CN101602034A - Inner-wall spraying robot system and inner wall spraying method - Google Patents
Inner-wall spraying robot system and inner wall spraying method Download PDFInfo
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- CN101602034A CN101602034A CNA2009100892614A CN200910089261A CN101602034A CN 101602034 A CN101602034 A CN 101602034A CN A2009100892614 A CNA2009100892614 A CN A2009100892614A CN 200910089261 A CN200910089261 A CN 200910089261A CN 101602034 A CN101602034 A CN 101602034A
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Abstract
The invention discloses a kind of inner-wall spraying robot system and inner wall spraying method.This system comprises robot, is used to finish spraying operation, and described robot comprises successively the spray gun that connects, cranks arm, telescopic arm and pedestal, spray gun, crank arm, the free degree sum of telescopic arm and pedestal is no less than 6; Air cushion transport car is installed described robot thereon, and described air cushion transport car comprises the air bag that is positioned at its bottom, and described air bag is used to make described air cushion transport car to float, so that before described system enters the operating area described system is carried out coarse positioning.Technical scheme of the present invention has realized the long and narrow inner-walls of duct of abnormity is carried out spraying operation, and has improved the efficient of carrying out preparation before the spraying operation by robot being carried out many redundant degree of freedom designs.
Description
Technical field
The present invention relates to the Robotics field, a kind of how redundant air supporting mobile robot system and inner wall spraying method that is used for carrying out spraying operation of specific design at the long and narrow inside pipe wall of abnormity.
Background technology
At extraordinary industrial circle (especially aerospace field), the long and narrow inside pipe wall of many complex parts needs spraying operation, because the inner surface of these long and narrow pipes is comparatively complicated, the inner space is very narrow and small, the spraying technician is difficult to enter, and therefore must adopt robot to spray automatically.
The designed spraying robot of main company of robot just carries out operation to pipeline outer wall per capita in the world at present, if adopt this spray robot to spray the operation of complex part inwall then have following shortcomings: 1) this spray robot is when spraying inwall curved surface, because the restriction of workpiece shape, mechanical arm is difficult to enter the inside of complex part, and the distance of its nozzle and curved wall, angle are difficult to be adjusted to suitable parameters, so the coating uniformity is affected.2) bump easily.Because the inner wall space of complex part is narrow, adopt the straight-arm robot to be difficult to hide the constraint obstacle of task space, therefore easily with the phenomenon of being collided with by the spraying object.Above-mentioned defective is that this design makes this robot can not hide the obstacle in the task space, has relatively poor flexibility because the spraying robot of prior art adopts the design of the nonredundancy free degree per capita.
Publication number is the inner-wall spraying that the Chinese patent application " inner-face painting robot " of CN101337352A only limits to box parts, does not relate to long and narrow special-shaped pipeline spraying; Notification number be the Chinese patent " underground piping anticorrosion with painting device " of CN2268831Y though relate to pipe inner-wall spraying, only be confined to the cylindrical short duct of standard, do not relate to special-shaped long and narrow pipeline yet.
Summary of the invention
The objective of the invention is at the deficiencies in the prior art, a kind of how redundant air supporting mobile robot system and inner wall spraying method of the long and narrow inner-walls of duct of abnormity being carried out spraying operation that be applicable to is provided.
For achieving the above object, the invention provides a kind of inner-wall spraying robot system, it comprises:
Robot is used to finish spraying operation, and described robot comprises successively the spray gun that connects, cranks arm, telescopic arm and pedestal, spray gun, crank arm, the free degree sum of telescopic arm and pedestal can be no less than 6;
Air cushion transport car is installed described robot thereon, and air cushion transport car comprises the air bag that is positioned at its bottom, and air bag is used to make air cushion transport car to float, and before described robot system enters the operating area described robot system is carried out coarse positioning.
Wherein, spray gun can have the revolution free degree.
Wherein, crank arm and to have the free degree.
Wherein, telescopic arm can have the free degree.
Wherein, pedestal can have 4 frees degree, comprises a rotary freedom and 3 linear degrees of freedom, is used for after described system enters the operating area described system being carried out initial alignment.
Wherein, robot system also comprises switch board, is used for the counterweight as robot.
Wherein, pedestal can be the Cartesian coordinate type pedestal.
Wherein, the number of air bag can be 4, can lay respectively at four drift angles of air cushion transport car bottom.
