CN103736617A - Coating machine with five-degree-of-freedom controllable mechanisms - Google Patents
Coating machine with five-degree-of-freedom controllable mechanisms Download PDFInfo
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- CN103736617A CN103736617A CN201310675225.2A CN201310675225A CN103736617A CN 103736617 A CN103736617 A CN 103736617A CN 201310675225 A CN201310675225 A CN 201310675225A CN 103736617 A CN103736617 A CN 103736617A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 47
- 239000011248 coating agent Substances 0.000 title abstract description 6
- 238000000576 coating method Methods 0.000 title abstract description 6
- 230000005540 biological transmission Effects 0.000 claims abstract description 25
- 230000033001 locomotion Effects 0.000 claims abstract description 20
- 230000008520 organization Effects 0.000 claims description 9
- 230000003028 elevating effect Effects 0.000 claims description 8
- 238000012423 maintenance Methods 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 abstract 1
- 239000007921 spray Substances 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000009825 accumulation Methods 0.000 description 2
- 230000001186 cumulative effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 210000003298 dental enamel Anatomy 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000007592 spray painting technique Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Transmission Devices (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention discloses a coating machine with five-degree-of-freedom controllable mechanisms. The coating machine comprises a lifting mechanism, a planar motion mechanism and an output platform control mechanism. The lifting mechanism comprises a stand column, a first platform and a linear driver. The planar motion mechanism comprises a driving rod, a connecting rod, a motor and a second platform. The output platform control mechanism comprises an output platform, a worm gear, a worm, a motor and a transmission shaft. According to the coating machine, the multi-degree-of-freedom controllable mechanisms are adopted, the mechanisms are high in rigidity and bearing capacity, the accumulated error is small, track output is flexible, the structure is simple, manufacturing cost and maintenance cost are low, and popularization and application are convenient.
Description
Technical field
The present invention relates to spray robot field, particularly five degree of freedom controllable-mechanism type spray robot.
Background technology
Spray robot is a kind of industrial robot that carries out auto spray painting or spray other coating, can alleviate personnel's labour intensity, prevents the injury of chemical coating, is widely used in the industrial departments such as automobile, instrument, electrical equipment, enamel.Tradition fisher's formula serial machine robot mechanism is because of the restriction of himself structure, the problem such as exist mechanism's heaviness, poor rigidity, inertia is large, joint error accumulation is large, and dynamic performance is poor, is difficult to meet the high-speed, high precision job requirements of increasingly stringent.
Multiple degrees of freedom controllable mechanism refers to some structure motion parameter or the input motion of mechanism and some motion in multiple degrees of freedom closed chain mechanism in multiple-degree-of-freedom mechanism, these motions can be controlled in real time or be carried out the control of many fixed positions in mode manually by microcomputer, can realize flexible output, improve kinetic characteristic and the dynamic characteristics of mechanism, the advantage such as there is compact conformation, cumulative errors are little, precision is high, operating speed is high, dynamic response is good.
Summary of the invention
The invention reside in a kind of five degree of freedom controllable-mechanism type flush coater is provided, the weight that can effectively solve traditional fisher's formula serial machine robot mechanism is large, poor rigidity, inertia are large, the joint accumulation of error, and the problem such as parallel manipulator human action underaction.
The present invention achieves the above object by following technology: described a kind of five degree of freedom controllable-mechanism type flush coater, comprise elevating mechanism, planar motion mechanism and output stage controlling organization, and its structure and connected mode are:
Described elevating mechanism is formed by connecting by column and the first platform, and the first platform is connected with column by linear actuator.
