CN104588244A - 5-DOF (degree-of-freedom) robot device used for bumper spraying - Google Patents
5-DOF (degree-of-freedom) robot device used for bumper spraying Download PDFInfo
- Publication number
- CN104588244A CN104588244A CN201510016796.4A CN201510016796A CN104588244A CN 104588244 A CN104588244 A CN 104588244A CN 201510016796 A CN201510016796 A CN 201510016796A CN 104588244 A CN104588244 A CN 104588244A
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- Prior art keywords
- branch
- frame
- pair
- rod member
- moving platform
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Classifications
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
Abstract
The invention relates to a 5-DOF (degree-of-freedom) robot device used for bumper spraying. The 5-DOF (degree-of-freedom) robot device comprises an annular guide rail and a spatial 4-DOF parallel mechanism. The 4-DOF parallel mechanism is mounted on the annular guide rail and can move in a large range through the guide rail; the 4-DOF parallel mechanism comprises a machine frame, a movable platform on which an atomizer is mounted, a first branch, a second branch, a third branch and a fourth branch; the movable platform realizes two-direction rotation and two-direction movement through the synergic movement of the first, second, third and the fourth branches. According to the 5-DOF robot device used for bumper spraying, the movement of the annular guide rail and the movement of the spatial 4-DOF parallel mechanism are combined to realize the 5-DOF movement (three-direction movement and two-direction rotation) of the atomizer mounted on the movable platform. The 5-DOF robot device used for bumper spraying has the advantages that the structure is symmetric, the flexibility is good, the manufacturing is easy, and the modularization is realized with ease.
Description
Technical field
The present invention relates to mechanical manufacturing field, be specifically related to a kind of robot with five degrees of freedom device that can be applied to automobile bumper coating field.
Background technology
Developing rapidly of modern automobile industry brings the rapid change of automobile model and the continuous adjustment of car body design, only has the production requirement adopting robot could adapt to this frequent variations.From the nineties in 20th century, auto industry starts to introduce robot to replace hand spray and spray coating mechanical, brings into use robot to carry out the automatic coating of inner surface simultaneously.Paint robot adapts on a large scale just, the requirement of high-quality, low cost and environmental protection and energy saving produces.Therefore paint robot technology is more and more extensive in the utilization in painting dressing automobiles field.
Along with the fast development of car industry, also increasing to bumper requirements.In order to reach the attractive in appearance of car load, the exterior trimming parts such as increasing bumper adopt the coated article homochromy with vehicle body.Bumper spraying has Some features: 1) quantity for spray is large, and usual annual production is more than several ten thousand covers, so many producers adopt the paint line that automaticity is higher, as spray robot; 2) bumper shape is complicated, as front/rear collision bumper has more curved surface and size lamp hole; 3) coating quality requires high, usually will reach the requirement of car load vehicle body outward appearance.Because bumper mainly adopts plastic material, coating is difficult to attachment on its surface, the heat distortion temperature of working of plastics is low etc. in addition, the bake out temperature of the coating selected in general production is lower than the bake out temperature of metalwork coating used, therefore coating plastic parts and coating metal parts have a great difference in technique and coating material etc., and bumper coating is generally got along well car body coating Flexible production.
At present, at home and abroad widely used, representational spray robot major part is all serial manipulator, such as Kawasaki spray robot, the ABB IRB-54000-22 spray robot of Japan.Relative to serial manipulator, parallel robot has symmetrical configuration, be easy to manufacture, easily realize that modularization, mechanism are simple, kinematics controls the features such as simple and flexibility is good.On the basis of parallel robot, then in conjunction with the large advantage of serial manipulator working space, be easy to when being applied to spraying adapt to difformity bumper, and then enhance productivity.
Summary of the invention
The object of this invention is to provide a kind of robot with five degrees of freedom device for automobile bumper coating, make its high speed both having had parallel institution, high accuracy, high rigidity, be easy to the advantage of manufacture, have again the feature that serial mechanism working space is large, more be adapted to the spraying operation task of bumper, spraying operation can be carried out for the bumper of difformity and specification.
