CN114571442B - Cable parallel macro-micro spraying robot for large-scale components - Google Patents
Cable parallel macro-micro spraying robot for large-scale components Download PDFInfo
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- CN114571442B CN114571442B CN202210366302.5A CN202210366302A CN114571442B CN 114571442 B CN114571442 B CN 114571442B CN 202210366302 A CN202210366302 A CN 202210366302A CN 114571442 B CN114571442 B CN 114571442B
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- 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
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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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
The invention relates to the technical field of spraying robots, in particular to a cable parallel macro-micro spraying robot for large components, which is combined with a tail end nozzle to realize spraying. The device comprises a mounting frame, a guide rail driving mechanism, a nozzle mechanism, a main-stage flexible cable driving module and a secondary-stage flexible cable driving module; the nozzle mechanism comprises a detachable nozzle, a telescopic rod, a sleeve and a first cross universal joint, and the guide rail driving mechanism comprises 3 synchronous belt conveying mechanisms, a connecting cross rod and a second cross universal joint; the main-stage flexible cable driving module comprises four main-stage flexible cable driving mechanisms; the secondary flexible cable driving module comprises four secondary flexible cable driving mechanisms; the L-shaped rotating frame is used for semi-surrounding the cable-parallel macro-micro spraying robot, the rotating frame is fixedly connected with the square frame, and the rotating frame is screwed on the surface to be sprayed of the object through four ropes. Therefore, the cable parallel macro-micro spraying robot can realize multistage linkage high-speed accurate positioning spraying, and can also be combined for use to adapt to various complex conditions.
Description
Technical Field
The invention relates to the technical field of spraying robots, in particular to a cable parallel macro-micro spraying robot for large components, which is combined with an end effector (nozzle) to realize spraying.
Background
Through more than thirty years of research and development, the spraying field has made unprecedented progress in high efficiency, high quality, intellectualization and the like, and particularly, the appearance of a spraying robot releases manual labor, and the production efficiency is greatly improved. Referring to the data, the traditional spraying robot mainly adopts a rigid serial or rigid parallel mechanism, and has the advantages of large working space, high positioning accuracy, simple structure and simple and convenient control, but the serial mechanism has the defects of large motion inertia, small movable range, low flexibility and the like, and is difficult to finish the spraying work of the curved surface with complex structure. The parallel spraying robot applies the parallel mechanism to the spraying technology, well solves the problems caused by the serial spraying robots, and has the advantages of no accumulated error, high accuracy, large bearing capacity and good flexibility. However, because of the existence of a plurality of rigid movement branched chains interfering with each other in the structure, the working range is smaller, and the spraying device is not suitable for large-area spraying work.
Disclosure of Invention
In order to solve the problems, the invention provides a cable parallel macro-micro spraying robot for large components, which uses a flexible cable to replace a parallel spraying robot mechanism of a rigid connecting rod and uses the flexible cable to replace the connecting rod as a transmission element to increase the working space; meanwhile, in order to solve the problem of small spraying area, a macro-micro two-stage flexible cable parallel mechanism is combined, a micro mechanism is pulled by using a rope 9 on the macro, and a suspension type spraying method is adopted to realize macro large-space spraying operation.
The invention is realized by the following technical scheme: a cable parallel macro-micro spraying robot facing large components comprises a mounting frame 1, a guide rail driving mechanism 2, a nozzle mechanism 3, a main-stage flexible cable driving module 4 and a secondary-stage flexible cable driving module 5;
the mounting rack 1 comprises a square frame 11, mounting upright posts 12 are respectively arranged at four right angles of the upper bottom surface of the square frame 11, and horizontal cross beams 13 are arranged between adjacent mounting upright posts 12;
the nozzle mechanism 3 comprises a detachable nozzle 31, a telescopic rod 32, a sleeve 33 and a first cross universal joint 34, one end of the telescopic rod 32 is connected with one end of the first cross universal joint 34 through a lower shock-absorbing plate 35, the other end of the first cross universal joint 34 is connected with the detachable nozzle 31 through an upper shock-absorbing plate 36, and the telescopic rod 32 is inserted into the sleeve 33 through an elastic mechanism 6;
the guide rail driving mechanism 2 is arranged on the lower bottom surface of the square frame 11, and the guide rail driving mechanism 2 comprises 3 synchronous belt conveying mechanisms, a connecting cross rod 22 and a twenty-first universal joint 23;
the two ends of the connecting cross rod 22 are arranged on the two opposite side frames of the square frame 11 in a sliding manner through the matching of the sliding block and the sliding rail, one end of the twenty-first universal joint 23 is arranged on the connecting cross rod 22 in a sliding manner through the matching of the sliding block and the sliding rail, and the other end of the twenty-first universal joint is fixedly connected with the mounting end of the sleeve 33;
each sliding block moves on a corresponding sliding rail through a synchronous belt conveying mechanism;
the main-stage flexible cable driving module 4 comprises four main-stage flexible cable driving mechanisms, and the four main-stage flexible cable driving mechanisms are arranged corresponding to the four horizontal cross beams 13;
