WO2022227158A1 - 一种具有大工作空间的可移动式电液复合驱动喷涂机器人 - Google Patents
一种具有大工作空间的可移动式电液复合驱动喷涂机器人 Download PDFInfo
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- WO2022227158A1 WO2022227158A1 PCT/CN2021/095897 CN2021095897W WO2022227158A1 WO 2022227158 A1 WO2022227158 A1 WO 2022227158A1 CN 2021095897 W CN2021095897 W CN 2021095897W WO 2022227158 A1 WO2022227158 A1 WO 2022227158A1
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- Prior art keywords
- motion platform
- platform
- rope
- rotary motion
- adjustable auxiliary
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- 238000005507 spraying Methods 0.000 title claims abstract description 49
- 239000002131 composite material Substances 0.000 title claims abstract description 19
- 230000007246 mechanism Effects 0.000 claims abstract description 169
- 239000007921 spray Substances 0.000 claims abstract description 22
- 230000001360 synchronised effect Effects 0.000 claims description 24
- 238000005452 bending Methods 0.000 claims description 22
- 230000007704 transition Effects 0.000 claims description 14
- 238000000034 method Methods 0.000 claims description 12
- 238000004804 winding Methods 0.000 claims description 12
- 230000008878 coupling Effects 0.000 claims description 11
- 238000010168 coupling process Methods 0.000 claims description 11
- 238000005859 coupling reaction Methods 0.000 claims description 11
- 230000008569 process Effects 0.000 claims description 8
- 230000008859 change Effects 0.000 claims description 7
- 230000000903 blocking effect Effects 0.000 claims description 5
- 150000001875 compounds Chemical class 0.000 claims description 5
- 238000005096 rolling process Methods 0.000 claims description 5
- 238000012545 processing Methods 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 238000013461 design Methods 0.000 abstract description 3
- 230000002708 enhancing effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 15
- 230000008901 benefit Effects 0.000 description 3
- 230000002457 bidirectional effect Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 239000003973 paint Substances 0.000 description 2
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
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- 230000006872 improvement Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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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
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0078—Programme-controlled manipulators having parallel kinematics actuated by cables
-
- 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
- B05B13/0221—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work characterised by the means for moving or conveying the objects or other work, e.g. conveyor belts
-
- 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
- B05B13/005—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 mounted on vehicles or designed to apply a liquid on a very large surface, e.g. on the road, on the surface of large containers
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- 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
Definitions
- the invention relates to the field of robots, and mainly relates to a movable electro-hydraulic compound driving spraying robot with a large working space.
- Spraying can bring the advantages of anti-rust and anti-corrosion to the workpiece to be processed, and can improve its appearance at the same time. It has become an indispensable process in all walks of life.
- manual spraying is mainly used.
- manual spraying will bring certain harm to workers, and at the same time, the work efficiency is low, and the spraying quality is difficult to guarantee. Therefore, spraying robots are constantly replacing traditional manual spraying to achieve the purpose of improving production efficiency and ensuring stable product quality.
- the existing spraying robots are mainly tandem rigid robots, and most of them use the solution of adding spray guns to the serial manipulators.
- the positioning accuracy is high, the control process is simple, and it is easy to implement, but its working space is limited by the characteristics of the body. It is difficult to paint on larger surfaces, and because of its low flexibility, there can be dead spots when facing complex surfaces.
- the tandem spraying robot in order to expand its working space and optimize the motion performance, there have been some designs of parallel spraying mechanisms, such as the flexible cable-driven parallel spraying robot.
- the existing flexible cable driving mechanism faces a complex surface, the driving rope is very easy to interfere with the workpiece to be processed, which interferes with the spraying process.
- the Chinese invention patent with the application number of 202010243575.1 a flexible cable-driven hybrid spraying robot mechanism and its operation method.
- the main body of the mechanism is driven by a rope, which has the advantages of large working space, etc., but it is difficult to be processed in the face of complex surfaces.
- the end of the spray gun is not flexible enough, and there may be interference between the drive rope and the workpiece;
- the Chinese invention patent application number 201910641158.X a mobile hybrid spraying robot for high-speed rail body painting, the operating space of the mechanism is limited The orbit is limited, and the actual motion form of its end is close to that of the serial robotic arm, and its working space is limited to a certain extent;
- the Chinese invention patent application number CN201811064098.1 a hull outer surface rope traction parallel spraying robot, this mechanism is mainly aimed at The curved surfaces on both sides of the ship have relatively low flexibility at the end, and the mechanism is not universal. Therefore, it is necessary to design a spraying robot that has a larger working space and higher flexibility, and at the same time can avoid the interference between the driving rope and the workpiece.
