CN109262599A - A kind of integrated form single armed multiaxis touch-up paint robot - Google Patents

A kind of integrated form single armed multiaxis touch-up paint robot Download PDF

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Publication number
CN109262599A
CN109262599A CN201811358978.XA CN201811358978A CN109262599A CN 109262599 A CN109262599 A CN 109262599A CN 201811358978 A CN201811358978 A CN 201811358978A CN 109262599 A CN109262599 A CN 109262599A
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CN
China
Prior art keywords
shaft
moving parts
motion
axis
long
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Pending
Application number
CN201811358978.XA
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Chinese (zh)
Inventor
刘春�
吴珩
吴一珩
周燕
何永超
李鑫
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Hubei University of Technology
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Hubei University of Technology
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Publication date
Application filed by Hubei University of Technology filed Critical Hubei University of Technology
Priority to CN201811358978.XA priority Critical patent/CN109262599A/en
Publication of CN109262599A publication Critical patent/CN109262599A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/02Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • 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
    • B05B13/0431Means 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
    • 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

Abstract

The invention discloses a kind of integrated form single armed multiaxis touch-up paint robots, by installing braced frame inside standardization combined padding and drying system, X-axis truss, Y-axis truss, Z axis truss, suspension type Multi-shaft mechanical arm, nozzle watering can, laser ranging module, and touch-up paint robot control software's system, the each surface of each car model can be covered and adapted to using only separate unit mechanical arm, can reduce equipment investment, save human resources, reduce labor intensity, working efficiency is improved, stablizes touch-up paint quality, and easily operated work manipulation is operated using tablet computer.

Description

A kind of integrated form single armed multiaxis touch-up paint robot
Technical field
The invention belongs to robotic technology fields, are related to a kind of touch-up paint robot, and in particular to one kind is used for automobile after sale Dedicated integrated form single armed multiaxis touch-up paint robot in touch-up paint room in service market.
Background technique
Since automobile model is numerous, surface curve is complicated and area is larger, the paint spraying machine currently used for car manufacturer Device people, which generally requires to be made of 2 to 66 axis joint type mechanical arms, could cover each car model, according to the rail of preprogramming Mark and spray painting parameter complete the spray painting of car body, and have been sold out the automobile in use and wipe the touch-up paint after touching mainly by being accomplished manually.This The reason of kind difference is that machine man-hour sprays efficient stable to single variety, and input cost is high, although and artificial Horizontal irregular but cost is relatively cheap, and flexible operation, adaptable.But as the reinforcing of Environmental Protection in China policy is held Capable and workforce population gradually decreases, and is ready that the skilled worker for being engaged in touch-up paint work is fewer and fewer, gradually undertakes vapour using robot Touch-up paint work in vehicle aftermarket will be inexorable trend.
The more existing scheme designed for touch-up paint robot mainly uses existing 6 axis joint mechanical arm of finished product, Mechanical arm tail end loads automatic nozzle, the equipment such as collocation spray painting electromagnetic valve of flow control, air compressor machine, in the auxiliary of control computer Lower movement and completion spray painting task.Since the volume of automobile is larger, and general mechanical arm arm exhibition space can only cover About 2 cubic metres of spaces are covered, so generally also need to install additional the pedestal of energy linear running to mechanical arm, it can be along automobile side along sliding It is dynamic, and each space of planes that each car model can just be completely covered is run parallel using two mechanical arms in left and right.
Above scheme due to the expensive machines arm using two or more, the material cost of complete equipment be bound to it is double, and Since the volume of 6 shaft mechanical arm of finished industrial product is larger, inside existing national standard combined padding and drying system, Spatial General 6 R long 6000mm is wide 3900m, high 2650mm, operating temperature are 0 DEG C~60 DEG C, can not install and accommodate two industrial machinery arms, need to create bigger face Product combined padding and drying system widens original standardization combined padding and drying system, further improves the cost of installation and use of equipment.
Summary of the invention
In order to overcome the above-mentioned deficiencies of the prior art, the present invention provides a kind of integrated form single armed multiaxis touch-up paint robots.
