CN108942894B - Tandem Nine Degrees of Freedom Spraying Robot - Google Patents

Abstract

The invention relates to a spraying device, in particular to a serial nine-degree-of-freedom spraying robot. Including: a work execution mechanism, a work positioning mechanism and an auxiliary support mechanism, the work execution mechanism and the work positioning mechanism are connected in series; the present invention adopts the combination of the 9R main structure and the auxiliary support device in terms of structure, which not only satisfies the operational flexibility but also To solve the problem of excessive load on some joints, the special 9-axis series design in the movement space enables it to enter the semi-enclosed space for spraying operations, and has a large flexible working space. In terms of drive control, joint control is easy, and different modes of control schemes can be realized; the work positioning mechanism and the auxiliary support mechanism are controlled cooperatively, and the work execution mechanism is controlled independently; in the anti-collision design, a combination of fixed area detection and trajectory prediction is adopted.

Description

Tandem Nine Degrees of Freedom Spraying Robot

technical field

The invention relates to a spraying device, in particular to a serial nine-degree-of-freedom spraying robot.

Background technique

Spraying is an indispensable process in the manufacturing industry. The main problem in spraying is that the paint mist and volatilized solvent formed during the spraying process will produce a large amount of harmful substances such as benzene and aldehydes, causing serious environmental pollution. It is not conducive to the health of the operator. The need to replace traditional manual spraying with automatic spraying is particularly urgent, but most of the current spraying equipment is limited by the characteristics of the workspace and the cost of development. meaning. At present, spraying robots are mostly 6-axis or 7-axis serial robots, which are widely used in automobile manufacturing and furniture production and other industries, and their working spaces are all open. At present, for the spraying of the inner surface of the annular workpiece, a 3-axis turntable is introduced on the basis of a 6-axis industrial robot to form a 9-axis robot spraying system. For the spraying operation of the inner surface of most spaces, especially the workpieces with multi-chamber and multi-partition wall structures that are close to closed spaces, manual spraying is still relied on.

SUMMARY OF THE INVENTION

In order to solve the above-mentioned technical problems, the present invention provides a series nine-degree-of-freedom spraying robot combining a 9R main structure and an auxiliary support device.

The purpose of the present invention is to realize a series nine-degree-of-freedom spraying robot through the following technical solutions, including: a work positioning mechanism, a work execution mechanism and an auxiliary support mechanism, and the work positioning mechanism and the work execution mechanism are connected in series.

The working positioning mechanism is composed of a base platform, a first rotary joint, a first link, a first pitch joint, a second link and a third pitch joint, and the base platform and the first link are connected by a rotating pair A first rotating joint is formed, the first connecting rod and the second connecting rod are connected by a rotating pair to form a first pitching joint, and the second connecting rod and the first joint chain assembly are connected by a rotating pair to form a third pitching joint;

The work executing mechanism is formed of a first joint chain component, a second joint chain component and a third joint chain component in series;

The first joint chain assembly includes a third connecting rod, a second rotating joint, a fourth connecting rod and a fourth pitching joint, and the third connecting rod and the fourth connecting rod are connected by a rotating pair to form a second rotating joint, The fourth connecting rod is connected with the second joint chain assembly through a rotating pair to form a fourth pitching joint;

The connection type of the second joint chain assembly is the same as that of the first joint chain assembly, and the connection type of the third joint chain assembly is the same as that of the first joint chain assembly;

The auxiliary support mechanism is composed of a second pitching joint, a ninth link, a first moving joint, a tenth link, a second moving joint, and a guide rail member, and the ninth link and the second link pass through a rotating pair. The connection constitutes a second pitching joint, the ninth link and the tenth link are connected by a moving pair to constitute a first moving joint, the tenth link and the guide rail member are connected by a moving pair to constitute a second moving joint, and the guide rail is connected to form a second moving joint. The member is rigidly connected to the first link.

A spraying method for a serial nine-degree-of-freedom spraying robot, wherein the serial nine-degree-of-freedom spraying robot performs spraying.

The method includes the following steps:

(1) spraying the inner surface of the second cavity of the workpiece, transporting the working actuator through the first cavity hole to the second cavity through the working positioning mechanism, and then spraying the inner surface of the workpiece by the working actuator;

(2) After the second cavity is sprayed, the working actuator is returned to the first cavity through the cooperation of the working positioning mechanism and the working executing mechanism, and the first cavity is sprayed;

(3) After the spraying of the first cavity is completed, the whole mechanism withdraws from the first cavity and rotates the workpiece by 180 degrees to spray the third cavity.

