CN209631457U - A kind of Omni-mobile formula robot spraying system - Google Patents
A kind of Omni-mobile formula robot spraying system Download PDFInfo
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- CN209631457U CN209631457U CN201822116040.9U CN201822116040U CN209631457U CN 209631457 U CN209631457 U CN 209631457U CN 201822116040 U CN201822116040 U CN 201822116040U CN 209631457 U CN209631457 U CN 209631457U
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Abstract
The utility model provides a kind of Omni-mobile formula robot spraying system, measurement calibration system including Omni-mobile spray unit and its data connection, and the charging station for the charging of Omni-mobile spray unit, it is characterized by: the Omni-mobile spray unit includes omnidirectional mobile vehicle, Z-axis lifting mechanism, robot, control and painting unit, the Z-axis lifting mechanism is fixed on the side of omnidirectional mobile vehicle, the other side of omnidirectional mobile vehicle is fixed with control and painting unit, and robot is mounted on Z-axis lifting mechanism；The utility model is made of " Omni-mobile platform+a wide range of redundant degree of freedom robot ", using Omni-mobile formula design can be achieved platform planar any direction translation, rotation and translate rotation coupled motions, facilitate system between different erect-positions position adjustment.
Description
Technical field
The utility model belongs to spraying equipment field, more particularly, to a kind of omnidirectional towards large scale complex profile workpiece
Mobile robot's paint finishing.
Background technique
Currently, traditional hand spray mode efficiency and quality are lower when spraying operation, and to human health damage compared with
Greatly；Manual work is replaced using robot automatic spraying system, the spraying operation period can be greatly shortened, improves spraying effect
Rate；And automatic spraying rate and position are easy to control, therefore spraying uniformity is more preferable, and coating quality can be improved；Avoid spraying
Direct contact toxicity coating when worker's operation reduces harm of the coating cloud to operator's body.However, be directed to bulky dimensions,
The spraying operation of structure is complicated workpiece, general spray robot system can not be also applicable in.
Robot system towards large scale complex profile Workpiece painting, prosthetic robot is equipped on mobile platform
The painted object of complete covering large scale, labyrinth, and use more spray robots form multirobot paint finishings with
Raising system working efficiency is the scheme of most efficiency and cost advantage.Currently, the design of mobile platform specifically includes that guide rail
Formula, Three-coordinate type and AGV trolley type.
For bulky dimensions, structure is complicated workpiece, the surface of entire workpiece is completely covered and can be in small space
Middle carry out spraying operation, there are still following problems for the above Platform Designing
(1) guide rail type movable platform freedom degree is lower, and flexibility ratio is not high, needs to meet erect-position demand in different direction cloth
Multiple large-scale mobile platforms are set, it is big to floor area requirement.
(2) Three-coordinate type mobile platform occupied ground space is larger, and long-span beam is it is difficult to ensure that have preferable rigid
Degree, while to realize all standing, X, Y and Z-direction of three coordinate frames have movement needs, bear in robot and the big of paint feeding system
Each axis control difficulty is big under load effect, inevitably results from vibration, influences coating quality and efficiency
(3) Omni-mobile vehicle type paint finishing is not fixed occupancy ground space, is applicable not only to internal field work, can also be
Outfield carries out operation, therefore smaller to place space and requirement, and freedom degree is higher, moves more flexible, change motion path
It is easier to, compensates for the deficiency of first two mode, there is apparent advantage.
Currently, there are the following problems for all-around mobile vehicle type Platform Designing:
(1) " CN201711963U- movable mechanical arm platform ", the scheme working space is smaller, is suitable for small-sized work
The operation of part is not suitable for the operation of large scale complex profile workpiece；
(2) " a kind of hull outer wall automatic spraying system of the patent-of CN206334799U " described scheme works range is larger,
But telescopic arm and rotating mechanism freedom degree are lower, are only suitable for the spraying of large scale simple type face workpiece, are unable to satisfy complex profile
The spraying requirement of workpiece；
(3) " patent of CN205495900U-ship spray robot " described scheme is by being vertically moved up or down bar, moving horizontally
Manipulator is transported to designated position by bar, but is not considered there is a situation where turning on one's side when manipulator is moved to except omnidirectional mobile vehicle,
And mobile device only has elevating mechanism and telescoping mechanism, does not have rotating mechanism；
(4) mechanical arm of " a kind of industrial robot based on AGV of CN108161889A- " described scheme can carry out lifting and
Stretching motion realizes the clamping of target object.But the front end of mechanical arm is directly connected to gripping body, the freedom degree compared with robot
It is lower.
