CN104588244B - A kind of robot with five degrees of freedom device for automobile bumper coating - Google Patents
A kind of robot with five degrees of freedom device for automobile bumper coating Download PDFInfo
- Publication number
- CN104588244B CN104588244B CN201510016796.4A CN201510016796A CN104588244B CN 104588244 B CN104588244 B CN 104588244B CN 201510016796 A CN201510016796 A CN 201510016796A CN 104588244 B CN104588244 B CN 104588244B
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- Prior art keywords
- branch
- frame
- moving platform
- rod member
- freedom
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Classifications
-
- 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 present invention relates to a kind of robot with five degrees of freedom device for automobile bumper coating, this device includes ring-shaped guide rail and two parts of space four-freedom parallel mechanism.Described space four-freedom parallel mechanism is arranged on circular orbit, realizes moving on a large scale of parallel institution by guide rail；Space four-freedom parallel mechanism includes frame, installs the moving platform of nebulizer, the first branch, the second branch, the 3rd branch and the 4th branch, realizes moving platform two by the synergy movement of the first branch, the second branch, the 3rd branch and the 4th branch and rotates and two motions moved.The present invention is by combining the motion of the motion of ring-shaped guide rail and space four-freedom parallel mechanism, and can realize being arranged on moving platform the three of nebulizer move the five degree of freedom motion rotated with two.This spray robot symmetrical configuration, motility is good, it is easy to manufactures, easily realizes modularity.
Description
Technical field
The present invention relates to mechanical manufacturing field, be specifically related to a kind of five degree of freedom that can be applied to automobile bumper coating field
Robot device.
Background technology
The continuous adjustment developing the change rapidly and car body design bringing automobile model rapidly of modern automobile industry, only uses
Robot just adapts to the production requirement of this frequent change.From the nineties in 20th century, auto industry starts to introduce robot
Replace hand spray and spray coating mechanical, start simultaneously at the automatic spraying using robot to carry out inner surface.Paint robot is just
It is to adapt to extensive, high-quality, low cost and the requirement of environmental protection and energy saving and produce.Therefore paint robot technology is at automobile
The utilization of field of coating is more and more extensive.
Along with the fast development of car industry, the most increasing to bumper requirements.In order to reach the attractive in appearance of car load, increasingly
The exterior trimming parts such as many bumpers use the coated article homochromy with vehicle body.Bumper spraying has Some features: 1) quantity for spray is big,
More than generally annual production is overlapped several ten thousand, so many producers use the paint line that automaticity is higher, such 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 height, generally wants
Reach the requirement of car load vehicle body outward appearance.Mainly use plastic material due to bumper, coating is difficult to adhere on its surface,
Additionally the heat distortion temperature of working of plastics is low etc., general produce in the dryings temperature of coating selected be less than coating used by metalwork
Drying temperature, therefore coating plastic parts and coating metal parts are very different at the aspect such as technique and coating material, and bumper is coated with
Dress general discord car body coating Flexible production.
At present, spray robot major part the most widely used, representational is all serial manipulator, such as day
This Kawasaki spray robot, ABB IRB-54000-22 spray robot.Relative to serial manipulator, parallel robot has
Have symmetrical configuration, easily fabricated, easily realize that modularity, mechanism be simple, kinesiology controls the features such as simple and motility is good.
On the basis of parallel robot, in conjunction with the advantage that serial manipulator work space is big, it is readily adapted to accommodate when being applied to spraying
Difformity bumper, and then improve production efficiency.
Summary of the invention
It is an object of the invention to provide a kind of robot with five degrees of freedom device for automobile bumper coating so that it is both had also
The high speed of online structure, in high precision, high rigidity, easily fabricated advantage, have again the feature that serial mechanism work space is big,
It is more suitable for the spraying operation task of bumper, spraying can be carried out for the bumper of difformity and specification and make
Industry.
Technical scheme is as follows:
A kind of robot with five degrees of freedom device for automobile bumper coating, it is characterised in that: include ring-shaped guide rail and space
Two parts of four-freedom parallel mechanism, described space four-freedom parallel mechanism is arranged on ring-shaped guide rail；Described sky
Between four-freedom parallel mechanism include frame, equipped with the moving platform of nebulizer, and connect first between moving platform and frame
Branch, the second branch, the 3rd branch and the 4th branch；Described the first branch, the second branch, the 3rd branch and the 4th point
Be connected between frame and moving platform, and with frame and moving platform Special composition close loop mechanism；The first described branch
Including the first rod member and the second rod member, being connected by the first moving sets between the first rod member and the second rod member, the first branch is respectively
It is connected with frame and moving platform by the first revolute pair and the first cylindrical pair, the pivot center and first of the first described revolute pair
The pivot center of cylindrical pair is vertical；3rd branch is identical with the first branched structure, the 3rd branch respectively by the second revolute pair and
Second cylindrical pair is connected with frame and moving platform, and the first branch and the 3rd branch are in same perpendicular, and are arranged symmetrically with；
Second branch includes the 3rd rod member and the 4th rod member, is connected by the second moving sets, second between the 3rd rod member and the 4th rod member
Branch is secondary by the first ball respectively and the second ball pair is connected with frame and moving platform；4th branch is identical with the second branched structure,
4th branch is secondary by the 3rd ball respectively and the 4th ball pair is connected with frame and moving platform.
