CN116901068A - Rigid-flexible coupling multi-dimensional intelligent spraying robot - Google Patents
Rigid-flexible coupling multi-dimensional intelligent spraying robot Download PDFInfo
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- CN116901068A CN116901068A CN202310899737.0A CN202310899737A CN116901068A CN 116901068 A CN116901068 A CN 116901068A CN 202310899737 A CN202310899737 A CN 202310899737A CN 116901068 A CN116901068 A CN 116901068A
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- 238000005507 spraying Methods 0.000 title claims abstract description 104
- 230000008878 coupling Effects 0.000 title claims abstract description 27
- 238000010168 coupling process Methods 0.000 title claims abstract description 27
- 238000005859 coupling reaction Methods 0.000 title claims abstract description 27
- 238000013519 translation Methods 0.000 claims abstract description 72
- 230000007246 mechanism Effects 0.000 claims abstract description 63
- 239000007921 spray Substances 0.000 claims abstract description 37
- 230000033001 locomotion Effects 0.000 claims abstract description 29
- 239000012636 effector Substances 0.000 claims abstract description 17
- 238000004804 winding Methods 0.000 claims description 38
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 21
- 229910052782 aluminium Inorganic materials 0.000 claims description 21
- 238000000034 method Methods 0.000 claims description 10
- 239000003638 chemical reducing agent Substances 0.000 claims description 9
- 230000001360 synchronised effect Effects 0.000 claims description 8
- 230000008569 process Effects 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims description 3
- 238000003466 welding Methods 0.000 abstract 2
- 239000000463 material Substances 0.000 abstract 1
- 238000010422 painting Methods 0.000 description 5
- 238000006073 displacement reaction Methods 0.000 description 4
- 238000004458 analytical method Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000002708 enhancing effect Effects 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000000452 restraining effect Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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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
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D1/00—Processes for applying liquids or other fluent materials
- B05D1/02—Processes for applying liquids or other fluent materials performed by spraying
-
- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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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
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
Abstract
The invention relates to the field of spraying robots, in particular to a rigid-flexible coupling multi-dimensional intelligent spraying robot. The device comprises a main body frame, a cross coordinate mechanism, a translation platform, a rotation platform, a spray gun, a movable frame, a driving device, a flexible cable set and a movable pulley device; the main body frame is a frame of the spraying robot; the flexible cable set is used for connecting the driving device, the translation platform and the rotation platform, so that five degrees of freedom of the end effector spray gun are realized; the driving device provides power for the flexible cable; the movable frame and the movable pulley device can realize the movement of the pulley block in the vertical and horizontal directions; the cross-coordinate mechanism can expand the working space of the end effector and ensure a certain rigidity. The spraying robot realizes 3 translational degrees of freedom and 2 rotational degrees of freedom of the welding gun of the end effector through the flexible cable, simultaneously realizes the spraying work of the welding gun, solves the problems of low corresponding speed and dexterity, can cope with complex curved surfaces, sprays irregularly-shaped materials, and greatly improves the adaptability of spraying equipment.
Description
Technical Field
The invention relates to the field of spraying robots, in particular to a rigid-flexible coupling multi-dimensional intelligent spraying robot.
Background
The traditional manual spraying is easy to cause low utilization rate of the paint, uneven surface spraying is easy to cause, and the working efficiency of manual operation is low. Meanwhile, the health of the human body in the spraying operation is greatly endangered. With the development of the spraying technology, the application of the spraying robot is gradually common, the spraying robot can work in extremely severe environments such as high risk, high heat, high pressure, severe cold and the like instead of workers, and the working range of the spray gun can be enlarged; the spraying robot replaces workers to finish daily complex work, so that the production rate can be improved, and the spraying quality can be improved.
Currently, spray robots are increasingly used in many fields of industry, and common spray robots are mainly classified into serial spray robots and parallel spray robots. Because the driving devices of the serial robots are arranged on all joints, the motion inertia of the devices is relatively large, and errors among the joints are accumulated, so that high-speed and high-precision motion cannot be realized. Compared with a serial robot, the parallel robot has the main advantages that: no accumulated error exists, and the precision is high; the structure is compact, the rigidity is high, and the bearing capacity is high; however, the parallel structure generally has the defects of larger structure size, small working space and too many joints, so that a spraying robot with large working space is required.
Through patent search, there are the following known technical solutions:
the Chinese literature patent number CN209078735U proposes a parallel spraying robot pulled by ropes on the outer surface of a ship body, the pitching angle and the overall up-and-down movement of a spray gun are controlled by the ropes, and the robot can be used for spraying the arc-shaped surface of the ship body, but the mode cannot ensure the stability of the spray gun in the spraying process, and the spray gun is easy to shake due to the reverse thrust of spraying and the shaking of the ropes.
The Chinese literature patent number CN111287417A proposes an intelligent spraying robot for the outer wall of a high-rise building, the robot can vertically walk on the wall through a winch and an adsorption foot, the spraying efficiency and quality are improved, but a longer guide rail is required to be paved on a top building in the mode, and the spraying mode can only be applied to a flat outer wall and cannot be applied to curved surface spraying.
Therefore, a stable spraying device is needed, which is applied to complex curved surfaces. The rigid-flexible coupling spraying robot driven by the flexible cables in parallel adopts the flexible cable traction mode to drive the end effector, and replaces the rigid driving of the traditional rigid parallel mechanism, so that the robot driven by the flexible cables in parallel has the characteristics of high running speed, strong load capacity, small inertia and the like, and the device can be flexibly suitable for spraying work on a complex plane.
Disclosure of Invention
The invention provides the rigid-flexible coupling spraying robot driven by the flexible cables in parallel to overcome the defects of the prior art, and the rigid-flexible coupling spraying robot is characterized by resisting the reverse thrust during the spraying operation, spraying complex curved surfaces and greatly improving the adaptability of spraying equipment.