Utility model content
In view of this, the utility model is directed to a kind of Omni-mobile formula robot spraying system, to overcome existing skill
The deficiency of art.
In order to achieve the above objectives, the technical solution of the utility model is achieved in that
A kind of Omni-mobile formula robot spraying system, the measurement including Omni-mobile spray unit and its data connection
Calibration system, and the charging station for the charging of Omni-mobile spray unit, it is characterised in that: the Omni-mobile spray unit
Including omnidirectional mobile vehicle, Z-axis lifting mechanism, robot, control and painting unit, the Z-axis lifting mechanism is fixed on omnidirectional's shifting
The side of motor-car, the other side of omnidirectional mobile vehicle are fixed with control and painting unit, and robot is mounted on Z-axis lifting mechanism；
The measurement calibration system includes laser tracker and T-Probe measurement auxiliary member, and T-Probe measurement auxiliary member is installed on Z axis
The outside of omnidirectional mobile vehicle is arranged in the top of elevating mechanism, laser tracker.
Further, the artificial a wide range of redundant degree of freedom spray robot of the machine.
Further, the omnidirectional mobile vehicle includes car body and driving wheel, and the driving wheel is Mecanum formula driving wheel,
For realizing car body planar any direction translation, rotation and translate rotation coupled motions, guarantee spray robot
Each scheduled spray station can smoothly be reached.
Further, the Z-axis lifting mechanism include lifting column, clump weight guardrail, self-balanced upper rotary, first pulley,
Second pulley, swivel base and lifting sliding table；The lifting column is fixedly installed in the side of omnidirectional mobile vehicle by screw, described
Lifting sliding table is fixedly installed in the side of lifting column；The clump weight guardrail is fixedly installed in the other side of lifting column,
Protection for self-balanced upper rotary；
The lifting column has a straight-line guide rail slide block pair, is installed on the inside of clump weight guardrail, the mobile counterweight
Block can be moved along guide rail, to realize the height adjustment of clump weight；
The first pulley, second pulley pass through screw respectively and are fixedly installed on lifting column；The swivel base passes through spiral shell
Nail is fixedly installed at the top of lifting column, can be rotated around own axes；The T-Probe measurement auxiliary member is fixedly mounted
In on swivel base.
Further, the artificial 9 freedom degree spray robot of a wide range of redundant degree of freedom spraying robot, including whirler
Structure, telescoping mechanism, seven freedom mechanical arm and laser range finder, the rotating mechanism are a single degree of freedom rotary joint machine
Structure is bolted and is installed in lifting sliding table, to realize that the horizontal deflection around axis rotates；
The telescoping mechanism is single-degree-of-freedom straight-line motion mechanism, is fixedly connected by bolt with rotating mechanism, thus
It realizes and passes through stretching motion for manipulator motion to designated position；
The seven freedom mechanical arm is connect by screw with telescoping mechanism, and mechanical arm tail end is equipped with spray gun and laser
Rangefinder, to realize that the pitching movement by joint, yaw motion carry out spraying operation, laser range finder is for measuring spray gun
To workpiece distance and position.
Further, a fixed weight device, the fixed weight device and control are also fixed in the omnidirectional mobile vehicle
It is ipsilateral with painting unit, it turns on one's side for preventing in the case where big tilting moment acts on.
Further, the charging station may be disposed at rink corner in or beyond mobile spray unit job area and fall.
Further, the control and painting unit include electric control box, spraying cabinet, the electric control box respectively with
Omnidirectional mobile vehicle, Z-axis lifting mechanism, spray robot and spraying cabinet connection.