The technical scheme adopted by the invention is that: a kind of integrated form single armed multiaxis touch-up paint robot, it is characterised in that: including Support frame assembly, X-direction moving parts, Y direction moving parts, Z-direction moving parts, multiaxis rotary motion are mechanical Arm, nozzle component, laser ranging module, control system;
The laser ranging module is arranged on the nozzle component, and the nozzle component setting is rotated in the multiaxis transports Dynamic mechanical arm tail end, the multiaxis rotary motion mechanical arm can move along the y axis and the Y direction moving parts are arranged in On bottom surface, the Y direction moving parts can move in the X-axis direction and be arranged on the X-direction moving parts, the X Axis direction moving parts can move along Z-direction and be arranged on the Z-direction moving parts, the Z-direction exercise group Part is fixed at the support frame assembly upper end;The support frame assembly is fixed at empty inside standardization combined padding and drying system Between on inner wall;
The control system by conducting wire respectively with the X-direction moving parts, Y direction moving parts, Z-direction Moving parts, multiaxis rotary motion mechanical arm, nozzle component, laser ranging module connection, for controlling the X-direction movement Component, Y direction moving parts, Z-direction moving parts, multiaxis rotary motion mechanical arm, nozzle component, laser ranging module Work.
Compared with prior art, the beneficial effects of the present invention are:
1) integrated structure is used, can be directly transformed in existing national standardization combined padding and drying system, not increase occupied area, Do not need change combined padding and drying system structure, be greatly lowered equipment purchase and use cost;
2) integrated structure uses lattice construction, can realize that large span is a wide range of on tri- directions XYZ by motor drag Movement, thus the length and width high parameter of compatible all kinds of automobiles;
3) single multiaxial joint type mechanical arm, connecting rod and watering can are integrated using suspension method at truss center, with truss one The exactitude position realized to each surface of automobile is acted, to complete at least to need two machinery in existing scheme with a mechanical arm The space that arm can just cover;
4) data structure of layer-stepping coordinate is used, the coordinates of motion of the coordinates of motion and mechanical arm to XYZ axis are marked respectively It is fixed, so that control system can be adapted to a variety of different motor control schemes and body of a motor car coordinate scaling scheme;And point Layer data is stored in server and Intelligent terminal data library, can remotely be updated, classify extraction and parsing distribution.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the embodiment of the present invention;
Fig. 2 is the schematic diagram of the Y direction moving parts of the embodiment of the present invention;
Fig. 3 is the skateboard schematic diagram up and down of the Y direction moving parts of the embodiment of the present invention;
Fig. 4 is the spray painting task data structure composition schematic diagram of the embodiment of the present invention;
In Fig. 1,101 be combined padding and drying system inner surface contour line intersection point schematic lines, 102 be long side pedestal, 103 be broadside pedestal, 104 It is long side crossbeam for support post, 105,106 be broadside crossbeam;107 connecting plate between column and crossbeam, 108 be pedestal Connecting plate between column, they collectively form support frame assembly;
In Fig. 1,201 be Z-direction motion motor, and 202 be the fixed bending plate of motor, and 203 be broadside crossbeam shaft, 204 be synchronous belt, and 205 and 206 be two stud shafts, and 207a and 207b are long side beam guideway fixing sleeve, 208a and 208b It is supporting plate for two studs, 209,210 be pallet guide fixing sleeve, and 211 be stud sleeve, and 212 fix for long side pedestal stud Set, 213 be long side base rail fixing sleeve;
In Fig. 1,301 be X-direction moving parts long side bracket (document having is also referred to as " X-axis truss long side bracket "), 302 be X-direction moving parts short side bracket (document having is also referred to as " the long short side bracket of X-axis truss "), and 303 be X-direction Motion motor, 304 be fixed bending plate, and 305 be roller bearing, and 306 be X-axis motor coaxle shaft, and 307 be the coaxial shaft of roller bearing, 308 It is X-axis synchronous belt for roller bearing both ends shaft, 309,310 be roller bearing synchronous belt, and 311 be connection sheet;
In Fig. 2,301 be X-direction moving parts long side bracket, and 3011 be X-direction moving parts long side cantilever tip The protruding guide rail in face, 401a and 401b are two Y-axis truss, and 402a is upper suspending plage, and 402b is lower hanging deck, and 403 transport for Y direction Dynamic motor, 404a are the coaxial shaft of Y direction motion motor, and 404b is other end Y-axis shaft, and 405a and 405b are respectively two The bending fixed plate of shaft, the connecting plate of 406a and 406b between 401a and 401b, 407 be Y-axis synchronous belt, and 408 be synchronization Band fixed plate;
In Fig. 2,501 be the first rotary shaft of mechanical arm, and 502 be 1,2 axis connection bars, and 503 be the second rotary shaft, and 504 are 2,3 axis connection bar, 505 be third rotary shaft, and 506 be 3,4 axis connection bars, and 507 be the 4th rotary shaft, and 508 be nozzle connecting rod, 509 be nozzle, and 510 be watering can, and 511 be laser ranging module;
In Fig. 3,401a and 401b are two Y-axis truss, and 402a and 402b are upper and lower hanging deck, and 3011 be X-axis truss long side The protruding guide rail of top of support end face, 4021 be the guide rail clip under upper suspending plage, and 4012 be sliding rail, and 501 be the first of mechanical arm Rotary shaft.