each main-stage flexible cable driving mechanism comprises a first movable pulley 41, a first fixed pulley 42, a magnetorheological damper 43, a first universal wheel pulley 44, a first flexible cable 45 and a first ball screw nut pair;
the first movable pulley 41 is mounted on the first support plate 47, the first support plate 47 moves on the corresponding horizontal cross beam 13 through a first ball screw nut pair, the first fixed pulley 42, the magnetorheological damper 43 and the first universal pulley 44 are sequentially mounted on the corresponding mounting upright 12 from bottom to top, one end of the first flexible cable 45 is fixed, and the other end sequentially bypasses the first movable pulley 41, the first fixed pulley 42, the magnetorheological damper 43 and the first universal pulley 44 and is fixedly connected with the lower shock absorbing plate 35;
the secondary flexible cable driving module 5 comprises four secondary flexible cable driving mechanisms, and the four secondary flexible cable driving mechanisms are arranged corresponding to four side frames of the square frame 11;
each four secondary flexible cable driving mechanisms comprises a second movable pulley 51, a second fixed pulley 52, a second flexible cable 53 and a second ball screw nut pair;
the second movable pulley 51 is mounted on the second support plate 55, the second support plate 55 moves on the corresponding side frame of the square frame 11 through a second ball screw nut pair, the second fixed pulley 52 is mounted on the top of the corresponding mounting upright 12, one end of the second flexible cable 53 is fixed, the other end passes through the top of the mounting upright 12 from the inside of the mounting upright 12 after bypassing the second movable pulley 51, and then is fixedly connected with the upper shock absorbing plate 36 by bypassing the second fixed pulley 52;
when the spraying device works, the L-shaped rotating frame 7 semi-surrounds the rope parallel macro-micro spraying robot, the rotating frame 7 is fixedly connected with the square frame 11, and the rotating frame 7 is screwed on the surface to be sprayed of an object through four ropes 9, so that the detachable nozzle 31 is opposite to the surface to be sprayed of the object; and simultaneously, spraying the upper, left, right, front and rear five surfaces of the object by using 1-5 rope parallel macro-micro spraying robots.
Further, the elastic mechanism 6 includes more than 6 annular pressing pieces 61,6 annular pressing pieces 61 which are sequentially sleeved on the telescopic rod 32, a return spring 62 is sleeved on the telescopic rod 32 between the adjacent annular pressing pieces 61, and one end of the telescopic rod 32 is inserted in the sleeve 33 in a clearance fit manner, so that the telescopic rod 32 and the sleeve 33 are axially parallel, and the tensioning tension of the first flexible cable 45 is maintained.
Further, the guide rail driving mechanism 2 includes a first timing belt conveying mechanism, a second timing belt conveying mechanism, and a third timing belt conveying mechanism; the first synchronous belt conveying mechanism, the second synchronous belt conveying mechanism and the third synchronous belt conveying mechanism comprise a stepping motor 211, a synchronous belt 212 and a pair of belt pulleys 213, and each synchronous belt 212 is provided with a sliding block;
a pair of pulleys 213 of the first timing belt transfer mechanism are disposed at both ends of one side frame of the square frame, a pair of pulleys 213 of the second timing belt transfer mechanism are disposed at both ends of the other opposite side frame of the square frame, a pair of pulleys 213 of the third timing belt transfer mechanism are disposed at both ends of the connecting rail 22,
each synchronous belt 212 is arranged on a corresponding pair of belt wheels 213 and is transmitted by a corresponding stepping motor 211 to drive the sliding block to slide on a corresponding sliding rail.
Further, each of the first ball screw nut pairs 46 is disposed at an upper end of the corresponding horizontal beam 13, and includes a first screw 461, a first screw nut 462, and a first screw motor 463; one end of the first screw 461 is connected with the output shaft of the first screw motor 463 through a first coupling 464, the first other end of the first screw 461 corresponds to the mounting post 12,
the first support plate 47 is in an inverted L shape, a vertical part of the L shape is fixedly connected with the first screw nut 462, the first movable pulley 41 is mounted on a horizontal part of the L shape, a horizontal U-shaped plate is arranged on the mounting upright post 12 corresponding to the first movable pulley 41 in the same horizontal direction, a first fixed pulley 42 is arranged on one side plate of the U-shaped plate, and the other side plate is fixed with one end of the first flexible cable 45 through a pulley; the other end of the first flexible cable 45 horizontally winds around the first movable pulley 41, then winds around the first fixed pulley 42, the magnetorheological damper 43 and the first universal pulley 44 upwards along the corresponding installation upright post 12 in sequence, and is fixedly connected with the lower shock absorbing plate 35.
Further, each of the second ball screw nut pairs is disposed at the upper end of the side frame corresponding to the square frame 11, and includes a second screw 541, a second screw nut 542, and a second screw motor 543; one end of a second lead screw 541 is connected with an output shaft of a second lead screw motor 543 through a second coupling 544, the first other end of the second lead screw 541 is correspondingly provided with a stand column 12, the second support plate 55 is vertically arranged and fixedly connected with a second lead screw nut 542, the upper end of the second support plate 55 is provided with a second movable pulley 51, a support is arranged on the corresponding installation stand column 12 in the same horizontal direction with the second movable pulley 51, and the support is fixedly connected with one end of a second flexible cable 53 through a pulley; the other end of the second flexible cable 53 horizontally passes through the inner cavity of the corresponding mounting upright post 12 to reach the top end of the mounting upright post 12 after passing through the second movable pulley 51, and then passes through the second fixed pulley 52 and is fixedly connected with the upper shock absorbing plate 36.