Technical scheme of the present invention is as follows:
For a robot with five degrees of freedom device for automobile bumper coating, it is characterized in that: comprise ring-shaped guide rail and space four-freedom parallel mechanism two parts, described space four-freedom parallel mechanism is arranged on ring-shaped guide rail; Described space four-freedom parallel mechanism comprises frame, and the moving platform of atomizer is housed, and connects the first branch between moving platform and frame, the second branch, the 3rd branch and the 4th branch; The first described branch, the second branch, the 3rd branch and the 4th branch are connected between frame and moving platform, and with frame and moving platform Special composition close loop mechanism; The first described branch comprises the first rod member and the second rod member, connected by the first moving sets between first rod member and the second rod member, first branch is connected with frame and moving platform with the first cylindrical pair respectively by the first revolute pair, and the pivot center of the first described revolute pair is vertical with the pivot center of the first cylindrical pair; 3rd branch is identical with the first branched structure, and the 3rd branch is connected with frame and moving platform with the second cylindrical pair respectively by the second revolute pair, and the first branch and the 3rd branch are in same perpendicular, and are arranged symmetrically with; Second branch comprises the 3rd rod member and the 4th rod member, is connected between the 3rd rod member and the 4th rod member by the second moving sets, and the second branch is connected with frame and moving platform with the second ball pair respectively by the first ball is secondary; 4th branch is identical with the second branched structure, and the 4th branch is connected with frame and moving platform with the 4th ball pair respectively by the 3rd ball is secondary.
The first described revolute pair center, the second revolute pair center, the first ball sub-center and the 3rd ball sub-center are evenly distributed on frame circumferentially, the pivot center of the first revolute pair and the pivot center of the second revolute pair and described circumference tangent, secondary and the 3rd ball parafacies of the first ball is arranged symmetrically with for the perpendicular residing for the first branch and the 3rd branch.
Connected by rack and pinion drive mechanism, guide rail slide block mechanism or tape handler between described ring-shaped guide rail and frame.
The present invention has the following advantages and the technique effect of high-lighting: a kind of robot with five degrees of freedom device realizing automobile bumper coating that the present invention proposes, it has the advantage of the larger working space of serial mechanism, have again parallel institution rigidity high, precision is high, the advantage that dynamic property is good.Mechanism structure of the present invention is symmetrical, is easy to manufacture, and easily realizes modularization; Mechanism is simple, and kinematics controls simple, and flexibility is good, is easy to adapt to difformity bumper, and then enhances productivity when being applied to spraying.
Accompanying drawing explanation
Fig. 1 is the three-dimensional structure schematic diagram of the embodiment of robot with five degrees of freedom device provided by the invention.
Fig. 2 is frame example structure schematic diagram of the present invention.
Fig. 3 is moving platform example structure schematic diagram of the present invention.
Fig. 4 is the first branch embodiments structural representation of the present invention.
Fig. 5 is the 3rd branch embodiments structural representation of the present invention.
In figure: 1-frame; 2-first branch; 3-second branch; 4-the 3rd branch; 5-the 4th branch; 6-is equipped with the moving platform of atomizer; 7-ring-shaped guide rail; 8-bumper to be sprayed; 21-first revolute pair; 22-first rod member; 23-second rod member; 24-first cylindrical pair; 31-first ball is secondary; 32-the 3rd rod member; 33-the 4th rod member; 34-second ball is secondary; 41-second revolute pair; 44-second cylindrical pair; 51-the 3rd ball is secondary; 54-the 4th ball is secondary.
Detailed description of the invention
Below in conjunction with drawings and Examples, structural principle of the present invention and concrete enforcement are described below in detail:
Fig. 1 is the three-dimensional structure schematic diagram of the robot with five degrees of freedom device embodiment for automobile bumper coating provided by the invention, and described robot with five degrees of freedom device comprises ring-shaped guide rail 7 and space four-freedom parallel mechanism two parts; Described space four-freedom parallel mechanism is arranged on ring-shaped guide rail 7, is connected, realize moving horizontally of parallel institution on a large scale by rack and pinion drive mechanism, guide rail slide block mechanism or tape handler.
Described space four-freedom parallel mechanism comprises frame 1, the branch 3 of moving platform 6, first branch 2, second of atomizer, the 3rd branch 4 and the 4th branch 5 is housed; The first described branch 3 of branch 2, second, the 3rd branch 4 and the 4th branch 5 are connected between frame 1 and moving platform 6, and with frame 1 and moving platform 6 Special composition close loop mechanism.
The first described branch 2 as shown in Figure 4, it comprises the first rod member 22 and the second rod member 23, connected by the first moving sets between first rod member 22 and the second rod member 23, first branch 2 is connected with frame 1 and moving platform 6 with the first cylindrical pair 24 respectively by the first revolute pair 21, and the pivot center of the first described revolute pair 21 is vertical with the pivot center of the first cylindrical pair 24; 3rd branch 4 is identical with the first branch 2 structure, and the 3rd branch 4 is connected with frame 1 and moving platform 6 with the second cylindrical pair 44 respectively by the second revolute pair 41, and the first branch 2 and the 3rd branch 4 are in same perpendicular, and are arranged symmetrically with.