Specific embodiment
Understand for the ease of those of ordinary skill in the art and implement the present invention, with reference to the accompanying drawings and embodiments to this hair It is bright to be described in further detail, it should be understood that implementation example described herein is merely to illustrate and explain the present invention, not For limiting the present invention.
A kind of integrated form single armed multiaxis touch-up paint robot provided by the invention, including the movement of support frame assembly, X-direction Component, Y direction moving parts, Z-direction moving parts, multiaxis rotary motion mechanical arm, nozzle component, laser ranging mould Block, control system;
Laser ranging module is arranged on nozzle component, and nozzle component setting is more in multiaxis rotary motion mechanical arm tail end Axis rotary motion mechanical arm can be arranged on Y direction moving parts bottom surface with moving along the y axis, Y direction moving parts It can be arranged in moving in the X-axis direction on X-direction moving parts, X-direction moving parts can be arranged with moving along Z-direction On Z-direction moving parts, Z-direction moving parts are fixed at support frame assembly upper end;Support frame assembly is solid Fixed setting is on standardization combined padding and drying system inner space inner wall;
Control system by conducting wire respectively with X-direction moving parts, Y direction moving parts, Z-direction exercise group Part, multiaxis rotary motion mechanical arm, nozzle component, laser ranging module connection, for controlling X-direction moving parts, Y-axis side To moving parts, Z-direction moving parts, multiaxis rotary motion mechanical arm, nozzle component, laser ranging module work.
Referring to Fig.1, the support frame assembly of the present embodiment includes a pair of of long side pedestal 102, a pair of of broadside pedestal 103, four Root post 104, a pair of of long side crossbeam 105, a pair of of broadside crossbeam 106;A pair of of long side pedestal 102, a pair of of broadside pedestal 103, four Root post 104, a pair of of long side crossbeam 105, a pair of of broadside crossbeam 106 collectively constitute cube structure;Between column and crossbeam It is provided with connecting plate 107, connecting plate 108 is provided between pedestal and column;These pedestals, column, crossbeam can use aluminium alloy Hardwares are waited to make.
Referring to Fig.1, the Z-direction moving parts of the present embodiment include for Z-direction motion motor 201, the fixed use of motor Bending plate 202, broadside crossbeam shaft 203, synchronous belt 204, stud shaft 205,206, long side beam guideway fixing sleeve 207a, 207b, stud 208a, 208b, supporting plate 209, pallet guide fixing sleeve 210, stud sleeve 211, long side pedestal stud fixing sleeve 212, long side base rail fixing sleeve 213;
Z-direction motion motor 201 is fixedly mounted on the one wide of support frame assembly with bending plate 202 by the way that motor is fixed On side crossbeam 106, shaft is fixedly connected with broadside crossbeam shaft 203;
Stud 208a, 208b are respectively and fixedly installed to the one of support frame assembly by long side pedestal stud fixing sleeve 212 To the middle position of long side pedestal 102, on stud 208a, 208b by stud sleeve 211 be respectively equipped with one can along stud 208a, The supporting plate 209 that 208b is moved up and down;Stud shaft 205,206 is fixedly installed at the top of stud 208a, 208b;Stud shaft 205, 206, broadside crossbeam shaft 203 is connected by synchronous belt 204, is rotated under the drive of Z-direction motion motor 201;
Long side beam guideway fixing sleeve 207a, 207b are fixed on a pair of of long side crossbeam 105 of support frame assembly, Long side base rail fixing sleeve 213 is fixed on a pair of of long side pedestal 102 of support frame assembly, and long side beam guideway is solid Surely it covers between 207a, 207b and long side base rail fixing sleeve 213 and is provided with guide rail;Supporting plate 209 passes through pallet guide fixing sleeve 210 are set on guide rail;
X-direction moving parts are fixedly installed on supporting plate 209;
Control system is connect by conducting wire with Z-direction motion motor 201, for controlling 201 work of Z-direction motion motor Make.