Wherein, air cushion transport car can comprise jack, is used for air cushion transport car is supported and leveling.
Wherein, paint finishing, safe-guard system, wireless image can also be installed on the air cushion transport car and examine system and control system.
The present invention also provides a kind of method of using said system to carry out inner-wall spraying, may further comprise the steps:
S1: utilize the air bag in the described air cushion transport car before described system enters the operating area, described system to be carried out coarse positioning;
S2: utilize the free degree of described pedestal after described system enters described operating area, described system to be carried out initial alignment;
S3: utilize described robot spray gun, crank arm, the free degree of telescopic arm finishes spraying operation.
Technique scheme has following advantage: by robot being carried out many redundant degree of freedom designs, make the mechanical arm of robot can enter complicated workpiece inside, hide the obstacle in the special-shaped space, prevented the generation of interfering, thereby realized the long and narrow inner-walls of duct of abnormity is carried out spraying operation; Realized that by air cushion transport car being provided with airbag structure the air-flotation type of robot system moves, made the robot conveniently moving, accurate positioning has improved the efficient of carrying out preparation before the spraying operation.
Description of drawings
Fig. 1 is the schematic diagram that the robot of the embodiment of the invention carries out the special-shaped long and narrow pipeline of spraying operation;
Fig. 2 is the stereogram of the system of the embodiment of the invention;
Fig. 3 a is the vertical view of the system of the embodiment of the invention;
Fig. 3 b is the side view of the system of the embodiment of the invention;
Fig. 4 is the stereogram of pedestal and pneumatic transport vehicle assembly in the system of the embodiment of the invention;
Fig. 5 is the polycrystalline substance schematic diagram of pneumatic transportation car in the system of the embodiment of the invention.
The specific embodiment
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.Following examples are used to illustrate the present invention, but are not used for limiting the scope of the invention.
Fig. 1 carries out the schematic diagram of the special-shaped long and narrow pipeline of spraying operation for the robot of the embodiment of the invention.As shown in Figure 1, it is the long and narrow pipeline of a kind of typical variable cross-section S type, and its inner-wall spraying operation is difficult to use existing robots to finish.
Fig. 2 is the stereogram of the system of the embodiment of the invention; Fig. 3 a, 3b are respectively vertical view, the side views of the system of the embodiment of the invention; Fig. 4 is the stereogram of pedestal and pneumatic transport vehicle assembly in the system of the embodiment of the invention; Fig. 5 is the polycrystalline substance schematic diagram of pneumatic transportation car in the system of the embodiment of the invention.As Fig. 2～shown in Figure 5, the inner-wall spraying robot system of present embodiment comprises robot, switch board 5, air cushion transport car 6 etc.Robot is used to finish spraying operation, comprises successively the spray gun 1 that connects, cranks arm 2, telescopic arm 3 and pedestal 4; Switch board 5 is used for the counterweight as robot, to prevent the robot phenomenon of toppling upon deployment; Air cushion transport car 6, robot and switch board 5 are installed on it, can comprise the air bag 11,12,13,14 that is positioned at its bottom (for example be positioned at bottom four drift angles), be used to make air cushion transport car 6 to float, so that robot carries out coarse positioning before spraying operation, can also comprise jack, for example the hydraulic jack (not shown) of 6 fixing mechanic jacks and 2 activities is used for air cushion transport car 6 is supported and leveling.
Wherein, spray gun can have 1 revolution free degree; Crank arm and to have 6 frees degree; Telescopic arm can have 3 frees degree; Pedestal is used for system is carried out initial alignment, it can be the Cartesian coordinate type pedestal, have 4 frees degree, comprise 1 rotary freedom 7 and 3 linear degrees of freedom, promptly Cartesian coordinate type pedestal Z to the free degree 8, Cartesian coordinate type pedestal Y to the free degree 9 and Cartesian coordinate type pedestal X to the free degree 10.Spray gun, crank arm, the free degree sum of telescopic arm and pedestal can be no less than 6, for example, is 14 in the present embodiment.
