CN101966500B - Hybrid connected combined vehicle spraying robot based on 3-DOF (Degrees Of Freedom) and 4-DOF parallel mechanism - Google Patents
Hybrid connected combined vehicle spraying robot based on 3-DOF (Degrees Of Freedom) and 4-DOF parallel mechanism Download PDFInfo
- Publication number
- CN101966500B CN101966500B CN2010105075434A CN201010507543A CN101966500B CN 101966500 B CN101966500 B CN 101966500B CN 2010105075434 A CN2010105075434 A CN 2010105075434A CN 201010507543 A CN201010507543 A CN 201010507543A CN 101966500 B CN101966500 B CN 101966500B
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- side chain
- pair group
- moving platform
- kinematic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0447—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles
- B05B13/0452—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles the conveyed articles being vehicle bodies
-
- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0018—Bases fixed on ceiling, i.e. upside down manipulators
-
- 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
- B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
- B25J9/0066—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base with kinematics chains of the type universal-prismatic-spherical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
- B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
- B25J9/107—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms of the froglegs type
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention relates to a hybrid connected combined vehicle spraying robot based on a 3-DOF (Degrees Of Freedom) and 4-DOF parallel mechanism, comprising a gantry stand and four spraying operation module units, wherein the gantry stand can realize horizontal motion on a horizontal guide rail, and the pose of an atomizer nozzle of each spraying operation module unit can be controlled by combining the horizontal motion of the gantry stand and motion of the spraying operation module units, thereby finishing whole vehicle spraying operation of a vehicle to be sprayed. The hybrid connected combined vehicle spraying robot has the advantages of symmetric structure, good flexibility, high accuracy and rigidity, easy manufacture, convenient control, easy modularization realization and high flexibility degree, can increase and decrease an amount of spraying modules according to the needs and carrying spraying operation on different whole vehicles.
Description
Technical field
The present invention relates to mechanical manufacturing field, be specifically related to a kind of a kind of modular combination spray robot that can be applied to vehicle complete vehicle spraying production field.
Background technology
Along with developing rapidly of Hyundai Motor industry; The continuous adjustment of automobile model and car body design; Domestic automobile production to extensive, high-quality and cheaply direction develop, the body of a motor car spraying is one of topmost production technology in the automobile making, it not only can improve the corrosion resistance of automobile product; Prolong automotive service life; It has also the most directly embodied the quality of automobile-exterior face look, gloss and brightness quality, is that people estimate car mass the most intuitively, so it is to the most directly influence that has of automobile market competitiveness.Under this background; Traditional hand spraying can't have been satisfied 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.The effect of robot is the control spray gun, makes it in spraying process to keep correct angle and constant distance with sprayed surface.Up to the present, spray robot has become one of maximum industrial robot of utilization on the domestic market.
Spray robot has following advantage:
◆ flexible big, working range is big, and swinging cross production that can real many kinds vehicle is produced like vehicle body swinging cross such as car, station wagon, pick ups;
◆ track is flexible, can accomplish vehicle body spraying task, and the profiling spraying profile is accurate, has improved the uniformity of filming, and reduces the consumption of quantity for spray and cleaning solvent, improves the utilization rate of material, and certain function has also been played in environmental protection;
◆ easy to operate and maintenance, but off-line programing shortens the field adjustable time greatly, and modular design can realize Fast Installation and change components and parts, greatly shorten maintenance time;
◆ utilization rate of equipment and installations is high, and reciprocating type automatic spraying machine utilization rate generally is merely 40%-60%, and the utilization rate of spray robot can reach 90%-95%.
Spray robot has become auto industry spray-painting production line and preferred unit, yet because the limitation of China's industrial robot technology, the spray robot of independent research often exists precision not enough; The shortcoming that control ability is low, the most of automobile coating production lines of China are still adopting automatic spraying machine equipment at present, and the automatic spraying robot major part that minority enterprise is adopted all is from external equipment manufacturers; These equipment of package import not only cost an arm and a leg; And maintenance cost is high, in case equipment breaks down, maintenance cycle is longer; Might cause the stopping production of whole production line what is more in the maintenance period; Cause the huge wasting of resources of enterprise and property loss, therefore realize the production domesticization of automatic electrostatic coating equipment, improve research level spray robot; The technical monopoly of breaking foreign vendor becomes the current problem of needing solution badly, and this is significant for China robot industry and automobile industry.
Find through investigation that in addition the conventional spray paint robot that has at present used all is the serial machine people who adopts copy man arm, through making rational planning for of movement locus accomplished the automatic spraying operation.But because the restriction of China's manufacturing industry overall technology level; So far fail serial machine people's the not high problem of precision is made substantial breakthrough; The control of tandem spray robot is relatively complicated; External in addition related patent U.S. Patent No. has also been carried out all constraints to its application in China, is an extremely urgent task so invent novel spraying operation robot as far as the auto industry of China.
And parallel robot is the closed loop mechanism that is made up of a plurality of side chains; Serial machine people with respect to traditional has the following advantages: simple and compact for structure, rigidity is high, error free accumulation, heavy moving parts are little, be easy to realize high-speed motion, realize processing moduleization easily, kinematics is simple, have the characteristic of decoupling zero or partly decoupled, motion of mechanism is controlled in decoupling zero campaign and trajectory planning all has the certain significance.These advantages have remedied the deficiency of serial mechanism to a certain extent.