Further, the detachable nozzle 31 includes a rotary nozzle 311, a pair of swivel plates 312, and a shock absorbing connection plate 313; the shock-absorbing connection plates 313 are connected with the upper shock-absorbing plate 36 through 4 shock-absorbing springs 314;
the pair of rotating plates 312 are correspondingly arranged at two ends of the damping connection plate 313 and are rotatably connected with the damping connection plate 313 through a pair of rectangular rotating frames 315, so that the upper ends of the rectangular rotating frames are fixedly connected with the middle parts of the rotating plates, and the lower ends of the rectangular rotating frames are rotatably arranged on the lower bottom surface of the damping connection plate 313;
a pair of mounting grooves are correspondingly formed at the lower ends of the pair of rotating plates 312, a pair of clamping blocks 316 are correspondingly arranged in the pair of mounting grooves, the pair of clamping blocks 316 are correspondingly arranged at two ends of the damping connecting plate 313,
the lower end of the rotary spray head 311 is fixedly connected with a clamping plate 317, the clamping plate 317 is correspondingly arranged on the damping connection plate 313 between the pair of clamping blocks 316, and when the pair of rotary plates 312 rotate relatively, the pair of clamping blocks 316 move relatively to clamp the clamping plate 317.
Further, two ends of the lower bottom surface of the damping connection plate 313 are correspondingly provided with a pair of U-shaped grooves, and the lower ends of the pair of rectangular rotating frames 315 are rotatably arranged in the pair of U-shaped grooves through shaft sleeves;
the guide post 318 vertically penetrates through the middle parts of the shock-absorbing connecting plate 313 and the upper shock-absorbing plate 36, and limit nuts are arranged at two ends, and two ends of each shock-absorbing spring 314 are respectively arranged between the shock-absorbing connecting plate 313 and the upper shock-absorbing plate 36 through spring mounting posts and are axially limited through the guide post 318.
Further, 4 upper lugs are uniformly arranged on the outer circumference of the upper shock absorbing plate 36, and the upper lugs are in one-to-one correspondence with the second flexible wires 53, so that each second flexible wire 53 is fixedly connected with the corresponding upper lug;
the outer circumference of the lower shock absorbing plate 35 is provided with 4 lower lugs downward, and the lower lugs are in one-to-one correspondence with the first flexible wires 45, so that the first flexible wires 45 are fixedly connected with the corresponding lower lugs.
Further, frame sliding rails are uniformly arranged on the outer side frame of the rotating frame 7, one end of each rope 9 is connected with the frame sliding rail through a sliding block, the other end of each rope 9 is hung on the sliding truss 8 through a truss sliding block 81, and the position of the truss sliding block 81 on the sliding truss 8 is adjusted so that a rotating nozzle 311 of the rope parallel macro-micro spraying robot faces the surface to be sprayed of an object.
The invention has the beneficial effects that:
1. the invention adopts a parallel mechanism with flexible cables to replace rigid connecting rods in the spraying technology to avoid the defects of the traditional rigid serial-parallel spraying robot, adopts ropes to carry out traction suspension on the cable parallel macro-micro spraying robot on the whole structure macroscopically, is convenient to disassemble and assemble and the cable parallel macro-micro spraying robot is combined to use, and adopts the rope suspension type to achieve the aim of ultra-large working space;
the microcosmic traction nozzle mechanism comprises a main-stage flexible cable module and a secondary-stage flexible cable module which are connected in parallel, wherein 4 first flexible cables of the main-stage flexible cable module are fixedly connected with a lower damping plate, 4 second flexible cables of the secondary-stage flexible cable module are fixedly connected with an upper damping plate, and the lower damping plate is connected with the upper damping plate through a first cross universal joint;
the synchronous belt mechanism drives the sleeve to move in the X-axis and Y-axis directions, and meanwhile, the bottom end of the sleeve is connected with the connecting cross rod through a twenty-first universal joint, so that the sleeve can rotate;
the detachable nozzle realizes primary rotation under the action of the primary flexible cable module and the second cross universal joint, realizes secondary rotation under the action of the secondary flexible cable module and the first cross universal joint, and moves along the X axis and the Y axis under the action of the guide rail driving mechanism; the detachable nozzle realizes high-speed and high-precision positioning and accurate spraying in multi-stage linkage;
therefore, the invention combines macro-micro two-stage and good-bad complementation to adapt to complex and ultra-large space operation scenes and can realize quick and high-precision positioning.
2. In order to prevent the flexible cable from being in virtual traction and affecting the spraying quality, the rigid telescopic rod is inserted into the sleeve through the elastic mechanism, namely, the telescopic rod between the adjacent annular pressing sheets is sleeved with the return spring, one end of the telescopic rod is inserted into the sleeve in a clearance fit manner, so that the telescopic rod and the sleeve are kept axially parallel, the tensioning tension of the first flexible cable and the second flexible cable is kept, the rotary spray head can be adjusted to be always straight to the surface to be sprayed of an object, and the spraying quality is ensured.
3. According to the detachable nozzle, the clamping plates are fixedly connected to the lower ends of the rotary spray heads and correspondingly arranged on the damping connecting plates between the pair of clamping blocks, when the pair of rotary plates rotate relatively, the clamping plates are clamped by the pair of clamping blocks in a relative motion mode on the damping connecting plates to install the rotary spray heads, and when the pair of rotary plates rotate reversely, the clamping plates are loosened by the pair of clamping blocks in a reverse motion mode on the damping connecting plates to detach the rotary spray heads, so that different spray heads can be conveniently replaced to adapt to different spraying surfaces, and high-efficiency high-quality spraying is achieved.