- the purpose of the present invention is to make up for the defects of the prior art, and to provide a movable electro-hydraulic composite driving spraying robot with a large working space, so as to realize multi-degree-of-freedom motion in the larger working space, and at the same time avoid the traction rope and the processing workpiece. interference occurs.
- a movable electro-hydraulic composite driving spraying robot with large working space including a mobile base, a driving rope adjustment module, an adjustable auxiliary motion platform, a rotary motion platform, an adjustable auxiliary motion platform drive rope, and a rotary motion platform drive rope;
- the driving rope adjustment modules are installed on them.
- the number of the driving rope adjustment modules is the same as that of the mobile base.
- the profile pillars in the driving rope adjustment modules are respectively fixed to the mobile bases On the base, and a plurality of mobile bases form an operation space, a movable adjustable auxiliary motion platform is set up inside the operation space, and the movement of the adjustable auxiliary motion platform is driven by the adjustable auxiliary motion platform.
- a rotary motion platform is arranged below the adjustable auxiliary motion platform, and the movement of the rotary motion platform is driven by the driving rope of the rotary motion platform and the hydraulic push rod installed in the middle of the adjustable auxiliary motion platform and the rotary motion platform.
- the bottom end face of the rotary motion platform is equipped with a spray gun, and the mobile base is also equipped with a balance mechanism and a fixed support for balancing the traction force of the rope and maintaining the balance of the mechanism. mechanism.
- drive rope adjustment modules each of which includes profile struts, and the upper end of the profile strut is installed with a pulley for carrying the drive rope of the adjustable auxiliary motion platform through the fixed pulley fixed base.
- the bottom end of the drive rope of the auxiliary motion platform is wound on a winding shaft driven by a motor; a vertically arranged synchronous belt is installed on the profile pillar below the fixed base of the fixed pulley, and a synchronous belt is installed on the synchronous belt for carrying the rotary motion
- the movable pulley of the platform driving rope, the bottom end of the rotary motion platform driving rope is also wound on another motor-driven spool.
- the mobile bases respectively include a mobile base body on which a mobile base body cover plate is installed, and a fixed support mechanism is installed around the mobile base body, and the fixed support mechanism It includes fixed support plates arranged at intervals. The rotation of the fixed support plates is manually pulled to be parallel to the ground and locked to increase the stability of the mechanism.
- a balance mechanism is installed on the upper end surface of the cover plate of the main body of the mobile base.
- a liftable universal wheel assembly is installed on the bottom end of the main body of the moving base.
- the two sides of the fixed support plate are respectively provided with a rotating shaft, and the fixed support plate rotates around the rotating shaft.
- the main body of the mobile base is provided with a positioning hole corresponding to the rotating shaft.
- the rotating shaft is rotatably installed, a square groove is arranged on the main body of the moving base below the positioning hole, a stop spring is arranged in the square groove, and the stop spring is connected with a spring blocking buckle arranged with an elastic guide;
- the balance mechanism includes a balance mechanism rotating platform, one end of the balance mechanism rotating platform is rotatably mounted on the cover plate of the main body of the mobile base through the balance mechanism rotating shaft, and the rotation of the balance mechanism rotating shaft is driven by the balance mechanism rotating motor, so A balance mechanism lead screw is rotatably installed in the balance mechanism rotating platform, a balance mechanism lead screw slider is guided and installed on the balance mechanism lead screw, and a counterweight bearing platform is installed on the balance mechanism lead screw slider, A balance mechanism counterweight is installed on the counterweight bearing platform, ball dumplings are respectively installed on both sides of the bottom end of the balance mechanism lead screw slider, the rotating end of the ball dumplings is connected with a telescopic support rod, and the telescopic support
- the other ends of the rods are respectively equipped with bidirectional hinges, the bidirectional hinges are connected in the bearings of the corresponding holes of the main body of the moving base, and the balance mechanism lead screw is driven by the balance mechanism lead screw drive motor at its end.
- the universal wheel assembly includes a lift-type moving wheel frame, the top of the lift-type moving wheel frame is fixedly mounted on the bottom of the main body of the moving base, and a guide-moving universal wheel is installed in the lift-type moving wheel frame
- a drive motor bracket a universal wheel drive motor is fixedly installed on the universal wheel drive motor bracket, and a universal wheel is installed at the output shaft end of the universal wheel drive motor, and the lifting and lowering of the universal wheel drive motor bracket passes through
- the universal wheel lifts the ball screw nut to drive, and is guided by the universal wheel lift column.
- the adjustable auxiliary motion platform drive rope is driven by a motor in the drive rope adjustment module, and is extended from the drive rope adjustment module and then connected to the adjustable auxiliary motion platform drive rope hook, thereby driving the adjustable auxiliary motion platform to move.