Wherein, paint finishing, safe-guard system, wireless image can also be installed on the air cushion transport car and examine system and control system (not shown).Paint finishing comprises vanish system and air-channel system; Safe-guard system comprises sensing system and positive-pressure explosion-proof system, sensing system can carry out feedback information, to guarantee that robot remains within the suitable scope and keeps in the motor shield apart from the distance of inner-walls of duct is malleation, therefore sensing system can guarantee the accuracy that sprays on the one hand, security in the time of can guaranteeing spraying by trajectory planning on the other hand prevents the generation of situations such as robot collision inner-walls of duct; Examine effect after spraying can be examined by system by wireless image, and spraying effect can be presented on the computer screen; Control system is used for the operation process of system is controlled.
The running order of Control During Paint Spraying by Robot is as follows in the system of present embodiment:
1) open the gas source switch of air cushion transport car, airbag aeration is floated, the circular support pad on the air bag is propped up air cushion transport car, makes transport vehicle overhead have certain height, so that by the staff air cushion transport car is promoted gently, system is carried out coarse positioning.There is certain distance the position that system enters behind the spraying area apart from pipeline, guarantees can not run into pipeline after robot all stretchs out, and this moment, vehicle body should be parallel with the rear end of pipeline axis.After above-mentioned airbag aeration floated, because the frictional force of air supporting move mode is very little, the staff only need just can move to the system of several weights in the working region with several kilograms thrust, thereby finishes the coarse positioning to spraying operation.
2) people that starts the machine returns Z-operation, makes the robot motion arrive initial zero-bit (state of initial zero-bit is determined according to job requirements).
3) put vest to cranking arm.
4) staff promotes air cushion transport car gently, and it is slowly moved ahead along straight line, and robot enters pipeline, arrives assigned address, and whole process need makes robot not run into inner-walls of duct.By jack system support is got up then, carry out preliminary leveling, enlarge supporting surface on the one hand, play the stable support effect, on the other hand the horizontal leveling that whole system is carried out.
5) suitably adjust each free degree of robot, to the manipulating object location position.
6) robot motion is to work zero-bit position, this position can be identical with initial zero-bit also can be different, the motor of four frees degree of closing machine people pedestal carries out corresponding brake sticking brake simultaneously.
7) robot low speed trial run according to circumstances replenishes several measurement points, and gets back to work zero-bit position.
8) according to the measurement data of trial run situation and additional survey point, correction work zero-bit position (timing is adjusted four frees degree of pedestal, closes the motor of these four frees degree after the correction once more, and carries out corresponding brake sticking brake) or correction of movement track.
9) robot begins spraying operation, in the process of operation, can adjust robot spray gun, crank arm, the free degree of telescopic arm;
10) detect operation quality;
11) manipulating object leaves operation field;
12) pack up jack, touch air cushion transport car, system is withdrawn the scene.The moving range of pneumatic transportation car is generally within 20 meters by the length decision of manipulating object, if distance can be transferred than length, can utilize 4 wheels of pneumatic transportation car bottom to move during switching midway.
As can be seen from the above embodiments, embodiments of the invention are by carrying out many redundant degree of freedom designs to robot, make the mechanical arm of robot can enter complicated workpiece inside, hide the obstacle in the special-shaped space, prevented the generation of interfering, thereby realized the long and narrow inner-walls of duct of abnormity is carried out spraying operation; Realized that by air cushion transport car being provided with airbag structure the air-flotation type of robot system moves, made the robot conveniently moving, accurate positioning has improved the efficient of carrying out preparation before the spraying operation.Need to prove that embodiments of the invention also are applicable to the situation that the outer wall with complicated shape is sprayed.
The above only is a preferred implementation of the present invention; should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the technology of the present invention principle; can also make some improvement and modification, these improve and modification also should be considered as protection scope of the present invention.
Claims (10)
1, a kind of inner-wall spraying robot system, it comprises:
Robot is used to finish spraying operation, and described robot comprises successively the spray gun that connects, cranks arm, telescopic arm and pedestal, described spray gun, crank arm, the free degree sum of telescopic arm and pedestal is no less than 6;
Air cushion transport car is installed described robot thereon, and described air cushion transport car comprises the air bag that is positioned at its bottom, and described air bag is used to make described air cushion transport car to float, so that before described system enters the operating area described system is carried out coarse positioning.
2, inner-wall spraying robot system as claimed in claim 1 is characterized in that, described spray gun, crank arm, in the telescopic arm at least one have the free degree.
3, inner-wall spraying robot system as claimed in claim 2 is characterized in that, described spray gun has the revolution free degree.