Referring to Fig.1, the X-direction moving parts of the present embodiment include X-direction moving parts long side bracket 301, X-axis side Electricity is moved to moving parts short side bracket 302, X-direction motion motor 303, fixed bending plate 304, roller bearing 305, X-direction The coaxial shaft 306 of machine, the coaxial shaft 307 of roller bearing, roller bearing both ends shaft 308a, cooperation shaft 308b, X-direction move synchronous belt 309, roller bearing synchronous belt 310, connection sheet 311, protruding guide rail 3011;
X-direction moving parts long side bracket 301, X-direction moving parts short side bracket 302 are two groups, together group Rectangular frame structure;X-direction motion motor 303 passes through fixed bending plate 304 and is fixedly mounted on a short side bracket 302;
The shaft of X-direction motion motor 303 is fixedly connected with the coaxial shaft 306 of X-direction motion motor, X-direction fortune Dynamic motor coaxle shaft 306 is connect by roller bearing synchronous belt 310 with the coaxial shaft 307 of roller bearing, coaxial 307 fixing sleeve of shaft of roller bearing It is located on roller bearing 305,305 both ends of roller bearing are provided with roller bearing both ends shaft 308a;
It is provided with the cooperation shaft 308b being fixedly connected by shaft on another 302 both ends of short side bracket, cooperates shaft 308b moves synchronous belt 309 by X-direction with roller bearing both ends shaft 308a and connect;
It is fixedly installed protruding guide rail 3011 in connection sheet 311, is provided with connection sheet on X-direction movement synchronous belt 309 311 and protruding guide rail 3011, for fixing Y direction moving parts;
Control system is connect by conducting wire with X-direction motion motor 303, for controlling 303 work of X-direction motion motor Make.
See Fig. 2 and Fig. 3, the Y direction moving parts of the present embodiment include two Y-axis truss 401a, 401b, upper suspending plages 402a, lower hanging deck 402b, Y direction motion motor 403, Y direction move coaxial shaft 404a, Y-axis cooperates shaft 404b, two Bending fixed plate 405a and 405b, connecting plate 406a and 406b, the Y-axis synchronous belt 407, synchronous belt fixed plate 408, Y of a shaft Axis truss bottom guide track folder 4011;
Two Y-axis truss 401a, 401b are fixed together by the way that connecting plate 406a is parallel with 406b, and bottom is provided with Y Axis truss bottom guide track folder 4011, Y-axis truss bottom guide track folder 4011 and the protruding guide rail 3011 of X-direction moving parts cooperate Work, Y-axis truss bottom guide track folder 4011 can be led in protrusion (to be slided on 3011;
Upper suspending plage 402a, lower hanging deck 402b are fixedly connected into I-shaped structure by connecting plate;Two Y-axis truss 401a, Sliding rail 4012, the guide rail clip 4021 being provided under upper suspending plage on upper suspending plage 402a bottom surface are provided on 401b;Two Y Axis truss 401a, 401b are arranged by the guide rail clip 4021 under sliding rail 4012, upper suspending plage in upper suspending plage 402a, lower hanging deck Between 402b, upper suspending plage 402a, lower hanging deck 402b can be slided on two Y-axis truss 401a, 401b;
Y direction motion motor 403 is fixed on connecting plate 406a and 406b, 403 shaft of Y direction motion motor Coaxial shaft 404a is moved with Y direction to be fixedly connected;Y direction moves coaxial shaft 404a, Y-axis cooperation shaft 404b difference The both ends Y-axis truss 401a are mounted on by bending the fixed plate 405a and 405b of two shafts, are connected by Y-axis synchronous belt 407 Rotation;
Y-axis synchronous belt 407 is fixedly connected by synchronous belt fixed plate 408 with upper suspending plage 402a, for driving upper suspending plage 402a is moved along Y-direction;
The lower bottom hanging deck 402b is fixedly connected with multiaxis rotary motion mechanical arm;
Control system is connect by conducting wire with Y direction motion motor 403, for controlling 403 work of Y direction motion motor Make.
See Fig. 2 and Fig. 3, the multiaxis rotary motion mechanical arm of the present embodiment includes the first rotary shaft 501, first connecting rod 502, the second rotary shaft 503, the second connecting rod 504, third rotary shaft 505, third connecting rod 506, the 4th rotary shaft 507, spray Mouth connecting rod 508, nozzle 509, watering can 510;
First rotary shaft, 501 one end is rotatably installed in the bottom lower hanging deck 402b of Y direction moving parts, the other end It is connect by first connecting rod 502 with the second rotary shaft 503;Second rotary shaft 503 is rotated by the second connecting rod 504 with third Axis 505 connects, and third rotary shaft 505 is connect by third connecting rod 506 with the 4th rotary shaft 507;4th rotary shaft 507 passes through Nozzle connecting rod 508 is connect with nozzle 509;Watering can 510 is fixed in nozzle connecting rod 508, passes through pipeline and nozzle 509 Connection;Laser ranging module 511 is fixed on nozzle 509;
Control system by conducting wire respectively with the first rotary shaft 501, the second rotary shaft 503, third rotary shaft the 505, the 4th Rotary shaft 507, nozzle 509, laser ranging module 511 connect, for controlling the first rotary shaft 501, the second rotary shaft 503, the Three rotary shafts 505, the 4th rotary shaft 507, nozzle 509, laser ranging module 511 work.