In order to achieve the above purpose, the present invention adopts the following design scheme:
a rigid-flexible coupled multi-dimensional intelligent spray robot, comprising: the device comprises a main body frame 1, a cross coordinate mechanism 2, a translation platform 3, a rotation platform 4, a spray gun 5, a movable frame 6, a driving device 7, a flexible cable set 8 and a movable pulley device 9. The specific connection relation is as follows:
a movable frame 6 is provided at a side of the main body frame 1, and the movable frame 6 moves up and down in a vertical direction of the main body frame 1. The movable frame 6 is provided with a movable pulley device 9, and the movable pulley device 9 moves back and forth along the longitudinal direction of the movable frame 6. The top of the main body frame 1 is provided with a movably connected cross coordinate mechanism 2, and a translation platform 3 is connected below the cross coordinate mechanism 2. A rotary platform 4 is connected to the lower part of the translation platform 3. A spray gun 5 is fixedly arranged below the rotary platform 4. Two sets of driving devices 7 are provided at both the top of the main body frame 1 (at the upper base plate 102) and the bottom of the main body frame 1 (at the lower base plate 104). A flexible cable set 8 is arranged between the first group of driving devices 7 and the translation platform 3 and between the second group of driving devices 7 and the rotation platform 4. The driving force of the driving device 7 positioned at the top (upper bottom plate 102) of the main body frame 1 is transmitted to the translation platform 3 through the flexible cable set 8 positioned at the top (upper bottom plate 102) of the main body frame 1, and the translation platform is moved. When the translation platform 3 moves horizontally, the cross coordinate mechanism 2 connected with the translation platform 3 also moves correspondingly. A flexible cable set 8 is arranged between the first group of driving devices 7 and the translation platform 3 and between the second group of driving devices 7 and the rotation platform 4. Wherein: the flexible cable set 8 connected with the first set of driving devices 7 transmits corresponding driving force to the translation platform 3 and enables the translation platform to horizontally move. When the translation platform 3 moves, the cross coordinate mechanism 2 connected with the translation platform moves horizontally correspondingly. The flexible cable set 8 connected to the second set of driving means 7 transmits a corresponding driving force to the rotary platform 4 and moves it. By means of the above-described construction, the painting robot is provided with a large working space in the horizontal direction and the rigidity of the painting robot can be increased, the stability of the painting robot is improved, the description here is for the representation of the function of a cross-coordinate mechanism, which is not suitable here and can be placed behind the first set of drive means.
Further, the method comprises the following steps: the flexible cable set 8 has 12 total flexible cables, wherein 8 flexible cables 801 are connected with the translation platform 3 through the driving device 7 and four pulley blocks A105 at the top of the main body frame 1, every two flexible cables are in one group, each group of flexible cables always keeps a parallelogram shape in the motion process, the rotation freedom degree is limited, the flexible cables have only the translation freedom degree along X, Y, Z, and the other 4 flexible cables 802 and 803 are connected with the rotation platform 4 through the driving device 7 and four pulley blocks B613 and C908 of the movable frame 6, so that the rotation platform can rotate in a certain rotation angle range under the driving of the flexible cables, and the spraying robot can finish spraying work.
Further, the main body frame 1 is composed of an outer frame a101, an upper base plate 102, a drop-off prevention pulley 103, a lower base plate 104, and a pulley block a 105. The outer frame A101 is the largest movable area of the whole spraying robot, and is formed by building 40X 40 aluminum profiles with the length of 1000mm and 200mm, wherein each profile is connected by adopting angle brackets, T-shaped nuts and hexagon socket head cap bolts. The outer frame a101 is a rectangular frame. A lower plate 104 is provided on the bottom surface of the outer frame a 101. An upper base plate 102 is provided in the outer frame a101 above the lower base plate 104. Both the upper plate 102 and the lower plate 104 may be used for mounting the drive means 7.
The anti-drop pulleys 103 are mounted on the upper base plate 102, preferably, 2 anti-drop pulleys 103 are provided and symmetrically mounted below the upper base plate 102 to prevent the flexible cable on the rope winding mechanism from derailing.
Four corners of the top surface of the outer frame A101 are respectively provided with a pulley block A105, and preferably, the upper part of the frame is provided with 4 aluminum profiles which are beveled at 45 degrees and are used for installing the pulley blocks A105 and playing a role in guiding the flexible cable.
Further, the cross coordinate mechanism 2 is composed of an outer frame B201, a linear guide a202, a slider a203, a connection block 204, and a connection plate 205. The outer frame B201 is square or rectangular and consists of four identical aluminum profiles, and is arranged on the top of the main body frame 1. A linear guide a202 is provided on each of a set of symmetrical sides of the outer frame B201. The linear guide a202 is provided with a slider a203. The two sliders a203 are simultaneously connected to a connecting plate 205. A third linear guide a202 is provided above the connection plate 205, and a third slider a203 is provided on the linear guide a202, and the slider a203 is connected to the connection block 204. When the spraying robot is used, the cross coordinate mechanism 2 moves along with the driving device 7 driving the flexible cable set 8 to drive the translation platform 3 to move, so that the spraying robot has a larger working space in the horizontal direction, the rigidity of the spraying robot can be increased, and the stability of the spraying robot is improved.
Further, the movable frame 6 is composed of a square sleeve 601, an outer frame C602, a shaft seat 603, a guide rod 604, a ball screw a605, a fixed block 606, a connecting block 607, a servo motor a608, a speed reducer 609, a bevel gear set 610, a gear seat 611, a timing belt 612 and a fixed pulley 613.
There are 4 outer frames C602. The outer frame C602 is shaped like a Chinese character 'kou'. Every 2 outer frames C602 are connected together by a connection block 607 to constitute an outer frame C assembly. Fixed pulleys 613 are installed between the 2 outer frames C602. A square sleeve 601 is provided at each of the four corners of the outer frame C assembly. The outer frame C assembly is connected to the main body frame 1 by a square sleeve 601.
There are 2 axle seats 603 diagonally mounted on the lower base plate 104 of the main body frame 1. And 2 connecting blocks 607 are arranged and respectively fixed between 2 outer frames C602 and are positioned on the same side with the shaft seat 603. There are 2 fixing blocks 606 installed above the main body frame 1 on the same side as the shaft seat 603. Wherein the lower ends of the guide rod 604 and the ball screw A605 are arranged on the shaft seat 603, the middle section passes through the connecting block 607, and the upper end is arranged on the fixed block 606.
The servo motor A608 is fixedly arranged on the lower bottom plate 104 of the main body frame 1, the speed reducer 609 is connected with the servo motor A608, the speed reducer 609 is connected with the bevel gear set 610 through a connecting shaft, the bevel gear 610 is arranged on the gear seat 611, and gears on the shaft seat 603 are connected with the bevel gear set 610 through a synchronous belt 612. The servo motor A608 drives the bevel gear set 610, and drives the ball screw A605 to move through the transmission of the synchronous belt 612, so that the outer frame C602 can move in the vertical direction.
