CN108942894B - Series nine-degree-of-freedom spraying robot - Google Patents

Series nine-degree-of-freedom spraying robot Download PDF

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Publication number
CN108942894B
CN108942894B CN201811029450.8A CN201811029450A CN108942894B CN 108942894 B CN108942894 B CN 108942894B CN 201811029450 A CN201811029450 A CN 201811029450A CN 108942894 B CN108942894 B CN 108942894B
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China
Prior art keywords
joint
rod
working
spraying
cavity
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CN201811029450.8A
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CN108942894A (en
Inventor
李艳文
齐有泉
谷林
钟铭
杨晓坤
孔繁栋
齐兆旭
邢珂
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Yanshan University
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Yanshan University
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B05SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05BSPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00Machines 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
    • B05B13/02Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04Means 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • B25J11/0075Manipulators for painting or coating
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/06Programme-controlled manipulators characterised by multi-articulated arms

Abstract

The invention relates to spraying equipment, in particular to a spraying robot with nine degrees of freedom connected in series. The method comprises the following steps: the working executing mechanism, the working positioning mechanism and the auxiliary supporting mechanism are connected in series; the invention adopts a mode of combining a 9R main body structure and an auxiliary supporting device in the aspect of structure, not only meets the operation flexibility, but also solves the problem of overlarge load of part of joints, adopts a special 9-shaft series connection design in the aspect of motion space so that the spraying machine can enter a semi-closed space to carry out spraying operation, and has larger flexible working space. In the aspect of drive control, joint control is easy, and control schemes in different modes can be realized; the working positioning mechanism and the auxiliary supporting mechanism are cooperatively controlled, and the working executing mechanism is independently controlled; and fixed area detection and track prediction are combined on the anti-collision design.