Compared with the existing technology, a kind of Omni-mobile formula robot spraying system described in the utility model has following excellent
Gesture:
(1) the utility model is made of " Omni-mobile platform+a wide range of redundant degree of freedom robot ", using Omni-mobile
Formula design can be achieved platform planar any direction translation, rotation and translate rotation coupled motions, facilitate system to exist
Position adjustment between different erect-positions.
(2) a wide range of redundant degree of freedom robot described in the utility model is using " seven freedom is cranked arm+telescoping mechanism+rotation
Rotation mechanism+elevating mechanism " design, has multiple freedom degrees, and robot working range is big, and flexibility ratio is high, and outer diameter is small, fits
Close the spraying operation under the conditions of large scale complex profile workpiece and narrow space.
(3) the utility model is overcome and is installed on except Omni-mobile car body using mobile counterweight overturn-preventing design
The larger tilting moment that long cantilever robot generates, prevents omnidirectional mobile vehicle during spray coating operations from toppling or shaking.
(4) the utility model measures calibration system using " laser tracker+T-Probe ", solves Omni-mobile spraying
The problem of unit is accurately positioned in operation process improves pose accuracy when Omni-mobile spray unit reaches each erect-position,
And effectively increase the coating quality of overlapping regions between spraying area.
Detailed description of the invention
The attached drawing for constituting a part of the utility model is used to provide a further understanding of the present invention, this is practical new
The illustrative embodiments and their description of type are not constituteed improper limits to the present invention for explaining the utility model.In
In attached drawing:
Fig. 1 is Omni-mobile formula robot spraying system structural schematic diagram described in the utility model.
Fig. 2 is Omni-mobile spray unit structural schematic diagram in the utility model.
Description of symbols:
1 Omni-mobile spray unit；2, laser tracker；3, battery charging compartment；4, charging station；5, omnidirectional mobile vehicle；6,
Electric control cabinet；7, positive pressure explosion-proof cabinet and electromagnetism cabinet；8, spraying cabinet；9- air compressor machine；10, the first clump weight；11, the second counterweight
Block；12, lifting column；13, clump weight guardrail；14, self-balanced upper rotary；15, first pulley；16, second pulley；17, swivel base；
18, T-Probe measures auxiliary member；19, lifting sliding table；20, rotating mechanism；21, telescoping mechanism；22, seven freedom mechanical arm；
23, laser range finder.
Specific embodiment
It should be noted that in the absence of conflict, the feature in the embodiments of the present invention and embodiment can
To be combined with each other.
In the description of the present invention, it should be understood that term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of describing the present invention and simplifying the description, rather than indicate
Or imply that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore cannot understand
For limitations of the present invention.In addition, term " first ", " second " etc. are used for description purposes only, and should not be understood as indicating
Or it implies relative importance or implicitly indicates the quantity of indicated technical characteristic." first ", " second " etc. are defined as a result,
Feature can explicitly or implicitly include one or more of the features.It is in the description of the present invention, unless another
It is described, the meaning of " plurality " is two or more.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, on being understood by concrete condition
State the concrete meaning of term in the present invention.
The utility model will be described in detail below with reference to the accompanying drawings and embodiments.
As shown in Figure 1, the Omni-mobile formula robot spraying system includes Omni-mobile spray unit 1, measurement and calibration
System, battery charging compartment 3, charging station 4, the system can be used for the indoor or outdoors spraying operation of large scale complex profile workpiece.