The beneficial effects of the present invention are:

In terms of structure, the present invention adopts the combination of 9R (R means rotating pair) main structure and auxiliary support device, which not only satisfies the operational flexibility but also solves the problem of excessive load on some joints.

The special 9-axis series design adopted in the present invention in terms of movement space enables it to enter the semi-closed space for spraying operation, and has a large flexible working space.

In terms of drive control, the present invention is easy to control the joints and can realize control schemes of different modes; the work positioning mechanism and the auxiliary support mechanism are controlled cooperatively, and the work execution mechanism is controlled independently; the anti-collision design adopts the combination of fixed area detection and trajectory prediction.

Description of drawings

Figure 1 is a schematic structural diagram of the present invention.

FIG. 2 is a schematic view of the structure of the sprayed workpiece of the present invention.

FIG. 3 is a schematic diagram of the structure of the mechanism and components of the present invention.

In the figure: 1. The base platform, 2. The first rotation joint, 3. The first link, 4. The first pitch joint, 5, The second link, 6, The second pitch joint, 7, The third pitch joint , 8, the third link, 9, the second rotation joint, 10, the fourth link, 11, the fourth pitch joint, 12, the fifth link, 13, the third rotation joint, 14, the sixth link, 15, the fifth pitch joint, 16, the seventh link, 17, the fourth rotation joint, 18 the eighth link, 19, the sixth pitch joint, 20, the ninth link, 21, the first movement joint, 22, Tenth link, 23, second moving joint, 24, guide rail member, 25, first cavity, 26, first cavity hole, 27, second cavity, 28, second cavity hole, 29, third cavity Body, 30, working positioning mechanism, 31, first joint chain assembly, 32, second joint chain assembly, 33, third joint chain assembly, 34, auxiliary support mechanism.

Detailed ways

In order to more fully explain the implementation of the present invention, the following examples of implementation of the present invention are provided, and these examples are only illustrative of the present invention and do not limit the scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the indicated device or element must have a specific orientation or a specific orientation. construction and operation, and therefore should not be construed as limiting the invention. Furthermore, the terms "first", "second", and "third" are used for descriptive purposes only and should not be construed to indicate or imply relative importance.

In the description of the present invention, it should be noted that the terms "installed", "connected" and "connected" should be understood in a broad sense, unless otherwise expressly specified and limited, for example, it may be a fixed connection or a detachable connection Connection, or integral connection; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be internal communication between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in specific situations.

Examples are as follows:

Referring to Figures 1 and 3: a series nine-degree-of-freedom spraying robot, comprising: a working positioning mechanism 30, a first joint chain assembly 31, a second joint chain assembly 32, a third joint chain assembly 33 and an auxiliary support mechanism 34 ;

The working positioning mechanism 30 is composed of a base platform 1, a first rotary joint 2, a first link 3, a first pitch joint 4, a second link 5 and a third pitch joint 7. The base platform 1 is connected to the The first link 3 is connected by a rotation pair to form a first rotary joint 2 , the first link 3 and the second link 5 are connected by a rotation pair to form a first pitch joint 4 , and the second link 5 is connected to the first pitch joint 4 . A joint chain assembly 31 is connected by a rotating pair to form the third pitch joint 7, and the working positioning mechanism 30, the first joint chain assembly 31, the second joint chain assembly 32 and the third joint chain assembly 33 are sequentially connected in series;

The work execution mechanism is formed by a first joint chain assembly 31, a second joint chain assembly 32 and a third joint chain assembly 33 in series; the first joint chain assembly 31 includes a third link 8, a second rotating joint 9. The fourth link 10 and the fourth pitch joint 11, the third link 8 and the fourth link 10 are connected by a rotating pair to form a second rotary joint 9, the fourth link 10 and the second joint chain The components 32 are connected by a rotating pair to form the fourth pitch joint 11 ; the second joint chain component 32 has the same connection type as the first joint chain component 31 , and the third joint chain component 33 has the same connection type as the first joint chain component 31 ;

The auxiliary support mechanism 34 is composed of the second pitch joint 6 , the ninth link 20 , the first moving joint 21 , the tenth link 22 , the second moving joint 23 , and the guide rail member 24 . The ninth link 20 It is connected with the second link 5 through a rotating pair to form a second pitch joint 6 , the ninth link 20 and the tenth link 22 are connected through a moving pair to constitute a first moving joint 21 , and the tenth link 22 is connected with the guide rail. The member 24 is connected by the moving pair to form the second moving joint 23 , and the guide rail member 24 is rigidly connected with the first link 3 .