Description

Series nine-degree-of-freedom spraying robot
Technical Field
The invention relates to spraying equipment, in particular to a spraying robot with nine degrees of freedom connected in series.
Background
The spraying is an essential process in the manufacturing industry, and the main problem in the spraying is that paint mist formed in the spraying process and volatilized solvent can generate a large amount of harmful substances such as benzene, aldehydes and the like, so that serious environmental pollution is caused, and the health of operators is not facilitated. The requirement of replacing traditional manual spraying with automatic spraying is urgent, but most of the existing spraying equipment is limited by the characteristics of working space, development cost and the like, so that the research on the spraying robot technology has very important significance for meeting the increasingly complex member automatic spraying. At present, most of spraying robots are 6-axis or 7-axis series robots, which are widely applied to industries such as automobile manufacturing industry and furniture production, and the operation space of the spraying robots is open. At present, for the inner surface spraying operation of an annular workpiece, a 9-axis robot spraying system is formed by introducing a 3-axis turntable on the basis of a 6-axis industrial robot. Manual painting is still relied upon for painting most interior surfaces of spaces, particularly for painting of workpieces in a multi-chamber, multi-wall configuration that approximates an enclosed space.
Disclosure of Invention
In order to solve the technical problem, the invention provides a series-connection nine-degree-of-freedom spraying robot which combines a 9R main body structure and an auxiliary supporting device.
The invention aims to realize a series nine-degree-of-freedom spraying robot by the following technical scheme, which comprises: the working positioning mechanism is connected with the working execution mechanism in series.
The working positioning mechanism comprises a base platform, a first rotating joint, a first connecting rod, a first pitching joint, a second connecting rod and a third pitching joint, the base platform and the first connecting rod are connected through a revolute pair to form the first rotating joint, the first connecting rod and the second connecting rod are connected through a revolute pair to form the first pitching joint, and the second connecting rod and the first joint chain component are connected through a revolute pair to form the third pitching joint;
the working executing mechanism is formed by sequentially connecting a first joint chain component, a second joint chain component and a third joint chain component in series;
the first joint chain component comprises a third connecting rod, a second rotating joint, a fourth connecting rod and a fourth pitching joint, the third connecting rod and the fourth connecting rod are connected through a revolute pair to form a second rotating joint, and the fourth connecting rod and the second joint chain component are connected through a revolute pair to form a fourth pitching joint;
the second joint chain component is connected with the first joint chain component in the same type, and the third joint chain component is connected with the first joint chain component in the same type;
the auxiliary supporting mechanism is composed of a second pitching joint, a ninth connecting rod, a first movable joint, a tenth connecting rod, a second movable joint and a guide rail component, the ninth connecting rod and the second connecting rod are connected through a revolute pair to form the second pitching joint, the ninth connecting rod and the tenth connecting rod are connected through a movable pair to form the first movable joint, the tenth connecting rod and the guide rail component are connected through a movable pair to form the second movable joint, and the guide rail component is rigidly connected with the first connecting rod.
A spraying method of a serial nine-degree-of-freedom spraying robot is disclosed, wherein the spraying is carried out by the serial nine-degree-of-freedom spraying robot.
The method comprises the following steps:
(1) spraying the inner surface of a second cavity of the workpiece, conveying a work execution mechanism into the second cavity through a first cavity hole by a work positioning mechanism, and spraying the inner surface of the work execution mechanism;
(2) after the second cavity is sprayed, the working execution mechanism returns to the first cavity through the cooperation of the working positioning mechanism and the working execution mechanism, and the first cavity is sprayed;
(3) after the first cavity is sprayed, the integral mechanism withdraws from the first cavity, and the workpiece is rotated by 180 degrees to spray the third cavity.
The invention has the beneficial effects that:
the invention adopts a mode of combining a 9R (R represents a revolute pair) main body structure and an auxiliary supporting device in structural aspect, thereby not only meeting the operation flexibility, but also solving the problem of overlarge load of part of joints.
The special 9-shaft series connection design adopted in the aspect of motion space enables the spray gun to enter a semi-closed space for spraying operation, and the spray gun has a larger flexible working space.
In the aspect of drive control, the joint is easy to control, and control schemes in different modes can be realized; the working positioning mechanism and the auxiliary supporting mechanism are cooperatively controlled, and the working executing mechanism is independently controlled; and fixed area detection and track prediction are combined on the anti-collision design.
Drawings
FIG. 1 is a schematic view of the structure of the present invention.