Further, the movable pulley device 9 is composed of a stepping motor 901, a coupling 902, a supporting base 903, a base 904, a connecting base 905, a slider B906, a ball screw B907, a pulley block B908, a fixing base 909, and a linear guide B910. Ball screw B907 is connected to stepper motor 901 via coupling 902. The mount 909 is mounted on an aluminum profile of the movable frame 6. The ball screw B907 facing the stepper motor 901 is connected with the supporting seat 903, the lower part of the supporting seat 903 is connected with the aluminum profile of the movable frame 6 through the base 904, the middle of the ball screw B907 passes through the sliding block B906, and the other end of the ball screw B907 is mounted on the fixed seat 909. The linear guide rail B910 is arranged on the aluminum profile of the movable frame 6, the sliding block B906 is arranged on the linear guide rail B910, the upper part of the sliding block B906 is connected with the connecting seat 905, and the pulley block B908 is fixedly arranged on the connecting seat 905.
The stepping motor 901 reciprocates along the ball screw 907 by driving the ball screw 907 so that the pulley block B908. Through the movable frame 6 and the movable pulley device 9, the pulley block B908 can move in the vertical direction and the horizontal direction, so that the flexible cables 802 and 803 can drive the rotating platform 4 through the pulley block B908, thereby driving the spray gun 5 to complete complex actions, and enhancing the dexterity of the spraying robot. In addition, before the spraying operation, the pulley block B908 can move towards the direction of the base 904, so that the piece to be sprayed enters a spraying area, and the spraying operation is conveniently finished.
Further, the driving device 7 is composed of a rope winding mechanism a701 and a rope winding mechanism B702. The four rope winding mechanisms A701 are fixed at four corners of the upper base plate 102 of the main body frame 1, and the movement of the translation platform 3 is controlled by driving the flexible rope 801. The rope winding mechanism B702 is fixed to four sides of the lower chassis 104 of the main body frame 1. The structures of the rope winding mechanism a701 and the rope winding mechanism B702 are different only on the reel, and the rest are the same. The positions of the rope winding mechanism A701 and the rope winding mechanism B702 are staggered, so that the arrangement of the flexible ropes is more reasonable, and the interference of the movement between the flexible ropes is avoided. The movement of the rotary platform 4 is controlled by driving the cords 802 and 803.
Further, the spool mechanism 701 is composed of a spool holder 711, a spool 712, a coupling 713, a servo motor B714, and a servo motor holder 715. The spool holder 711 and the servo motor holder 715 are fixed to the base plate by bolts, and the spool 712 is mounted on the spool holder 711 by rolling bearings and is connected to the servo motor B714 by a coupling 713. The spool 712 is driven to rotate by the coupling 713 through the forward and reverse rotation of the servo motor B (714) to drive the flexible cable to move, so that the spraying work of the end effector spray gun 5 is completed.
Further, the cord set 8 includes: the lower ends of the flexible wires A801 and the flexible wires B (803. The lower ends of the flexible wires A801 are connected to the rope winding mechanism A701 of the driving device 7, after passing through the pulley block A105 of the main body frame 1, the upper ends of the flexible wires A801 are connected to the hanging ring 404 of the rotating platform 3. The flexible wires A801 are 8, each two flexible wires A801 are a group, and a parallelogram structure is maintained, so that the rotating platform 3 can avoid the rotation freedom degree, the lower ends of the flexible wires B802 are connected to the rope winding mechanism B702 of the driving device 7, after passing through the pulley block B908 of the movable pulley device 9, the upper ends of the flexible wires A801 are connected to the hanging ring 404 of the rotating platform 4, and the lower ends of the flexible wires C803 are connected to the hanging ring 702 of the driving device 7 after passing through the fixed pulley 613 of the movable frame 6. The flexible wires B802 can move along the linear guide rail B910 in the horizontal direction, the flexible wires C803 cooperatively act, and the rotation freedom degree of the end effector spray gun 5 around X, Y is controlled.
Further, the translation platform 3 is composed of a connecting seat 301, a translation flat plate 302, a hanging ring 303 and a spring rod 304. The connecting seat 301 is fixed above the translation flat plate 302 by a screw and is connected with the connecting block 204 of the cross coordinate mechanism 2. The number of the hanging rings 303 is 8, and each two hanging rings are arranged on the edge of the translation flat plate 302. The spring rod 304 is fixed directly below the translation plate 302. The lifting ring 303 is connected with a flexible cable A801 in the flexible cable set 8, and the flexible cable is driven to stretch and retract by the driving device 7, so that the translation platform 3 moves in the horizontal direction.
Further, the spring lever 304 is composed of an upper lever 311, an internal spring 312, and a lower lever 313. When the upper rod 311 and the lower rod 313 are engaged at the longest length, the internal spring 312 is the original length. The spring rod 304 expands and contracts with the spraying position, and the downward thrust generated by the internal spring 312 can resist the reverse thrust generated by the spray gun 5 during spraying, so that the spraying process is more stable.
Further, the rotating platform 4 is composed of a spherical hinge 401, a spherical hinge support 402, a rotating flat plate 403 and a hanging ring 404. The spherical hinge 401 is arranged on the spherical hinge support 402, and the upper end of the spherical hinge is connected with the spring rod 304 of the translation platform 3. The spherical hinge support 402 is fixed to the rotating plate 403 by screws. Four hanging rings 404 are arranged at four corners of the rotating flat plate 403. The spray gun 5 is welded with the rotary platform 4. The translational degrees of freedom achieved by the translational stage 3 are thus achieved on the lance 5 welded together with the rotational stage 4 such that the end effector lance has three degrees of freedom in motion and five degrees of freedom in total in two rotational degrees of freedom about the X, Y direction. The wires B (802, 803) in the wire set 8 control the rotating platform 4 and the end effector gun 5, thereby acting as a restraining structure and adjusting the posture.