Summary of the invention
In order to address the above problem, the present invention proposes the modularization series-parallel connection combination vehicle spray painting robot based on planar three freedom parallel institution and space four-freedom parallel mechanism that a kind of convenience is made, is easy to control.This assembly robot has the advantage of parallel institution, more can adapt to the spraying operation task of vehicle complete vehicle, and can carry out spraying operation to the vehicle complete vehicle of difformity and specification.
The present invention proposes a kind of series-parallel connection combination vehicle spray painting robot based on Three Degree Of Freedom and four-freedom parallel mechanism; It comprises a gantry stand and four spraying operation modular units; Said spraying operation modular unit is constituted with the planar three freedom parallel robot with three side chains by the space four-freedom parallel device people with four side chains respectively; Wherein the first spraying operation module is identical with the 4th spraying operation modular structure, is respectively that symmetry is installed in the space four-freedom parallel device people on two columns of gantry stand; The second spraying operation module is identical with the 3rd spraying operation modular structure; It is respectively the planar three freedom parallel robot on the motion frame that is fixed in separately; Can be implemented on the entablature guide rail after the entablature of said motion frame and gantry stand is connected through moving sets and back and forth move horizontally; Said gantry stand can be realized moving horizontally on horizontal guide rail; Horizontal movement through with gantry stand combines with the motion of said spraying operation modular unit, can control the pose of the atomizer shower nozzle of each spray module unit, thereby accomplishes the car load spraying operation of treating spray car.
Series-parallel connection combination vehicle spray painting robot described in according to the present invention; Wherein the second spraying operation module all is the identical Three Degree Of Freedom of structure five bar parallel institutions with the 3rd spraying operation module; It includes motion frame, first moving platform and connects the left side chain between the motion frame and first moving platform, right side chain, mobile side chain; Described left side chain is identical with right branched structure and be used for controlling the position of first moving platform that first atomizer nozzle is installed; Mobile side chain is used for controlling the attitude of first moving platform that first atomizer nozzle is installed, and wherein left side chain comprises connecting rod I, connecting rod II, kinematic pair group I; Right side chain comprises connecting rod III, connecting rod IV, kinematic pair group II, and kinematic pair group I is connected in revolute pair between connecting rod I and the motion frame, is connected in revolute pair between connecting rod I and the connecting rod II, is connected in the revolute pair between the connecting rod II and first moving platform; Kinematic pair group II connects revolute pair between connecting rod III and the motion frame, is connected in revolute pair between connecting rod III and the connecting rod IV, is connected in the revolute pair between the connecting rod IV and first moving platform; Revolute pair among kinematic pair group I and the kinematic pair group II is all coaxial, and the revolute pair that connects between motion frame and the connecting rod in left side chain and the right side chain is respectively driven.
Series-parallel connection combination vehicle spray painting robot described in according to the present invention; Wherein move side chain and comprise fixed slider, slide bar, slide block and kinematic pair group III; Kinematic pair group III has three kinematic pairs; Be respectively to be connected in moving sets between slide bar and the fixed slider, to be connected in revolute pair between slide bar and the slide block, to be connected in the moving sets between the slide block and first moving platform, the moving sets between slide bar and the fixed slider is driven.
Series-parallel connection combination vehicle spray painting robot described in according to the present invention; Wherein move side chain and can include only fixed slider, slide bar and kinematic pair group III '; Kinematic pair group III ' has two kinematic pairs, is respectively the moving sets that is connected between slide bar and the fixed slider, is connected in the revolute pair between the slide bar and first moving platform.
Series-parallel connection combination vehicle spray painting robot described in according to the present invention; The second spraying operation module wherein is the identical planar three freedom parallel robot of structure with the 3rd spraying operation module; Include the 3rd motion frame, the 3rd moving platform, first side chain, second side chain, reach the 3rd side chain; Said first side chain has identical structure with second side chain, and said first side chain comprises slide block I, first connecting rod, kinematic pair group IV; Said second side chain comprises slide block II, second connecting rod, kinematic pair group V, and kinematic pair group IV is connected in revolute pair between slide block I and the 3rd motion frame, is connected in moving sets between slide block I and the first connecting rod, is connected in the revolute pair between first connecting rod and the 3rd moving platform; Kinematic pair group V is connected in revolute pair between slide block II and the 3rd motion frame, is connected in moving sets between slide block II and the second connecting rod, is connected in the revolute pair between second connecting rod and the 3rd moving platform; The revolute pair that is connected in first connecting rod and the 3rd moving platform is coaxial with the revolute pair that is connected in second connecting rod and the 3rd moving platform, and the moving sets that connects in first and second side chains between slide block and the connecting rod is driven respectively.
Series-parallel connection combination vehicle spray painting robot described in according to the present invention; Wherein said the 3rd side chain comprises the 3rd fixed slider, the 3rd slide bar, the 3rd slide block and kinematic pair group VI; Kinematic pair group VI has three kinematic pairs; Be specially the moving sets that is connected between the 3rd slide bar and the 3rd fixed slider, be connected in revolute pair between the 3rd slide bar and the 3rd slide block, be connected in the moving sets between the 3rd slide block and the 3rd moving platform, the moving sets that wherein is connected between the 3rd slide bar and the 3rd fixed slider is driven.