Drawings
Fig. 1 is a schematic structural diagram of a cable parallel macro-micro spraying robot facing a large-scale component.
Fig. 2 is a schematic view of the structure of fig. 1 with the rotating frame removed.
Fig. 3 is a schematic structural view of the rotating frame of the present invention.
Fig. 4 is a schematic structural view of the mounting frame of the present invention.
Fig. 5 is a schematic installation view of the primary flex cable driving mechanism of the present invention.
Fig. 6 is a partial enlarged view of fig. 5.
Fig. 7 is a schematic view of the installation of the secondary flex drive mechanism of the present invention.
Fig. 8 is a partial enlarged view of fig. 8.
Fig. 9 is a schematic installation view of the rail driving mechanism of the present invention.
Fig. 10 is an exploded view of the nozzle mechanism of the present invention.
Fig. 11 is a schematic structural view of an elastic mechanism of the present invention.
Fig. 12 is a mounting and using state diagram of the cable parallel macro-micro spraying robot facing to the large-scale component.
Fig. 13 is a schematic diagram showing a state of five-sided spraying of an object by using the cable parallel macro-micro spraying robot for a large-sized member of the present invention.
Wherein: the device comprises a mounting frame 1, a square frame 11, a mounting upright 12, a horizontal cross beam 13, a guide rail driving mechanism 2, a stepping motor 211, a synchronous belt 212, a pair of pulleys 213, a connecting cross rod 22, a second-type universal joint 23, a nozzle mechanism 3, a detachable nozzle 31, a rotary nozzle 311, a pair of rotary plates 312, a damping connecting plate 313, a damping spring 314, a pair of clamping blocks 316, clamping plates 317, a guide post 318, a telescopic rod 32, a sleeve 33, a first cross universal joint 34, a lower damping plate 35, an upper damping plate 36, a main-stage flexible cable driving module 4, a first movable pulley 41, a first fixed pulley 42, a magnetorheological damper 43, a first universal pulley 44, a first flexible cable 45, a first lead screw 461, a first lead screw nut 462, a first lead screw motor 463, a first coupling, a first support plate 47, a secondary-stage flexible cable driving module 5, a second movable pulley 51, a second fixed pulley 52, a second flexible cable 53, a second lead screw 541, a second coupling nut 542, a second lead screw 543, a second motor 543, a second coupling plate 55, an elastic mechanism 61, an annular spring 62, a ring-shaped spring frame 62, a truss frame 8, a rotary truss frame 9, a compression truss frame 8 and a truss frame 8.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the detailed description is presented by way of example only and is not intended to limit the invention.
Referring to fig. 1 and 2, a cable parallel macro-micro spraying robot facing to a large-scale component comprises a mounting frame 1, a guide rail driving mechanism 2, a nozzle mechanism 3, a main-stage flexible cable driving module 4 and a secondary-stage flexible cable driving module 5;
referring to fig. 3 and 4, the rotating frame 7 is L-shaped, the mounting frame 1 includes a square frame 11, four right angles of the upper bottom surface of the square frame 11 are respectively provided with a mounting upright post 12, and a horizontal cross beam 13 is arranged between adjacent mounting upright posts 12;
referring to fig. 10, the nozzle mechanism 3 includes a detachable nozzle 31, a telescopic rod 32, a sleeve 33 and a first cross universal joint 34, one end of the telescopic rod 32 is connected with one end of the first cross universal joint 34 through a lower damping plate 35, the other end of the first cross universal joint 34 is connected with the detachable nozzle 31 through an upper damping plate 36, and the telescopic rod 32 is inserted into the sleeve 33 through an elastic mechanism 6;
referring to fig. 9, the guide rail driving mechanism 2 is arranged on the lower bottom surface of the square frame 11, and the guide rail driving mechanism 2 comprises 3 synchronous belt conveying mechanisms, a connecting cross bar 22 and a twenty-first universal joint 23;
the two ends of the connecting cross rod 22 are arranged on the two opposite side frames of the square frame 11 in a sliding manner through the matching of the sliding block and the sliding rail, one end of the twenty-first universal joint 23 is arranged on the connecting cross rod 22 in a sliding manner through the matching of the sliding block and the sliding rail, and the other end of the twenty-first universal joint is fixedly connected with the mounting end of the sleeve 33;
each sliding block moves on a corresponding sliding rail through a synchronous belt conveying mechanism;
referring to fig. 5 and 6, the main-stage flexible cable driving module 4 includes four main-stage flexible cable driving mechanisms, and the four main-stage flexible cable driving mechanisms are arranged corresponding to the four horizontal cross beams 13;
each main-stage flexible cable driving mechanism comprises a first movable pulley 41, a first fixed pulley 42, a magnetorheological damper 43, a first universal wheel pulley 44, a first flexible cable 45 and a first ball screw nut pair;
the first movable pulley 41 is mounted on the first support plate 47, the first support plate 47 moves on the corresponding horizontal cross beam 13 through a first ball screw nut pair, the first fixed pulley 42, the magnetorheological damper 43 and the first universal pulley 44 are sequentially mounted on the corresponding mounting upright 12 from bottom to top, one end of the first flexible cable 45 is fixed, and the other end sequentially bypasses the first movable pulley 41, the first fixed pulley 42, the magnetorheological damper 43 and the first universal pulley 44 and is fixedly connected with the lower shock absorbing plate 35;
referring to fig. 7 and 8, the secondary cable driving module 5 includes four secondary cable driving mechanisms, and the four secondary cable driving mechanisms are arranged corresponding to four side frames of the square frame 11;
each four secondary flexible cable driving mechanisms comprises a second movable pulley 51, a second fixed pulley 52, a second flexible cable 53 and a second ball screw nut pair;
the second movable pulley 51 is mounted on the second support plate 55, the second support plate 55 moves on the corresponding side frame of the square frame 11 through a second ball screw nut pair, the second fixed pulley 52 is mounted on the top of the corresponding mounting upright 12, one end of the second flexible cable 53 is fixed, the other end passes through the top of the mounting upright 12 from the inside of the mounting upright 12 after bypassing the second movable pulley 51, and then is fixedly connected with the upper shock absorbing plate 36 by bypassing the second fixed pulley 52;
when the spraying device works, the L-shaped rotating frame 7 semi-surrounds the rope parallel macro-micro spraying robot, the rotating frame 7 is fixedly connected with the square frame 11, and the rotating frame 7 is screwed on the surface to be sprayed of an object through four ropes 9, so that the detachable nozzle 31 is opposite to the surface to be sprayed of the object; and simultaneously, spraying the upper, left, right, front and rear five surfaces of the object by using 1-5 rope parallel macro-micro spraying robots.