Described planar motion mechanism is by the first driving lever, the second driving lever, the 3rd driving lever, first connecting rod, second connecting rod, third connecting rod, the 4th connecting rod, the 5th connecting rod and the second platform are formed by connecting, the first driving lever is connected with the first platform by the first revolute pair with the first motor, one end of the first driving lever is connected with first connecting rod by the second revolute pair, the other end of first connecting rod is connected with one end of second connecting rod and third connecting rod by the 3rd revolute pair, the other end of third connecting rod is connected with the second platform by the 4th revolute pair, the 4th connecting rod is connected with the second platform by the tenth revolute pair, the other end of the 4th connecting rod is connected with the second driving lever by the 12 revolute pair, the other end of the second driving lever is connected with the first platform with the second motor by the 14 revolute pair, the 3rd driving lever is connected with the first platform by the 15 revolute pair, and be connected with the 3rd motor with the other end of the first driving lever, the other end of the 3rd driving lever is connected with the 5th connecting rod with the other end of second connecting rod by the 16 revolute pair, the other end of the 5th connecting rod is connected with the second platform by the 17 revolute pair, the first motor is arranged on the first platform and drives the first driving lever, the second motor is arranged on the first platform and drives the second driving lever, the 3rd motor drives the 3rd driving lever, the first driving lever is isometric parallel with second connecting rod, first connecting rod is isometric parallel with the 3rd driving lever, third connecting rod is isometric parallel with the 5th connecting rod.
Described output stage controlling organization is by the first power transmission shaft, second driving shaft, the 3rd power transmission shaft, worm screw, worm gear and output stage are formed by connecting, the 4th motor is arranged on the second driving lever and drives the first power transmission shaft, the first power transmission shaft is connected with the second driving lever by the 13 revolute pair, the other end of the first power transmission shaft is connected with second driving shaft by the first Hooke's hinge, second driving shaft is connected with the 4th connecting rod by the 11 revolute pair, the other end of second driving shaft is connected with worm screw by the second Hooke's hinge, worm screw is connected with the second platform by the 9th revolute pair, worm and wheel engagement, worm gear is connected with the second platform with the 6th revolute pair by the 5th revolute pair, and be connected with one end of the 3rd power transmission shaft, the other end and the output stage of the 3rd power transmission shaft are connected, output stage is connected with the second platform with the 8th revolute pair by the 7th revolute pair, the axis of the first Hooke's hinge and the axis of the 12 revolute pair intersect at a bit, the axis of the axis of the second Hooke's hinge and the tenth revolute pair intersects at a bit.
Described elevating mechanism has one degree of freedom, by linear actuator, can make the first platform move at vertical direction, has strengthened the working space of mechanism, has improved operating efficiency.
The closed loop five-rod that described planar motion mechanism is comprised of the second driving lever, the 3rd driving lever, the 4th connecting rod, the 5th connecting rod, the first platform has two frees degree, can drive the second platform to realize the motion in plane.Isometric parallel by the first driving lever and second connecting rod, first connecting rod is isometric parallel with the 3rd driving lever, the feature of third connecting rod and the isometric parallel such parallel mechanism of the 5th connecting rod, can realize the second platform under being driven by the first motor planar around the rotation of the 17 revolute pair, there is again one degree of freedom.In this planar motion mechanism, between each kinematic chain, the degree of coupling is low, has reduced the complexity of mechanism control system.
Described output stage controlling organization utilizes the effect of Hooke's hinge connection and worm and gear, can realize the rotation around the 3rd power transmission shaft by the 4th motor driver output platform, the output parameter of the corner that output stage sways and rotating speed and the 4th motor has linear relationship, and control method is simple.
Outstanding advantages of the present invention is:
1, adopt multiple degrees of freedom controllable mechanism, can realize flexible output, the kinetic characteristic of mechanism and dynamic characteristics are good, the advantage such as have compact conformation, cumulative errors are little, precision is high, rigidity is large, operating speed is high, dynamic response is good.
2, between each kinematic chain, degree of coupling is low, and control method is simple, is convenient to the design of control system.
3, mechanism structure is simple, manufactures with maintenance cost low, easy to utilize.
Accompanying drawing explanation
Fig. 1 is the structural representation of five degree of freedom controllable-mechanism type flush coater of the present invention.
Fig. 2 is the planar motion mechanism schematic diagram of five degree of freedom controllable-mechanism type flush coater of the present invention.
Fig. 3 is the output stage controlling organization schematic diagram of five degree of freedom controllable-mechanism type flush coater of the present invention.
Fig. 4 is the first working state schematic representation of five degree of freedom controllable-mechanism type flush coater of the present invention.