- the drive rope of the rotary motion platform is driven by another motor in the drive rope adjustment module, and extends from the drive rope adjustment module to bypass the transition pulley on the adjustable auxiliary motion platform, and the rotary motion platform drive rope, thereby Realize the restriction and adjustment of the spatial position of the rope, and finally connect to the rotary motion platform, so as to drive the rotary motion platform together with the hydraulic push rod;
- the adjustable auxiliary motion platform drive rope and the rotary motion platform drive rope are on the A rope tension sensor for real-time monitoring and feedback of rope tension is installed respectively.
- the adjustable auxiliary movement platform includes an adjustable auxiliary movement platform inner plate, and an adjustable auxiliary movement platform outer frame with adjustable size is installed outside the inner plate of the adjustable auxiliary movement platform.
- the upper end surface of the frame is installed with adjustable auxiliary motion platform drive rope hooks distributed in a rectangular symmetrical manner, and the bottom end of the outer frame of the adjustable auxiliary motion platform is installed with circumferentially distributed rotary motion platform drive ropes for installing transition pulleys
- the transition pulley base, the middle of each side of the outer frame of the adjustable auxiliary motion platform is disconnected from the middle, and is adjusted by the ball screw of the auxiliary motion platform between them, the outer frame of the adjustable auxiliary motion platform is adjusted During adjustment, it is guided by radially distributed motion rails.
- One end of the ball screw of the auxiliary motion platform is connected with the output shaft end of the drive motor of the external adjustment mechanism through a coupling, and the drive motor of the external adjustment mechanism is installed on the side beam of the outer frame of the adjustable auxiliary motion platform on the side of the disconnection.
- the other end of the ball screw of the auxiliary motion platform is connected with a guide shaft, and the guide shaft guides the sliding of the inner hole of the step of the side beam of the outer frame of the adjustable auxiliary motion platform installed on the other side.
- the ball screw of the auxiliary motion platform is screwed with a screw nut of the auxiliary motion platform, and the screw nut of the auxiliary motion platform is fixedly connected with the side beam of the outer frame of the adjustable auxiliary motion platform on the side where the guide shaft is located through the screw,
- the external adjustment mechanism drives the motor to drive the ball screw of the auxiliary motion platform to rotate, and cooperates with the slid guide on the upper and lower sides of the ball screw to realize the movement of the screw nut of the auxiliary motion platform, thereby driving the side beam of the outer frame of the adjustable auxiliary motion platform on the other side.
- the movement of the adjustable auxiliary movement platform realizes the adjustment of the outer frame of the adjustable auxiliary movement platform.
- the movement slide rail includes an outer sleeve and an inner pipe body that are guided and matched.
- the outer sleeve is fixed on the bottom end surface of the inner plate of the adjustable auxiliary movement platform.
- the end of the inner tube body is connected with the outer frame of the adjustable auxiliary motion platform.
- the middle part of the rotary motion platform is rotatably installed with a rotary platform shaft, the upper end of the rotary platform rotary shaft is connected with the bottom end of the hydraulic push rod through a universal joint, and the upper end surface of the rotary motion platform is installed in the circumferential direction.
- the pulley bases are arranged at intervals, and the rotary motion platform driving rope pulley is installed on the pulley base.
- a rotation angle sensor for measuring the rotation angle of the rotary motion platform relative to the rotation axis of the rotary motion platform and a bending spring for cooperating to complete the rotary motion are installed inside the motion platform housing and the rotary motion platform housing.
- the bottom end of the pulley base is installed with a pulley base rotating shaft, and the upper end of the pulley base rotating shaft is rotated and press-fitted on the rotating motion platform through the bearing on the rotating platform and the bearing end cover on the rotating platform.
- the lower end of the seat shaft is rotated and press-fitted in the middle of the slewing motion platform shell through the slewing platform lower bearing and the slewing platform lower bearing end cover; two upper and lower dislocations are protruded from the slewing platform rotating shaft and the slewing motion platform shell.
- annular bending spring brackets between the rotating platform rotating shaft and the respective upper wing plates of the rotary motion platform shell, which pass through the holes and grooves on the two wing plates and can slide around the holes;
- a bending spring is sleeved on the spring bracket, and the bending springs are all semi-circular, one end of which is connected to the wing plate of the rotating shaft of the rotary platform, and the other end is connected to the wing plate of the rotary motion platform shell, and the middle passes through the bending plate.
- the spring bracket is limited, and cooperates with the action of the driving rope of the rotary motion platform to provide a force for the rotation of the rotary motion platform; the two groups of four bending springs are respectively installed on the two sets of wing plates that are set up and down to lift the rotary motion platform.