Further, the sensor is arranged on the rigid-flexible coupling multi-dimensional intelligent spraying robot and comprises a stay wire displacement sensor, an angular velocity sensor, a force sensor and a visual sensor. Four stay wire displacement sensors are arranged on the driving device 7 connected with the flexible cable A801. Four angular velocity sensors are mounted on the driving device 7 connected to the wires B802 and C (803). The load cells are eight and are respectively arranged on the flexible cable A801, the flexible cable B802 and the flexible cable C803. The vision sensor has one, lay on the vertical section bar of the body frame 1. The sensor is connected with the industrial personal computer through the feedback input end of the motion control clamping plate. The rigid-flexible coupling multidimensional intelligent spraying robot output spray gun 5 driven by the flexible cables in parallel is connected with a motion control circuit.
Further, the driving method of the rigid-flexible coupling multi-dimensional intelligent spraying robot comprises the following steps:
step one: and initializing the system.
Step two: and starting a sensor unit, and detecting real-time states of various sensors and feedback signals installed on the spraying robot.
Step three: and the upper computer determines the position of the main area of the working space according to the position parameters of the workpiece, so that the workpiece to be sprayed is moved to a proper height.
Step four: and inputting the shape and posture parameters of the workpiece to be sprayed into an upper computer for analysis.
Step five: according to the general shape posture parameters of the workpiece to be sprayed, the position of the rope outlet point is adjusted under the control of the upper computer, so that the processing requirements of workpieces with different shapes and sizes are met.
Step six: the driving device 7 drives the length of the flexible cable set 8 to change, so that the movement of the translation platform 3 and the rotation platform 4 is controlled.
Step seven: during the movement of the translation platform 3 and the rotation platform 4, the spray gun 5 follows the movement and completes the spraying task of the working space which is currently feasible. The tension sensor, the rotation angle sensor and the like acquire data and output the data to the upper computer, so that the driving device is controlled to adjust along with the movement of the tail end, and the condition that the movement is influenced by interference and the like is ensured not to exist.
The device of the rigid-flexible coupling multidimensional intelligent spraying robot integrally consists of different modules, and the whole size is 1 m long, 1 m wide and 1.2 m high.
The invention has the advantages that:
1. the invention designs the flexible cable-driven spraying robot, drives the end effector in a flexible cable traction mode, can easily cope with the complex curved surface when spraying, and solves the problems of low response speed and dexterity.
2. The invention adopts the movable frame and the movable pulley device, can realize the movement of the pulley block in the vertical direction and the horizontal direction, can realize the complex action of the end effector by changing the position of the cable outlet point, and improves the dexterity of the spraying device.
3. The spring rod is adopted to connect the translation platform and the rotation platform, and the spring is reasonably arranged, so that the spring can be used for resisting the reverse thrust generated by the spray head in the spraying operation, and the stability in the spraying operation is improved.
4. The driving device is respectively arranged on the upper bottom plate and the lower bottom plate, and mutual interference between the flexible wires can be avoided through reasonable arrangement of the driving device.
5. According to the invention, eight flexible cables connected with the translation platform are arranged in a group of two, and the shape of a parallelogram is maintained, so that the rotation freedom degree of the translation platform can be limited, and the flexible cables can be driven more stably.
Drawings
FIG. 1 is a schematic view of a painting robot according to the present invention;
FIG. 2 is a schematic view of the structure of the main frame of the present invention;
FIG. 3 is a schematic diagram of a cross-coordinate mechanism according to the present invention;
FIG. 4 is a schematic view of a movable frame according to the present invention;
FIG. 5 is a schematic view of a movable pulley device according to the present invention;
FIG. 6 is a schematic diagram of a driving apparatus according to the present invention;
FIG. 7 is a schematic view of the lower driving device in FIG. 6;
FIG. 8 is a schematic view of the rope winding mechanism of FIG. 6;
FIG. 9 is a schematic view of the structure of the flexible cable assembly (translation) of the present invention;
FIG. 10 is a schematic view of the structure of the cable assembly (rotation) of the present invention;
FIG. 11 is a schematic view of a translation stage according to the present invention;
FIG. 12 is a schematic view of the spring rod of FIG. 11;
FIG. 13 is a schematic view of a rotary platform according to the present invention;
fig. 14 is a flowchart of the operation of the present invention.
Reference numerals: the main body frame 1, the cross-coordinate mechanism 2, the translation platform 3, the rotation platform 4, the spray gun 5, the movable frame 6, the driving device 7, the flexible cable set 8, the movable pulley device 9, the outer frame a101, the upper base plate 102, the anti-drop pulley 103, the lower base plate 104, the pulley block a105, the outer frame B201, the linear guide a202, the sliding block a203, the connecting block 204, the connecting plate 205, the square sleeve 601, the outer frame C602, the shaft seat 603, the guide rod 604, the ball screw a605, the fixed block 606, the connecting block 607, the servo motor a608, the speed reducer 609, the bevel gear set 610, the gear seat 611, the synchronous belt 612, the fixed pulley 613, the stepping motor 901, the coupling 902, the supporting seat 903, the base 904, the connecting seat 905, the sliding block B906, the ball screw B907, the pulley block B908, the fixed base, the linear guide B910, the rope winding mechanism a701, the rope winding mechanism B702, the winding seat, the winding drum 712, the coupling 713, the servo motor B714, the servo motor seat 715, the flexible cable a801, the flexible cable B (802, the flexible cable C (803, the connecting plate 301, the plate 302, plate 311, the connecting plate 311, the ball joint seat 311, the spherical hinge 401, the spherical hinge support seat 313, the spherical hinge 401, and the spherical hinge support seat 402).
Detailed Description
The following describes in detail the examples of the present invention, which are implemented on the premise of the technical solution of the present invention, and detailed embodiments and specific operation procedures are given, but the scope of protection of the present invention is not limited to the following examples.
Referring to fig. 1, a rigid-flexible coupled multi-dimensional intelligent spraying robot is composed of a main body frame 1, a cross coordinate mechanism 2, a translation platform 3, a rotation platform 4, a spray gun 5, a movable frame 6, a driving device 7, a flexible cable set 8 and a movable pulley device 9.