Series-parallel connection combination vehicle spray painting robot described in according to the present invention; Wherein said the 3rd side chain includes only the 3rd fixed slider, the 3rd slide bar and kinematic pair group VI '; Kinematic pair group VI ' has two kinematic pairs, for being connected in moving sets between the 3rd slide bar and the 3rd fixed slider, being connected in the revolute pair between the 3rd slide bar and the 3rd moving platform.
Series-parallel connection combination vehicle spray painting robot described in according to the present invention; Wherein the first spraying operation module and the 4th spraying operation module are identical in structure space four-freedom parallel mechanisms; Include frame, second moving platform, connect four side chains between the frame and second moving platform: rotate left side chain, the right side chain of rotation, move and go up side chain, mobile side chain down; The left side chain of described rotation is identical with the right branched structure of rotation, wherein rotates left side chain and comprises the left connecting rod of rotation, rotates left slider, rotates left socle, the first kinematic pair group; Rotating right side chain comprises the rotation right connecting rod, rotates right slide block, rotates right support, the second kinematic pair group; Describedly move to go up side chain and move that branched structure is identical down, wherein move go up side chain comprise move go up connecting rod, move top shoe, mobile upper bracket, the 3rd kinematic pair group; Moving down, side chain comprises mobile lower link, move sliding block, move lower carriage, the 4th kinematic pair group; Said mobile upper bracket and mobile lower carriage are fixed on the frame; The said moving sets that moves upper and lower side chain and rotate in the left and right side chain is driven respectively, can control position and the attitude that realizes two rotational freedoms that second moving platform that second atomizer is installed is realized two one-movement-freedom-degrees.
Series-parallel connection combination vehicle spray painting robot described in according to the present invention; Wherein the first kinematic pair group and the second kinematic pair group are formed by four kinematic pairs; The 3rd kinematic pair group and the 4th kinematic pair group are formed by three kinematic pairs, and the first kinematic pair group comprises: be connected in frame and rotate revolute pair between the left socle, be connected in rotate left socle and rotate revolute pair between the left slider, be connected in rotate left slider and rotate moving sets between the left connecting rod, to be connected in the ball that rotates between the left connecting rod and second moving platform secondary; The said second kinematic pair group comprises: be connected in frame and rotate revolute pair between the right support, be connected in rotate right support and rotate revolute pair between the right slide block, be connected in rotate right slide block and rotate moving sets between the right connecting rod, to be connected in the ball that rotates between the right connecting rod and second moving platform secondary; Said the 3rd kinematic pair group comprises: be connected in the revolute pair that moves between upper bracket and the mobile top shoe, be connected in and move top shoe and move the moving sets gone up between the connecting rod, be connected in that to move the ball of going up between the connecting rod and second moving platform secondary; Said the 4th kinematic pair group comprises: be connected in the revolute pair that moves between lower carriage and the mobile sliding block, be connected in the moving sets that moves between sliding block and the mobile lower link, to be connected in the ball that moves between the lower link and second moving platform secondary.
The combination spray robot of mentioning among the present invention has following advantage: (1) symmetrical configuration, be easy to make, and cost is lower, realizes modularization processing more easily; (2) its speed is fast, flexibility good; (3) control more easily with respect to serial mechanism, deposition accuracies is easy to guarantee; (4) working space is big, on guide rail, can realize moving on a large scale; (5) flexible degree is high, can adapt to the spraying operation environment of different vehicle complete vehicles, more can increase the spraying operation unit module as required.
Description of drawings
Fig. 1 is the 3-D view of unitary construction structure of the present invention;
Fig. 2 is the present invention first, the 4th spraying operation module mechanism sketch map;
Fig. 3 is second, third spraying operation module mechanism sketch map of the embodiment of the invention 1;
Fig. 4 is second, third spraying operation module mechanism sketch map of the embodiment of the invention 2.
Among Fig. 1,1.-first spraying operation module, 2.-second spraying operation module, 3.-the 3rd spraying operation module, 4.-the 4th spraying operation module, 15-base plate, 16-horizontal guide rail, 17-gantry stand, 18-the 3rd spraying operation block motion balladeur train, 19-entablature guide rail, the 110-second spraying operation block motion balladeur train, 111-automobile to be sprayed, 112-horizontal guide rail;
Among Fig. 2,21-moves sliding block, 22-and moves lower carriage, 23-and rotate right slide block, 24-and rotate right connecting rod, 25-and move lower link, 26-and rotate right support, 27-and move upper bracket, 28-and move connecting rod, 29-and move that top shoe, 210-rotate left connecting rod, 211-rotates left socle, 212-rotation left slider, 213-second moving platform, 214-second atomizer, 215-frame;
Among Fig. 3,31-motion frame, 32-connecting rod I, 33-connecting rod II, 34-slide bar, 35-fixed slider, 36-slide block, 37-first moving platform, 38-connecting rod IV, 39-connecting rod III;
Among Fig. 4,41-the 3rd motion frame, 42-slide block I, 43-first connecting rod, 44-the 3rd slide bar, 45-the 3rd fixed slider, 46-the 3rd slide block, 47-the 3rd moving platform, 48-second connecting rod, 49-slide block II.
