CN103736617B - A kind of five degree of freedom controllable-mechanism type flush coater - Google Patents
A kind of five degree of freedom controllable-mechanism type flush coater Download PDFInfo
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- CN103736617B CN103736617B CN201310675225.2A CN201310675225A CN103736617B CN 103736617 B CN103736617 B CN 103736617B CN 201310675225 A CN201310675225 A CN 201310675225A CN 103736617 B CN103736617 B CN 103736617B
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- platform
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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
Abstract
A kind of five degree of freedom controllable-mechanism type flush coater, comprises elevating mechanism, planar motion mechanism and output stage controlling organization.Described elevating mechanism comprises column, the first platform and linear actuator, and planar motion mechanism comprises driving lever, connecting rod, motor and the second platform, and output stage controlling organization comprises output stage, worm gear, worm screw, motor and power transmission shaft.The present invention adopts multiple degrees of freedom controllable mechanism, and mechanism's rigidity is large, and bearing capacity is high, and cumulative errors are little, and track exports flexibly, and structure is simple, manufacture and maintenance cost low, easy to utilize.
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 carrying out auto spray painting or spray other coating, can alleviate the labour intensity of personnel, 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, and the problem such as there is mechanism cumbersome, poor rigidity, inertia is large, joint error accumulation is large, dynamic performance is poor, is difficult to the high-speed, high precision job requirements meeting increasingly stringent.
Multiple degrees of freedom controllable mechanism refers to some motion in the input motion of some structure motion parameter in multiple-degree-of-freedom mechanism or mechanism and multiple degrees of freedom closed chain mechanism, these motions can be controlled in real time by microcomputer or carry out the control of many fixed positions in mode manually, flexible output can be realized, improve kinetic characteristic and the dynamic characteristics of mechanism, advantages 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 and provide a kind of five degree of freedom controllable-mechanism type flush coater, the weight that effectively can solve traditional fisher's formula serial machine robot mechanism is large, poor rigidity, inertia large, joint error accumulation, and the problem such as parallel manipulator human action underaction.
The present invention is achieved the above object by following technology: described a kind of five degree of freedom controllable-mechanism type flush coater, and comprise elevating mechanism, planar motion mechanism and output stage controlling organization, 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, second driving lever, 3rd driving lever, first connecting rod, second connecting rod, third connecting rod, double leval jib, 5th connecting rod and the second platform are formed by connecting, first driving lever is connected with the first platform by the first revolute pair with the first motor, one end of 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, double leval jib is connected with the second platform by the tenth revolute pair, the other end of double leval jib is connected with the second driving lever by the 12 revolute pair, the other end of the second driving lever is connected with the second motor and the first platform by the 14 revolute pair, 3rd driving lever is connected with the first platform by the 15 revolute pair, and be connected with the other end of the first driving lever and the 3rd motor, the other end of the 3rd driving lever is connected by the other end of the 16 revolute pair and second connecting rod and the 5th connecting rod, the other end of the 5th connecting rod is connected with the second platform by the 17 revolute pair, first motor is arranged on the first platform and drives the first driving lever, second motor is arranged on the first platform and drives the second driving lever, 3rd motor drives the 3rd driving lever, 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, 3rd power transmission shaft, worm screw, worm gear and output stage are formed by connecting, 4th motor to be arranged on the second driving lever and to drive the first power transmission shaft, 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 double leval jib 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 engages, 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 second Hooke's hinge and the axis of the tenth revolute pair intersect at a bit.
Described elevating mechanism has one degree of freedom, the first platform can be made to move at vertical direction, increase the working space of mechanism, improve operating efficiency by linear actuator.
The closed loop five-rod that described planar motion mechanism is made up of the second driving lever, the 3rd driving lever, double leval jib, the 5th connecting rod, the first platform has two frees degree, can drive the motion that the second platform realizes 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 by first motor drive under the second platform planar around the rotation of the 17 revolute pair, again there is one degree of freedom.In this planar motion mechanism, between each kinematic chain, the degree of coupling is low, reduces 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 by the rotation of the 4th motor driver output platform around the 3rd power transmission shaft, 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, flexible output can be realized, the kinetic characteristic of mechanism and dynamic characteristics good, advantages such as there is 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.