As shown in Fig. 2, the Omni-mobile spray unit 1 includes omnidirectional mobile vehicle 5, (including lifting is vertical for Z-axis lifting mechanism
Column 12, clump weight guardrail 13, movable weight counterbalance apparatus 14, first pulley 15, second pulley 16, transposase 11 7, lifting sliding table 19), it is big
Range redundant degree of freedom spray robot (including rotating mechanism 20, telescoping mechanism 21, seven freedom mechanical arm 22, laser ranging
Instrument 23), it is control and painting unit (including electric control cabinet 6, positive pressure explosion-proof cabinet and electromagnetism cabinet 7, spraying cabinet 8, air compressor machine 9), solid
Determine counter weight device (including first clump weight 10, the second clump weight 11).The omnidirectional mobile vehicle 5 is placed in ground；The Z axis liter
Descending mechanism is fixedly mounted on 5 side of omnidirectional mobile vehicle；The control is fixedly placed in painting unit and fixed weight device
5 other side of omnidirectional mobile vehicle；The a wide range of redundant degree of freedom spray robot is fixedly installed on Z-axis lifting mechanism.It is described
Measurement includes laser tracker 2 and T-Probe18 (for measuring measurand pose in laser tracker with calibration system
Attachment)；The laser tracker 2 is placed in ground corresponding position according to demand, and it is vertical that the T-Probe18 is fixedly installed in lifting
12 top of column.The omnidirectional mobile vehicle 5 can guarantee that spray unit is made in such a way that direct plug wire charges or replaces reserve battery
Continued power when industry, the charging station 4 can be disposed in workshop or the battery charging compartment 3 in outfield.
The omnidirectional mobile vehicle 5 is the mobile platform of spray unit, including car body and four driving wheels, and driving wheel uses
" Mecanum wheel ", it can be achieved that platform planar any direction translation, rotation and translate rotation coupled motions, guarantee
Spray unit can smoothly reach each scheduled spray station.
The Z-axis lifting mechanism include lifting column 12, clump weight guardrail 13, movable weight counterbalance apparatus 14, first pulley 15,
Second pulley 16, transposase 11 7, lifting sliding table 19.The lifting column 12 is fixedly installed in 5 side of omnidirectional mobile vehicle by screw.
The clump weight guardrail 13 is fixed on the back of lifting column 12, the protection for counterweight mobile device.The lifting column 12
Back is installed on straight-line guide rail slide block pair, and the movable weight counterbalance apparatus 14 can be moved along guide rail, carries out the height adjustment of counterweight.Institute
State first pulley 15, second pulley 16 is fixedly installed on lifting column 12 by screw.The transposase 11 7 is fixed by screw
It is installed on 12 top of lifting column, can be rotated around own axes.The T-Probe18 is fixedly installed on transposase 11 7.
The a wide range of redundant degree of freedom spray robot includes rotating mechanism 20, telescoping mechanism 21, seven freedom machinery
Arm 22 and laser range finder 23 have 9 freedom degrees.The rotating mechanism 20 is a single degree of freedom rotary joint, passes through bolt
It is fixedly installed in lifting sliding table 19, it can be achieved that the horizontal deflection around axis rotates.The telescoping mechanism 21 is that single-degree-of-freedom is straight
Line movement mechanism is fixedly connected with rotating mechanism 20 by bolt, mechanical arm 22 is moved to specific bit by stretching motion
It sets.The seven freedom mechanical arm 22 is connect by screw with telescoping mechanism 21, and 22 end of mechanical arm is equipped with spray gun and laser
Rangefinder 23 can carry out spraying operation by the pitching movement in joint, yaw motion, and laser range finder 23 is arrived for measuring spray gun
The distance of workpiece facilitates positioning.
The function of the movable weight counterbalance apparatus is realized are as follows: is connected to one end of two hawsers and is installed on lifting sliding table
On two slide unit lifting bolts on 19 tops, by first pulley group 16, the second pulley group 15 being installed on lifting column 12,
The other end is connected on two counterweight lifting bolts being installed on movable weight counterbalance apparatus 14.Lifting sliding table 19 is along installation
Guide rail in 12 front of lifting column is mobile, and movable weight counterbalance apparatus 14 is moved along the guide rail for being installed on 12 back of lifting column.
Movable weight counterbalance apparatus 14 overcomes the self weight and tilting moment effect of lifting sliding table 19 and its spray robot of carrying always, prevents
The only rollover of omnidirectional mobile vehicle 5.The fixed weight device includes the first clump weight 10, the second clump weight 11, is installed on omnidirectional
The side of locomotive 5 is also used for preventing omnidirectional mobile vehicle from turning on one's side under the effect of big tilting moment.