The specific embodiment
The modular combination spray robot that the present invention proposes specifies as follows in conjunction with accompanying drawing 1-4 and embodiment:
Embodiment 1:
As shown in Figure 1, the combination spray robot that can accomplish automatic spraying operation to vehicle complete vehicle of the present invention comprises a gantry stand 17 and four spraying operation modular units.Described spraying operation module be respectively the first spraying operation module 1., the second spraying operation module 2., the 3rd spraying operation module 3., the 4th spraying operation module 4., all are parallel robots.Wherein, 1. 4. structure is identical with the 4th spraying operation module for the first spraying operation module, and symmetry is installed on two columns of gantry stand 17 respectively; 2. 3. structure is also identical with the 3rd spraying operation module for the described second spraying operation module; Be fixed in respectively on the 3rd spraying operation block motion slide block 18 and the second spraying operation block motion slide block 110; The entablature guide rail 19 of motion slide block and gantry stand 17 is connected through moving sets, can be implemented in moving horizontally on the entablature guide rail 19.This gantry stand 17 moves, and can on horizontal guide rail 16,112, realize moving horizontally on a large scale.Horizontal movement through with gantry stand 17 combines with the motion of four spraying operation modular units, can control the pose of the atomizer of each spray module unit, accomplishes the car load spraying operation of treating spray car 111.
As shown in Figure 2; 1. 4. structure is identical with the 4th spraying operation module for the first spraying operation module; It all is the space four-freedom parallel mechanism; Include frame 215, second moving platform 213, connect four side chains between the frame 215 and second moving platform 213: rotate left side chain, the right side chain of rotation, move and go up side chain, move side chain down; The left side chain of described rotation is with to rotate right branched structure identical, wherein rotates left side chain and comprises and rotate left connecting rod 210, rotate left slider 212, rotate left socle 211, the first kinematic pair group; Rotating right side chain comprises and rotates right connecting rod 24, rotates right slide block 23, rotates right support 26, the second kinematic pair group; Describedly move to go up side chain and move that branched structure is identical down, wherein move go up side chain comprise move go up connecting rod 28, move top shoe 29, mobile upper bracket 27, the 3rd kinematic pair group; Side chain comprises mobile lower link 25, moves sliding block 21, moves lower carriage 22, the 4th kinematic pair group under moving, and said mobile upper bracket 27 is fixed on the frame 215 with mobile lower carriage 22.By said frame 215, second moving platform 213 with rotate left side chain, the right side chain of rotation, move and go up side chain and move down that side chain has constituted space plane four-freedom parallel device people together.The said moving sets that moves upper and lower side chain and rotate in the left and right side chain is driven respectively, can control the attitude that second moving platform 213 that second atomizer is installed is realized the position of two one-movement-freedom-degrees and realized two rotational freedoms.
According to the four-freedom parallel mechanism described in the present embodiment 1, wherein the first kinematic pair group and the second kinematic pair group are formed by four kinematic pairs, and the 3rd kinematic pair group and the 4th kinematic pair group are formed by three kinematic pairs.Wherein the first kinematic pair group comprises: be connected in frame 215 and rotate revolute pair between the left socle 211, be connected in rotate left socle 211 and rotate revolute pair between the left slider 212, be connected in rotate left slider 212 and rotate moving sets between the left connecting rod 210, to be connected in the ball that rotates between the left connecting rod 210 and second moving platform 213 secondary; The said second kinematic pair group comprises: be connected in frame 215 and rotate revolute pair between the right support 26, be connected in rotate right support 26 and rotate revolute pair between the right slide block 23, be connected in rotate right slide block 23 and rotate moving sets between the right connecting rod 24, to be connected in the ball that rotates between the right connecting rod 24 and second moving platform 213 secondary; Said the 3rd kinematic pair group comprises: be connected in the revolute pair that moves between upper bracket 27 and the mobile top shoe 29, be connected in and move top shoe 29 and move the moving sets gone up between the connecting rod 28, be connected in that to move the ball of going up between the connecting rod 28 and second moving platform 213 secondary; Said the 4th kinematic pair group comprises: be connected in the revolute pair that moves between lower carriage 22 and the mobile sliding block 21, be connected in the moving sets that moves between sliding block 21 and the mobile lower link 25, to be connected in the ball that moves between the lower link 25 and second moving platform 213 secondary.
According to the combination spray robot in the present embodiment 1; Wherein 2. 3. structure is identical with the 3rd spraying operation module for the second spraying operation module; All are Three Degree Of Freedom five bar parallel institutions, the motion balladeur train 18,110 through separately 19 moves on the horizontal gird guide rail of gantry stand respectively.As shown in Figure 3: it includes left side chain, right side chain and mobile side chain between motion frame 31, first moving platform 37 and connection motion frame 31 and first moving platform 37.Described left side chain is identical with right branched structure, is used for controlling the position of first moving platform 37 that first atomizer nozzle is installed.Wherein left side chain comprises connecting rod I32, connecting rod II33, kinematic pair group I; Right side chain comprises connecting rod III39, connecting rod IV38, kinematic pair group II; Described mobile side chain is used for controlling the attitude of first moving platform 37 that first atomizer nozzle is installed, and it comprises fixed slider 35, slide bar 34, slide block 36 and kinematic pair group III; Wherein fixed slider 35 is fixedly connected with motion frame 31.