Further, the main body frame 1 is a frame of the whole painting robot, and each part is directly or indirectly mounted on the main body frame 1 by different means; the driving device 7 is divided into two parts, and is respectively arranged on an upper bottom plate and a lower bottom plate of the main body frame, the driving device 7 of the upper bottom plate is used for driving the flexible cable set 8 to enable the translation platform 3 to move, the driving device 7 of the lower bottom plate is used for driving the flexible cable set 8 to enable the rotation platform 4 to move, the arrangement of the upper bottom plate and the lower bottom plate and the arrangement position distribution of the driving device can reasonably distribute the positions of flexible cables, and interference among the flexible cables is avoided; the movable frame 6 is arranged on an aluminum profile in the vertical direction of the main body frame 1, and the ball screw is driven to move up and down through the positive and negative rotation of the servo motor on the lower bottom plate, so that the movable frame 6 moves in the vertical direction; the movable pulley device 9 is arranged on the symmetrical aluminum profile of the movable frame 6, and drives the ball screw through the stepping motor so that the pulley block moves back and forth on the linear guide rail; the cross coordinate mechanism 2 is arranged at the top of the main body frame 1, and the driving device 7 drives the flexible cable set 8 to drive the translation platform 3 to move, so that the spraying robot has a larger working space in the horizontal direction, the rigidity of the spraying robot can be increased, and the stability of the spraying robot is improved; the translation platform 3 is arranged at the lower part of the cross coordinate mechanism 2; the rotating platform 4 is connected to the lower part of the translation platform 3 through a spherical hinge; the spray gun 5 is fixedly arranged below the rotary platform 4; the flexible cable set 8 has 12 total flexible cables, wherein 8 flexible cables 801 are connected with the translation platform 3 through the driving device 7 and four pulley blocks A105 at the top of the main body frame 1, every two flexible cables are in one group, each group of flexible cables always keeps a parallelogram shape in the motion process, the rotation freedom degree is limited, the flexible cables have only the translation freedom degree along X, Y, Z, and the other 4 flexible cables 802 and 803 are connected with the rotation platform 4 through the driving device 7 and 2 pulley blocks B908 and 2 fixed pulleys 613 of the movable frame 6, so that the rotation platform can rotate within a certain rotation angle range under the driving of the flexible cables, and the spraying robot can finish spraying work.
Referring to fig. 2, the main body frame 1 is composed of an outer frame a101, an upper base plate 102, a drop-off prevention pulley 103, a lower base plate 104, and a pulley block a 105.
Further, an outer frame A101 is the largest movable area of the whole spraying robot, and is formed by building 40×40 aluminum profiles with the length of 1000mm and 200mm, wherein the profiles are connected by adopting angle codes, T-shaped nuts and inner hexagon bolts; the upper bottom plate 102 is arranged on the first layer of aluminum profile, the lower bottom plate 104 is arranged on the second layer of aluminum profile, and the upper bottom plate and the lower bottom plate are used for installing the driving device 7; two anti-derailment pulleys 103 are symmetrically arranged below the upper bottom plate 102 to prevent the flexible rope on the rope winding mechanism from derailing; the upper part of the frame is provided with 4 aluminum profiles which are beveled at 45 degrees and are used for installing pulley blocks A105, and the guiding function is achieved on the flexible cable.
Referring to fig. 3, the cross coordinate mechanism 2 is composed of an outer frame B201, a linear guide a202, a slider a203, a connection block 204, and a connection plate 205.
Further, the outer frame B201 is square and consists of four identical aluminum profiles, and is arranged at the top of the main body frame 1; three linear guide rails A202 are arranged, two of which are arranged on the symmetrical aluminum profiles of the outer frame B201, and the other one is arranged on the connecting flat plate 205; the sliding blocks A203 are three, two sliding blocks are arranged on the symmetrical linear guide rail A202, the connecting flat plate 205 is arranged on the two sliding blocks A203 through screws, and the other sliding block A203 is arranged on the middle linear guide rail A202; the connection block 204 is mounted on the middle slider a203 by screws. The cross coordinate mechanism 2 drives the flexible cable set 8 to drive the translation platform 3 to move along with the driving device 7, so that the spraying robot has a larger working space in the horizontal direction, the rigidity of the spraying robot can be increased, and the stability of the spraying robot is improved.
Referring to fig. 4, the movable frame 6 is composed of a square sleeve 601, an outer frame C602, a shaft seat 603, a guide rod 604, a ball screw a605, a fixed block 606, a connection block 607, a servo motor a608, a decelerator 609, a bevel gear set 610, a gear seat 611, a timing belt 612, and a fixed pulley 613.
Further, the outer frame C602 is composed of four identical aluminum profiles, the outer frame C602 and the square sleeve 601 are connected by adopting a T-shaped nut and an inner hexagonal bolt for angle brace, the outer frame C602 and the square sleeve 601 are mounted on the aluminum profile of the main body frame 1 in the vertical direction, and the outer frame C602 is connected by using a connecting block 607; the fixed pulleys 613 are symmetrically arranged in the middle of the aluminum profiles of the two outer frames C602; 2 shaft seats 603 are arranged and diagonally arranged on the lower bottom plate 104 of the main body frame 1; 2 connecting blocks 607 are arranged and respectively fixed between 2 outer frames C602 and are positioned on the same side with the shaft seat 603; 2 fixing blocks 606 are arranged above the main body frame 1 and are arranged on the same side with the shaft seat 603; the lower ends of the guide rod 604 and the ball screw A605 are arranged on the shaft seat 603, the middle section passes through the connecting block 607, and the upper end is arranged on the fixed block 606; the servo motor A608 is fixedly arranged on the lower bottom plate 104 of the main body frame 1, the speed reducer 609 is connected with the servo motor A608, the bevel gear set 610 is connected with the speed reducer 609 through a connecting shaft, the bevel gears are arranged on the gear seat 611, and the gears on the shaft seat 603 are connected with the bevel gear set 610 through a synchronous belt 612. The servo motor A608 drives the bevel gear set 610, and drives the ball screw A605 to move through the transmission of the synchronous belt 612, so that the outer frame C602 can move in the vertical direction.
Referring to fig. 5, the movable sheave apparatus 9 is composed of a stepping motor 901, a coupling 902, a support base 903, a base 904, a connection base 905, a slider B906, a ball screw B907, a pulley block B908, a fixed base 909, and a linear guide B910.