The control system of the present embodiment includes intelligent terminal, database, background server, motion controller;Background service Device receives spray painting task, and is issued in the intelligent terminal of wireless connection;Intelligent terminal display and operation interface, passes through wireless network It is connect with background server and motion controller, the automobile and vehicle face after receiving background server task, in parsing task Then information is searched in the database;Database purchase has the body dimensions of automobile, vehicle areal coordinate parameter and history Spray Grid Track and air pressure regulator parameter;History sprays Grid Track and transports respectively according to truss coordinates of motion collection and mechanical arm Moving axes collection carries out layering preservation;Database root searches these tracks set according to spray painting task, generates XYZ axis truss and plans road Diameter and mechanical arm Union Movement path, then issue motion controller for path locus coordinate set time segment, are controlled by movement Device processed controls the movement of XYZ axis truss according to truss Grid Track set respectively, is controlled according to mechanical arm Grid Track set mechanical Arm aggregate motion, and air pressure valve is adjusted according to the condition dynamic of setting by motion controller, realize the optimization spraying of paint.
See Fig. 4, a spray painting task of the present embodiment is made of several vehicle faces task, each vehicle face task is achievable The touch-up paint task in one vehicle painting face.One vehicle face task moves 1~n by several positions and forms, the movement of each position There is an origin coordinates XYZ, be equivalent to the centre coordinate of truss, for passing to controller and the motor of truss to move to Designated position.After the movement in place of each position, it will stop and fixation of braking, then by the 1~n of trajectory coordinates sequence at the position Mechanical arm controller is passed to one by one, and driving mechanical arm is moved along trajectory path, and watering can is driven to realize the spray painting on the position. A tenth skill data will be produced after the completion of each position task, notification controller current state transfers to controller to dispatch Check whether that whole positions execute completion, if otherwise continuing to execute next position task, if vehicle face task is first carried out Execution, including mechanical arm return, the movement such as truss return, then branch to next vehicle face task.
The present embodiment installs support frame assembly additional along inner wall in standardization combined padding and drying system inner space, in the length of braced frame A pair of of stud of side pedestal and long side crossbeam medium design, utilizes the supporting plate on the rotation forces stud of stud to move up and down, band The X-axis truss of load-bearing realizes the up and down motion of Z-direction on dynamic supporting plate.Respectively there are a pair of guide rails in stud two sides, and supporting plate is also fixed It realizes on guide rail along line sliding.The rotation of stud is to drive shaft driving by being fixed on the Z axis motor among short side crossbeam , shaft and the shaft on two stud tops are all connected and fixed with synchronous belt, realize synchronous rotary.
A pair of of roller bearing is respectively installed in the short side bracket two sides of X-axis truss, coaxial shaft is installed among roller bearing, is synchronized In band connection to X-axis motor, roller bearing rotation is driven by the motor.At roller bearing both ends coaxial shaft is installed again, has 2 altogether in this way Roller bearing, 4 coaxial shafts for being mounted on short side bracket both ends, 2 synchronous belts are fixed to Y-axis truss, draw Y-axis truss along X-axis Direction sliding.
Y-axis truss is formed by connecting by two identical structural members, and top is machined with protruding guide rail, there is one piece of upper cunning above Plate can slide on, and upper slide is fixed by connecting rod and lower skateboard, suspend Multi-shaft mechanical arm below lower skateboard in midair.Upper slide It is to be connected to by synchronous belt in the coaxial shaft of y-axis motor, this y-axis motor and its coaxial shaft are all fixed to Y-axis truss On the end face of bracket, and it is then only fixed with coaxial shaft in other end, they pass through the synchronous last band of band connection synchronous rotary Dynamic slide plate and mechanical arm realize the movement of Y direction.
After XYZ axis continuously moves to target coordinate position, X-axis motor y-axis motor Z axis motor all stops and fixation of braking Then current location drives mechanical armband to move nozzle to the curved surface of prospective vehicle, and then in built-in temperature parameter, movement speed Under the control of the parameters such as degree, air pressure, advance is moved while painting along the curved surface trajectory path to be painted, in advance process In by the laser beam projects that fixed laser ranging module on nozzle issues arrive car surface, measurement return value simultaneously feeds back to control Device processed is driven mechanical arm or XYZ axis truss to move, according to the motion control algorithm by controller with the dope room being kept fixed Away from.If the extreme position that mechanical arm proceeds to its arm exhibition space can not move on, it is switched to the movement of XYZ axis truss, by Control system calculates next suitable stop position, and then driving truss moves to its position, and reinflated mechanical arm continues Spray painting.