According to the 3-freedom parallel mechanism described in the embodiment of the invention 1, described kinematic pair group constitutes by three kinematic pairs.Wherein kinematic pair group I is connected in revolute pair between connecting rod I 32 and the motion frame 31, is connected in revolute pair between connecting rod I32 and the connecting rod II33, is connected in the revolute pair between the connecting rod II33 and first moving platform 37; Kinematic pair group II connects revolute pair between connecting rod III39 and the motion frame 31, is connected in revolute pair between connecting rod III39 and the connecting rod IV38, is connected in the revolute pair between the connecting rod IV38 and first moving platform 37; Above-described revolute pair is all coaxial, and the revolute pair that connects in left side chain and the right side chain between motion frame 31 and the connecting rod is driven respectively.Kinematic pair group III is connected in moving sets between slide bar 34 and the fixed slider 35, is connected in revolute pair between slide bar 34 and the slide block 36, is connected in the moving sets between the slide block 36 and first moving platform 37, and the moving sets that wherein is connected between slide bar 34 and the fixed slider 35 is driven.
According to the present invention; Mobile side chain in the described 3-freedom parallel mechanism also can include only fixed slider 35, slide bar 34 and kinematic pair group III '; Wherein fixed slider 35 is fixedly connected with motion frame 31; Kinematic pair group III ' is for being connected in moving sets between slide bar 34 and the fixed slider 35, being connected in the revolute pair between the slide bar 34 and first moving platform 37, above-mentioned revolute pair can be driven also can be non-driving.
Embodiment 2:
As shown in Figure 4, according to the present invention, in embodiment 2, use another kind of planar three freedom parallel institution replace the second spraying operation module that embodiment 1 midplane five bar parallel institutions are used as making up the spraying robot philtrum 2. with the 3rd spraying operation module 3..It comprises the 3rd motion frame 41, the 3rd moving platform 37, first side chain, second side chain, and the 3rd side chain.Said first side chain has identical structure with second side chain; And be respectively applied for and connect said the 3rd moving platform 37 and the 3rd motion frame 41; In order to confirm the position of the 3rd moving platform 37; The 3rd side chain is used to connect motion frame 41 and the 3rd moving platform 37, in order to change the attitude of the 3rd moving platform 37.Said first side chain comprises slide block I42, first connecting rod 43, kinematic pair group IV; Said second side chain comprises slide block II49, second connecting rod 48, kinematic pair group V; Said the 3rd side chain comprises the 3rd fixed slider 45, the 3rd slide bar 44, the 3rd slide block 46 and kinematic pair group VI; Wherein the 3rd fixed slider 45 is fixedly connected with the 3rd motion frame 41.Said first side chain, second side chain and the 3rd side chain and the 3rd moving platform 37 and motion frame 41 are connected to form a plane closed loop parallel institution; Three side chains of this parallel institution or first and two side chains are driven respectively, can realize two one-movement-freedom-degrees and rotational freedom of moving platform.
Plane parallel mechanism in according to the present invention; Said three kinematic pair groups are formed by three kinematic pairs, and kinematic pair group IV is connected in revolute pair between slide block I42 and the 3rd motion frame 41, is connected in moving sets between slide block I42 and the first connecting rod 43, is connected in the revolute pair between first connecting rod 43 and the 3rd moving platform 37; Kinematic pair group V is connected in revolute pair between slide block II49 and the 3rd motion frame 41, is connected in moving sets between slide block II49 and the second connecting rod 48, is connected in the revolute pair between second connecting rod 48 and the 3rd moving platform 37; The revolute pair that wherein is connected in first connecting rod 43 and the 3rd moving platform 37 is coaxial with the revolute pair that is connected in second connecting rod 48 and the 3rd moving platform 37, and the moving sets that connects between slide block and the connecting rod in first and second side chains is driven.Kinematic pair group VI is connected in moving sets between the 3rd slide bar 44 and the 3rd fixed slider 45, is connected in revolute pair between the 3rd slide bar 44 and the 3rd slide block 46, is connected in the moving sets between the 3rd slide block 46 and the 3rd moving platform 37, and the moving sets that wherein is connected between the 3rd slide bar 44 and the 3rd fixed slider 45 is driven.
Plane parallel mechanism in according to the present invention; The 3rd side chain also can include only the 3rd fixed slider 45, the 3rd slide bar 44 and kinematic pair group VI '; Wherein the 3rd fixed slider 45 is fixedly connected with the 3rd motion frame 41; Kinematic pair group VI ' is for being connected in moving sets between the 3rd slide bar 44 and the 3rd fixed slider 45, being connected in the revolute pair between the 3rd slide bar 44 and the 3rd moving platform 37, above-mentioned revolute pair can be driven also can be non-driving.
Combination spray robot described in according to the present invention, it can be used for accomplishing the automatic spraying operation of different vehicle complete vehicles.
It is understandable that; Those skilled in the art can not exceed under the condition of the present invention; Suitably adjust the quantity of spraying operation module, and overall structure is carried out conspicuous replacement or modification, adapt to the spraying operation environment of the automobile to be sprayed of difformity and specification.
Claims (9)
1. the vehicle spray painting robot is made up in the series-parallel connection based on Three Degree Of Freedom and four-freedom parallel mechanism; It comprises a gantry stand and four spraying operation modular units; Said spraying operation modular unit is constituted with the planar three freedom parallel robot with three side chains by the space four-freedom parallel device people with four side chains respectively; Wherein the first spraying operation module is identical with the 4th spraying operation modular structure, is respectively that symmetry is installed in the space four-freedom parallel device people on two columns of gantry stand; The second spraying operation module is identical with the 3rd spraying operation modular structure; It is respectively the planar three freedom parallel robot on the motion frame that is fixed in separately; Can be implemented on the entablature guide rail after the entablature of said motion frame and gantry stand is connected through moving sets and back and forth move horizontally; Said gantry stand can be realized moving horizontally on horizontal guide rail; Horizontal movement through with gantry stand combines with the motion of said spraying operation modular unit, can control the pose of the atomizer shower nozzle of each spray module unit, thereby accomplishes the car load spraying operation of treating spray car.