Further, a ball screw B907 is connected with the stepper motor 901 through a coupling 902, a fixing seat 909 is mounted on an aluminum profile of the movable frame 6, one end of the ball screw B907 is connected with a supporting seat 903, the lower part of the supporting seat 903 is connected to the aluminum profile of the movable frame 6 through a base 904, the middle of the ball screw B907 passes through a sliding block B906, and the other end of the ball screw B907 is mounted on the fixing seat 909; the linear guide rail B910 is arranged on the aluminum profile of the movable frame 6, the sliding block B906 is arranged on the linear guide rail B910, the upper part of the sliding block B906 is connected with the connecting seat 905, and the pulley block B908 is fixedly arranged on the connecting seat 905. The stepping motor 901 reciprocates along the ball screw B907 by driving the ball screw B907 so that the pulley block B908. Through the movable frame 6 and the movable pulley device 9, the pulley block B908 can move in the vertical direction and the horizontal direction, so that the flexible cable (802) can drive the rotating platform 4 through the pulley block B908, thereby driving the spray gun 5 to complete complex actions and enhancing the dexterity of the spraying robot; in addition, before the spraying operation, the pulley block B908 can move towards the direction of the base 904, so that the piece to be sprayed enters a spraying area, and the spraying operation is conveniently finished.
Referring to fig. 6, 7, and 8, the driving device 7 includes a rope winding mechanism a701 and a rope winding mechanism B702.
Further, the four rope winding mechanisms A701 are fixed at four corners of the upper base plate 102 of the main body frame 1, and the movement of the translation platform (3) is controlled by driving the flexible rope (801); the rope winding mechanism B702 is fixed on four sides of the lower bottom plate 104 of the main body frame 1; the structures of the rope winding mechanism A701 and the rope winding mechanism B702 are only different on the winding drum, and the rest are the same; the positions of the rope winding mechanism A701 and the rope winding mechanism B702 are staggered, so that the arrangement of the flexible ropes is more reasonable, and the interference of the movement between the flexible ropes is avoided.
In further detail, the spool mechanism 701 is composed of a spool holder 711, a spool 712, a coupling 713, a servo motor B714, and a servo motor holder 715. The spool seat 711 and the servo motor B714 seat are fixed on the bottom plate through bolts, and the spool 712 is mounted on the spool seat 711 through a rolling bearing; and is connected to a servo motor B714 through a coupling 713, and the spool 712 is driven to rotate through the coupling 713 by the forward and reverse rotation of the servo motor B714, so as to drive the flexible cable to move, and the spraying work of the end effector spray gun 5 is completed.
Referring to fig. 9 and 10, the cord set 8 is composed of a cord a801, a cord B (802, and a cord C (803.
Further, the lower end of the flexible cable A801 is connected to a rope winding mechanism A701 of the driving device 7, passes through a pulley block A105 of the main body frame 1, and the upper end is connected to a hanging ring of the translation platform 3; the number of the flexible wires A801 is 8, each two flexible wires A801 are in a group, and a parallelogram structure is kept, so that the translational platform 3 can avoid rotational freedom; the lower end of the flexible rope B (802 is connected to the rope winding mechanism B702 of the driving device 7, the upper end of the flexible rope B is connected to the hanging ring 404 of the rotating platform 4 through the pulley block B908 of the movable pulley device 9, the lower end of the flexible rope C (803 is connected to the rope winding mechanism B702 of the driving device 7, the upper end of the flexible rope C is connected to the hanging ring 404 of the rotating platform 4 through the fixed pulley 613 of the movable frame 6), the flexible rope B (802 can move in the horizontal direction along the linear guide B910, and the flexible rope C (803 cooperates to control the rotation freedom degree of the end effector spray gun 5 around X, Y).
Referring to fig. 11 and 12, the translation platform 3 is composed of a connecting seat 301, a translation flat plate 302, a hanging ring 303 and a spring rod 304.
Further, the connection base 301 is fixed above the translation flat plate 302 by a screw, and is connected with the connection block 204 of the cross coordinate mechanism 2; 8 hanging rings 303 are arranged on the side of the translation flat plate 302, wherein each hanging ring is provided with one group of hanging rings; the spring rod 304 is fixed directly below the translation plate 302; the lifting ring 303 is connected with the flexible cable A801, and drives the flexible cable to stretch and retract through the driving device 7, so that the translation platform 3 moves in the horizontal direction.
In further detail, the spring lever 304 is composed of an upper lever 311, an innerspring 312, and a lower lever 313. When the upper rod 311 and the lower rod 313 are engaged at the longest length, the internal spring 312 is the original length. The spring rod 304 expands and contracts with the spraying position, and the downward thrust generated by the internal spring 312 can resist the reverse thrust generated by the spray gun 5 during spraying, so that the spraying process is more stable.
Referring to fig. 13, the rotary platform 4 is composed of a spherical hinge 401, a spherical hinge support 402, a rotary plate 403 and a suspension ring 404.
Further, the spherical hinge 401 is arranged on the spherical hinge support 402, and the upper end of the spherical hinge is connected with the spring rod 304 of the translation platform 3; the spherical hinge support 402 is fixed on the rotating flat plate 403 through a screw; four hanging rings 404 are arranged at four corners of the rotating flat plate 403; the spray gun 5 is welded with the rotary platform 4. The translational degrees of freedom achieved by the translational stage 3 are thus achieved on the lance 5 welded together with the rotational stage 4 such that the end effector lance 5 has three degrees of freedom in motion and five degrees of freedom in total in two rotational degrees of freedom about the X, Y direction. The cords B (802, 803 control the rotating platform 4 and, at the same time, the end effector gun 5, thus acting as a restraining structure and adjusting the attitude.
The output end of the rigid-flexible coupling multi-dimensional intelligent spraying robot is connected with a control circuit, and various sensors are connected with the feedback input end of the motion control clamping plate. The sensor comprises a stay wire displacement sensor, an angular velocity sensor, a force transducer and a vision sensor: the four stay wire displacement sensors are arranged on the driving mechanism of the flexible cable A801, and the four angular velocity sensors are arranged on the drivers of the flexible cables B802 and C803. The load cells are eight and are respectively arranged on the flexible cable A801, the flexible cable B802 and the flexible cable C803. The vision sensor has one, lay on the vertical section bar of the body frame 1.
Referring to fig. 14, a control method of a control system of a rigid-flexible coupled multi-dimensional intelligent spraying robot includes the following steps:
step one: initializing the system, detecting whether the network communication condition among all modules is good, manually inputting initial coordinates of an end effector, placing a workpiece to be sprayed at a fixed position, determining position parameters of the workpiece, and inputting the position parameters into an upper computer of a control system.