This mechanical arm spray painting curved surface trajectory path is made of a string of space X YZ coordinate points, by Control System Software Database save.When creating the vehicle areal coordinate locus of points data of every kind of vehicle, by teaching mode, all motors are discharged It is internal contracting brake provided, it then pulls in face of XYZ axis truss and manipulator motion to the vehicle of automobile manually, spacing is kept with laser ranging, One by one along the non-plane motion to be painted, as soon as moving to a coordinate points every time, stop current all coordinate points through software Records of values is into corresponding vehicle face data table.By this method, each vehicle face of every kind of vehicle, can be created that its correspondence Vehicle face data and be recorded in database, have later same money vehicle then directly extract use.
Although this specification more used a pair of of long side pedestal 102, a pair of of broadside pedestal 103, four columns 104, A pair of of long side crossbeam 105, a pair of of broadside crossbeam 106;A pair of of long side pedestal 102, a pair of of broadside pedestal 103, four columns 104, A pair of of long side crossbeam 105, a pair of of broadside crossbeam 106, connecting plate 107,108, Z-direction motion motor 201, the fixed folding of motor Bent plate 202, broadside crossbeam shaft 203, synchronous belt 204, stud shaft 205,206, long side beam guideway fixing sleeve 207a, 207b, stud 208a, 208b, supporting plate 209, pallet guide fixing sleeve 210, stud sleeve 211, long side pedestal stud fixing sleeve 212, long side base rail fixing sleeve 213, X-direction moving parts long side bracket 301, X-direction moving parts short side bracket 302, X-direction motion motor 303, fixed bending plate 304, roller bearing 305, the coaxial shaft 306 of X-direction motion motor, roller bearing Coaxial shaft 307, roller bearing both ends shaft 308a, cooperation shaft 308b, X-direction movement synchronous belt 309, roller bearing synchronous belt 310, Connection sheet 311, protruding guide rail 3011, Y-axis truss 401a, 401b, upper suspending plage 402a, lower hanging deck 402b, Y direction motion motor 403, Y direction moves coaxial shaft 404a, Y-axis cooperation shaft 404b, bending the fixed plate 405a and 405b of two shafts, even Fishplate bar 406a and 406b, Y-axis synchronous belt 407, synchronous belt fixed plate 408, Y-axis truss bottom guide track press from both sides the 4011, first rotary shaft 501, first connecting rod 502, the second rotary shaft 503, the second connecting rod 504, third rotary shaft 505, third connecting rod 506, The terms such as four rotary shafts 507, nozzle connecting rod 508, nozzle 509, watering can 510, laser ranging module 511, but be not precluded and make A possibility that with other terms.The use of these items is only for more easily describing essence of the invention, they are explained It at any additional limitation is disagreed with spirit of that invention.
It should be understood that the part that this specification does not elaborate belongs to the prior art.
It should be understood that the above-mentioned description for preferred embodiment is more detailed, can not therefore be considered to this The limitation of invention patent protection range, those skilled in the art under the inspiration of the present invention, are not departing from power of the present invention Benefit requires to make replacement or deformation under protected ambit, fall within the scope of protection of the present invention, this hair It is bright range is claimed to be determined by the appended claims.

Claims (7)

1. a kind of integrated form single armed multiaxis touch-up paint robot, it is characterised in that: including support frame assembly, X-direction exercise group Part, Y direction moving parts, Z-direction moving parts, multiaxis rotary motion mechanical arm, nozzle component, laser ranging module, Control system;
The laser ranging module is arranged on the nozzle component, and the nozzle component is arranged in the multiaxis rotary motion machine Y direction moving parts bottom surface can be arranged in tool arm end, the multiaxis rotary motion mechanical arm with moving along the y axis On, the Y direction moving parts can be arranged on the X-direction moving parts with moving in the X-axis direction, the X-axis side It can be arranged on the Z-direction moving parts with being moved along Z-direction to moving parts, the Z-direction moving parts are solid It is fixed to be arranged in the support frame assembly upper end;The support frame assembly is fixed in standardization combined padding and drying system inner space On wall;
The control system is moved with the X-direction moving parts, Y direction moving parts, Z-direction respectively by conducting wire Component, multiaxis rotary motion mechanical arm, nozzle component, laser ranging module connection, for controlling the X-direction exercise group Part, Y direction moving parts, Z-direction moving parts, multiaxis rotary motion mechanical arm, nozzle component, laser ranging module work Make.
