CN105618309B - A kind of nine axle systems of combustion engine burner spraying - Google Patents
A kind of nine axle systems of combustion engine burner spraying Download PDFInfo
- Publication number
- CN105618309B CN105618309B CN201610189067.3A CN201610189067A CN105618309B CN 105618309 B CN105618309 B CN 105618309B CN 201610189067 A CN201610189067 A CN 201610189067A CN 105618309 B CN105618309 B CN 105618309B
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- Prior art keywords
- axis
- combustion engine
- joint
- axle
- cylinder mechanism
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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
- B05B13/06—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 specially designed for treating the inside of hollow bodies
- B05B13/0645—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 specially designed for treating the inside of hollow bodies the hollow bodies being rotated during treatment operation
-
- 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
- B05B13/0447—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles
- B05B13/0457—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles specially designed for applying liquid or other fluent material to 3D-surfaces of the articles, e.g. by using several moving spray heads
-
- 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
- B05B13/06—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 specially designed for treating the inside of hollow bodies
- B05B13/0645—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 specially designed for treating the inside of hollow bodies the hollow bodies being rotated during treatment operation
- B05B13/0672—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 specially designed for treating the inside of hollow bodies the hollow bodies being rotated during treatment operation and the inclination or the distance of a treating nozzle being modified relative to the rotation axis, e.g. for treating irregular internal surfaces
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- Manipulator (AREA)
Abstract
The invention discloses a kind of combustion engine burners to spray nine axle systems, including three-axle table, six-joint robot and control cabinet；Wherein: the three-axle table includes pedestal and the first axis joint at the setting in the base heart, bracket is set at the first axis joint end interface, at cradle top both ends, the second axis joint is set, cylinder mechanism is connected in the motor end of the second axis joint, third axis joint is set at cylinder mechanism both ends, tooling fixed mechanism is evenly equipped on cylinder mechanism inside diameter surface.Compared with prior art, the positive effect of the present invention is: the present invention is to be able to satisfy the nine axis linkage robot system of combustion engine combustor interior coating preparation, not only it is able to achieve 6 axis robots clamping spray gun and three-axle table clamping workpiece cooperative motion, to realize the coating preparation of complex part (such as combustion engine burner), also it is able to achieve a variety of displacement modes of workpiece (such as burner) to combustion engine burner fast and easy clamping, after realizing clamping.
Description
Technical field
The present invention relates to a kind of combustion engine burners to spray nine axle systems.
Background technique
Gas turbine burner is the device of fuel or propellant in wherein burning generation high-temperature fuel gas, and burner will be born
The severe operating condition such as high temperature, high load capacity, vibrations load and heat erosion, thermal barrier coating (TBC) can not only reduce metallic matrix
Operating temperature can also prevent high-temperature oxydation, the heat erosion of high temperature components, improve the efficiency of gas turbine, reduction fuel oil disappears
Consumption extends high-temperature component service life.Thus TBC is widely used to the high-temperature components such as gas turbine burner.Burner is
Meet to stablize to burn and can be designed to abnormity with functions, general burners such as high-temperature fuel gas acceleration.Burner operation face is interior simultaneously
Surface needs to be sprayed using inner hole spray gun.
Since plasma has the characteristics that high-energy density, heat are concentrated, spraying process needs strict control spray distance, spray
Apply angle (flame stream axis and the angle being sprayed-on between workpiece surface) and spraying rate.Currently, to guarantee coating plasma spraying
Substantially it uses mechanical hand to hold spray gun when production and completes spraying operation.Conventional commercial robot is generally six-joint robot or six axis
Robot+1-2 axis turntable, but since the limitation of the freedom degree of conventional commercial robot (especially outer shaft freedom degree) is unable to satisfy
The preparation of combustion engine burner coating requires.Therefore, it is very necessary to design a kind of combustion engine burner automatic spraying system, and meaning weight
Greatly.
Summary of the invention
The shortcomings that in order to overcome the prior art, the present invention provides a kind of combustion engine burners to spray nine axle systems.