Fig. 5 is the second working state schematic representation of five degree of freedom controllable-mechanism type flush coater of the present invention.
Fig. 6 is the third working state schematic representation of five degree of freedom controllable-mechanism type flush coater of the present invention.
Fig. 7 is the 4th kind of working state schematic representation of five degree of freedom controllable-mechanism type flush coater of the present invention.
Fig. 8 is the 5th kind of working state schematic representation of five degree of freedom controllable-mechanism type flush coater of the present invention.
The specific embodiment
Below in conjunction with drawings and Examples, technical scheme of the present invention is described further.
Contrast Fig. 1, Fig. 4, Fig. 5 and Fig. 6, described a kind of five degree of freedom controllable-mechanism type flush coater, is comprised of elevating mechanism, planar motion mechanism and output stage controlling organization.
Contrast Fig. 1, described elevating mechanism is formed by connecting by column 1 and the first platform 2, and the first platform 2 is connected with column 1 by linear actuator 3.
Contrast Fig. 1, Fig. 2, Fig. 4, Fig. 7 and Fig. 8, described planar motion mechanism is by the first driving lever 5, the second driving lever 23, the 3rd driving lever 29, first connecting rod 8, second connecting rod 10, third connecting rod 11, the 4th connecting rod 21, the 5th connecting rod 31 and the second platform 13 are formed by connecting, the first driving lever 5 is connected with the first platform 2 by the first revolute pair 6 with the first motor 4, one end of the first driving lever 5 is connected with first connecting rod 8 by the second revolute pair 7, the other end of first connecting rod 8 is connected with one end of third connecting rod 11 with second connecting rod 10 by the 3rd revolute pair 9, the other end of third connecting rod 11 is connected with the second platform 13 by the 4th revolute pair 12, the 4th connecting rod 21 is connected with the second platform 13 by the tenth revolute pair 19, the other end of the 4th connecting rod 21 is connected with the second driving lever 23 by the 12 revolute pair 22, the other end of the second driving lever 23 is connected with the first platform 2 with the second motor 26 by the 14 revolute pair 25, the 3rd driving lever 29 is connected with the first platform 2 by the 15 revolute pair 28, and be connected with the 3rd motor 27 with the other end of the first driving lever 5, the other end of the 3rd driving lever 29 is connected with the 5th connecting rod 31 with the other end of second connecting rod 10 by the 16 revolute pair 30, the other end of the 5th connecting rod 31 is connected with the second platform 13 by the 17 revolute pair 32, the first motor 4 is arranged on the first platform 2 and drives the first driving lever 5, the second motor 26 is arranged on the first platform 2 and drives the second driving lever 23, the 3rd motor 27 drives the 3rd driving lever 29, the first driving lever 5 is isometric parallel with second connecting rod 10, first connecting rod 8 is isometric parallel with the 3rd driving lever 29, third connecting rod 11 is isometric parallel with the 5th connecting rod 31.
Contrast Fig. 1, Fig. 3, Fig. 4, Fig. 5 and Fig. 6, described output stage controlling organization is by the first power transmission shaft 34, second driving shaft 36, the 3rd power transmission shaft 40, worm screw 38, worm gear 39 and output stage 41 are formed by connecting, the 4th motor 33 is arranged on the second driving lever 23 and drives the first power transmission shaft 34, the first power transmission shaft 34 is connected with the second driving lever 23 by the 13 revolute pair 24, the other end of the first power transmission shaft 34 is connected with second driving shaft 36 by the first Hooke's hinge 35, second driving shaft 36 is connected with the 4th connecting rod 21 by the 11 revolute pair 20, the other end of second driving shaft 36 is connected with worm screw 38 by the second Hooke's hinge 37, worm screw 38 is connected with the second platform 13 by the 9th revolute pair 18, worm screw 38 and worm gear 39 engagements, worm gear 39 is connected with the second platform 13 with the 6th revolute pair 15 by the 5th revolute pair 14, and be connected with one end of the 3rd power transmission shaft 40, the other end of the 3rd power transmission shaft 40 and output stage 41 are connected, output stage 41 is connected with the second platform 13 with the 8th revolute pair 17 by the 7th revolute pair 16, first axis of Hooke's hinge 35 and the axis of the 12 revolute pair 22 intersect at a bit, the axis of the axis of the second Hooke's hinge 37 and the tenth revolute pair 19 intersects at a bit.
