301) two ends; Be interconnected respectively by revolute pair between five connecting rods, there are two translational degree of freedom; Wherein second connecting rod (302) and double leval jib (304) form the first side chain, third connecting rod (303) and the 5th connecting rod (305) form the second side chain, first side chain is structurally identical with the second side chain, composition parallel institution, first connecting rod (301) and gantry stand (2) are connected; Described plane five vice mechanism is driven by the first drive motors (306) and the second drive motors (307) being arranged on first connecting rod (301) two ends, control the rotary motion of second, third connecting rod (302,303) respectively, thus control plane five vice mechanism planar completes the translational motion of two-freedom.
3. mechanism as claimed in claim 1, it is characterized in that, described telescopic branched chain comprises the first telescopic branched chain be made up of the first extension sleeve (308), the first expansion link (309) and shower nozzle fork (310), the second telescopic branched chain be made up of the second extension sleeve (312), the second expansion link (313) and shower nozzle (314), and the 3rd drive motors (311), four-wheel drive motor (315); Wherein first extension sleeve (308) of the first telescopic branched chain is hollow columnar structures, and the first expansion link (309) is cylindrical-shaped structure; First extension sleeve (308) one end is connected with the 5th connecting rod (305) by revolute pair, the other end is connected by moving sets one end with the first expansion link (309), the other end of the first expansion link (309) is connected by revolute pair one end with shower nozzle fork (310), the middle part of shower nozzle fork (310) is connected to the hinged place of double leval jib (304) and the 5th connecting rod (305) by revolute pair, shower nozzle (314) is arranged on the other end of shower nozzle fork (310); The stretching motion between the first extension sleeve (308) and the first expansion link (309) is controlled by the 3rd drive motors (311) being arranged on the first extension sleeve (308) upper end, control the rotation of shower nozzle fork (310), thus drive shower nozzle (314) to rotate; Second extension sleeve (312) of the second telescopic branched chain is hollow columnar structures, and the second expansion link (313) is cylindrical-shaped structure; One end of second extension sleeve (312) is connected to by revolute pair in the branch (3101) of shower nozzle fork (310) one end setting, the other end is connected by moving sets one end with the second expansion link (313), and the branch (3141) that the other end of the second expansion link (313) is arranged by revolute pair and shower nozzle (314) middle part is connected; Control the stretching motion between the second extension sleeve (312) and the second expansion link (313) by four-wheel drive motor (315), thus control shower nozzle (314) completes another direction rotation around shower nozzle fork (310); Described first telescopic branched chain and the second telescopic branched chain cooperative motion, control shower nozzle spatial attitude, complete the rotary motion of two-freedom.
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| CN201310540831.3A CN103623971B (en) | 2013-11-05 | 2013-11-05 | A kind of spray body based on four-degree-of-freedom spray module |
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| CN201310540831.3A CN103623971B (en) | 2013-11-05 | 2013-11-05 | A kind of spray body based on four-degree-of-freedom spray module |
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| CN103623971B true CN103623971B (en) | 2016-02-10 |
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| CN105834028B (en) * | 2015-01-13 | 2019-10-29 | 上海航天设备制造总厂 | Rocket Cryogenic tank heat insulation layer automatic spraying system and spraying method |
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| CN112156915B (en) * | 2020-09-18 | 2021-04-06 | 清华大学 | Spraying robot installation position determining method and device based on joint driving load |
| CN115230524B (en) * | 2022-08-18 | 2023-06-20 | 奥莱特汽车科技有限公司 | Five-degree-of-freedom motion platform |
| CN115921168B (en) * | 2023-02-10 | 2023-10-03 | 东莞市华纬涂装设备有限公司 | Multi-station spraying manipulator |
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