The technical scheme adopted by the invention is that: a kind of nine axle systems of combustion engine burner spraying, including three-axle table, six
Axis robot and control cabinet；Wherein: the three-axle table includes pedestal and setting the first axis joint at the heart in the base, the
Bracket is set at uniaxial joints end interface, the second axis joint is set at cradle top both ends, at the motor end of the second axis joint
End is connected with cylinder mechanism, and third axis joint is arranged at cylinder mechanism both ends, is evenly equipped with tooling on cylinder mechanism inside diameter surface
Fixed mechanism.
Further, the motor shaft of first axis joint is overlapped with base axis.
Further, the cradle bottom surface is parallel with base end face.
Further, two electric machine rotational axis lines of second axis joint are conllinear and are in same level.
Further, the electric machine rotational axis line with cylinder mechanism of second axis joint are radially overlapped, and pass through roller machine
Structure center of gravity.
Further, two electric machine rotational axis lines of the third axis joint are overlapped, and the motor with the second axis joint
Rotation axis coincident.
Further, 90 ° of tooling fixed mechanism interval, and length direction is parallel to cylinder mechanism axial direction.
Further, the control cabinet includes drive and control of electric machine unit, communication module and industrial personal computer；Wherein: motor control
Driving unit one end processed connects three-axle table, and one end connects industrial personal computer；Communication module one end connects industrial personal computer, and one end connects six axis
Robot.
Compared with prior art, the positive effect of the present invention is: the present invention is to be able to satisfy combustion engine combustor interior coating
The nine axis linkage robot system of preparation is not only able to achieve 6 axis robots clamping spray gun and cooperates with three-axle table clamping workpiece
Movement, to realize the coating preparation of complex part (such as combustion engine burner), moreover it is possible to realize and be filled to combustion engine burner fast and easy
Folder, a variety of displacement modes of workpiece (such as burner) after realizing clamping.
Detailed description of the invention
Examples of the present invention will be described by way of reference to the accompanying drawings, in which:
Fig. 1 is the structural schematic diagram of three-axle table of the invention；
1- pedestal, the first axis joint of 2-, 3 brackets, the second axis joint of 4-, 5- cylinder mechanism, 6- third axis joint, 7- tooling
Fixed mechanism.
Specific embodiment
A kind of nine axle systems of combustion engine burner spraying, including three-axle table, six shaft machine hand and control cabinet.
Wherein three-axle table has three degree of freedom (i.e. three kinds of rotation modes), and freedom degree 1 (rotation mode one) is by first
Axis is realized, workpiece can be made to rotate in the horizontal direction around vertical axis.Freedom degree 2 (rotation mode two) is realized by the second axis, is
Workpiece can be made to wave around horizontal axis along vertical plane.Freedom degree 3 (rotation mode three) realized by third axis, can make workpiece around
The rotation of center axis.
It is clamping workpiece space that wherein third axis (most inner shaft), which reserves cylinder, there is the dress for fixing workpiece to be sprayed in cylinder
It sets.
Wherein 3 freedom degrees of three-axle table are realized by asynchronous machine and retarder.
Wherein robot selects commercial industrial six-joint robot (such as ABB.IRB2400).
Wherein control cabinet includes three-axle table drive and control of electric machine unit and six-joint robot communication module and industrial personal computer.
Wherein motor control driving unit one end connects three-axle table, for driving the motor of three degree of freedom and realizing with motor logical
News, one end connection industrial personal computer is for monitoring three-axle table state and sending motion command.Wherein with six-joint robot communication module
Industrial personal computer is connected for one end, one end connects six-joint robot, for realizing six-joint robot and industrial computer communication.Industrial personal computer is
Multi-shaft interlocked system main-control mechanism for realizing nine axis linkage controls, and analyzes each axis feedback signal, is optimized.
The system software includes that three-axle table control software, industrial personal computer and six-joint robot communication configuration and the linkage of nine axis are controlled
Processing procedure sequence.
Wherein three axis software models are typically directly used to control equipment, obtain equipment real time status information.Three axis controls
Software processed contain program preprocessing module, implement communication module, I/O module, turntable parameter setting module, interpolation operation module,
Servo-driven module and fault processing module.It is mainly used for controlling Action of Three-axis Motion Turntable and realizing with industrial personal computer communicating.