- the bottom end of the rotary motion platform shell is provided with a bottom end cover of the rotary motion platform, and a spray gun is mounted on the bottom end of the bottom end cover of the rotary motion platform.
- the host computer determines the position of the main area of the work space according to the position parameters of the workpiece.
- the balance mechanism in the mobile base is activated, and the counterweight is adjusted according to the position and shape of the mechanism to balance the tension.
- Each mobile base drives the robot as a whole to move to the designated position. area;
- the drive rope position adjustment module is driven to adjust the position of the cable point, and the auxiliary motion platform is adjusted to adjust the overall size of the frame to adapt to workpieces of different shapes and sizes. processing needs;
- the motor drives the change of the length of the driving rope, thereby controlling the motion of the auxiliary motion platform and the motion of the rotary motion platform, and the motion of the rotary motion platform is also driven by the hydraulic push rod;
- the spray gun follows its movement and completes the spraying task of the current feasible workspace;
- the tension sensor, the angle sensor, etc. collect and output data to the host computer, so as to control the balance mechanism to follow the movement of the end. Adjustment to prevent the mechanism from rolling over, while ensuring that there is no interference and other conditions that affect the movement;
- the robot may not be able to completely cover the entire workpiece through one movement of the mobile base, so that the overall spraying task cannot be completed.
- the mobile base can be unfixed and moved to a new working position , start over from the process (2) until the spraying operation of the entire workpiece is completed.
- the mobile electro-hydraulic composite driving spraying robot with large working space designed by the present invention can realize the adjustment of the overall working space of the mechanism by installing the rope driving motor and the driving rope position adjustment module on the movable base.
- the balance mechanism and fixed support mechanism are used to maintain the stability of its movement and spraying;
- the electro-hydraulic composite driving form of motor-driven rope drive and hydraulic push rod combined drive is used to ensure the working space of the system.
- the auxiliary motion platform is used to limit the drive rope to avoid the interference between the drive rope and the workpiece; by adding a spring to the end platform, the rotational freedom of the end spray gun is increased to achieve a more complex motion posture.
- the robot is placed on four mobile bases as a whole, and the large-scale movement of the robot system as a whole is realized by means of movement, so that the robot has a large working space.
- a balance mechanism is designed in the mobile base to balance the traction force of the rope on the mobile base to prevent the mechanism from rolling over;
- a fixed support system is also designed to improve the stability of the mobile base when it is fixed.
- the rotary motion platform adopts the electro-hydraulic composite drive form of motor-driven rope drive and hydraulic push rod combined drive.
- the hydraulic push rod is connected to the auxiliary motion platform and the rotary motion platform respectively, which ensures the working space of the system and improves the spraying accuracy. with dynamic performance.
- the driving rope of the rotary motion platform is limited by the pulley on the auxiliary motion platform, which can realize the direction change of the driving rope in space, and effectively avoid the interference between the driving rope of the rotary motion platform and the workpiece to be sprayed when spraying complex curved surfaces. , to improve the applicability of the equipment.
- the coating system, etc. can be fixed on the auxiliary motion platform, which can improve the motion stability of the auxiliary motion platform without affecting the motion performance of the end spraying platform; Spraying without the constraints of the paint system when large movements are required.
- the position of the drive rope exit point and the shape of the auxiliary motion platform can be adjusted, which can meet the work requirements of different forms of workpieces, and the adjustment mechanism is simple and easy to operate, improving the flexibility and adaptability of the robot.
- Fig. 1 is the overall structure schematic diagram of the present invention
- Figure 2 is a schematic structural diagram of a drive rope position adjustment module
- Figure 3 is a component diagram of a fixed pulley and its installation assembly
- Figure 4 is a diagram of the dual drive motor components
- Fig. 5 is a synchronous belt mechanism component diagram
- Fig. 6 is the structure schematic diagram of mobile base
- Figure 7a is a schematic structural diagram when the fixed support mechanism of the mobile base is locked
- Fig. 7b is the front view of A direction in Fig. 7a;
- Figure 7c is an enlarged view of the partial structure at B in Figure 7b;
- 7d is a schematic structural diagram of the mobile base fixed support mechanism when it moves
- Figure 7e is a front view of the direction C in Figure 7d;
- Figure 7f is an enlarged view of the partial structure at D in Figure 7e;
- Fig. 8 is the structure diagram of the balance mechanism of the mobile base
- Figure 9 is a diagram of a liftable moving wheel component
- Figure 10 is a schematic diagram of the overall structure of the adjustable auxiliary motion platform and the rotary motion platform;
- Figure 11a is a schematic structural diagram of an adjustable auxiliary motion platform
- Fig. 11b is an enlarged view of the partial structure at E in Fig. 11a;
- Figure 12 is a schematic structural diagram of a rotary motion platform
- Figure 13a is a diagram of a rotatable bearing housing component
- Figure 13b is an enlarged view of the partial structure at F in Figure 13a;
- Figure 14a is a component diagram of the spring turning mechanism
- Figure 14b is an enlarged view of the partial structure at G in Figure 14a;
- Figure 14c is an enlarged view of the partial structure at H in Figure 14a;
- FIG. 15 is a control flow chart of this mechanism.