4, inner-wall spraying robot system as claimed in claim 2, it is characterized in that, described pedestal has 4 frees degree, comprises a rotary freedom and 3 linear degrees of freedom, is used for after described system enters described operating area described system being carried out initial alignment.
5, inner-wall spraying robot system as claimed in claim 4 is characterized in that, described robot system also comprises switch board, is used for the counterweight as described robot.
6, as each described inner-wall spraying robot system of claim 1 to 5, it is characterized in that described pedestal is the Cartesian coordinate type pedestal.
7, inner-wall spraying robot system as claimed in claim 1 is characterized in that, the number of described air bag is 4, lays respectively at four drift angles of described air cushion transport car bottom.
8, as each described inner-wall spraying robot system of claim 1 to 5, it is characterized in that described air cushion transport car comprises jack, be used for described air cushion transport car is supported and leveling.
9, as each described inner-wall spraying robot system of claim 1 to 5, it is characterized in that, paint finishing, safe-guard system, wireless image also are installed on the described air cushion transport car examine system and control system.
10, a kind of method of using claim 1～5, each described inner-wall spraying robot system of 7 to carry out inner-wall spraying is characterized in that, may further comprise the steps:
S1: utilize the air bag in the described air cushion transport car before described system enters the operating area, described system to be carried out coarse positioning;
S2: utilize the free degree of described pedestal after described system enters described operating area, described system to be carried out initial alignment;
S3: utilize described robot spray gun, crank arm, the free degree of telescopic arm finishes spraying operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN200910089261A CN101602034B (en) | 2009-07-13 | 2009-07-13 | Inner wall spraying robot system and inner wall spraying method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN200910089261A CN101602034B (en) | 2009-07-13 | 2009-07-13 | Inner wall spraying robot system and inner wall spraying method |
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| CN101602034A true CN101602034A (en) | 2009-12-16 |
| CN101602034B CN101602034B (en) | 2012-09-05 |
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| CN200910089261A Active CN101602034B (en) | 2009-07-13 | 2009-07-13 | Inner wall spraying robot system and inner wall spraying method |
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| CN104786236A (en) * | 2015-04-30 | 2015-07-22 | 北京特种机械研究所 | Omnidirectional intelligent mobile platform used as chassis of industrial robot |
| CN104805390A (en) * | 2014-01-26 | 2015-07-29 | 中国兵器工业第五二研究所 | Method for producing zirconia coating layer on internal surface of deep cylinder type battery shell |
| CN105057149A (en) * | 2015-09-18 | 2015-11-18 | 西南石油大学 | Sandblasting and gluing device and sandblasting and gluing method for stator inner cavity of screw drilling tool |
| CN105835971A (en) * | 2016-04-29 | 2016-08-10 | 中国航空工业集团公司北京长城航空测控技术研究所 | Air cushion type robot moving platform and control method thereof |
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| CN106903016A (en) * | 2017-02-23 | 2017-06-30 | 安徽工业大学 | A kind of spray equipment for inner surface of pipe fitting |
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| CN100434241C (en) * | 2006-11-04 | 2008-11-19 | 山东科技大学 | Dual-purpose robot for derusting and painting oil tank in cavity and storeroom |
| CN101337352A (en) * | 2007-07-05 | 2009-01-07 | 中国国际海运集装箱(集团)股份有限公司 | Inner-face painting robot |
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| CN103316817A (en) * | 2013-07-12 | 2013-09-25 | 安徽工业大学 | Pipeline spraying robot |
| CN104805390A (en) * | 2014-01-26 | 2015-07-29 | 中国兵器工业第五二研究所 | Method for producing zirconia coating layer on internal surface of deep cylinder type battery shell |
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| CN109237204A (en) * | 2018-10-25 | 2019-01-18 | 南通理工学院 | A kind of detection of pipeline outer wall coating and auto-mending robot |
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| CN112403755A (en) * | 2021-01-22 | 2021-02-26 | 山东科技职业学院 | Pipe conveying device |
| CN114029957A (en) * | 2021-12-10 | 2022-02-11 | 渭南陕煤启辰科技有限公司 | Intelligent control system of guniting robot |
| CN115400921A (en) * | 2022-07-12 | 2022-11-29 | 清华大学 | Gluing robot and gluing method |
| CN115400921B (en) * | 2022-07-12 | 2024-03-12 | 清华大学 | Gluing robot and gluing method |
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