Wherein industrial personal computer and six-joint robot communication configuration are mainly used for realizing that the high speed of industrial personal computer and six-joint robot is logical
Letter.
Nine axis control software and pass through respective bus modulus of conversion by the way that Robotic Manipulator Motion Trajectory and workpiece posture are adjusted track
Then block is sent to nine axis of industrial personal computer control software through real-time industrial ethernet, nine axis control software is inverse to solve three-axle table
The actual position and speed of each axis is simultaneously sent to that each axis controller is practical to be executed, to realize turntable and six shaft mechanicals outside three axis
Nine axis of hand link.
The structure of three-axle table is as shown in Figure 1, comprising: pedestal 1, the first axis joint 2, bracket 3, the second axis joint 4, roller
The components such as mechanism 5, third axis joint 6, tooling fixed mechanism 7, in which:
At first axis joint, 2 pedestal for placed, 1 center, which meets the vertical axis at 1 center of pedestal and rotates horizontally, i.e.,
Motor shaft is overlapped with 1 axis of pedestal；3 bottom center of bracket is placed at 2 end interface of the first axis joint, and 3 bottom of bracket
Face is parallel with base end face, that is, locates in the horizontal plane；Second axis joint 4 is placed on cradle top both ends, and second axis at both ends
Two electric machine rotational axis lines in joint 4 are conllinear, and locate in the horizontal plane；Two symmetrical motors of cylinder mechanism 5 and the second axis joint 4
The electric machine rotational axis line of end connection, the second axis joint 4 is overlapped with 5 radial direction of cylinder mechanism, and passes through cylinder mechanism center of gravity；Third
Axis joint 6 is placed on 5 both ends of cylinder mechanism, and the symmetrical two electric machine rotational axis lines of third axis joint 6 are overlapped, and with the
The electric machine rotational axis line of two axis joints 4 is overlapped；Tooling fixed mechanism 7 uniformly distributed (90 ° of interval) on 5 inside diameter surface of cylinder mechanism,
It is axial that 7 length direction of tooling fixed mechanism is parallel to cylinder mechanism 5.
Three axis joints contain motor and reducer arrangement, wherein the second axis joint 4 and third axis joint 6 are wrapped respectively
Containing a pair of of motor, each pair of motor except rotation mode on the contrary in addition to, other all parameters are all the same；Each pair of motor be divided into spindle motor and
From spindle motor, the motion state of spindle motor and mode is tightly followed to be moved from spindle motor, and no from spindle motor itself
It can be carried out any state to change, to reach the lower synchronous operation pair motor of same uniaxial joints.
Wherein the first axis joint 2 realizes rotation mode one, is driven using a motor and mating retarder, in design
Consider that centrosymmetric structure, centroid motion are small.Second axis joint 4 realizes rotation mode two, is symmetrically driven using bi-motor+retarder
Dynamic structure, and the connection roller part that the second axis joint 4 is driven is symmetrical along 4 axis centre of the second axis joint.Three-axle table closes
Section displacement parameter such as table 1 in detail.Third axis joint 6 realizes rotation mode three, using Dual-motors Driving, it can be achieved that gamut is free
Rotation.To avoid freedom degree 3 to the coupling influence of freedom degree 1, selected freedom degree 1 is main shaft and freedom degree 3 is most inner shaft.Three
Axis roller uses complete hollow structure, and drums inside hollow space diameter is Φ 550mm, length 500mm, and maximum bears weight
Up to 100kg.
Three table 1, three-axle table axis conjugate parameter in detail
Driving unit is the key that guarantee that the stable operation of turntable energy is set as the most direct link for executing control layer order
It is standby.To guarantee that 3 axis turntables have preferable stability, higher dynamic property, every axis is all made of electric current/speed/positional three and closes
Ring control program.
Industrial personal computer is equipped with three-axle table control software TwinCAT3, PROFINET high speed communication control module and the linkage of nine axis
Control software.The motion information of each axis is sent in axis controller when nine axis linkage control softwares receive IRC5 master controller
The actual motion of each axis is controlled, while Robotic Manipulator Motion Trajectory and workpiece posture adjustment track being sent to by Profinet
EtherCAT/Profinet bus conversion module, then EtherCAT real-time industrial ethernet is sent to 3 axis turning table control softwares
TwinCAT3；After TwinCAT3 receives Robotic Manipulator Motion Trajectory and workpiece posture adjustment track, according to the model of turntable, workpiece
With the relative position of manipulator and practical demand for control are inverse solves the actual position and speed of 3 each axis of axis turntable and be sent to each
Axis controller is practical to be executed, to realize that 9 axis of 3 axis turntables and manipulator link.