2. integrated form single armed multiaxis touch-up paint according to claim 1 robot, it is characterised in that: the support frame assembly Including a pair of of long side pedestal (102), a pair of of broadside pedestal (103), four columns (104), a pair of of long side crossbeam (105), a pair Broadside crossbeam (106);The pair of long side pedestal (102), a pair of of broadside pedestal (103), four columns (104), a pair of of long side Crossbeam (105), a pair of of broadside crossbeam (106) collectively constitute cube structure;Connecting plate is provided between column and crossbeam (107), connecting plate (108) are provided between pedestal and column.
3. integrated form single armed multiaxis touch-up paint according to claim 1 robot, it is characterised in that: the Z-direction movement Component includes for Z-direction motion motor (201), the fixed bending plate of motor (202), broadside crossbeam shaft (203), synchronous belt (204), stud shaft (205,206), long side beam guideway fixing sleeve (207a, 207b), stud (208a, 208b), supporting plate (209), pallet guide fixing sleeve (210), stud sleeve (211), long side pedestal stud fixing sleeve (212), long side base rail Fixing sleeve (213);
The Z-direction motion motor (201) is fixedly mounted on the support frame with bending plate (202) by the way that the motor is fixed On one broadside crossbeam (106) of frame component, shaft is fixedly connected with the broadside crossbeam shaft (203);
The stud (208a, 208b) is respectively and fixedly installed to the support by the long side pedestal stud fixing sleeve (212) The middle position of a pair of of long side pedestal (102) of frame assembly passes through the stud sleeve on the stud (208a, 208b) (211) being respectively equipped with one can be along the supporting plate (209) that the stud (208a, 208b) is moved up and down;The stud (208a, 208b) Top is fixedly installed the stud shaft (205,206);The stud shaft (205,206), broadside crossbeam shaft (203) are logical The synchronous belt (204) connection is crossed, is rotated in the case where the Z-direction motion motor (201) drives;
The long side beam guideway fixing sleeve (207a, 207b) is fixed at a pair of of long side crossbeam of the support frame assembly (105) on, the long side base rail fixing sleeve (213) is fixed at a pair of of long side pedestal of the support frame assembly (102) it on, is set between the long side beam guideway fixing sleeve (207a, 207b) and the long side base rail fixing sleeve (213) It is equipped with guide rail;The supporting plate (209) is set on the guide rail by the pallet guide fixing sleeve (210);
The X-direction moving parts are fixedly installed on the supporting plate (209);
The control system is connect by conducting wire with the Z-direction motion motor (201), for controlling the Z-direction fortune Dynamic motor (201) work.
4. integrated form single armed multiaxis touch-up paint according to claim 1 robot, it is characterised in that: the X-direction movement Component includes X-direction moving parts long side bracket (301), X-direction moving parts short side bracket (302), X-direction movement Motor (303), fixed bending plate (304), roller bearing (305), the coaxial shaft of X-direction motion motor (306), the coaxial shaft of roller bearing (307), roller bearing both ends shaft (308a), cooperation shaft (308b), X-direction move synchronous belt (309), roller bearing synchronous belt (310), connection sheet (311), protruding guide rail (3011);
The X-direction moving parts long side bracket (301), X-direction moving parts short side bracket (302) are two groups, and one Play composition rectangular frame structure;The X-direction motion motor (303) is fixedly mounted on by the fixed bending plate (304) On one short side bracket (302);
The shaft of the X-direction motion motor (303) is fixedly connected with the coaxial shaft of X-direction motion motor (306), institute It states the coaxial shaft of X-direction motion motor (306) and passes through the roller bearing synchronous belt (310) and the coaxial shaft of the roller bearing (307) Connection, the coaxial shaft of roller bearing (307) fixation are set on the roller bearing (305), and roller bearing (305) both ends are provided with Roller bearing both ends shaft (308a);
The cooperation shaft (308b) being fixedly connected by shaft, the cooperation are provided on another short side bracket (302) both ends Shaft (308b) is connect with roller bearing both ends shaft (308a) by X-direction movement synchronous belt (309);
It is fixedly installed the protruding guide rail (3011) on the connection sheet (311), the X-direction moves synchronous belt (309) On be provided with the connection sheet (311) and protruding guide rail (3011), for fixing the Y direction moving parts;
The control system is connect by conducting wire with the X-direction motion motor (303), for controlling the X-direction fortune Dynamic motor (303) work.
