CN201871452U - Spatial four-freedom-degree parallel connection mechanism and spraying robot - Google Patents
Spatial four-freedom-degree parallel connection mechanism and spraying robot Download PDFInfo
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- CN201871452U CN201871452U CN2010205690956U CN201020569095U CN201871452U CN 201871452 U CN201871452 U CN 201871452U CN 2010205690956 U CN2010205690956 U CN 2010205690956U CN 201020569095 U CN201020569095 U CN 201020569095U CN 201871452 U CN201871452 U CN 201871452U
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- kinematic
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- 238000005507 spraying Methods 0.000 title claims abstract description 32
- 230000033001 locomotion Effects 0.000 claims abstract description 38
- 238000004519 manufacturing process Methods 0.000 abstract description 13
- 239000007921 spray Substances 0.000 description 30
- 238000005516 engineering process Methods 0.000 description 7
- 239000011248 coating agent Substances 0.000 description 2
- 238000000576 coating method Methods 0.000 description 2
- 230000008021 deposition Effects 0.000 description 2
- 239000003973 paint Substances 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000012827 research and development Methods 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 238000010913 antigen-directed enzyme pro-drug therapy Methods 0.000 description 1
- 230000002860 competitive effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Spray Control Apparatus (AREA)
Abstract
本实用新型涉及一种基于四自由度空间并联机构的五自由度喷涂机器人，属于机械制造技术领域。该喷涂机器人包括移动单元和喷涂作业机构单元两个部分，喷涂作业机构的运动机架是移动单元的运动部分，通过导轨可实现大范围的直线移动。所述喷涂作业机构包括一个安装雾化器的动平台和一个运动机架，和连接所述动平台和运动机架之间的第一支链、第二支链、第三支链及第四支链，由于结构对称，所述的第一支链和第三支链的结构相同，第二支链和第四支链结构相同。四个支链与动平台以及运动机架连接形成一个空间并联闭环机构，该并联机构通过四个输入运动驱动动平台运动，实现两个移动自由度和两个转动自由度。通过将移动机构单元的运动和喷涂作业机构单元的运动相结合，可使该喷涂机器人实现三个移动自由度和两个转动自由度。所述喷涂机器人的结构对称，灵活性好、精度和刚度高，易于制造，方便控制，容易实现模块化。
The utility model relates to a five-degree-of-freedom spraying robot based on a four-degree-of-freedom space parallel mechanism, which belongs to the technical field of mechanical manufacturing. The spraying robot includes two parts: a mobile unit and a spraying operation mechanism unit. The moving frame of the spraying operation mechanism is the moving part of the mobile unit, and a large range of linear movement can be realized through guide rails. The spraying operation mechanism includes a moving platform on which the atomizer is installed and a moving frame, and a first branch chain, a second branch chain, a third branch chain and a fourth branch chain connecting the moving platform and the moving frame. As for the branched chain, due to the symmetrical structure, the first branched chain and the third branched chain have the same structure, and the second branched chain and the fourth branched chain have the same structure. The four branch chains are connected with the moving platform and the motion frame to form a spatial parallel closed-loop mechanism. The parallel mechanism drives the moving platform through four input motions to realize two degrees of freedom of movement and two degrees of freedom of rotation. By combining the movement of the moving mechanism unit and the movement of the spraying mechanism unit, the spraying robot can realize three degrees of freedom of movement and two degrees of freedom of rotation. The spraying robot has a symmetrical structure, good flexibility, high precision and rigidity, is easy to manufacture, convenient to control, and easy to realize modularization.
Description
Technical field
The utility model belongs to mechanical manufacturing field, particularly a kind of five degree of freedom spray robot with space four-freedom parallel mechanism that can be applied to auto parts and components spraying production.