Detailed description of the invention
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 made up 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, second driving lever 23, 3rd driving lever 29, first connecting rod 8, second connecting rod 10, third connecting rod 11, double leval jib 21, 5th connecting rod 31 and the second platform 13 are formed by connecting, 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 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 second connecting rod 10 and third connecting rod 11 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, double leval jib 21 is connected with the second platform 13 by the tenth revolute pair 19, the other end of double leval jib 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 second motor 26 and the first platform 2 by the 14 revolute pair 25, 3rd driving lever 29 is connected with the first platform 2 by the 15 revolute pair 28, and be connected with the other end of the first driving lever 5 and the 3rd motor 27, the other end of the 3rd driving lever 29 is connected by the other end of the 16 revolute pair 30 and second connecting rod 10 and the 5th connecting rod 31, the other end of the 5th connecting rod 31 is connected with the second platform 13 by the 17 revolute pair 32, first motor 4 is arranged on the first platform 2 and drives the first driving lever 5, second motor 26 is arranged on the first platform 2 and drives the second driving lever 23, 3rd motor 27 drives the 3rd driving lever 29, 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, 3rd power transmission shaft 40, worm screw 38, worm gear 39 and output stage 41 are formed by connecting, 4th motor 33 to be arranged on the second driving lever 23 and to drive the first power transmission shaft 34, 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 double leval jib 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 engages with worm gear 39, 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 and the output stage 41 of the 3rd power transmission shaft 40 are connected, output stage 41 is connected with the second platform 13 with the 8th revolute pair 17 by the 7th revolute pair 16, the axis of the first Hooke's hinge 35 and the axis of the 12 revolute pair 22 intersect at a bit, the axis of the second Hooke's hinge 37 and the axis of the tenth revolute pair 19 intersect at a bit.
Contrast Fig. 1, Fig. 4, Fig. 5, Fig. 6, described elevating mechanism has one degree of freedom, the first platform 2 can be made in vertical direction motion, increase the working space of mechanism, improve operating efficiency by linear actuator 3.
Contrast Fig. 1, Fig. 2, Fig. 4, Fig. 7, Fig. 8, the closed loop five-rod that described planar motion mechanism is made up of the second driving lever 23, the 3rd driving lever 29, double leval jib 21, the 5th connecting rod 31, first platform 2 has two frees degree, can drive the motion that the second platform 13 realizes 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, the second platform 13 under being driven by the first motor 4 can be realized planar around the rotation of the 17 revolute pair 32, again there is one degree of freedom.In this planar motion mechanism, between each kinematic chain, the degree of coupling is low, reduces 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 by the rotation of the 4th motor 33 driver output platform 41 around the 3rd power transmission shaft 40, 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, realize the spraying of diverse location.
Contrast Fig. 7 and Fig. 8, can realize the movement in the second platform 13 plane by closed loop five-rod, drive parallel mechanism to move by the first driving lever 5, can realize the rotation of the second platform 13 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, second driving lever, 3rd driving lever, first connecting rod, second connecting rod, third connecting rod, double leval jib, 5th connecting rod and the second platform, first driving lever is connected with the first platform with the first motor, one end of 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, double leval jib is connected with the second platform, the other end of double leval jib is connected with the second driving lever, the other end of the second driving lever is connected with the second motor and the first platform, 3rd driving lever is connected with the first platform, and be connected with the other end of the first driving lever and the 3rd motor, the other end of the 3rd driving lever is connected with the other end of second connecting rod and the 5th connecting rod, the other end of the 5th connecting rod is connected with the second platform, first motor is arranged on the first platform and drives the first driving lever, second motor is arranged on the second platform and drives the second driving lever, 3rd motor drives the 3rd driving lever,
Described output stage controlling organization comprises the first power transmission shaft, second driving shaft, 3rd power transmission shaft, worm screw, worm gear and output stage, 4th motor to be arranged on the second driving lever and to drive the first power transmission shaft, 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 double leval jib 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, worm and wheel engages, 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 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 first Hooke's hinge and the axis of the 12 revolute pair intersect at a bit, and the axis of the second Hooke's hinge and the axis of the tenth revolute pair intersect 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 CN103736617A (en) | 2014-04-23 |
| CN103736617B true CN103736617B (en) | 2016-03-30 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN105805252A (en) * | 2016-05-06 | 2016-07-27 | 广州市兴世机械制造有限公司 | Dual-drive five-linkage mechanism |
| EP3597048B1 (en) * | 2018-07-18 | 2021-04-28 | STE Tecpharm, S.L. | Coating device with moavable spray heads |
| CN114939494B (en) * | 2022-05-09 | 2023-09-19 | 清华大学 | Spraying device for spraying fairing |
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| CN101104272A (en) * | 2007-08-16 | 2008-01-16 | 上海交通大学 | Two-degree-of-freedom plane parallel robot mechanism |
| 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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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2006050560A1 (en) * | 2004-11-11 | 2006-05-18 | Adelaide Research And Innovation | Parallel micromanipulator and control method |
| US7938602B2 (en) * | 2006-03-31 | 2011-05-10 | Jtekt Corporation | Three degree of freedom parallel mechanism, multi-axis control machine tool using the mechanism and control method for the mechanism |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101104272A (en) * | 2007-08-16 | 2008-01-16 | 上海交通大学 | Two-degree-of-freedom plane parallel robot mechanism |
| 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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