2. the vehicle spray painting robot is made up in series-parallel connection according to claim 1; Wherein the second spraying operation module all is the identical Three Degree Of Freedom of structure five bar parallel institutions with the 3rd spraying operation module; It includes motion frame, first moving platform and connects the left side chain between the motion frame and first moving platform, right side chain, mobile side chain; Described left side chain is identical with right branched structure and be used for controlling the position of first moving platform that first atomizer nozzle is installed; Mobile side chain is used for controlling the attitude of first moving platform that first atomizer nozzle is installed, and wherein left side chain comprises connecting rod I, connecting rod II, kinematic pair group I; Right side chain comprises connecting rod III, connecting rod IV, kinematic pair group II, and kinematic pair group I is connected in revolute pair between connecting rod I and the motion frame, is connected in revolute pair between connecting rod I and the connecting rod II, is connected in the revolute pair between the connecting rod II and first moving platform; Kinematic pair group II connects revolute pair between connecting rod III and the motion frame, is connected in revolute pair between connecting rod III and the connecting rod IV, is connected in the revolute pair between the connecting rod IV and first moving platform; Revolute pair among kinematic pair group I and the kinematic pair group II is all coaxial, and the revolute pair that connects between motion frame and the connecting rod in left side chain and the right side chain is respectively driven.
3. the vehicle spray painting robot is made up in series-parallel connection according to claim 2; Wherein move side chain and comprise fixed slider, slide bar, slide block and kinematic pair group III; Kinematic pair group III has three kinematic pairs; Be respectively to be connected in moving sets between slide bar and the fixed slider, to be connected in revolute pair between slide bar and the slide block, to be connected in the moving sets between the slide block and first moving platform, the moving sets between slide bar and the fixed slider is driven.
4. the vehicle spray painting robot is made up in series-parallel connection according to claim 2; Wherein move side chain and include only fixed slider, slide bar and kinematic pair group III '; Kinematic pair group III ' has two kinematic pairs, is respectively the moving sets that is connected between slide bar and the fixed slider, is connected in the revolute pair between the slide bar and first moving platform.
5. the vehicle spray painting robot is made up in series-parallel connection according to claim 1; The second spraying operation module wherein is the identical planar three freedom parallel robot of structure with the 3rd spraying operation module; Include the 3rd motion frame, the 3rd moving platform, first side chain, second side chain, reach the 3rd side chain; Said first side chain has identical structure with second side chain, and said first side chain comprises slide block I, first connecting rod, kinematic pair group IV; Said second side chain comprises slide block II, second connecting rod, kinematic pair group V, and kinematic pair group IV is connected in revolute pair between slide block I and the 3rd motion frame, is connected in moving sets between slide block I and the first connecting rod, is connected in the revolute pair between first connecting rod and the 3rd moving platform; Kinematic pair group V is connected in revolute pair between slide block II and the 3rd motion frame, is connected in moving sets between slide block II and the second connecting rod, is connected in the revolute pair between second connecting rod and the 3rd moving platform; The revolute pair that is connected in first connecting rod and the 3rd moving platform is coaxial with the revolute pair that is connected in second connecting rod and the 3rd moving platform, and the moving sets that connects in first and second side chains between slide block and the connecting rod is driven respectively.
6. the vehicle spray painting robot is made up in series-parallel connection according to claim 5; Wherein said the 3rd side chain comprises the 3rd fixed slider, the 3rd slide bar, the 3rd slide block and kinematic pair group VI; Kinematic pair group VI has three kinematic pairs; Be specially the moving sets that is connected between the 3rd slide bar and the 3rd fixed slider, be connected in revolute pair between the 3rd slide bar and the 3rd slide block, be connected in the moving sets between the 3rd slide block and the 3rd moving platform, the moving sets that wherein is connected between the 3rd slide bar and the 3rd fixed slider is driven.
7. the vehicle spray painting robot is made up in series-parallel connection according to claim 5; Wherein said the 3rd side chain includes only the 3rd fixed slider, the 3rd slide bar and kinematic pair group VI '; Kinematic pair group VI ' has two kinematic pairs, for being connected in moving sets between the 3rd slide bar and the 3rd fixed slider, being connected in the revolute pair between the 3rd slide bar and the 3rd moving platform.