Background technology
Up to the present, spray robot has become one of maximum industrial robot of utilization on the domestic market.Control During Paint Spraying by Robot is a mature technique abroad, and the research and development history of three more than ten years has been arranged.Along with the technology of spray robot is constantly brought forth new ideas, deposition accuracies unprecedentedly improves, and has obtained using widely at world developed country spray robot.There is the peace river of D ü rr (Dole) and EISANMANN (Ai Senman), Japan of ABB, the Germany of Sweden in famous external spray robot producer, and all there are the production spray robot in the KUKA company of Germany, the FANUC company of Japan and the ADEPT company of the U.S. simultaneously.Also have a lot of little manufacturing enterprises to produce simultaneously and the electrostatic powder coating robot of research and development, in the spray robot field and relevant spraying technology field all have rich experience and technology.
The continuous adjustment of rapid variation that the developing rapidly of Hyundai Motor industry brought the automobile model and car body design, domestic automobile production also to extensive, high-quality and cheaply direction develop, under this background, traditional hand spray can't satisfy the requirement of most of car load factory car body coating, spraying technology having developed into robot of today from the spraying of hand spray, semi-automatic spray gun and spray automatically step by step has only the production requirement of adopting robot could adapt to this frequent variations.Up to the present, spray robot has become one of maximum industrial robot of utilization on the domestic market, because China industrial robot research starting evening, basic condition weakness, key technology and parts such as do not match at various reasons, fail to form real competitive product so far.
Find by investigation, the spray robot of the offshore company that domestic most of automobile vendor adopts all is a six degree of freedom, but spray robot only needs five degree of freedom (three one-movement-freedom-degrees and two rotational freedoms) just can finish all spraying operations in actual applications.The conventional spray paint robot that has now used in addition all is the serial mechanism that adopts copy man arm, by making rational planning for of movement locus finished the automatic spraying operation.But because the restriction of China's manufacturing industry overall technology level, so far fail serial machine people's precision and the not high problem of reliability are made substantial breakthrough, the control of tandem spray robot is relatively complicated, and this tandem robot is difficult to obtain intellectual property and breaks through because version is single.
With respect to traditional serial mechanism, parallel institution is the closed loop mechanism that is made of a plurality of side chains, it has the following advantages: simple and compact for structure, rigidity is high, big, the error free accumulation of bearing capacity on the Unit Weight, heavy moving parts are little, be easy to realize high-speed motion, track is easy to advantages such as control.These advantages have remedied the deficiency of serial mechanism to a certain extent.
The purpose of this utility model is exactly in order to overcome China's manufacturing industry technical merit present situation, break through difficult, technical problems such as processing and manufacturing is difficult, poor reliability, control difficulty to solve the tandem spray robot in Intellectual Property in China, the spray robot that has China's independent intellectual property right for development contributes.The utility model moves big in conjunction with series connection and parallel-connection structure is simple, the degree of modularity is high, manufacturing is easy for installation and trajectory planning and the easy characteristic of control, invents a kind of novel spraying robot that can adapt to China's manufacturing national conditions.
The utility model content
In order to realize above-mentioned purpose, the utility model proposes a kind of space four-degree-of-freedom mechanism, and invented a kind of five degree of freedom spray robot based on this space four-degree-of-freedom mechanism.
The utility model provides a kind of space four-freedom parallel mechanism, comprise a moving platform, a motion frame and connect described moving platform and the motion frame between first side chain, second side chain, the 3rd side chain, the 4th side chain, the structure of described four side chains is symmetry in twos, wherein first side chain is identical with the structure of the 3rd side chain, second side chain is identical with the 4th branched structure, first side chain comprises first slider bracket, first connecting rod, first slide block and kinematic pair group I, the 3rd side chain comprises the 3rd slider bracket, third connecting rod, the 3rd slide block and kinematic pair group III, described kinematic pair group I and kinematic pair group III are made up of three kinematic pairs respectively; Second side chain comprises second slider bracket, second connecting rod, second slide block and kinematic pair group II, the 4th side chain comprises Four-slider support, the 4th connecting rod, Four-slider and kinematic pair group IV, and described kinematic pair group II and kinematic pair group IV have four kinematic pairs respectively; First slider bracket and the 3rd slider bracket are fixed in respectively on the motion frame, be connected by revolute pair respectively between second slider bracket and Four-slider support and the motion frame, described four side chains and moving platform and motion frame are connected to form a space parallel closed loop mechanism, four moving sets between four connecting rods of this parallel institution and four slide blocks are active drive respectively, to realize two one-movement-freedom-degrees and two rotational freedoms of moving platform.