Described the first revolute pair center, the second revolute pair center, the first ball sub-center and the 3rd ball sub-center are evenly distributed on
On the circumference of frame, the pivot center of the first revolute pair and the pivot center of the second revolute pair are tangent with described circumference, and first
Ball is secondary and the 3rd ball parafacies is arranged symmetrically with the perpendicular residing for the 3rd branch for the first branch.
Connected by rack and pinion drive mechanism, guide rail slide block mechanism or tape handler between described ring-shaped guide rail and frame
Connect.
The present invention has the following advantages and the technique effect of salience: the one that the present invention proposes can realize bumper spray
The robot with five degrees of freedom device being coated with, it has the advantage of bigger work space of serial mechanism, has again parallel institution rigidity
Height, precision is high, the advantage that dynamic property is good.The mechanism structure of the present invention is symmetrical, it is easy to manufactures, easily realizes modularity；
Mechanism is simple, and kinesiology controls simple, and motility is good, is applied to during spraying be readily adapted to accommodate difformity bumper, Jin Erti
High efficiency.
Accompanying drawing explanation
The three-dimensional structure schematic diagram of the embodiment of the robot with five degrees of freedom device that Fig. 1 provides for the present invention.
Fig. 2 is the frame example structure schematic diagram of the present invention.
Fig. 3 is the 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-the first branch；3-the second branch；4-the 3rd branch；5-the 4th branch；6-is equipped with nebulizer
Moving platform；7-ring-shaped guide rail；8-bumper to be sprayed；21-the first revolute pair；22-the first rod member；23-the second rod member；
24-the first cylindrical pair；31-the first ball is secondary；32-the 3rd rod member；33-the 4th rod member；34-the second ball is secondary；41-second rotates
Secondary；44-the second cylindrical pair；51-the 3rd ball is secondary；54-the 4th ball is secondary.
Detailed description of the invention
Below in conjunction with the accompanying drawings and embodiment to the structural principle of the present invention and is embodied as being described below in detail:
The three-dimensional structure for the robot with five degrees of freedom device embodiment of automobile bumper coating that Fig. 1 provides for the present invention shows
Being intended to, described robot with five degrees of freedom device includes 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, by rack and pinion drive mechanism, guide rail slide block mechanism or band
Drive mechanism connects, it is achieved moving horizontally on a large scale of parallel institution.
Described space four-freedom parallel mechanism includes frame 1, moving platform the 6, first branch 2, second equipped with nebulizer
Branch the 3, the 3rd branch 4 and the 4th branch 5；The first described branch 4 of the 2, second branch the 3, the 3rd of branch and the 4th point
5 are connected between frame 1 and moving platform 6, and with frame 1 and moving platform 6 Special composition close loop mechanism.
As shown in Figure 4, it includes the first rod member 22 and the second rod member 23, the first rod member 22 and in the first described branch 2
Being connected by the first moving sets between two rod members 23, the first branch 2 is respectively by the first revolute pair 21 and the first cylindrical pair 24
It is connected with frame 1 and moving platform 6, the pivot center of the first described revolute pair 21 and the pivot center of the first cylindrical pair 24
Vertically；3rd branch 4 is identical with the first branch 2 structure, and the 3rd branch 4 is respectively by the second revolute pair 41 and the second circle
Post secondary 44 is connected with frame 1 and moving platform 6, and the first branch 2 and the 3rd branch 4 are in same perpendicular, and right
Claim to arrange.
The second described branch 3 is as it is shown in figure 5, it includes the 3rd rod member 32 and the 4th rod member 33, the 3rd rod member 32 and
Connected by the second moving sets between four rod members 33, the second branch 3 respectively by the first ball secondary 31 and the second ball secondary 34 with
Frame 1 and moving platform 6 connect；4th branch 5 is identical with the second branch 3 structure, and the 4th branch 5 is respectively by the 3rd ball
Pair 51 and the 4th ball secondary 54 are connected with frame 1 and moving platform 6.