FIG. 2 is a schematic view of a structure of a sprayed workpiece according to the present invention.
Fig. 3 is a schematic structural diagram of the mechanism and the assembly of the invention.
In the figure: 1. a base platform, 2, a first rotary joint, 3, a first link, 4, a first pitch joint, 5, a second link, 6, a second pitch joint, 7, a third pitch joint, 8, a third link, 9, a second rotary joint, 10, a fourth link, 11, a fourth pitch joint, 12, a fifth link, 13, a third rotary joint, 14, a sixth link, 15, a fifth pitch joint, 16, a seventh link, 17, a fourth rotary joint, 18, an eighth link, 19, a sixth pitch joint, 20, a ninth link, 21, a first mobile joint, 22, a tenth link, 23, a second mobile joint, 24, a guide member, 25, a first cavity, 26, a first cavity, 27, a second cavity, 28, a second cavity, 29, a third cavity, 30, a work positioning mechanism, 31, a first joint chain assembly, 32, a second joint chain assembly, 33, a work positioning mechanism, 31, a second joint chain assembly, and a third cavity, Third joint chain assembly, 34, auxiliary support mechanism.
Detailed Description
In order to more fully explain the practice of the invention, the following examples are provided which are merely illustrative of the invention and do not limit the scope of the invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The examples are as follows:
referring to figures 1 and 3: a series nine-degree-of-freedom spray coating robot comprising: a work positioning mechanism 30, a first articulated chain assembly 31, a second articulated chain assembly 32, a third articulated chain assembly 33, and an auxiliary support mechanism 34;
the working positioning mechanism 30 comprises a base platform 1, a first rotating joint 2, a first connecting rod 3, a first pitching joint 4, a second connecting rod 5 and a third pitching joint 7, the base platform 1 and the first connecting rod 3 are connected through a revolute pair to form the first rotating joint 2, the first connecting rod 3 and the second connecting rod 5 are connected through a revolute pair to form the first pitching joint 4, the second connecting rod 5 and the first joint chain component 31 are connected through a revolute pair to form the third pitching joint 7, and the working positioning mechanism 30, the first joint chain component 31, the second joint chain component 32 and the third joint chain component 33 are sequentially connected in series;
the working execution mechanism is formed by sequentially connecting a first joint chain component 31, a second joint chain component 32 and a third joint chain component 33 in series; the first joint chain assembly 31 comprises a third connecting rod 8, a second rotating joint 9, a fourth connecting rod 10 and a fourth pitching joint 11, the third connecting rod 8 and the fourth connecting rod 10 are connected through a revolute pair to form the second rotating joint 9, and the fourth connecting rod 10 and the second joint chain assembly 32 are connected through a revolute pair to form the fourth pitching joint 11; the second joint chain component 32 is connected with the first joint chain component 31 in the same type, and the third joint chain component 33 is connected with the first joint chain component 31 in the same type;
the auxiliary support mechanism 34 is composed of a second pitch joint 6, a ninth link 20, a first movable joint 21, a tenth link 22, a second movable joint 23, and a guide rail member 24, the ninth link 20 and the second link 5 are connected by a revolute pair to form the second pitch joint 6, the ninth link 20 and the tenth link 22 are connected by a movable pair to form the first movable joint 21, the tenth link 22 and the guide rail member 24 are connected by a movable pair to form the second movable joint 23, and the guide rail member 24 is rigidly connected to the first link 3.
The driving joints comprise a first rotating joint 2, a first pitching joint 4, a third pitching joint 7, a second rotating joint 9, a fourth pitching joint 11, a third rotating joint 13, a fifth pitching joint 15, a fourth rotating joint 17, a sixth pitching joint 19 and a first moving joint 21; the follower joint includes a second pitch joint 6 and a second prismatic joint 23.
The auxiliary support mechanism in the embodiment mainly reduces the load of the first pitch joint 4, and due to the particularity of the working space, the length of the second link 5 designed between the first pitch joint 4 and the third pitch joint 7 is large, so that the load at the first pitch joint 4 is too large, and the load moment of the first pitch joint 4 is reduced by driving the first movable joint 21 of the auxiliary support mechanism. The rail member 24 serves as a slide rail for the second movable joint 23, and the entire mechanism except the base platform 1 rotates with the first rotary joint 2.
A spraying method of a serial nine-degree-of-freedom spraying robot adopts the serial nine-degree-of-freedom spraying robot to carry out spraying.
The method described in this embodiment comprises the steps of:
(1) spraying the inner surface of the second cavity 27 of the workpiece, conveying a work execution mechanism into the second cavity 27 through the first cavity hole 26 by the work positioning mechanism 30, and spraying the inner surface of the work execution mechanism;
(2) after the second cavity 27 is sprayed, the working positioning mechanism 30 and the working executing mechanism are matched to return the working executing mechanism to the first cavity 25, and the first cavity 25 is sprayed;
(3) after the first cavity 25 is sprayed, the integral mechanism is withdrawn from the first cavity 25, and the workpiece is rotated by 180 degrees to spray the third cavity 29.
The foregoing embodiments are merely illustrative of the principles of the present invention and its efficacy, and are not to be construed as limiting the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.