Claims (7)
1. a kind of combustion engine burner sprays nine axle systems, it is characterised in that: including three-axle table, six-joint robot and control
Cabinet；Wherein: the three-axle table includes pedestal and the first axis joint at the setting in the base heart, is connect in the first axis joint end
Bracket is set at mouthful, the second axis joint is set at cradle top both ends, is connected with roller machine in the motor end of the second axis joint
Third axis joint is arranged at cylinder mechanism both ends in structure, and 90 ° are spaced on cylinder mechanism inside diameter surface and is evenly equipped with the fixed machine of tooling
Structure, it is axial that the tooling fixed mechanism length direction is parallel to the cylinder mechanism.
2. a kind of combustion engine burner according to claim 1 sprays nine axle systems, it is characterised in that: the first axle is closed
The motor shaft of section is overlapped with base axis.
3. a kind of combustion engine burner according to claim 1 sprays nine axle systems, it is characterised in that: the cradle bottom surface
It is parallel with base end face.
4. a kind of combustion engine burner according to claim 1 sprays nine axle systems, it is characterised in that: second axis closes
Two electric machine rotational axis lines of section are conllinear and are in same level.
5. a kind of combustion engine burner according to claim 1 sprays nine axle systems, it is characterised in that: second axis closes
The electric machine rotational axis line of section is radially overlapped with cylinder mechanism, and passes through cylinder mechanism center of gravity.
6. a kind of combustion engine burner according to claim 1 sprays nine axle systems, it is characterised in that: the third axis closes
Two electric machine rotational axis lines of section are overlapped, and are overlapped with the electric machine rotational axis line of the second axis joint.
7. a kind of combustion engine burner according to claim 1 sprays nine axle systems, it is characterised in that: the control cabinet packet
Include drive and control of electric machine unit, communication module and industrial personal computer；Wherein: motor control driving unit one end connection three-axle table, one
End connection industrial personal computer；Communication module one end connects industrial personal computer, and one end connects six-joint robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610189067.3A CN105618309B (en) | 2016-03-29 | 2016-03-29 | A kind of nine axle systems of combustion engine burner spraying |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610189067.3A CN105618309B (en) | 2016-03-29 | 2016-03-29 | A kind of nine axle systems of combustion engine burner spraying |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105618309A CN105618309A (en) | 2016-06-01 |
| CN105618309B true CN105618309B (en) | 2019-10-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610189067.3A Active CN105618309B (en) | 2016-03-29 | 2016-03-29 | A kind of nine axle systems of combustion engine burner spraying |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106269406B (en) * | 2016-09-28 | 2022-07-26 | 上汽通用五菱汽车股份有限公司 | Automatic gluing equipment and system capable of realizing curved path |
| CN108607745B (en) * | 2016-12-27 | 2021-06-18 | 北京联合涂层技术有限公司 | Thermal spraying equipment for spraying inner wall of workpiece |
| CN110180712B (en) * | 2019-06-14 | 2024-04-05 | 广东省新材料研究所 | Displacement device for HVOF spraying and application thereof |
| CN112710259A (en) * | 2020-12-09 | 2021-04-27 | 沈爱军 | Device for detecting residual deformation rate of carbon fiber wound composite gas cylinder |
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| US7979160B2 (en) * | 2007-07-31 | 2011-07-12 | Spirit Aerosystems, Inc. | System and method for robotic accuracy improvement |
| CN201989152U (en) * | 2011-03-30 | 2011-09-28 | 德州学院 | Multi-degree-of-freedom simulation robot joint |
| CN103433918A (en) * | 2013-09-09 | 2013-12-11 | 清华大学 | Series-parallel industrial robot with five degrees of freedom |
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| CN105618309A (en) | 2016-06-01 |
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