The control and painting unit include electrical control cabinet 6, positive pressure explosion-proof cabinet and electromagnetism cabinet 7, spraying cabinet 8 and air pressure
Contracting machine 9 etc. is placed in omnidirectional mobile vehicle 5, for controlling to spray robot, elevating mechanism and omnidirectional mobile vehicle 5
System, and paint vehicle is provided for spray unit.
The measurement and calibration system include laser tracker 2 and T-Probe18, and the laser tracker 2 is placed in ground
Face, the T-Probe18 are mounted on transposase 11 7, and transposase 11 7 has rotary freedom.
The detailed process of measurement and calibration are as follows:
(1) laser tracker measuring system is connected, target ball is placed on the index point of workpiece, tracked using laser
Instrument measures the coordinate value of each index point；
(2) after the measurement of complement mark point coordinate, part calibration module Automatic solution workpiece pose in control system is real
The calibration of existing workpiece pose；
(3) complete workpiece pose calibration after, then with laser tracker measurement spray unit at the top of T-Probe pose, make
For spray unit pose data.The data combination workpiece pose can be used as Control During Paint Spraying by Robot unit path planning and trajectory planning
Foundation.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Within the spirit and principle of utility model, any modification, equivalent replacement, improvement and so on should be included in the utility model
Protection scope within.
Claims (8)
1. a kind of Omni-mobile formula robot spraying system, the measurement mark including Omni-mobile spray unit and its data connection
Determine system, and the charging station for the charging of Omni-mobile spray unit, it is characterised in that: the Omni-mobile spray unit packet
Omnidirectional mobile vehicle, Z-axis lifting mechanism, robot, control and painting unit are included, the Z-axis lifting mechanism is fixed on Omni-mobile
The side of vehicle, the other side of omnidirectional mobile vehicle are fixed with control and painting unit, and robot is mounted on Z-axis lifting mechanism；Institute
Stating measurement calibration system includes laser tracker and T-Probe measurement auxiliary member, and T-Probe measurement auxiliary member is installed on Z axis liter
The outside of omnidirectional mobile vehicle is arranged in the top of descending mechanism, laser tracker.
2. a kind of Omni-mobile formula robot spraying system according to claim 1, it is characterised in that: the machine is artificial
A wide range of redundant degree of freedom spray robot.
3. a kind of Omni-mobile formula robot spraying system according to claim 1, it is characterised in that: the Omni-mobile
Vehicle includes car body and driving wheel, and the driving wheel is Mecanum formula driving wheel, for realizing car body planar any direction
Translation, rotation and translate rotation coupled motions, guarantee spray robot can smoothly reach each scheduled spraying work
Position.
4. a kind of Omni-mobile formula robot spraying system according to claim 2, it is characterised in that: the Z axis lifting
Mechanism includes lifting column, clump weight guardrail, self-balanced upper rotary, first pulley, second pulley, swivel base and lifting sliding table；Institute
The side that lifting column is fixedly installed in omnidirectional mobile vehicle by screw is stated, the lifting sliding table is fixedly installed in lifting column
Side；The clump weight guardrail is fixedly installed in the other side of lifting column, is used for the protection of self-balanced upper rotary；
The lifting column has a straight-line guide rail slide block pair, is installed on the inside of clump weight guardrail, the self-balanced upper rotary can
It is moved along guide rail, to realize the height adjustment of clump weight；
The first pulley, second pulley pass through screw respectively and are fixedly installed on lifting column；The swivel base is solid by screw
Dingan County can be rotated loaded at the top of lifting column around own axes；The T-Probe measurement auxiliary member, which is fixedly installed in, to be turned
On seat.