Claims (1)

1. A spraying method of a spraying robot with nine degrees of freedom connected in series is characterized in that:
the serial nine-degree-of-freedom spraying robot comprises a working positioning mechanism (30), a working execution mechanism and an auxiliary supporting mechanism (34), wherein the working positioning mechanism (30) is connected with the working execution mechanism in series; the working execution mechanism is formed by sequentially connecting a first joint chain component (31), a second joint chain component (32) and a third joint chain component (33) in series; the second articulation chain component (32) is connected with the first articulation chain component (31) in the same type, and the third articulation chain component (33) is connected with the first articulation chain component (31) in the same type; the first joint chain assembly (31) comprises a third connecting rod (8), a second rotating joint (9), a fourth connecting rod (10) and a fourth pitching joint (11), the third connecting rod (8) is connected with the fourth connecting rod (10) through a revolute pair to form the second rotating joint (9), and the fourth connecting rod (10) is connected with the second joint chain assembly (32) through a revolute pair to form the fourth pitching joint (11); the working positioning mechanism (30) comprises a base platform (1), a first rotary joint (2), a first connecting rod (3), a first pitching joint (4), a second connecting rod (5) and a third pitching joint (7), the base platform (1) and the first connecting rod (3) are connected through a revolute pair to form the first rotary joint (2), the first connecting rod (3) and the second connecting rod (5) are connected through a revolute pair to form the first pitching joint (4), and the second connecting rod (5) and a first joint chain component (31) are connected through a revolute pair to form the third pitching joint (7); the auxiliary supporting mechanism (34) is composed of a second pitching joint (6), a ninth connecting rod (20), a first movable joint (21), a tenth connecting rod (22), a second movable joint (23) and a guide rail component (24), the ninth connecting rod (20) and the second connecting rod (5) are connected through a revolute pair to form the second pitching joint (6), the ninth connecting rod (20) and the tenth connecting rod (22) are connected through a movable pair to form the first movable joint (21), the tenth connecting rod (22) and the guide rail component (24) are connected through a movable pair to form the second movable joint (23), and the guide rail component (24) is rigidly connected with the first connecting rod (3);
the serial nine-degree-of-freedom spraying robot is used for spraying operation on a semi-closed space and comprises the following steps:
(1) spraying the inner surface of a second cavity (27) of the workpiece, conveying a working execution mechanism into the second cavity (27) through a first cavity hole (26) by a working positioning mechanism (30), and spraying the inner surface of the working execution mechanism; (2) after the second cavity (27) is sprayed, the working execution mechanism returns to the first cavity (25) through the cooperation of the working positioning mechanism (30) and the working execution mechanism, and the first cavity (25) is sprayed; (3) after the first cavity (25) is sprayed, the integral mechanism withdraws from the first cavity (25), and the workpiece is rotated by 180 degrees to spray the third cavity (29).
CN201811029450.8A 2018-09-05 2018-09-05 Series nine-degree-of-freedom spraying robot Active CN108942894B (en)

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Application Number Priority Date Filing Date Title
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CN108942894B true CN108942894B (en) 2020-12-22

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CN108326839A (en) * 2018-05-08 2018-07-27 中车青岛四方车辆研究所有限公司 Seven-degree of freedom robot

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Publication number Priority date Publication date Assignee Title
PL2268415T3 (en) * 2008-03-20 2015-10-30 Duerr Systems Gmbh Painting robot and associated operating method
JP5522034B2 (en) * 2008-04-07 2014-06-18 株式会社安川電機 Robot system
WO2011003451A1 (en) * 2009-07-09 2011-01-13 Abb Research Ltd A robot arm system and a robot arm
CN102101290B (en) * 2009-12-18 2012-09-26 中国科学院沈阳自动化研究所 Modular reconfigurable robot
JP6468804B2 (en) * 2014-10-30 2019-02-13 ライフロボティクス株式会社 Robot arm mechanism
CN206690093U (en) * 2017-04-06 2017-12-01 刘海强 Horizontal articulated industrial robot

Patent Citations (2)

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Publication number Priority date Publication date Assignee Title
CN105500355A (en) * 2015-12-29 2016-04-20 苏州卓德电子有限公司 Mechanical arm with auxiliary support frame
CN108326839A (en) * 2018-05-08 2018-07-27 中车青岛四方车辆研究所有限公司 Seven-degree of freedom robot

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