Step two: and starting a sensor unit, and detecting real-time states of various sensors and feedback signals installed on the spraying robot.
Step three: and the upper computer determines the position of the main area of the working space according to the position parameters of the workpiece, so that the workpiece to be sprayed is moved to a proper height.
Step four: and inputting the shape and posture parameters of the workpiece to be sprayed into an upper computer for analysis.
Step five: according to the general shape and posture parameters of the workpiece to be sprayed, under the control of an upper computer, the rope winding mechanism A701 and the rope winding mechanism B702 are driven to adjust the positions of rope outlet points, so that the processing requirements of workpieces with different shapes and sizes are met.
Step six: the driving device 7 drives the length of the flexible cable set 8 to change, so that the movement of the translation platform 3 and the rotation platform 4 is controlled.
Step seven: during the movement of the translation platform 3 and the rotation platform 4, the spray gun 3 follows the movement and completes the spraying task of the working space which is currently feasible. The tension sensor, the rotation angle sensor and the like acquire data and output the data to the upper computer, so that the driving device is controlled to adjust along with the movement of the tail end, and the condition that the movement is influenced by interference and the like is ensured not to exist.
Step eight: when the workpiece is large, the robot may not be able to completely cover the whole workpiece through one spraying operation, so that the whole spraying task cannot be completed, and the robot can restart through the third step until the spraying operation of the whole workpiece is completed.
Claims (10)
1. A rigid-flexible coupling multidimensional intelligent spraying robot is characterized in that: comprising the following steps: the device comprises a main body frame (1), a cross coordinate mechanism (2), a translation platform (3), a rotation platform (4), a spray gun (5), a movable frame (6), a driving device (7), a flexible cable set (8) and a movable pulley device (9); the specific connection relation is as follows:
a movable frame (6) is arranged on the side surface of the main body frame (1), and the movable frame (6) moves up and down along the vertical direction of the main body frame (1);
a movable pulley device (9) is arranged on the movable frame (6), and the movable pulley device (9) moves back and forth along the length direction of the movable frame (6);
the top of the main body frame (1) is provided with a movably connected cross coordinate mechanism (2), and a translation platform (3) is connected below the cross coordinate mechanism (2);
a rotary platform (4) is connected to the lower part of the translation platform (3); a spray gun (5) is fixedly arranged below the rotary platform (4);
two groups of driving devices (7) are arranged at the top and the bottom of the main body frame (1);
a flexible cable set (8) is arranged between the first group of driving devices (7) and the translation platform (3) and between the second group of driving devices (7) and the rotation platform (4);
the driving force of a driving device (7) positioned at the top of the main body frame (1) is transmitted to the translation platform (3) through a flexible cable set (8) positioned at the top of the main body frame (1) and is enabled to move; when the translation platform (3) moves horizontally, the cross coordinate mechanism (2) connected with the translation platform (3) also moves correspondingly;
a flexible cable set (8) is arranged between the first group of driving devices (7) and the translation platform (3) and between the second group of driving devices (7) and the rotation platform (4); wherein: the flexible cable set (8) is connected with the first set of driving devices (7) and transmits corresponding driving force to the translation platform (3) to horizontally move; when the translation platform (3) moves, the cross coordinate mechanism (2) connected with the translation platform moves horizontally correspondingly; and the flexible cable set (8) is connected with the second group of driving devices (7) and transmits corresponding driving force to the rotating platform (4) to move.
2. The rigid-flexible coupled multi-dimensional intelligent spraying robot according to claim 1, wherein: the main body frame (1) consists of an outer frame A (101), an upper bottom plate (102), an anti-falling pulley (103), a lower bottom plate (104) and a pulley block A (105); the outer frame A (101) is a rectangular frame; a lower bottom plate (104) is arranged on the bottom surface of the outer frame A (101); an upper bottom plate (102) is arranged in the outer frame A (101) above the lower bottom plate (104); the upper bottom plate (102) and the lower bottom plate (104) can be used for installing a driving device (7); the anti-drop pulley (103) is arranged on the upper bottom plate (102); four corners of the top surface of the outer frame A (101) are respectively provided with a pulley block A (105).
3. The rigid-flexible coupled multi-dimensional intelligent spraying robot according to claim 1, wherein: the cross coordinate mechanism (2) consists of an outer frame B (201), a linear guide rail A (202), a sliding block A (203), a connecting block (204) and a connecting flat plate (205); wherein the outer frame B (201) is square or rectangular and is arranged at the top of the main body frame (1); a group of symmetrical edges of the outer frame B (201) are respectively provided with a linear guide rail A (202); a slider A (203) is arranged on each linear guide rail A (202); the two sliding blocks A (203) are simultaneously connected with a connecting flat plate (205); a third linear guide A (202) is arranged on the connecting flat plate (205), a third sliding block A (203) is arranged on the linear guide A (202), and the sliding block A (203) is connected with the connecting block (204).
4. The rigid-flexible coupled multi-dimensional intelligent spraying robot according to claim 1, wherein: the movable frame (6) consists of a square sleeve (601), an outer frame C (602), a shaft seat (603), a guide rod (604), a ball screw A (605), a fixed block (606), a connecting block (607), a servo motor A (608), a speed reducer (609), a bevel gear set (610), a gear seat (611), a synchronous belt (612) and a fixed pulley (613); wherein:
4 outer frames C (602) are arranged; the outer frame C (602) is in a shape of a Chinese character kou;
the 2 outer frames C (602) are connected together through a connecting block (607) to form an outer frame C assembly; fixed pulleys (613) are arranged between the 2 outer frames C (602);
four corners of the outer frame C assembly are respectively provided with a square sleeve (601); the outer frame C component is connected with the main body frame (1) through a square sleeve (601);
2 shaft seats (603) are arranged, and are diagonally arranged on a lower bottom plate (104) of the main body frame (1); 2 connecting blocks (607) are arranged and respectively fixed between 2 outer frames C (602) and are positioned on the same side with the shaft seat (603); 2 fixing blocks (606) are arranged above the main body frame (1) and are arranged on the same side with the shaft seat (603); the lower ends of the guide rod (604) and the ball screw A (605) are arranged on the shaft seat (603), the middle section passes through the connecting block (607), and the upper end is arranged on the fixed block (606);
the servo motor A (608) is fixedly arranged in the main body frame (1), the speed reducer (609) is connected with the servo motor A (608), the speed reducer (609) is connected with the bevel gear set (610) through a connecting shaft, the bevel gear (610) is arranged on the gear seat (611), and gears on the shaft seat (603) are connected with the bevel gear set (610) through a synchronous belt (612); the servo motor A (608) drives the bevel gear set (610) to drive the ball screw A (605) to move through the transmission of the synchronous belt (612), so that the outer frame C (602) can move in the vertical direction.