- Figure 1 Drive rope position adjustment module-1, mobile base-2, adjustable auxiliary motion platform-3, rotary motion platform-4, adjustable auxiliary motion platform drive rope-5, rotary motion platform drive rope-6, gun-7;
- Figure 2 Fixed pulley fixed base-1001, synchronous belt upper base-1002, synchronous belt-1003, movable pulley-1004, synchronous belt lower base-1005, profile support-1006;
- FIG. 1 Pulley-1101, Fixed pulley base-1102, Screw-1103;
- Figure 4 Drive rope servo motor (left)-1201, double motor bracket-1202, winding shaft coupling-1203, winding shaft (left)-1204, winding shaft (right)-1205, driving rope servo motor (right) -1206;
- Figure 5 Timing belt fixing base-1301, timing belt drive motor-1302, timing belt drive motor coupling-1303, timing belt pulley-1304;
- FIG. 6 Mobile base body cover-2001, mobile base body-2002, universal wheel-2003, fixed support plate-2004, universal wheel lift motor bracket-2005, universal wheel lift motor-2006;
- Figure 7a-7f Fixed support plate rotating bearing-2101, retaining spring-2102, spring blocking buckle-2103;
- FIG. 8 Balance mechanism rotation motor-2201, balance mechanism rotation motor bracket-2202, balance mechanism rotation platform-2203, balance mechanism screw drive motor-2204, balance mechanism screw-2205, balance mechanism counterweight-2206, counterweight Loading platform-2207, balance mechanism lead screw slider-2208, balance mechanism slide rail-2209, ball hinge-2210, telescopic support rod-2211, two-way hinge-2212, balance mechanism shaft-2213, bevel gear (large)-2214 , bevel gear (small) -2215;
- Figure 9 Liftable movable wheel frame-2301, universal wheel lifting strut-2302, universal wheel drive motor-2303, universal wheel drive motor bracket-2304, universal wheel lifting ball screw nut-2305, universal wheel Ball screw for wheel lift-2306, universal wheel lift motor coupling-2307;
- FIG. 10 Adjustable auxiliary motion platform driving rope tension sensor-5001, rotary motion platform driving rope tension sensor-6001;
- FIG. 11a-11b Adjustable auxiliary motion platform outer frame-3001, adjustable auxiliary motion platform drive rope hook-3002, rotary motion platform drive rope transition pulley base-3003, rotary motion platform drive rope transition pulley-3004, adjustable Auxiliary motion platform inner plate-3005, composite two-way hinge-3006, two-way hinge mounting bearing-3007, motion slide rail-3008, auxiliary motion platform screw nut-3009, screw-3010, auxiliary motion platform ball screw-3011, external Adjustment mechanism drive motor coupling-3012, external adjustment mechanism drive motor-3013, external adjustment mechanism spool-3014, sliding bearing 3015;
- Figure 12 Hydraulic push rod-4001, rotary motion platform cover-4002, universal joint-4003, rotary motion platform shell-4004, set screw-4005;
- FIG. 13a-13b Rotary motion platform driving rope pulley-4101, rotary motion platform driving rope pulley base-4102, bearing upper end cover-4103, base rotating bearing-4104, pulley base rotating shaft-4105, rotating gasket-4106 ;
- Figure 14a-14c Slewing platform shaft-4201, bending spring-4202, bending spring bracket-4203, slewing motion platform bottom end cap-4204, slewing platform upper bearing end cap-4205, slewing platform upper bearing 4206, slewing platform lower bearing End cover-4207, slewing platform lower bearing-4208, rotation angle sensor-4209.
- the spraying robot with a large working space movable electro-hydraulic composite drive consists of four identical drive rope position adjustment modules 1, four identical mobile bases 2, adjustable auxiliary motion platform 3, slewing Motion platform 4, four adjustable auxiliary motion platform drive ropes 5, four rotary motion platform drive ropes 6, and spray gun 7.