The drive joints include a first rotation joint 2 , a first pitch joint 4 , a third pitch joint 7 , a second rotation joint 9 , a fourth pitch joint 11 , a third rotation joint 13 , a fifth pitch joint 15 , and a fourth rotation joint 17 , the sixth pitch joint 19 and the first movement joint 21 ; the follower joint includes the second pitch joint 6 and the second movement joint 23 .

The auxiliary support mechanism in this embodiment is mainly to reduce the load of the first pitch joint 4. Due to the particularity of the working space, the length of the second link 5 designed between the first pitch joint 4 and the third pitch joint 7 is very large. As a result, the load at the first pitch joint 4 is too large, and the load moment of the first pitch joint 4 is reduced by driving the first moving joint 21 of the auxiliary support mechanism. The guide rail member 24 is used as the sliding guide rail of the second moving joint 23 , and the whole mechanism except the base platform 1 rotates with the first rotating joint 2 .

A spraying method of a serial nine-degree-of-freedom spraying robot adopts a serial nine-degree-of-freedom spraying robot for spraying.

The method described in this embodiment includes the following steps:

(1) Spray the inner surface of the second cavity 27 of the workpiece, and transport the work actuator through the first cavity hole 26 to the second cavity 27 through the work positioning mechanism 30, and then the work actuator is used for the inner surface of the workpiece. spraying the surface;

(2) After the second cavity body 27 is sprayed, the work execution mechanism is returned to the first cavity body 25 through the cooperation of the work positioning mechanism 30 and the work execution mechanism, and the first cavity body 25 is sprayed;

(3) After the spraying of the first cavity 25 is completed, the whole mechanism withdraws from the first cavity 25 and rotates the workpiece by 180 degrees to spray the third cavity 29 .

The above-mentioned embodiments merely illustrate the principles and effects of the present invention, but are not intended to limit the present invention. Anyone skilled in the art can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical idea disclosed in the present invention should still be covered by the claims of the present invention.

Claims (1)

1. A spraying method of a spraying robot with nine degrees of freedom connected in series is characterized in that:

the serial nine-degree-of-freedom spraying robot comprises a working positioning mechanism (30), a working execution mechanism and an auxiliary supporting mechanism (34), wherein the working positioning mechanism (30) is connected with the working execution mechanism in series; the working execution mechanism is formed by sequentially connecting a first joint chain component (31), a second joint chain component (32) and a third joint chain component (33) in series; the second articulation chain component (32) is connected with the first articulation chain component (31) in the same type, and the third articulation chain component (33) is connected with the first articulation chain component (31) in the same type; the first joint chain assembly (31) comprises a third connecting rod (8), a second rotating joint (9), a fourth connecting rod (10) and a fourth pitching joint (11), the third connecting rod (8) is connected with the fourth connecting rod (10) through a revolute pair to form the second rotating joint (9), and the fourth connecting rod (10) is connected with the second joint chain assembly (32) through a revolute pair to form the fourth pitching joint (11); the working positioning mechanism (30) comprises a base platform (1), a first rotary joint (2), a first connecting rod (3), a first pitching joint (4), a second connecting rod (5) and a third pitching joint (7), the base platform (1) and the first connecting rod (3) are connected through a revolute pair to form the first rotary joint (2), the first connecting rod (3) and the second connecting rod (5) are connected through a revolute pair to form the first pitching joint (4), and the second connecting rod (5) and a first joint chain component (31) are connected through a revolute pair to form the third pitching joint (7); the auxiliary supporting mechanism (34) is composed of a second pitching joint (6), a ninth connecting rod (20), a first movable joint (21), a tenth connecting rod (22), a second movable joint (23) and a guide rail component (24), the ninth connecting rod (20) and the second connecting rod (5) are connected through a revolute pair to form the second pitching joint (6), the ninth connecting rod (20) and the tenth connecting rod (22) are connected through a movable pair to form the first movable joint (21), the tenth connecting rod (22) and the guide rail component (24) are connected through a movable pair to form the second movable joint (23), and the guide rail component (24) is rigidly connected with the first connecting rod (3);

the serial nine-degree-of-freedom spraying robot is used for spraying operation on a semi-closed space and comprises the following steps:

(1) spraying the inner surface of a second cavity (27) of the workpiece, conveying a working execution mechanism into the second cavity (27) through a first cavity hole (26) by a working positioning mechanism (30), and spraying the inner surface of the working execution mechanism; (2) after the second cavity (27) is sprayed, the working execution mechanism returns to the first cavity (25) through the cooperation of the working positioning mechanism (30) and the working execution mechanism, and the first cavity (25) is sprayed; (3) after the first cavity (25) is sprayed, the integral mechanism withdraws from the first cavity (25), and the workpiece is rotated by 180 degrees to spray the third cavity (29).

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