8. according to the described series-parallel connection combination of one of claim 1-7 vehicle spray painting robot; Wherein the first spraying operation module and the 4th spraying operation module are identical in structure space four-freedom parallel mechanisms; Include frame, second moving platform, connect four side chains between the frame and second moving platform: rotate left side chain, the right side chain of rotation, move and go up side chain, mobile side chain down; The left side chain of described rotation is identical with the right branched structure of rotation, wherein rotates left side chain and comprises the left connecting rod of rotation, rotates left slider, rotates left socle, the first kinematic pair group; Rotating right side chain comprises the rotation right connecting rod, rotates right slide block, rotates right support, the second kinematic pair group; Describedly move to go up side chain and move that branched structure is identical down, wherein move go up side chain comprise move go up connecting rod, move top shoe, mobile upper bracket, the 3rd kinematic pair group; Moving down, side chain comprises mobile lower link, move sliding block, move lower carriage, the 4th kinematic pair group; Said mobile upper bracket and mobile lower carriage are fixed on the frame; The said moving sets that moves upper and lower side chain and rotate in the left and right side chain is driven respectively, can control position and the attitude that realizes two rotational freedoms that second moving platform that second atomizer is installed is realized two one-movement-freedom-degrees.
9. the vehicle spray painting robot is made up in series-parallel connection according to claim 8; Wherein the first kinematic pair group and the second kinematic pair group are formed by four kinematic pairs; The 3rd kinematic pair group and the 4th kinematic pair group are formed by three kinematic pairs, and the first kinematic pair group comprises: be connected in frame and rotate revolute pair between the left socle, be connected in rotate left socle and rotate revolute pair between the left slider, be connected in rotate left slider and rotate moving sets between the left connecting rod, to be connected in the ball that rotates between the left connecting rod and second moving platform secondary; The said second kinematic pair group comprises: be connected in frame and rotate revolute pair between the right support, be connected in rotate right support and rotate revolute pair between the right slide block, be connected in rotate right slide block and rotate moving sets between the right connecting rod, to be connected in the ball that rotates between the right connecting rod and second moving platform secondary; Said the 3rd kinematic pair group comprises: be connected in the revolute pair that moves between upper bracket and the mobile top shoe, be connected in and move top shoe and move the moving sets gone up between the connecting rod, be connected in that to move the ball of going up between the connecting rod and second moving platform secondary; Said the 4th kinematic pair group comprises: be connected in the revolute pair that moves between lower carriage and the mobile sliding block, be connected in the moving sets that moves between sliding block and the mobile lower link, to be connected in the ball that moves between the lower link and second moving platform secondary.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105075434A CN101966500B (en) | 2010-10-15 | 2010-10-15 | Hybrid connected combined vehicle spraying robot based on 3-DOF (Degrees Of Freedom) and 4-DOF parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105075434A CN101966500B (en) | 2010-10-15 | 2010-10-15 | Hybrid connected combined vehicle spraying robot based on 3-DOF (Degrees Of Freedom) and 4-DOF parallel mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101966500A CN101966500A (en) | 2011-02-09 |
| CN101966500B true CN101966500B (en) | 2012-11-28 |
Family
ID=43545758
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010105075434A Active CN101966500B (en) | 2010-10-15 | 2010-10-15 | Hybrid connected combined vehicle spraying robot based on 3-DOF (Degrees Of Freedom) and 4-DOF parallel mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101966500B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104858088A (en) * | 2015-06-04 | 2015-08-26 | 马鞍山市安工大工业技术研究院有限公司 | Paint spraying robot used for spraying automobile spring |
| CN111185329A (en) * | 2019-12-30 | 2020-05-22 | 盐城市沿海新能源汽车科技有限公司 | Automobile body spraying robot for automobile manufacturing |
Families Citing this family (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103336520A (en) | 2013-07-17 | 2013-10-02 | 深圳市华星光电技术有限公司 | Product line system and control method thereof |
| CN104511387B (en) * | 2013-09-28 | 2016-09-14 | 沈阳新松机器人自动化股份有限公司 | Hull surface automatic spraying equipment |
| CN103623971B (en) * | 2013-11-05 | 2016-02-10 | 清华大学 | A kind of spray body based on four-degree-of-freedom spray module |
| CN105327810A (en) * | 2015-11-15 | 2016-02-17 | 苏州光韵达光电科技有限公司 | Automatic nanometer solution spraying device for SMT laser template |
| CN107020212A (en) * | 2016-02-01 | 2017-08-08 | 易发精机股份有限公司 | Five axle flush coaters |
| CN106002955B (en) * | 2016-07-14 | 2018-10-12 | 泉州市泉港区顾乐居家具商行 | A kind of construction transfer robot Three Degree Of Freedom running gear |
| CN106111391A (en) * | 2016-07-16 | 2016-11-16 | 冯文杰 | A kind of casting spray equipment and process thereof |
| CN108527331A (en) * | 2018-05-07 | 2018-09-14 | 上海交通大学 | Multidimensional acts machining robot and cluster |