- the four mobile bases 2 are responsible for carrying other mechanisms, and the profile pillars 1006 in the corresponding four drive rope adjustment modules 1 are fixed to the mobile base 2 through the installation holes reserved on the mobile base 2
- the adjustable auxiliary motion platform drive rope 5 is driven by a motor in the drive rope adjustment module 1, extends from the drive rope adjustment module 1 and is connected to the adjustable auxiliary motion platform drive rope hook 3002, thereby driving the adjustable auxiliary motion platform 3 to move;
- the rotary motion platform drive rope 6 is driven by another motor in the drive rope adjustment module 1, and extends from the drive rope adjustment module 1 to bypass the adjustable auxiliary motion platform.
- the rotary motion platform on 3 drives the rope transition pulley 3004, thereby realizing the restriction and adjustment of the position of the rope, and finally connected to the rotary motion platform 4, thereby driving the rotary motion platform 4; the adjustable auxiliary motion platform 3 and the rotary motion platform 4 are in the middle
- the hydraulic push rod 4001 is connected to achieve further precise control of the rotary motion platform 4; the spray gun 7 is mounted on the rotary motion platform 4 through bolts.
- the drive rope position adjustment module 1 is composed of a fixed pulley fixed base 1001, a timing belt upper base 1002, a timing belt 1003, a movable pulley 1004, a timing belt lower base 1005, and profile pillars 1006, pulley 1101, fixed pulley base 1102, screw 1103, drive rope servo motor (left) 1201, double motor bracket 1202, winding shaft coupling 1203, winding shaft (left) 1204, winding shaft (right) 1205, drive
- the rope servo motor (right) 1206 is composed of a synchronous belt fixing base 1301, a synchronous belt driving motor 1302, a synchronous belt driving motor coupling 1303, and a synchronous belt pulley 1304.
- the drive rope 5 of the adjustable auxiliary motion platform is connected to the winding shaft (left) 1204, and after extending, it goes around the upper pulley 1101 through the small hole on the fixed pulley base 1102 and extends, and the fixed pulley base 1102 is fixedly connected to the upper pulley 1101.
- the fixed pulley fixing base 1001 has installation holes in the profile pillar 1006, and the fixed pulley fixing base 1001 is installed on the profile pillar 1006 by tightening screws; the driving rope 6 of the rotary motion platform is connected to the winding shaft (right) 1205, and extends out Then, the movable pulley 1004 is wound around the middle pulley and stretched out.
- the movable pulley 1004 is fixed on the synchronous belt 1003 and moves with it to achieve the purpose of adjusting the position of the cable outlet point of the driving rope 6 of the rotary motion platform; the synchronous belt mechanism
- the upper base 1002 of the synchronous belt and the lower base 1005 of the synchronous belt are fastened to the profile support 1006 with screws.
- the pulley 1101 is mounted on the fixed pulley base 1102 through the bearing and the rotating shaft.
- two identical motor-driven rope servo motors (left) 1201 and drive rope servo motors (right) 1206 are bolted to the dual-motor bracket 1202 and coupled through two identical spools
- the device 1203 is respectively connected to the winding shaft (left) 1204 and the winding shaft (right) 1205, and finally drives the adjustable auxiliary motion platform driving rope 5 and the rotary motion platform driving rope 6.
- the synchronous belt mechanism includes two sets of synchronous belt drive components that are symmetrical up and down. That is, the synchronous belt driving motor 1302 is installed in the fixed slot of the synchronous belt fixing base 1301, and the synchronous belt drives the motor coupling. 1303 drives the synchronous pulley 1304 to move.
- the mobile base 2 is composed of a mobile base body cover 2001, a mobile base body 2002, a universal wheel 2003, a fixed support plate 2004, a universal wheel lift motor bracket 2005, Universal wheel lift motor 2006, fixed support plate rotating bearing shaft 2101, stop spring 2102, spring resistance buckle 2103, balance mechanism rotation motor 2201, balance mechanism rotation motor bracket 2202, balance mechanism rotation platform 2203, balance mechanism screw drive motor 2204, balance mechanism lead screw 2205, balance mechanism counterweight 2206, counterweight bearing platform 2207, balance mechanism lead screw slider 2208, balance mechanism slide rail 2209, ball hinge 2210, telescopic support rod 2211, two-way hinge 2212, balance mechanism shaft 2213, bevel gear (large) 2214, bevel gear (small) 2215, liftable movable wheel frame 2301, universal wheel lifting column 2302, universal wheel drive motor 2303, universal wheel drive motor bracket 2304, universal wheel It is composed of lifting ball screw nut 2305, universal wheel lifting ball screw 2306, and universal wheel lifting motor coupling 2307.
- the mobile base main body cover 2001 is mounted on the mobile base main body 2002 by screws; the four fixed support plates 2004 are arranged on the mobile base main body 2002 symmetrically in a ring shape,
- the support plate rotating bearing 2101 rotates.