The second described branch 3 as shown in Figure 5, it comprises the 3rd rod member 32 and the 4th rod member 33, connected by the second moving sets between 3rd rod member 32 and the 4th rod member 33, the second branch 3 is connected with frame 1 and moving platform 6 with the second ball secondary 34 respectively by the first ball secondary 31; 4th branch 5 is identical with the second branch 3 structure, and the 4th branch 5 is connected with frame 1 and moving platform 6 with the 4th ball secondary 54 respectively by the 3rd ball secondary 51.
Described frame 1 as shown in Figure 2, first revolute pair 21 center, the second revolute pair 41 center, the first Qiu Fu 31 center and the 3rd Qiu Fu 51 center are evenly distributed on frame circumferentially, the pivot center of the first revolute pair 21 and the pivot center of the second revolute pair 41 and described circumference tangent, the first ball secondary 31 and the 3rd ball pair 51 are arranged symmetrically with relative to the perpendicular residing for the first branch 2 and the 3rd branch 4.
Described moving platform 6 as shown in Figure 3, arrange relative to the first cylindrical pair 24 and the second cylindrical pair 44 place plane symmetry by the second ball secondary 34 and the 4th ball pair 54.
Described space four-freedom parallel mechanism, by branch 3 of driving first branch 2, second, the 3rd branch 4 and the one-movement-freedom-degree of the moving sets of the 4th branch 5 or the cylindrical pair of the first branch 2 and the 3rd branch 4 and the moving sets of the second branch 3 and the 4th branch 5, realizes two one-movement-freedom-degree and two rotational freedoms.
Claims (3)
1. the robot with five degrees of freedom device for automobile bumper coating, this device comprises ring-shaped guide rail (7) and space four-freedom parallel mechanism two parts, and described space four-freedom parallel mechanism is arranged on ring-shaped guide rail (7); Described space four-freedom parallel mechanism comprises frame (1), the moving platform (6) of atomizer is housed, and connects the first branch (2) between moving platform and frame, the second branch (3), the 3rd branch (4) and the 4th branch (5); Described the first branch (2), the second branch (3), the 3rd branch (4) and the 4th branch (5) are connected between frame (1) and moving platform (6), and with frame (1) and moving platform (6) Special composition close loop mechanism; Described the first branch (2) comprises the first rod member (22) and the second rod member (23), connected by the first moving sets between first rod member (22) and the second rod member (23), first branch (2) is connected with frame (1) and moving platform (6) with the first cylindrical pair (24) respectively by the first revolute pair (21), and the pivot center of described the first revolute pair (21) is vertical with the pivot center of the first cylindrical pair (24); 3rd branch (4) is identical with the first branch (2) structure, 3rd branch (4) is connected with frame (1) and moving platform (6) with the second cylindrical pair (44) respectively by the second revolute pair (41), first branch (2) and the 3rd branch (4) are in same perpendicular, and are arranged symmetrically with; Second branch (3) comprises the 3rd rod member (32) and the 4th rod member (33), connected by the second moving sets between 3rd rod member (32) and the 4th rod member (33), the second branch (3) is connected with frame (1) and moving platform (6) with the second ball pair (34) respectively by the first ball pair (31); 4th branch (5) is identical with the second branch (3) structure, and the 4th branch (5) is connected with frame (1) and moving platform (6) with the 4th ball pair (54) respectively by the 3rd ball pair (51).
2. a kind of robot with five degrees of freedom device for automobile bumper coating as claimed in claim 1, it is characterized in that, first revolute pair (21) center, second revolute pair (41) center, first ball pair (31) center and the 3rd ball pair (51) center are evenly distributed on frame circumferentially, the pivot center of the first revolute pair (21) and the pivot center of the second revolute pair (41) and described circumference tangent, first ball pair (31) and the 3rd ball pair (51) are arranged symmetrically with relative to the first branch (2) and the perpendicular residing for the 3rd branch (4).