Described frame 1 is as in figure 2 it is shown, in the first revolute pair 21 center, the second revolute pair 41 center, the first ball pair 31
The heart and the 3rd Qiu Fu 51 center are evenly distributed on the circumference of frame, the pivot center of the first revolute pair 21 and the second revolute pair
The pivot center of 41 is tangent with described circumference, and the first ball secondary 31 and the 3rd ball pair 51 are relative to the first branch 2 and the 3rd point
Prop up the perpendicular residing for 4 to be arranged symmetrically with.
Described moving platform 6 is as it is shown on figure 3, the second ball secondary 34 and the 4th ball pair 54 are relative to the first cylindrical pair 24 and second
Cylindrical pair 44 place plane symmetry is arranged.
Described space four-freedom parallel mechanism is by driving the first branch 4 of the 2, second branch the 3, the 3rd of branch and the 4th point
The moving sets of 5 or the one-movement-freedom-degree of the cylindrical pair of the first branch 2 and the 3rd branch 4 and the second branch 3 and the 4th point
Prop up the moving sets of 5, it is achieved two one-movement-freedom-degree and two rotational freedoms.
Claims (3)
1., for a robot with five degrees of freedom device for automobile bumper coating, this device includes ring-shaped guide rail (7) and sky
Between two parts of four-freedom parallel mechanism, described space four-freedom parallel mechanism is arranged on ring-shaped guide rail (7)；
Described space four-freedom parallel mechanism includes frame (1), equipped with the moving platform (6) of nebulizer, and connects moving platform
And the first branch (2), the second branch (3), the 3rd branch (4) and the 4th branch (5) between frame；Described
One branch (2), the second branch (3), the 3rd branch (4) and the 4th branch (5) are connected to frame (1) and move
Between platform (6), and with frame (1) and moving platform (6) Special composition close loop mechanism；Described the first branch (2)
Including the first rod member (22) and the second rod member (23), by first between the first rod member (22) and the second rod member (23)
Moving sets connects, and the first branch (2) is respectively by the first revolute pair (21) and the first cylindrical pair (24) and frame (1)
Connect with moving platform (6), the pivot center of described the first revolute pair (21) and the rotary shaft of the first cylindrical pair (24)
Line is vertical；3rd branch (4) is identical with the first branch (2) structure, and the 3rd branch (4) is respectively by the second revolute pair
(41) and the second cylindrical pair (44) is connected with frame (1) and moving platform (6), the first branch (2) and the 3rd branch
(4) it is in same perpendicular, and is arranged symmetrically with；Second branch (3) includes the 3rd rod member (32) and the 4th rod member
(33), being connected by the second moving sets between the 3rd rod member (32) and the 4th rod member (33), the second branch (3) is respectively
It is connected with frame (1) and moving platform (6) by the first ball secondary (31) and the second ball secondary (34)；4th branch (5)
Identical with the second branch (3) structure, the 4th branch (5) respectively by the 3rd ball secondary (51) and the 4th ball secondary (54) and
Frame (1) and moving platform (6) connect.
A kind of robot with five degrees of freedom device for automobile bumper coating, its feature exists
In, the first revolute pair (21) center, the second revolute pair (41) center, secondary (31) center of the first ball and the 3rd ball are secondary (51)
Center is evenly distributed on the circumference of frame, the pivot center of the first revolute pair (21) and the rotation of the second revolute pair (41)
Axis is tangent with described circumference, and the first ball secondary (31) and the 3rd ball secondary (51) are relative to the first branch (2) and the 3rd
Perpendicular residing for branch (4) is arranged symmetrically with.
A kind of robot with five degrees of freedom device for automobile bumper coating, its feature exists
In, by rack and pinion drive mechanism, guide rail slide block mechanism or tape handler between ring-shaped guide rail (7) and frame (1)
Connect.
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 CN104588244A (en) | 2015-05-06 |
| CN104588244B true CN104588244B (en) | 2016-09-28 |
Family
ID=53114496
Family Applications (1)
| 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 |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104588244B (en) |
Families Citing this family (6)
| 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 |
| 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 |
| CN211298608U (en) * | 2018-11-19 | 2020-08-21 | 瑞安市博业激光应用技术有限公司 | Plasma processing device for processing leather shoe material |
| CN110449299B (en) * | 2019-08-05 | 2021-07-27 | 苗珍录 | Spraying equipment with adjusting function for hardware processing |
| CN110624729A (en) * | 2019-08-31 | 2019-12-31 | 南京视莱尔汽车电子有限公司 | Body surface spraying device for automobile manufacturing and using method |
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 |
-
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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104588244A (en) | 2015-05-06 |
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