- the support plate is perpendicular to the ground and is close to the side wall of the mobile base body 2002.
- the fixed support plate 2004 can be manually moved.
- the balance mechanism rotating motor 2201 is fixedly installed on the main body cover 2001 of the mobile base through the balance mechanism rotating motor bracket 2202, and is responsible for driving the overall rotation of the balance mechanism, and the telescopic support rod 2211
- the two-way hinge 2212 is connected to the main body 2002 of the mobile base to provide support for the balance mechanism; the four groups of liftable mobile wheel components are symmetrically fixed on the plane plate of the main body 2002 of the mobile base by screws, and this mechanism can realize the universal wheel 2003 At the same time, a motor drives the lifting and lowering of the universal wheel 2003, so that the mechanism has better stability when the mobile base 2 does not need to move.
- the fixed support plate rotating bearing 2101 is installed in the positioning hole on the mobile base body 2002, and cooperates with the rotating shaft protruding from the fixed support plate 2004, so that the fixed support plate 2004 can rotate around the rotating shaft Rotation;
- the retaining spring 2102 and the spring blocking buckle 2103 are installed in the square groove of the mobile base body 2002.
- the spring blocking buckle 2103 stops Pushed by the spring 2102, the spring 2102 is snapped into the corresponding slot of the fixed support plate 2004, thereby restricting its movement.
- 7a-7f specifically show the process that when the system is converted from the moving state to the locking state, the universal wheel 2003 is lifted off the ground, and the fixed support plate 2004 is rotated to contact the ground and locked.
- the balance mechanism rotating motor 2201 is fixed on the balance mechanism rotating motor bracket 2202, the balance mechanism rotating motor bracket 2202 is connected with the main body cover 2001 of the mobile base through screws; the balance mechanism rotating motor 2201 is connected by a coupling Drive the bevel gear (small) 2215, and then drive the bevel gear (large) 2214 meshing with the bevel gear (small) 2215; the bevel gear (large) 2214 and the balance mechanism shaft 2213 are connected and transmitted through a key; the balance mechanism shaft 2213 moves through the base The main body cover 2001 and the bearing on the main body 2002 of the mobile base rotate; the rotating platform 2203 of the balance mechanism and the rotating shaft 2213 of the balance mechanism are also driven by a key connection; the screw drive motor 2204 of the balance mechanism is fixed in the slot of the rotating platform 2203 of the balance mechanism , and drive the balance mechanism lead screw 2205 to rotate through the coupling; one end of the balance mechanism lead screw 2205 is fixed in the bearing of the corresponding hole of the balance mechanism rotating platform 2203, and one end is fixed in the bearing
- the overall rotation of the mechanism is realized; through the driving of the balancing mechanism lead screw driving motor 2204, the linear motion of the balancing mechanism lead screw slider 2208 is realized, and the balance mechanism counterweight 2206 is driven to move in a straight line. Movement; through the rotation of the mechanism and the linear movement of the lead screw slider 2208 of the balance mechanism, the position adjustment of the balance mechanism counterweight 2206 is realized, so as to match the change of the traction force of the balance rope, improve the stability of the mechanism, and prevent the mechanism from rolling over.
- One end of the telescopic support rod 2211 is connected to the ball hinge 2210, and moves with the balance mechanism lead screw slider 2208, and one end is connected to the two-way hinge 2212 to rotate with two degrees of freedom, so as to realize the adjustment of the rod length with the attitude position of the balance mechanism, as follows:
- the balance mechanism provides support as a whole, keeps it stable, and prevents the balance mechanism lead screw 2205 and the balance mechanism slide rail 2209 from being bent due to excessive load.
- mounting holes are reserved at the top of the elevating movable wheel frame 2301, and are mounted on the bottom of the moving base body 2002 through bolts; the universal wheel 2003 is connected to the universal wheel drive motor 2303, and is driven by it
- the universal wheel drive motor 2303 is installed on the universal wheel drive motor bracket 2304 through bolts, and the universal wheel drive motor bracket 2304 is connected with the universal wheel lifting ball screw nut 2305 through bolts, and the universal wheel lifting ball screw is connected by bolts.
- the nut 2305 drives the movement; one end of the universal wheel lifting ball screw 2306 is driven by the universal wheel lifting motor 2006 through the universal wheel lifting motor coupling 2307, and the other end is installed in the bearing of the bottom hole of the movable wheel frame 2301;
- the universal wheel lift motor 2006 is installed on the universal wheel lift motor bracket 2005, and is fixed to the liftable movable wheel frame 2301 with bolts. This mechanism can realize the rotation of the universal wheel 2003, drive the movement of the mobile base 2, and can complete the lifting and lowering of the universal wheel 2003 to make it leave the ground, thereby providing better stability when the robot does not need to move.