5. The rigid-flexible coupled multi-dimensional intelligent spraying robot according to claim 1, wherein: the movable pulley device (9) consists of a stepping motor (901), a coupler (902), a supporting seat (903), a base (904), a connecting seat (905), a sliding block B (906), a ball screw B (907), a pulley block B (908), a fixed seat (909) and a linear guide rail B (910);
the ball screw B (907) is connected with the stepping motor (901) through a coupler (902);
the fixing seat (909) is arranged on the aluminum profile of the movable frame (6);
a ball screw B (907) facing one side of the stepping motor (901) is connected with a supporting seat (903), the lower part of the supporting seat (903) is connected with a movable frame (6) through a base (904), the middle of the ball screw B (907) passes through a sliding block B (906), and the other end of the ball screw B (907) is arranged on a fixed seat (909);
the linear guide rail B (910) is arranged on the movable frame (6), the sliding block B (906) is arranged on the linear guide rail B (910), the upper part of the sliding block B (906) is connected with the connecting seat (905), and the pulley block B (908) is fixedly arranged on the connecting seat (905);
the stepping motor 901 drives the ball screw 907 so that the pulley block B908 can reciprocate along the ball screw 907. Through the movable frame (6) and the movable pulley device (9), the pulley block B (908) can move in the vertical direction and the horizontal direction, and the flexible cables (802) and (803) can drive the rotary platform (4) through the pulley block B (908), so that the spray gun (5) is driven to complete complex actions, and the dexterity of the spraying robot is enhanced; in addition, before the spraying operation, the pulley block B (908) can move towards the direction of the base (904) so that the piece to be sprayed enters a spraying area, and the spraying operation is conveniently finished.
6. The rigid-flexible coupled multi-dimensional intelligent spraying robot according to claim 1, wherein: the driving device (7) consists of a rope winding mechanism A (701) and a rope winding mechanism B (702); four rope winding mechanisms A (701) are fixed at four corners of the main body frame (1), and the movement of the translation platform (3) is controlled by driving a flexible rope (801); the rope winding mechanism B (702) is fixed on four sides of the main body frame (1); the movement of the rotary platform (4) is controlled by driving the flexible wires (802) and (803).
7. The rigid-flexible coupled multi-dimensional intelligent spraying robot according to claim 6, wherein: the reel mechanism 701 consists of a reel seat (711), a reel (712), a coupler (713), a servo motor B (714) and a servo motor seat (715); the winding drum seat (711) and the servo motor seat (715) are fixed on the bottom plate through bolts, and the winding drum (712) is mounted on the winding drum seat (711) through a rolling bearing and is connected to the servo motor B (714) through a coupling (713); the reel 712 is driven to rotate through the coupling (713) by the forward and reverse rotation of the servo motor B (714) to drive the flexible cable to move, so that the spraying work of the end effector spray gun (5) is completed.
8. The rigid-flexible coupled multi-dimensional intelligent spraying robot according to claim 1, wherein: the flexible cable assembly (8) comprises: a flexible cable a (801), a flexible cable B (802), and a flexible cable C (803);
the lower end of the flexible cable A (801) is connected to the driving device (7), and after passing through the main body frame (1), the upper end of the flexible cable A is connected to the hanging ring of the translation platform (3); the number of the flexible wires A (801) is 8, and every two flexible wires A (801) are in a group, so that the translational platform (3) can avoid rotational freedom degree;
the lower end of the flexible cable B (802) is connected to the driving device (7), and the upper end of the flexible cable B is connected to the rotating platform (4) after passing through the movable pulley device (9);
the lower end of the flexible cable C (803) is connected to the driving device (7), and after passing through the movable frame (6), the upper end of the flexible cable C is connected to the rotating platform (4); the flexible cable B (802) can move along the linear guide rail B (910) in the horizontal direction, and the flexible cable C (803) cooperates to control the rotation freedom degree of the end effector spray gun (5) around X, Y.
9. The rigid-flexible coupled multi-dimensional intelligent spraying robot according to claim 1, wherein: the translation platform (3) consists of a connecting seat (301), a translation flat plate (302), a lifting ring (303) and a spring rod (304);
the connecting seat (301) is arranged above the translation flat plate (302) and is connected with the cross coordinate mechanism 2; 8 hanging rings (303) are arranged on the side of the translation flat plate (302) in a group of every two; the spring rod (304) is fixed under the translation flat plate (302); the lifting ring (303) is connected with the flexible cable set (8), and the flexible cable is driven to stretch and retract through the driving device (7), so that the translation platform (3) moves in the horizontal direction.
10. The rigid-flexible coupled multi-dimensional intelligent spraying robot according to claim 9, wherein: the spring rod (304) consists of an upper rod (311), an internal spring (312) and a lower rod (313);
when the upper rod (311) and the lower rod (313) are matched and are in the longest length, the built-in spring (312) is the original length; the spring rod (304) stretches along with the spraying position, and the downward thrust generated by the built-in spring (312) can resist the reverse thrust generated by the spray gun (5) during spraying, so that the spraying process is more stable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310899737.0A CN116901068A (en) | 2023-07-21 | 2023-07-21 | Rigid-flexible coupling multi-dimensional intelligent spraying robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310899737.0A CN116901068A (en) | 2023-07-21 | 2023-07-21 | Rigid-flexible coupling multi-dimensional intelligent spraying robot |
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| CN202310899737.0A Pending CN116901068A (en) | 2023-07-21 | 2023-07-21 | Rigid-flexible coupling multi-dimensional intelligent spraying robot |
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| Country | Link |
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| CN (1) | CN116901068A (en) |
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- 2023-07-21 CN CN202310899737.0A patent/CN116901068A/en active Pending
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