Kinematic pair group I in the parallel institution of the present utility model comprise the revolute pair that is connected between first slider bracket and first slide block, be connected in the moving sets between first slide block and the first connecting rod and be connected in first connecting rod and moving platform between the ball pair; Kinematic pair group III comprise the revolute pair that is connected between the 3rd slider bracket and the 3rd slide block, be connected in the moving sets between the 3rd slide block and the third connecting rod and be connected in third connecting rod and moving platform between the ball pair; Kinematic pair group II comprises the revolute pair that is connected between second slider bracket and the motion frame, be connected in revolute pair between second slider bracket and second slide block, be connected in the moving sets between second slide block and the second connecting rod and be connected in second connecting rod and moving platform between the ball pair; Kinematic pair group IV comprises revolute pair between Four-slider support and the motion frame, be connected in revolute pair between Four-slider support and the Four-slider, be connected in the moving sets between Four-slider and the 4th connecting rod and be connected in ball pair between the 4th connecting rod and the moving platform.
The utility model also provides a kind of five degree of freedom spray robot that is equipped with above-mentioned parallel institution, this spray robot comprises spraying operation mechanism unit and two parts of mobile unit, the motion frame of described parallel institution is installed on the line slideway, can realize moving horizontally, atomizer is installed on the moving platform of parallel institution is formed the spraying operation mechanism unit, combine with the motion of space parallel mechanism unit by motion, realize the five degree of freedom motion of three one-movement-freedom-degrees and two rotational freedoms of spraying operation mechanism unit mobile unit.
Five degree of freedom spray robot described in the utility model, guide rail are that arc-shaped guide rail is to be used for adapting to the spraying of difformity parts.
Five degree of freedom spray robot described in the utility model can be used for the automatic spraying operation of auto parts and components.
Spray robot in the utility model has following advantage: (1) flexible degree height can adapt to the spraying operation environment of different parts; (2) speed is fast, flexibility good; (3) with respect to the easier control of serial mechanism, deposition accuracies is easy to guarantee; (4) working space is big, can realize moving on a large scale on guide rail; (5) symmetrical configuration is easy to make, and cost is lower, easier realization modularization processing.
Description of drawings
Fig. 1 is the structural representation of the utility model embodiment 1.
1-guide rail, 2-motion frame, 3-second slide block, 4-second connecting rod, 5-third connecting rod, 6-second slider bracket, 7-first slider bracket, 8-first connecting rod, 9-first slide block, 10-the 4th connecting rod, 11-Four-slider support, 12-Four-slider, 13-moving platform, 14-the 3rd slide block, 15-the 3rd slider bracket, 16-parts to be sprayed among the figure.