The elastic mechanism 6 comprises more than 6 annular pressing sheets 61,6 annular pressing sheets 61 which are sequentially sleeved on the telescopic rod 32, a return spring 62 is sleeved on the telescopic rod 32 between the adjacent annular pressing sheets 61, one end of the telescopic rod 32 is inserted in the sleeve 33 in a clearance fit manner, so that the telescopic rod 32 and the sleeve 33 are axially parallel, the tensioning tension of the first flexible rope 45 and the second flexible rope 53 is kept, and the first flexible rope 45 and the second flexible rope 53 are prevented from being in virtual traction.
The guide rail driving mechanism 2 comprises a first synchronous belt conveying mechanism, a second synchronous belt conveying mechanism and a third synchronous belt conveying mechanism; the first synchronous belt conveying mechanism, the second synchronous belt conveying mechanism and the third synchronous belt conveying mechanism comprise a stepping motor 211, a synchronous belt 212 and a pair of belt pulleys 213, and each synchronous belt 212 is provided with a sliding block;
a pair of pulleys 213 of the first timing belt transfer mechanism are disposed at both ends of one side frame of the square frame, a pair of pulleys 213 of the second timing belt transfer mechanism are disposed at both ends of the other opposite side frame of the square frame, a pair of pulleys 213 of the third timing belt transfer mechanism are disposed at both ends of the connecting rail 22,
each synchronous belt 212 is arranged on a corresponding pair of belt wheels 213 and is transmitted by a corresponding stepping motor 211 to drive the sliding block to slide on a corresponding sliding rail.
Each of the first ball screw nut pairs 46 is disposed at an upper end of the corresponding horizontal beam 13, and includes a first screw 461, a first screw nut 462, and a first screw motor 463; one end of the first screw 461 is connected with the output shaft of the first screw motor 463 through a first coupling 464, the first other end of the first screw 461 corresponds to the mounting post 12,
the first support plate 47 is in an inverted L shape, a vertical part of the L shape is fixedly connected with the first screw nut 462, the first movable pulley 41 is mounted on a horizontal part of the L shape, a horizontal U-shaped plate is arranged on the mounting upright post 12 corresponding to the first movable pulley 41 in the same horizontal direction, a first fixed pulley 42 is arranged on one side plate of the U-shaped plate, and the other side plate is fixed with one end of the first flexible cable 45 through a pulley; the other end of the first flexible cable 45 horizontally winds around the first movable pulley 41, then winds around the first fixed pulley 42, the magnetorheological damper 43 and the first universal pulley 44 upwards along the corresponding installation upright post 12 in sequence, and is fixedly connected with the lower shock absorbing plate 35.
Each of the second ball screw nut pairs is arranged at the upper end of the side frame corresponding to the square frame 11, and comprises a second screw 541, a second screw nut 542 and a second screw motor 543; one end of a second lead screw 541 is connected with an output shaft of a second lead screw motor 543 through a second coupling 544, the first other end of the second lead screw 541 is correspondingly provided with a stand column 12, the second support plate 55 is vertically arranged and fixedly connected with a second lead screw nut 542, the upper end of the second support plate 55 is provided with a second movable pulley 51, a support is arranged on the corresponding installation stand column 12 in the same horizontal direction with the second movable pulley 51, and the support is fixedly connected with one end of a second flexible cable 53 through a pulley; the other end of the second flexible cable 53 horizontally passes through the inner cavity of the corresponding mounting upright post 12 to reach the top end of the mounting upright post 12 after passing through the second movable pulley 51, and then passes through the second fixed pulley 52 and is fixedly connected with the upper shock absorbing plate 36.