5. a kind of Omni-mobile formula robot spraying system according to claim 4, it is characterised in that: described a wide range of superfluous
The artificial 9 freedom degree spray robot of cofree degree spraying robot, including rotating mechanism, telescoping mechanism, seven freedom mechanical arm with
And laser range finder, the rotating mechanism are a single degree of freedom rotary joint mechanism, are bolted and are installed on lifting sliding table
On, to realize that the horizontal deflection around axis rotates；
The telescoping mechanism is single-degree-of-freedom straight-line motion mechanism, is fixedly connected by bolt with rotating mechanism, to realize
By stretching motion by manipulator motion to designated position；
The seven freedom mechanical arm is connect by screw with telescoping mechanism, and mechanical arm tail end is equipped with spray gun and laser ranging
Instrument, to realize that the pitching movement by joint, yaw motion carry out spraying operation, laser range finder is for measuring spray gun to work
The distance of part and position.
6. a kind of Omni-mobile formula robot spraying system according to claim 1, it is characterised in that: the Omni-mobile
A fixed weight device is also fixed on vehicle, the fixed weight device and control are ipsilateral with painting unit, are inclining greatly for preventing
It covers and turns on one's side under moment loading.
7. a kind of Omni-mobile formula robot spraying system according to claim 1, it is characterised in that: the charging station can
Rink corner in or beyond mobile spray unit job area is set to fall.
8. a kind of Omni-mobile formula robot spraying system according to claim 1, it is characterised in that: the control and confession
Qi Danyuan includes electric control box, spraying cabinet, the electric control box respectively with omnidirectional mobile vehicle, Z-axis lifting mechanism, flush coater
Device people and spraying cabinet connection.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822116040.9U CN209631457U (en) | 2018-12-17 | 2018-12-17 | A kind of Omni-mobile formula robot spraying system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822116040.9U CN209631457U (en) | 2018-12-17 | 2018-12-17 | A kind of Omni-mobile formula robot spraying system |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109499799A (en) * | 2018-12-17 | 2019-03-22 | 清研同创机器人（天津）有限公司 | A kind of Omni-mobile formula robot spraying system |
| CN111687833A (en) * | 2020-04-30 | 2020-09-22 | 广西科技大学 | Manipulator inverse priority impedance control system and control method |
| CN111687832A (en) * | 2020-04-30 | 2020-09-22 | 广西科技大学 | Reverse priority impedance control system and method for redundant manipulator of space manipulator |
| CN111687835A (en) * | 2020-04-30 | 2020-09-22 | 广西科技大学 | Reverse priority impedance control system and method for redundant manipulator of underwater manipulator |
| CN111687834A (en) * | 2020-04-30 | 2020-09-22 | 广西科技大学 | Reverse priority impedance control system and method for redundant mechanical arm of mobile manipulator |
| CN111702753A (en) * | 2020-04-30 | 2020-09-25 | 广西科技大学 | Redundant mechanical arm inverse priority impedance control system and control method |
| CN113499903A (en) * | 2021-07-15 | 2021-10-15 | 东莞理工学院 | Five-degree-of-freedom disinfection mechanical arm based on double-nozzle electric spray gun |
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2018
- 2018-12-17 CN CN201822116040.9U patent/CN209631457U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109499799A (en) * | 2018-12-17 | 2019-03-22 | 清研同创机器人（天津）有限公司 | A kind of Omni-mobile formula robot spraying system |
| CN111687833A (en) * | 2020-04-30 | 2020-09-22 | 广西科技大学 | Manipulator inverse priority impedance control system and control method |
| CN111687832A (en) * | 2020-04-30 | 2020-09-22 | 广西科技大学 | Reverse priority impedance control system and method for redundant manipulator of space manipulator |
| CN111687835A (en) * | 2020-04-30 | 2020-09-22 | 广西科技大学 | Reverse priority impedance control system and method for redundant manipulator of underwater manipulator |
| CN111687834A (en) * | 2020-04-30 | 2020-09-22 | 广西科技大学 | Reverse priority impedance control system and method for redundant mechanical arm of mobile manipulator |
| CN111702753A (en) * | 2020-04-30 | 2020-09-25 | 广西科技大学 | Redundant mechanical arm inverse priority impedance control system and control method |
| CN113499903A (en) * | 2021-07-15 | 2021-10-15 | 东莞理工学院 | Five-degree-of-freedom disinfection mechanical arm based on double-nozzle electric spray gun |
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