| CN108906449A (en) * | 2018-07-26 | 2018-11-30 | 芜湖鸣人汽车维修服务有限公司 | Paint spray device |
| CN110743736B (en) * | 2019-11-13 | 2020-08-04 | 合肥工业大学 | Suspension type six-degree-of-freedom series-parallel spraying robot |
| CN111282743B (en) * | 2020-02-17 | 2021-08-03 | 公主岭市大舜汽车部件有限公司 | Paint spraying apparatus for automobile production |
| CN111871663B (en) * | 2020-08-04 | 2021-07-23 | 国网山东省电力公司电力科学研究院 | Insulating paint brushing device and using method |
| CN113319811B (en) * | 2021-01-12 | 2022-03-29 | 山东理工大学 | Double-guide-rail type planar robot with revolute pairs |
| CN115780140B (en) * | 2022-12-12 | 2023-11-03 | 无锡美悦电器有限公司 | Adjustable robot spraying equipment |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4819496A (en) * | 1987-11-17 | 1989-04-11 | The United States Of America As Represented By The Secretary Of The Air Force | Six degrees of freedom micromanipulator |
| SE511704C2 (en) * | 1998-03-19 | 1999-11-08 | Saab Ab | Method and apparatus for mounting the wing |
| JP4384433B2 (en) * | 2003-03-27 | 2009-12-16 | 本田技研工業株式会社 | Method and system for applying protective layer forming material |
| JP4464318B2 (en) * | 2005-05-16 | 2010-05-19 | オークマ株式会社 | Calibration method for parallel mechanism machine |
| CN100462208C (en) * | 2007-06-01 | 2009-02-18 | 浙江理工大学 | Four-freedom redundantly driven parallel robot mechanism |
| CN101491899A (en) * | 2009-01-16 | 2009-07-29 | 山东科技大学 | Five freedom-degree paralleled robot |
| CN201807493U (en) * | 2010-10-15 | 2011-04-27 | 江苏长虹涂装机械有限公司 | Three-degree-of-freedom and four-degree-of-freedom parallel mechanisms-based hybrid combination automobile painting robot |
-
2010
- 2010-10-15 CN CN2010105075434A patent/CN101966500B/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104858088A (en) * | 2015-06-04 | 2015-08-26 | 马鞍山市安工大工业技术研究院有限公司 | Paint spraying robot used for spraying automobile spring |
| CN111185329A (en) * | 2019-12-30 | 2020-05-22 | 盐城市沿海新能源汽车科技有限公司 | Automobile body spraying robot for automobile manufacturing |
| CN111185329B (en) * | 2019-12-30 | 2020-09-01 | 盐城市沿海新能源汽车科技有限公司 | Automobile body spraying robot for automobile manufacturing |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101966500A (en) | 2011-02-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101966500B (en) | Hybrid connected combined vehicle spraying robot based on 3-DOF (Degrees Of Freedom) and 4-DOF parallel mechanism | |
| CN101966502B (en) | Vehicle painting hybrid rotor based on spatial and planar parallel mechanism with three degrees of freedom | |
| CN101966503B (en) | Parallel-series spraying robot based on three-freedom-degree and four-freedom-degree parallel mechanisms | |
| CN201807493U (en) | Three-degree-of-freedom and four-degree-of-freedom parallel mechanisms-based hybrid combination automobile painting robot | |
| CN101602034B (en) | Inner wall spraying robot system and inner wall spraying method | |
| CN103008153A (en) | Combined spraying robot system based on redundancy five-degree-of-freedom mechanism module | |
| CN103008152A (en) | Modular spray coating device | |
| CN103433168B (en) | A kind of five degree of freedom series-parallel connection spray robot | |
| CN103521381B (en) | A kind of turntable column five degree of freedom series-parallel connection spray robot | |
| CN102836797B (en) | Finishing system | |
| CN101966501A (en) | Five-degree-of-freedom spraying robot based on three-degree-of-freedom parallel mechanism | |
| CN201807494U (en) | Automobile spraying hybrid robot based on spatial and plane TDOF (three degrees of freedom) parallel mechanism | |
| CN101966507B (en) | Space four-DOF (Degree of Freedom) parallel connection mechanism and spraying robot | |
| CN104549849A (en) | Automatic spraying robot device | |
| CN101966504B (en) | Combined spraying robot based on planar three-freedom-degree parallel mechanism | |
| CN209532427U (en) | A kind of omni-directional wheel is to laser rust-removing device | |
| CN201862510U (en) | Combined spraying robot based on planar three-degree-of-freedom parallel mechanism | |
| CN108452988A (en) | Spray body, semi-automatic flush coater and automatic sprayer | |
| CN205833464U (en) | Spraying equipment | |
| CN215429807U (en) | Intelligent spraying robot for automobile | |
| CN106111404A (en) | A kind of multi-joint spray robot | |
| CN102120205B (en) | Single-spray gun spraying five-axis hybrid robot | |
| CN201855764U (en) | Series-parallel paint spraying robot based on three-degree-of-freedom and four-degree-of-freedom parallel mechanism | |
| CN202962747U (en) | Combined spray painting robot system based on redundancy five degrees-of-freedom mechanism module | |
| CN110743736B (en) | Suspension type six-degree-of-freedom series-parallel spraying robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 224051 No. 10 hope Avenue, Ting Lake Economic Development Zone, Jiangsu, Yancheng City Patentee after: JIANGSU CHANGHONG INTELLIGENT EQUIPMENT Co.,Ltd. Address before: 224051 No. 10 hope Avenue, Ting Lake Economic Development Zone, Jiangsu, Yancheng City Patentee before: Jiangsu Changhong Automotive Equipment Group Co.,Ltd. |
|
| CP01 | Change in the name or title of a patent holder | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230725 Address after: No. 268 Environmental Protection Avenue, Tinghu District, Yancheng City, Jiangsu Province, 224000 Patentee after: JIANGSU CHANGHONG INTELLIGENT EQUIPMENT Co.,Ltd. Patentee after: TSINGHUA University Address before: 224051 No. 10 hope Avenue, Ting Lake Economic Development Zone, Jiangsu, Yancheng City Patentee before: JIANGSU CHANGHONG INTELLIGENT EQUIPMENT Co.,Ltd. |
|
| TR01 | Transfer of patent right |