The detachable nozzle 31 includes a rotary nozzle 311, a pair of swivel plates 312, and a shock absorbing connection plate 313; the shock-absorbing connection plates 313 are connected with the upper shock-absorbing plate 36 through 4 shock-absorbing springs 314;
the pair of rotating plates 312 are correspondingly arranged at two ends of the damping connection plate 313 and are rotatably connected with the damping connection plate 313 through a pair of rectangular rotating frames 315, so that the upper ends of the rectangular rotating frames are fixedly connected with the middle parts of the rotating plates, and the lower ends of the rectangular rotating frames are rotatably arranged on the lower bottom surface of the damping connection plate 313;
a pair of mounting grooves are correspondingly formed at the lower ends of the pair of rotating plates 312, a pair of clamping blocks 316 are correspondingly arranged in the pair of mounting grooves, the pair of clamping blocks 316 are correspondingly arranged at two ends of the damping connecting plate 313,
the lower end of the rotary spray head 311 is fixedly connected with a clamping plate 317, the clamping plate 317 is correspondingly arranged on the damping connection plate 313 between the pair of clamping blocks 316, and when the pair of rotary plates 312 rotate relatively, the pair of clamping blocks 316 move relatively to clamp the clamping plate 317. The rotary spray head 311 is convenient to detach and replace.
A pair of U-shaped grooves are correspondingly arranged at two ends of the lower bottom surface of the damping connection plate 313, and the lower ends of a pair of rectangular rotating frames 315 are rotatably arranged in the pair of U-shaped grooves through shaft sleeves;
the guide post 318 vertically penetrates through the middle parts of the shock-absorbing connecting plate 313 and the upper shock-absorbing plate 36, and limit nuts are arranged at two ends, and two ends of each shock-absorbing spring 314 are respectively arranged between the shock-absorbing connecting plate 313 and the upper shock-absorbing plate 36 through spring mounting posts and are axially limited through the guide post 318. The damping spring 314 can cut down the reaction force of the spraying process, thereby ensuring the stability of the spraying process.
4 upper lugs are uniformly arranged on the outer circumference of the upper shock absorption plate 36 upwards, and the upper lugs are in one-to-one correspondence with the second flexible wires 53, so that each second flexible wire 53 is fixedly connected with the corresponding upper lug;
the outer circumference of the lower shock absorbing plate 35 is provided with 4 lower lugs downward, and the lower lugs are in one-to-one correspondence with the first flexible wires 45, so that the first flexible wires 45 are fixedly connected with the corresponding lower lugs.
Frame sliding rails are uniformly arranged on the outer side frame of the rotating frame 7, one end of each rope 9 is connected with the frame sliding rail through a sliding block, the other end of each rope 9 is hung on the sliding truss 8 through a truss sliding block 81, and the position of the truss sliding block 81 on the sliding truss 8 is adjusted so that a rotating spray head 311 of the rope parallel macro-micro spraying robot faces to the surface to be sprayed of an object. The rope 9 is used for carrying out traction and suspension on the rope parallel macro-micro spraying robot in a macroscopic manner, so that the disassembly and assembly are convenient, and the rope parallel macro-micro spraying robot is used in a combined mode, and the purpose of ultra-large working space is achieved by adopting the rope 9 in a suspension mode.
It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (9)
1. A cable parallel macro-micro spraying robot for large-scale components is characterized in that: comprises a mounting frame (1), a guide rail driving mechanism (2), a nozzle mechanism (3), a main-stage flexible cable driving module (4) and a secondary-stage flexible cable driving module (5);
the mounting rack (1) comprises a square frame (11), four right angles of the upper bottom surface of the square frame (11) are respectively provided with mounting upright posts (12), and horizontal cross beams (13) are arranged between adjacent mounting upright posts (12);
the nozzle mechanism (3) comprises a detachable nozzle (31), a telescopic rod (32), a sleeve (33) and a first cross universal joint (34), one end of the telescopic rod (32) is connected with one end of the first cross universal joint (34) through a lower shock-absorbing plate (35), the other end of the first cross universal joint (34) is connected with the detachable nozzle (31) through an upper shock-absorbing plate (36), and the telescopic rod (32) is inserted into the sleeve (33) through an elastic mechanism (6);
the guide rail driving mechanism (2) is arranged on the lower bottom surface of the square frame (11), and the guide rail driving mechanism (2) comprises 3 synchronous belt conveying mechanisms, a connecting cross rod (22) and a twenty-first universal joint (23);
two ends of the connecting cross rod (22) are arranged on two opposite side frames of the square frame (11) in a sliding manner through the matching of sliding blocks and sliding rails, one end of the twenty-first universal joint (23) is arranged on the connecting cross rod (22) in a sliding manner through the matching of the sliding blocks and sliding rails, and the other end of the twenty-first universal joint is fixedly connected with the mounting end of the sleeve (33);
each sliding block moves on a corresponding sliding rail through a synchronous belt conveying mechanism;
the main-stage flexible cable driving module (4) comprises four main-stage flexible cable driving mechanisms, and the four main-stage flexible cable driving mechanisms are arranged corresponding to the four horizontal cross beams (13);
each main-stage flexible cable driving mechanism comprises a first movable pulley (41), a first fixed pulley (42), a magnetorheological damper (43), a first universal wheel slide (44), a first flexible cable (45) and a first ball screw nut pair;
the first movable pulley (41) is arranged on the first support plate (47), the first support plate (47) moves on the corresponding horizontal cross beam (13) through a first ball screw nut pair, the first fixed pulley (42), the magnetorheological damper (43) and the first universal pulley (44) are sequentially arranged on the corresponding mounting upright post (12) from bottom to top, one end of the first flexible cable (45) is fixed, and the other end sequentially bypasses the first movable pulley (41), the first fixed pulley (42), the magnetorheological damper (43) and the first universal pulley (44) and is fixedly connected with the lower shock absorbing plate (35);
the secondary flexible cable driving module (5) comprises four secondary flexible cable driving mechanisms, and the four secondary flexible cable driving mechanisms are arranged corresponding to four side frames of the square frame (11);
each four secondary flexible cable driving mechanisms comprises a second movable pulley (51), a second fixed pulley (52), a second flexible cable (53) and a second ball screw nut pair;
the second movable pulley (51) is arranged on the second support plate (55), the second support plate (55) moves on a side frame corresponding to the square frame (11) through a second ball screw nut pair, and the second fixed pulley (52) is arranged at the top of a corresponding installation upright post (12), so that one end of a second flexible rope (53) is fixed, and the other end passes through the top of the installation upright post (12) from the inside of the installation upright post (12) after bypassing the second movable pulley (51) and is fixedly connected with the upper shock absorption plate (36) through the second fixed pulley (52);
when the spraying device works, the L-shaped rotating frame (7) semi-surrounds the rope parallel macro-micro spraying robot, the rotating frame (7) is fixedly connected with the square frame (11), and the rotating frame (7) is screwed on the surface to be sprayed of an object through four ropes (9) so that the detachable nozzle (31) is opposite to the surface to be sprayed of the object; and simultaneously, spraying the upper, left, right, front and rear five surfaces of the object by using 1-5 rope parallel macro-micro spraying robots.