Contrast Fig. 1, Fig. 4, Fig. 5, Fig. 6, described elevating mechanism has one degree of freedom, by linear actuator 3, can make the first platform 2 move at vertical direction, has strengthened the working space of mechanism, has improved operating efficiency.
Contrast Fig. 1, Fig. 2, Fig. 4, Fig. 7, Fig. 8, the closed loop five-rod that described planar motion mechanism is comprised of the second driving lever 23, the 3rd driving lever 29, the 4th connecting rod 21, the 5th connecting rod 31, the first platform 2 has two frees degree, can drive the second platform 13 to realize the motion in plane.Isometric parallel with second connecting rod 10 by the first driving lever 5, first connecting rod 8 is isometric parallel with the 3rd driving lever 29, the feature of third connecting rod 11 and the isometric parallel such parallel mechanism of the 5th connecting rod 31, can realize the second platform 13 under being driven by the first motor 4 planar around the rotation of the 17 revolute pair 32, there is again one degree of freedom.In this planar motion mechanism, between each kinematic chain, the degree of coupling is low, has reduced the complexity of mechanism control system.
Contrast Fig. 1, Fig. 4, Fig. 7 and Fig. 8, described output stage controlling organization utilizes the effect of Hooke's hinge connection and worm and gear, can realize the rotation around the 3rd power transmission shaft 40 by the 4th motor 33 driver output platforms 41, the output parameter of the corner that output stage 41 sways and rotating speed and the 4th motor 33 has linear relationship, and control method is simple.
Contrast Fig. 5 and Fig. 6, the first position of platform 2 on column 1 can move up and down.
Contrast Fig. 1 and Fig. 4, can see that output stage 41 moves around the 3rd power transmission shaft 40, realizes the spraying of diverse location.
Contrast Fig. 7 and Fig. 8, can realize the movement in the second platform 13 planes by closed loop five-rod, by the first driving lever 5, drives parallel mechanism to move, and can realize the second platform 13 rotations around the 17 revolute pair 32.
Claims (3)
1. a five degree of freedom controllable-mechanism type flush coater, comprises elevating mechanism, planar motion mechanism and output stage controlling organization, it is characterized in that, concrete structure and connected mode are:
Described elevating mechanism is formed by connecting by column and the first platform, and the first platform is connected with column by linear actuator,
Described planar motion mechanism comprises the first driving lever, the second driving lever, the 3rd driving lever, first connecting rod, second connecting rod, third connecting rod, the 4th connecting rod, the 5th connecting rod and the second platform, the first driving lever is connected with the first platform with the first motor, one end of the first driving lever is connected with first connecting rod, the other end is connected with one end of second connecting rod and third connecting rod, the other end of third connecting rod is connected with the second platform, the 4th connecting rod is connected with the second platform, the other end of the 4th connecting rod is connected with the second driving lever, the other end of the second driving lever is connected with the first platform with the second motor, the 3rd driving lever is connected with the first platform, and be connected with the 3rd motor with the other end of the first driving lever, the 3rd other end of driving lever and the other end of second connecting rod are connected with the 5th connecting rod, the other end of the 5th connecting rod is connected with the second platform, the first motor is arranged on and on the first platform, drives the first driving lever, the second motor is arranged on and on the second platform, drives the second driving lever, the 3rd motor drives the 3rd driving lever,
Described output stage controlling organization comprises the first power transmission shaft, second driving shaft, the 3rd power transmission shaft, worm screw, worm gear and output stage, the 4th motor is arranged on the second driving lever and drives the first power transmission shaft, the first power transmission shaft is connected with the second driving lever, the other end of the first power transmission shaft is connected with second driving shaft, second driving shaft is connected with the 4th connecting rod, the other end of second driving shaft is connected with worm screw, worm screw is connected with the second platform, worm and wheel engagement, worm gear is connected with the second platform with the 6th revolute pair, and be connected with one end of the 3rd power transmission shaft, the other end and the output stage of the 3rd power transmission shaft are connected, output stage is connected with the second platform.