5. integrated form single armed multiaxis touch-up paint according to claim 1 robot, it is characterised in that: the Y direction movement Component includes two Y-axis truss (401a, 401b), upper suspending plage (402a), lower hanging deck (402b), Y direction motion motor (403), Y direction move coaxial shaft (404a), Y-axis cooperation shaft (404b), two shafts bending fixed plate (405a and 405b), connecting plate (406a and 406b), Y-axis synchronous belt (407), synchronous belt fixed plate (408), Y-axis truss bottom guide track folder (4011);
By the connecting plate, (406a is parallel with 406b) to be fixed together two Y-axis truss (401a, 401b), bottom It is provided with the Y-axis truss bottom guide track folder (4011), the Y-axis truss bottom guide track folder (4011) and the X-direction are transported Protruding guide rail (3011) cooperating of dynamic component;
The upper suspending plage (402a), lower hanging deck (402b) are fixedly connected into I-shaped structure by connecting plate;Two Y-axis truss It is provided on (401a, 401b) sliding rail (4012), is provided under upper suspending plage on upper suspending plage (402a) bottom surface Guide rail clip (4021);Two Y-axis truss (401a, 401b) pass through the guide rail under the sliding rail (4012), upper suspending plage It presss from both sides (4021) to be arranged between the upper suspending plage (402a), lower hanging deck (402b), the upper suspending plage (402a), lower hanging deck (402b) It can be slided on two Y-axis truss (401a, 401b);
The Y direction motion motor (403) is fixed on the connecting plate (406a and 406b), the Y direction fortune Dynamic motor (403) shaft moves coaxial shaft (404a) with the Y direction and is fixedly connected;The Y direction movement is coaxial to be turned Axis (404a), Y-axis cooperation shaft (404b) are mounted on by the bending fixed plate of described two shafts (405a and 405b) respectively Y-axis truss (401a) both ends are connected by the Y-axis synchronous belt (407) and are rotated;
The Y-axis synchronous belt (407) is fixedly connected by the synchronous belt fixed plate (408) with the upper suspending plage (402a), is used It is moved in the drive upper suspending plage (402a) along Y-direction;
The lower hanging deck bottom (402b) is fixedly connected with the multiaxis rotary motion mechanical arm;
The control system is connect by conducting wire with the Y direction motion motor (403), for controlling the Y direction fortune Dynamic motor (403) work.
6. integrated form single armed multiaxis touch-up paint according to claim 1 robot, it is characterised in that: the multiaxis rotary motion Mechanical arm includes the first rotary shaft (501), first connecting rod (502), the second rotary shaft (503), the second connecting rod (504), the Three rotary shafts (505), third connecting rod (506), the 4th rotary shaft (507), nozzle connecting rod (508), nozzle (509), watering can (510);
Described first rotary shaft (501) one end is rotatably installed in bottom lower hanging deck (402b) of the Y direction moving parts Portion, the other end are connect by the first connecting rod (502) with second rotary shaft (503);Second rotary shaft (503) It is connect by the second connecting rod (504) with the third rotary shaft (505), the third rotary shaft (505) is connected by third Bar (506) is connect with the 4th rotary shaft (507);4th rotary shaft (507) by the nozzle connecting rod (508) with Nozzle (509) connection;The watering can (510) is fixed on the nozzle connecting rod (508), by pipeline with it is described Nozzle (509) connection;Laser ranging module (511) is fixed on the nozzle (509);
The control system by conducting wire respectively with first rotary shaft (501), the second rotary shaft (503), third rotary shaft (505), the 4th rotary shaft (507), nozzle (509), laser ranging module (511) connection, for controlling first rotary shaft (501), the second rotary shaft (503), third rotary shaft (505), the 4th rotary shaft (507), nozzle (509), laser ranging module (511) it works.
7. integrated form single armed multiaxis touch-up paint robot described in -6 any one according to claim 1, it is characterised in that: the control System processed includes intelligent terminal, database, background server, motion controller;The background server receives spray painting task, and It is issued in the intelligent terminal of wireless connection;Intelligent terminal display and operation interface, passes through wireless network and background server and fortune Movement controller connection, after receiving background server task, automobile and vehicle face information in parsing task, then in database In searched;The database purchase have the body dimensions of automobile, vehicle areal coordinate parameter and history spraying Grid Track and Air pressure regulator parameter;History spraying Grid Track is divided according to truss coordinates of motion collection and manipulator motion coordinate set respectively Layer saves;The database root searches these tracks set, generates XYZ axis truss planning path and mechanical arm according to spray painting task Then path locus coordinate set is issued motion controller by Union Movement path, sat respectively according to truss by motion controller Track set time segment control XYZ axis truss movement is marked, mechanical arm is controlled according to mechanical arm Grid Track set time segment Aggregate motion, and air pressure valve is adjusted according to the condition dynamic of setting by motion controller, realize the optimization spraying of paint.
CN201811358978.XA 2018-11-15 2018-11-15 A kind of integrated form single armed multiaxis touch-up paint robot Pending CN109262599A (en)

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