3. a kind of robot with five degrees of freedom device for automobile bumper coating as claimed in claim 1, it is characterized in that, connected by rack and pinion drive mechanism, guide rail slide block mechanism or tape handler between ring-shaped guide rail (7) and frame (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510016796.4A CN104588244B (en) | 2015-01-13 | 2015-01-13 | A kind of robot with five degrees of freedom device for automobile bumper coating |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510016796.4A CN104588244B (en) | 2015-01-13 | 2015-01-13 | A kind of robot with five degrees of freedom device for automobile bumper coating |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104588244A true CN104588244A (en) | 2015-05-06 |
| CN104588244B CN104588244B (en) | 2016-09-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510016796.4A Active CN104588244B (en) | 2015-01-13 | 2015-01-13 | A kind of robot with five degrees of freedom device for automobile bumper coating |
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| Country | Link |
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| CN (1) | CN104588244B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107414792A (en) * | 2017-07-26 | 2017-12-01 | 重庆工程职业技术学院 | A kind of 4 PRUR parallel robots |
| EP3296025A1 (en) * | 2016-09-16 | 2018-03-21 | Cefla Societa' Cooperativa | Apparatus and method for painting three-dimensional objects |
| CN108355880A (en) * | 2018-01-30 | 2018-08-03 | 中国五冶集团有限公司 | A kind of automatic traveling mechanism of drilling rod thread oil spraying |
| CN110449299A (en) * | 2019-08-05 | 2019-11-15 | 王海山 | A kind of spraying equipment with regulatory function for hardware processing |
| CN110574989A (en) * | 2018-11-19 | 2019-12-17 | 瑞安市博业激光应用技术有限公司 | Plasma processing device for processing leather shoe material |
| WO2021035970A1 (en) * | 2019-08-31 | 2021-03-04 | 南京视莱尔汽车电子有限公司 | Automobile body surface spraying device for automobile manufacturing and using method |
Citations (4)
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| US4819496A (en) * | 1987-11-17 | 1989-04-11 | The United States Of America As Represented By The Secretary Of The Air Force | Six degrees of freedom micromanipulator |
| US6099217A (en) * | 1995-12-20 | 2000-08-08 | Wiegand; Alexander Konrad | Device for spatially moving a body with three to six degrees of freedom in a controlled manner |
| CN1267586A (en) * | 2000-04-21 | 2000-09-27 | 清华大学 | Four-freedom parallel robot mechanism |
| CN101966507A (en) * | 2010-10-15 | 2011-02-09 | 江苏长虹涂装机械有限公司 | Space four-DOF (Degree of Freedom) parallel connection mechanism and spraying robot |
-
2015
- 2015-01-13 CN CN201510016796.4A patent/CN104588244B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4819496A (en) * | 1987-11-17 | 1989-04-11 | The United States Of America As Represented By The Secretary Of The Air Force | Six degrees of freedom micromanipulator |
| US6099217A (en) * | 1995-12-20 | 2000-08-08 | Wiegand; Alexander Konrad | Device for spatially moving a body with three to six degrees of freedom in a controlled manner |
| CN1267586A (en) * | 2000-04-21 | 2000-09-27 | 清华大学 | Four-freedom parallel robot mechanism |
| CN101966507A (en) * | 2010-10-15 | 2011-02-09 | 江苏长虹涂装机械有限公司 | Space four-DOF (Degree of Freedom) parallel connection mechanism and spraying robot |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3296025A1 (en) * | 2016-09-16 | 2018-03-21 | Cefla Societa' Cooperativa | Apparatus and method for painting three-dimensional objects |
| CN107414792A (en) * | 2017-07-26 | 2017-12-01 | 重庆工程职业技术学院 | A kind of 4 PRUR parallel robots |
| CN107414792B (en) * | 2017-07-26 | 2019-10-11 | 重庆工程职业技术学院 | A kind of 4-PRUR parallel robot |
| CN108355880A (en) * | 2018-01-30 | 2018-08-03 | 中国五冶集团有限公司 | A kind of automatic traveling mechanism of drilling rod thread oil spraying |
| CN110574989A (en) * | 2018-11-19 | 2019-12-17 | 瑞安市博业激光应用技术有限公司 | Plasma processing device for processing leather shoe material |
| CN110449299A (en) * | 2019-08-05 | 2019-11-15 | 王海山 | A kind of spraying equipment with regulatory function for hardware processing |
| CN110449299B (en) * | 2019-08-05 | 2021-07-27 | 苗珍录 | Spraying equipment with adjusting function for hardware processing |
| WO2021035970A1 (en) * | 2019-08-31 | 2021-03-04 | 南京视莱尔汽车电子有限公司 | Automobile body surface spraying device for automobile manufacturing and using method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104588244B (en) | 2016-09-28 |
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