2. The macro-micro spraying robot for cable parallel connection of large-scale components according to claim 1, wherein: the elastic mechanism (6) comprises more than 6 annular pressing sheets (61), the more than 6 annular pressing sheets (61) are sequentially sleeved on the telescopic rods (32), a return spring (62) is sleeved on the telescopic rods (32) between the adjacent annular pressing sheets (61), one end of each telescopic rod (32) is inserted in the corresponding sleeve (33) in a clearance fit mode, the telescopic rods (32) are axially parallel to the corresponding sleeve (33), and tensioning tension of the first flexible cable (45) and the second flexible cable (53) is kept.
3. The macro-micro spraying robot for cable parallel connection of large-scale components according to claim 1, wherein: the guide rail driving mechanism (2) comprises a first synchronous belt conveying mechanism, a second synchronous belt conveying mechanism and a third synchronous belt conveying mechanism; the first synchronous belt conveying mechanism, the second synchronous belt conveying mechanism and the third synchronous belt conveying mechanism comprise a stepping motor (211), synchronous belts (212) and a pair of belt wheels (213), and each synchronous belt (212) is provided with a sliding block;
a pair of pulleys (213) of the first synchronous belt conveying mechanism are arranged at two ends of one side frame of the square frame, a pair of pulleys (213) of the second synchronous belt conveying mechanism are arranged at two ends of the other opposite side frame of the square frame, a pair of pulleys (213) of the third synchronous belt conveying mechanism are arranged at two ends of the connecting cross bar (22),
each synchronous belt (212) is arranged on a corresponding pair of belt wheels (213) and is transmitted through a corresponding stepping motor (211) to drive the sliding block to slide on a corresponding sliding rail.
4. The macro-micro spraying robot for cable parallel connection of large-scale components according to claim 1, wherein:
each first ball screw nut pair (46) is arranged at the upper end of the corresponding horizontal beam (13) and comprises a first screw (461), a first screw nut (462) and a first screw motor (463); one end of a first screw rod (461) is connected with an output shaft of a first screw rod motor (463) through a first coupler (464), the first other end of the first screw rod (461) corresponds to the mounting upright post (12),
the first support plate (47) is in an inverted L shape, the vertical part of the L shape is fixedly connected with the first screw nut (462), the first movable pulley (41) is arranged on the horizontal part of the L shape, a horizontal U-shaped plate is arranged on the mounting upright post (12) corresponding to the first movable pulley (41) in the same horizontal direction, a first fixed pulley (42) is arranged on one side plate of the U-shaped plate, and the other side plate is fixed with one end of the first flexible cable (45) through the pulley; the other end of the first flexible rope (45) horizontally winds around the first movable pulley (41), upwards winds around the first fixed pulley (42), the magnetorheological damper (43) and the first universal pulley (44) in sequence along the corresponding installation upright post (12), and is fixedly connected with the lower shock absorption plate (35).
5. The macro-micro spraying robot for cable parallel connection of large-scale components according to claim 1, wherein: each second ball screw nut pair (54) is arranged at the upper end of the side frame of the corresponding square frame (11) and comprises a second screw (541), a second screw nut (542) and a second screw motor (543); one end of a second lead screw (541) is connected with an output shaft of a second lead screw motor (543) through a second coupler (544), the first other end of the second lead screw (541) is correspondingly provided with an upright post (12), a second support plate (55) is vertically arranged and fixedly connected with a second lead screw nut (542), the upper end of the second support plate (55) is provided with a second movable pulley (51), a support is arranged on the installation upright post (12) corresponding to the second movable pulley (51) in the same horizontal direction, and the support is fixedly connected with one end of a second flexible cable (53) through a pulley; the other end of the second flexible rope (53) horizontally passes through the second movable pulley (51) and then upwards passes through the inner cavity of the corresponding mounting upright post (12) to reach the top end of the mounting upright post (12), and then passes through the second fixed pulley (52) and the upper shock absorption plate (36) to be fixedly connected.
