Parallel-series spraying robot based on three-freedom-degree and four-freedom-degree parallel mechanisms
A technology of spraying robot and degree of freedom, which is applied in the direction of manipulators, spraying devices, program-controlled manipulators, etc., can solve the problems of complex control of serial spraying robots and low precision of series robots, and achieve large-scale movement, easy guarantee of spraying accuracy, Good flexibility
Inactive Publication Date: 2012-12-12
JIANGSU CHANGHONG INTELLIGENT EQUIP CO LTD +1
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Problems solved by technology
However, due to the limitation of the overall technical level of my country's manufacturing industry, no substantive breakthroughs have been made to the problem of low precision of serial robots. The control of serial spraying robots is relatively complicated. In addition, related foreign patents still apply to its application in my country. Various restrictions have been carried out, so inventing a new type of spraying robot is an urgent task for my country's automobile industry
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[0026] The modular hybrid spraying robot proposed by the present invention, combined with the attached Figure 1-4 And embodiment is described in detail as follows:
[0027] Such as Figure 1-2 As shown, the hybrid spraying robot of the present invention that can complete the automatic spraying operation on the whole vehicle includes a gantry frame 17 and four spraying operation module units. The spraying operation modules are respectively the first spraying operation module ①, the second spraying operation module ②, the third spraying operation module ③, and the fourth spraying operation module ④, all of which are parallel robots. Among them, the first spraying operation module ① and the fourth spraying operation module ④ have the same structure, and they are respectively symmetrically installed on the two columns of the gantry frame 17; the second spraying operation module ② and the third spraying operation module ③ structure Also exactly the same, it is respectively fixed...
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The invention relates to a parallel-series spraying robot based on three-freedom-degree and four-freedom-degree parallel mechanisms, comprising a gantry stand and four spraying operation module units, wherein each of the spraying operation module units comprises a planar three-freedom-degree parallel robot and a spatial four-freedom-degree parallel robot. By combining the horizontal movement of the gantry stand with the movement of the spraying operation module units, the pose of an atomizing nozzle of each spraying operation module unit can be controlled, and thus, the spraying operation on a whole element to be sprayed is completed. The parallel-serial spraying robot has the advantages of symmetrical structure, fine flexibility, high precision and rigidity, and high flexible degree, andis easy to manufacture, convenient to control, and easy for the realization of modularization, and the quantity of the spraying modules can be increased or decreased as required so that the spraying robot can carry out spraying operation to different whole cars.
Description
technical field [0001] The invention relates to the field of mechanical manufacturing, in particular to a modular hybrid spraying robot that can be applied to the field of complete automobile spraying production. Background technique [0002] With the rapid development of the modern automobile industry, the continuous adjustment of car models and car body design, domestic car production is developing in the direction of large-scale, high-quality and low-cost, and car body spraying is one of the most important production processes in car manufacturing , it can not only improve the corrosion resistance of automobile products and prolong the service life of automobiles, it also most directly reflects the quality of the color, gloss and brightness of the outer surface of the automobile, and is the most intuitive evaluation of the quality of automobiles, so it is the most intuitive evaluation of automobile quality. The competitiveness of the automobile market has the most direct ...
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IPC IPC(8): B25J9/08B25J9/06B05B13/04B05B15/08B05B15/68
Inventor 仇洪根刘辛军王立平陈祥谢福贵
Owner JIANGSU CHANGHONG INTELLIGENT EQUIP CO LTD