CN101966507A - Space four-DOF (Degree of Freedom) parallel connection mechanism and spraying robot - Google Patents
Space four-DOF (Degree of Freedom) parallel connection mechanism and spraying robot Download PDFInfo
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- CN101966507A CN101966507A CN2010105075877A CN201010507587A CN101966507A CN 101966507 A CN101966507 A CN 101966507A CN 2010105075877 A CN2010105075877 A CN 2010105075877A CN 201010507587 A CN201010507587 A CN 201010507587A CN 101966507 A CN101966507 A CN 101966507A
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- 238000005507 spraying Methods 0.000 title claims abstract description 32
- 230000033001 locomotion Effects 0.000 claims abstract description 43
- 239000007921 spray Substances 0.000 claims description 33
- 238000004519 manufacturing process Methods 0.000 abstract description 13
- 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
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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
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Spray Control Apparatus (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a five-DOF (Degree of Freedom) spraying robot based on a space four-DOF parallel connection mechanism, which belong to the technical field of mechanical manufacture. The spraying robot comprises a moving unit and a spraying operation mechanism unit; and a motion stand of a spraying operation mechanism is a motion part of the moving unit and can realize large-range straight movement by a guide rail. The spraying operation mechanism comprises a moving platform, a motion stand, a first branch chain, a second branch chain, a third branch chain and a fourth branch chain, wherein the moving platform is provided with an atomizer; the first branch chain, the second branch chain, the third branch chain and the fourth branch chain are connected between the moving platform and the motion stand; and because the structure is symmetrical, the structures of the first branch chain and the third branch chain are same, and the structures of the second branch chain and the fourth branch chain are same. The four branch chains are connected with the moving platform and the motion stand to form a space parallel connection closed-loop mechanism; and the parallel connection mechanism drives the moving platform to move by four input motions and realizes two moving DOF and two rotating DOF. By combining the motion of the moving mechanism unit and the motion of the spraying operation mechanism unit, the spraying robot can realize three moving DOF and two rotating DOF. The spraying robot has the advantages of symmetrical structure, high flexibility, high precision and rigidity, easy manufacture, convenient control and easy modularization realization.
Description
Technical field
The invention 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.
Purpose of the present invention 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 present invention 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.
Summary of the invention
In order to realize above-mentioned purpose, the present invention proposes a kind of space four-degree-of-freedom mechanism, and has invented a kind of five degree of freedom spray robot based on this space four-degree-of-freedom mechanism.
The invention 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 invention 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 present invention 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 of the present invention, 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 of the present invention can be used for the automatic spraying operation of auto parts and components.
Spray robot among the present invention 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 embodiment of the invention 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 present invention 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 invention 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 invention is not restricted to the above-mentioned specific embodiment, those skilled in the art makes corresponding substitutions and modifications under the enlightenment of technical scheme of the present invention, all within the protection domain of claim of the present invention.
Claims (4)
1. space four-freedom parallel mechanism, it is characterized in that this parallel institution comprises 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.
2. parallel institution according to claim 1, it is characterized in that kinematic pair group I 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 the revolute pair that is connected 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.
3. one kind has the five degree of freedom spray robot of parallel institution as claimed in claim 1 or 2, 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.
4. spray robot according to claim 3 can be used for finishing the automatic spraying operation to auto parts and components, and guide rail is the spraying operation that arc-shaped guide rail is used for adapting to the difformity parts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105075877A CN101966507B (en) | 2010-10-15 | 2010-10-15 | Space four-DOF (Degree of Freedom) parallel connection mechanism and spraying robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105075877A CN101966507B (en) | 2010-10-15 | 2010-10-15 | Space four-DOF (Degree of Freedom) parallel connection mechanism and spraying robot |
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| Publication Number | Publication Date |
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| CN101966507A true CN101966507A (en) | 2011-02-09 |
| CN101966507B CN101966507B (en) | 2012-11-07 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103008153A (en) * | 2012-12-19 | 2013-04-03 | 江苏长虹汽车装备集团有限公司 | Combined spraying robot system based on redundancy five-degree-of-freedom mechanism module |
| CN104353575A (en) * | 2014-10-29 | 2015-02-18 | 上海震界自动化设备制造有限公司 | Intelligent four-shaft servo spraying robot |
| CN104437937A (en) * | 2014-12-16 | 2015-03-25 | 清华大学 | Five-degree-of-freedom series-parallel spraying mechanism for passenger car |
| CN104588244A (en) * | 2015-01-13 | 2015-05-06 | 清华大学 | 5-DOF (degree-of-freedom) robot device used for bumper spraying |
| CN106002922A (en) * | 2016-07-14 | 2016-10-12 | 安庆里外里工业产品设计有限公司 | Moving wheel for intelligent transfer robot at construction site |
| CN110480600A (en) * | 2019-07-31 | 2019-11-22 | 燕山大学 | Band with moving constraint two turn of one shifting series parallel type driven in parallel oscillating head mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103008153A (en) * | 2012-12-19 | 2013-04-03 | 江苏长虹汽车装备集团有限公司 | Combined spraying robot system based on redundancy five-degree-of-freedom mechanism module |
| CN104353575A (en) * | 2014-10-29 | 2015-02-18 | 上海震界自动化设备制造有限公司 | Intelligent four-shaft servo spraying robot |
| CN104437937A (en) * | 2014-12-16 | 2015-03-25 | 清华大学 | Five-degree-of-freedom series-parallel spraying mechanism for passenger car |
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| CN104588244B (en) * | 2015-01-13 | 2016-09-28 | 清华大学 | A kind of robot with five degrees of freedom device for automobile bumper coating |
| CN106002922A (en) * | 2016-07-14 | 2016-10-12 | 安庆里外里工业产品设计有限公司 | Moving wheel for intelligent transfer robot at construction site |
| CN106002922B (en) * | 2016-07-14 | 2018-08-14 | 安徽艾塔智能科技有限公司 | A kind of building site carrying intelligent robot movable pulley |
| CN110480600A (en) * | 2019-07-31 | 2019-11-22 | 燕山大学 | Band with moving constraint two turn of one shifting series parallel type driven in parallel oscillating head mechanism |
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|---|---|
| CN101966507B (en) | 2012-11-07 |
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| 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 Co-patentee after: Tsinghua University Patentee after: Jiangsu Changhong intelligent equipment Limited by Share Ltd Address before: 224051 No. 10 hope Avenue, Ting Lake Economic Development Zone, Jiangsu, Yancheng City Co-patentee before: Tsinghua University Patentee before: Jiangsu Changhong Automobile Equipment Group Co., Ltd. |
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| CP01 | Change in the name or title of a patent holder |