6. The macro-micro spraying robot for cable parallel connection of large-scale components according to claim 1, wherein: the detachable nozzle (31) comprises a rotary spray head (311), a pair of rotary plates (312) and a damping connecting plate (313); the damping connection plate (313) is connected with the upper damping plate (36) through 4 damping springs (314);
the pair of rotating plates (312) are correspondingly arranged at two ends of the damping connecting plate (313) and are rotationally connected with the damping connecting plate (313) through a pair of rectangular rotating frames (315), so that the upper ends of the rectangular rotating frames are fixedly connected with the middle parts of the rotating plates, and the lower ends of the rectangular rotating frames are rotationally arranged on the lower bottom surface of the damping connecting plate (313);
a pair of mounting grooves are correspondingly arranged at the lower ends of the pair of rotating plates (312), a pair of clamping blocks (316) are correspondingly arranged in the pair of mounting grooves, the pair of clamping blocks (316) are correspondingly arranged at two ends of the upper bottom surface of the damping connecting plate (313),
the lower end of the rotary spray head (311) is fixedly connected with a clamping plate (317), the clamping plate (317) is correspondingly arranged on a damping connecting plate (313) between a pair of clamping blocks (316), and when the pair of rotary plates (312) relatively rotate, the clamping plates (317) are clamped by the relative movement of the pair of clamping blocks (316) on the damping connecting plate (313).
7. The macro-micro spraying robot for cable parallel connection of large-scale components according to claim 6, wherein: the two ends of the lower bottom surface of the damping connecting plate (313) are correspondingly provided with a pair of U-shaped grooves, and the lower ends of a pair of rectangular rotating frames (315) are rotationally arranged in the pair of U-shaped grooves through shaft sleeves;
the guide pillar (318) vertically penetrates through the middle parts of the damping connecting plate (313) and the upper damping plate (36), limiting nuts are arranged at two ends of the guide pillar, and two ends of each damping spring (314) are respectively arranged between the damping connecting plate (313) and the upper damping plate (36) through spring mounting columns and axially limited through the guide pillar (318).
8. The macro-micro spraying robot for cable parallel connection of large-scale components according to claim 1, wherein: 4 upper lugs are uniformly arranged on the outer circumference of the upper shock absorption plate (36) upwards, and the upper lugs are in one-to-one correspondence with the second flexible wires (53), so that each second flexible wire (53) is fixedly connected with the corresponding upper lug;
the outer circumference of the lower shock absorption plate (35) is provided with 4 lower lugs downwards uniformly, and the lower lugs are in one-to-one correspondence with the first flexible wires (45) so that the first flexible wires (45) are fixedly connected with the corresponding lower lugs.
9. The macro-micro spraying robot for cable parallel connection of large-scale components according to claim 1, wherein: the outer side frame of the rotating frame (7) is uniformly provided with frame sliding rails, one end of each rope (9) is connected with the frame sliding rails through a sliding block, the other end of each rope (9) is connected with the sliding truss (8) through a truss sliding block (81), and the position of the truss sliding block (81) on the sliding truss (8) is adjusted, so that a rotating nozzle (311) of the rope parallel macro-micro spraying robot faces to the surface to be sprayed of an object.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210366302.5A CN114571442B (en) | 2022-04-08 | 2022-04-08 | Cable parallel macro-micro spraying robot for large-scale components |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210366302.5A CN114571442B (en) | 2022-04-08 | 2022-04-08 | Cable parallel macro-micro spraying robot for large-scale components |
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| CN114571442B true CN114571442B (en) | 2023-06-20 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109395938A (en) * | 2018-11-01 | 2019-03-01 | 合肥工业大学 | A kind of painting robot mechanism of flexible cable parallel drive |
| CN113117942A (en) * | 2021-04-16 | 2021-07-16 | 合肥工业大学 | Rigid-flexible coupling parallel robot multicolor spraying experimental device and spraying method |
| CN113171906A (en) * | 2021-04-27 | 2021-07-27 | 合肥工业大学 | Movable electro-hydraulic compound drive spraying robot with large working space |
| CN113304923A (en) * | 2021-06-08 | 2021-08-27 | 合肥工业大学 | Adjustable flexible cable driving spraying robot for coating inner wall of complex curved surface |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111659566B (en) * | 2020-06-16 | 2021-07-23 | 合肥工业大学 | Rope traction type polishing, cleaning and coating integrated operation robot |
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- 2022-04-08 CN CN202210366302.5A patent/CN114571442B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109395938A (en) * | 2018-11-01 | 2019-03-01 | 合肥工业大学 | A kind of painting robot mechanism of flexible cable parallel drive |
| CN113117942A (en) * | 2021-04-16 | 2021-07-16 | 合肥工业大学 | Rigid-flexible coupling parallel robot multicolor spraying experimental device and spraying method |
| CN113171906A (en) * | 2021-04-27 | 2021-07-27 | 合肥工业大学 | Movable electro-hydraulic compound drive spraying robot with large working space |
| CN113304923A (en) * | 2021-06-08 | 2021-08-27 | 合肥工业大学 | Adjustable flexible cable driving spraying robot for coating inner wall of complex curved surface |
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| CN114571442A (en) | 2022-06-03 |
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