The specific embodiment
The space four-freedom parallel mechanism that the utility model proposes 1 is described in detail as follows in conjunction with the accompanying drawings:
As shown in fig. 1, the space four-freedom parallel mechanism comprises moving platform 13, motion frame 2 and connects first, second, third, fourth side chain between described moving platform 13 and the motion frame 2.Because structure is symmetry in twos, wherein first side chain is identical with the 3rd branched structure, and second side chain is identical with the 4th branched structure.The first, the 3rd side chain that described structure is identical comprises respectively: first slider bracket 7, first slide block 9, first connecting rod 8, and kinematic pair group I and the 3rd slider bracket 15, the 3rd slide block 14, third connecting rod 5, and kinematic pair group III.Described kinematic pair group I and kinematic pair group III are made of each three kinematic pairs, be respectively: be connected in the revolute pair (R) between first slider bracket 7 and first slide block 9, be connected in the moving sets (P) between first slide block 9 and the first connecting rod 8, be connected in the ball pair (S) between first connecting rod 8 and the moving platform 13; And be connected in revolute pair (R) between the 3rd slider bracket 15 and the 3rd slide block 14, and be connected in the moving sets (P) between the 3rd slide block 14 and the third connecting rod 5, be connected in the ball pair (S) between third connecting rod 5 and the moving platform 13.Wherein the first, the 3rd slider bracket is fixedly connected on respectively on the motion frame.Described the second, the 4th side chain comprises respectively: second slider bracket 6, second slide block 3, second connecting rod 4 and kinematic pair group II and Four-slider support 11, Four-slider 12, the 4th connecting rod 10 and kinematic pair group IV.Described kinematic pair group II and kinematic pair group IV are made of each four kinematic pairs, be respectively: be connected in the revolute pair (R) between second slider bracket 6 and the motion frame 2, be connected in the revolute pair (R) between second slide block 3 and second slider bracket 6, be connected in the moving sets (P) between second slide block 3 and the second connecting rod 4, be connected in the ball pair (S) between second connecting rod 4 and the moving platform 13; And be connected in revolute pair (R) between Four-slider support 11 and the motion frame 2, be connected in the revolute pair (R) between Four-slider 12 and the Four-slider support 11, be connected in the moving sets (P) between Four-slider 12 and the 4th connecting rod 10, be connected in the ball pair (S) between the 4th connecting rod 10 and the moving platform 13.Above-mentioned four side chains and moving platform 13, motion frame 2 connect and compose space four-degree-of-freedom mechanism, and four moving sets (P) wherein are driven respectively, and the position and the attitude of control moving platform 13 realize two one-movement-freedom-degree and two rotational freedoms.
Still as shown in Figure 1, based on above-mentioned space four-degree-of-freedom parallel-connection structure, the utility model provides a kind of spray robot of space five-freedom, this spray robot comprises spraying operation unit and two parts of mobile unit, the mechanism of described realization spraying action is a four-freedom space parallel mechanism, the motion frame 2 of this parallel institution is installed on the guide rail 1, connects by moving sets (P), realizes moving horizontally of spray robot on a large scale.
By the motion of mobile unit and the motion of space parallel mechanism unit are combined, can realize the five degree of freedom motion of this spray robot, can finish automatic spraying operation to the overwhelming majority's auto parts and components.Present embodiment Fig. 1 middle guide 1 is rectilinear, be understandable that, its guide rail 1 can be become if needed crooked, also can be with 90 ° (guide rail 1 is vertically placed) of the whole upset of this spray robot, with the spraying operation environment of the parts to be sprayed that adapt to difformity and specification.
The utility model is not limited to the above-mentioned specific embodiment, and those skilled in the art makes corresponding substitutions and modifications under the enlightenment of the technical solution of the utility model, all within the protection domain of the utility model claim.
Claims (3)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205690956U CN201871452U (en) | 2010-10-15 | 2010-10-15 | Spatial four-freedom-degree parallel connection mechanism and spraying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205690956U CN201871452U (en) | 2010-10-15 | 2010-10-15 | Spatial four-freedom-degree parallel connection mechanism and spraying robot |
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| Publication Number | Publication Date |
|---|---|
| CN201871452U true CN201871452U (en) | 2011-06-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2010205690956U Expired - Lifetime CN201871452U (en) | 2010-10-15 | 2010-10-15 | Spatial four-freedom-degree parallel connection mechanism and spraying robot |
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| CN (1) | CN201871452U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN102490179A (en) * | 2011-12-13 | 2012-06-13 | 天津大学 | Parallel mechanism with three rotational degrees of freedom and one translational degree of freedom |
-
2010
- 2010-10-15 CN CN2010205690956U patent/CN201871452U/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN101966507B (en) * | 2010-10-15 | 2012-11-07 | 江苏长虹汽车装备集团有限公司 | Space four-DOF (Degree of Freedom) parallel connection mechanism and spraying robot |
| CN102490179A (en) * | 2011-12-13 | 2012-06-13 | 天津大学 | Parallel mechanism with three rotational degrees of freedom and one translational degree of freedom |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20110622 Effective date of abandoning: 20130227 |
|
| RGAV | Abandon patent right to avoid regrant |