2. five degree of freedom controllable-mechanism type flush coater according to claim 1, is characterized in that, described the first driving lever is isometric parallel with second connecting rod, and first connecting rod is isometric parallel with the 3rd driving lever, and third connecting rod is isometric parallel with the 5th connecting rod.
3. five degree of freedom controllable-mechanism type flush coater according to claim 1, is characterized in that, the axis of described the first Hooke's hinge and the axis of the 12 revolute pair intersect at a bit, and the axis of the axis of the second Hooke's hinge and the tenth revolute pair intersects at a bit.
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| CN201310675225.2A CN103736617B (en) | 2013-12-07 | 2013-12-07 | A kind of five degree of freedom controllable-mechanism type flush coater |
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| CN201310675225.2A CN103736617B (en) | 2013-12-07 | 2013-12-07 | A kind of five degree of freedom controllable-mechanism type flush coater |
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| CN103736617A true CN103736617A (en) | 2014-04-23 |
| CN103736617B CN103736617B (en) | 2016-03-30 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104549849A (en) * | 2014-12-19 | 2015-04-29 | 上海交通大学 | Automatic spraying robot device |
| CN104552266A (en) * | 2014-12-23 | 2015-04-29 | 广西大学 | Six-freedom-degree mechanism type movable welding robot |
| CN104552261A (en) * | 2014-12-23 | 2015-04-29 | 广西大学 | Six-freedom-degree movable welding robot |
| WO2017190686A1 (en) * | 2016-05-06 | 2017-11-09 | 广州市兴世机械制造有限公司 | Dual-drive five-linkage mechanism |
| CN112512329A (en) * | 2018-07-18 | 2021-03-16 | 斯特泰克法姆公司 | Coating device with movable spray nozzle |
| CN114939494A (en) * | 2022-05-09 | 2022-08-26 | 清华大学 | Spraying device for spraying fairing |
| WO2024189471A1 (en) * | 2023-03-10 | 2024-09-19 | Proseal Uk Limited | Loader system for loading product into packaging boxes |
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| CN202479085U (en) * | 2012-01-11 | 2012-10-10 | 陆勇 | Six-shaft coating machine |
| CN102825595A (en) * | 2012-08-24 | 2012-12-19 | 燕山大学 | Input-output complete decoupling three-freedom-degree moving parallel robot mechanism |
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2013
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104549849A (en) * | 2014-12-19 | 2015-04-29 | 上海交通大学 | Automatic spraying robot device |
| CN104549849B (en) * | 2014-12-19 | 2017-01-11 | 上海交通大学 | Automatic spraying robot device |
| CN104552266A (en) * | 2014-12-23 | 2015-04-29 | 广西大学 | Six-freedom-degree mechanism type movable welding robot |
| CN104552261A (en) * | 2014-12-23 | 2015-04-29 | 广西大学 | Six-freedom-degree movable welding robot |
| WO2017190686A1 (en) * | 2016-05-06 | 2017-11-09 | 广州市兴世机械制造有限公司 | Dual-drive five-linkage mechanism |
| CN112512329A (en) * | 2018-07-18 | 2021-03-16 | 斯特泰克法姆公司 | Coating device with movable spray nozzle |
| CN112512329B (en) * | 2018-07-18 | 2023-10-31 | 斯特泰克法姆公司 | Coating apparatus with movable spray nozzle |
| CN114939494A (en) * | 2022-05-09 | 2022-08-26 | 清华大学 | Spraying device for spraying fairing |
| CN114939494B (en) * | 2022-05-09 | 2023-09-19 | 清华大学 | Spraying device for spraying fairing |
| WO2024189471A1 (en) * | 2023-03-10 | 2024-09-19 | Proseal Uk Limited | Loader system for loading product into packaging boxes |
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| CN103736617B (en) | 2016-03-30 |
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