- the adjustable auxiliary motion platform drive rope 5 is extended from the pulley 1101 on the drive rope position adjustment module 1 and then connected to the adjustable auxiliary motion platform 3 , and the rotary motion platform drive rope 6 is moved by the drive rope position adjustment module 1 .
- the pulley 1004 stretches out and then bypasses the driving rope of the rotary motion platform, and the transition pulley 3004 is finally connected to the rotary motion platform 4;
- the two kinds of ropes are respectively installed with an adjustable auxiliary motion platform driving rope tension sensor 5001 and a rotary motion platform driving rope tension sensor 6001, used for real-time monitoring and feedback of the pulling force of the rope;
- the upper end of the hydraulic push rod 4001 is installed in the compound two-way hinge 3006 of the adjustable auxiliary motion platform 3, and the lower end is connected with the rotating platform shaft 4201 through the universal joint 4003, through the limitation of the two Motion is transferred between the adjustable auxiliary motion platform 3 and the rotary motion platform 4 .
- the adjustable auxiliary motion platform 3 is composed of the outer frame of the adjustable auxiliary motion platform 3001, the adjustable auxiliary motion platform driving rope hook 3002, the rotary motion platform driving rope transition pulley base 3003, the rotary motion platform driving rope transition pulley 3004, adjustable auxiliary motion platform inner plate 3005, composite two-way hinge 3006, two-way hinge mounting bearing 3007, motion slide rail 3008, auxiliary motion platform screw nut 3009, screw 3010, auxiliary motion platform ball screw 3011, external adjustment mechanism drive It is composed of a motor coupling 3012, an external adjustment mechanism drive motor 3013, and an external adjustment mechanism spool 3014.
- adjustable auxiliary motion platform driving rope hooks 3002 are fixedly installed above the outer frame 3001 of the adjustable auxiliary motion platform; 4 rotary motion platform driving rope transition pulley bases 3003 are fixedly installed on the adjustable auxiliary motion platform.
- the bottom protruding part of the platform outer frame 3001 is installed on the base with a rotary motion platform driving rope transition pulley 3004; the outer frame 3001 of the adjustable auxiliary motion platform is installed with a motion slide rail 3008 through screws, and the other end of the motion slide rail 3008 extends into In the chute on the inner plate 3005 of the adjustable auxiliary motion platform, the outer frame 3001 of the adjustable auxiliary motion platform can move along the direction of the motion slide rail 3008; four sets of identical adjustable auxiliary motion platform outer frames 3001 and their supporting components are composed of The external adjustable frame of the adjustable auxiliary motion platform 3 is used to adjust the size of the platform, so as to change the position of the traction point of the driving rope, so as to adapt it to workpieces of different sizes, and prevent the interference between the driving rope 6 of the rotary motion platform and the workpiece; compound
- the two-way hinge 3006 is installed in the two-way hinge mounting bearing 3007 in the bearing seat hole on the inner plate 3005 of the adjustable auxiliary motion platform, which has two rotational degrees
- the adjustable auxiliary motion platform 3 can prevent it from interfering with the workpiece by changing the spatial posture of the driving rope 6 of the rotary motion platform.
- the adjustable auxiliary motion platform 3 can be installed with supporting components that prevent the spray gun mechanism, such as a feeding system, etc., to achieve material feeding.
- the follow-up of the system and the spray gun 7 improves the actual operability of the system; the feeding system is also equivalent to the counterweight of the adjustable auxiliary motion platform 3, which improves its working stability and can also offset the force of the hydraulic push rod 4001. Keep the adjustable assisted motion platform 3 level.
- the external adjustment mechanism drive motor 3013 is fixedly installed in the inner slot of the outer frame 3001 of the adjustable auxiliary motion platform, and the external adjustment mechanism drives the motor coupling 3012 to connect with one end of the auxiliary motion platform ball screw 3011 , drive its movement, the other end of the ball screw of the auxiliary motion platform is connected with a guide shaft, and the guide shaft is installed in the step inner hole of the side beam of the outer frame of the adjustable auxiliary motion platform on the other side, and the inner hole of the step is guided and rotated.
- the sliding bearing 3015 for guiding the guide shaft is installed in the middle, the ball screw of the auxiliary motion platform, and the screw nut 3009 of the auxiliary motion platform is screwed on the 3011, and the screw nut 3009 of the auxiliary motion platform passes the adjustable auxiliary motion on the side where the screw and the guide shaft are located.
- the side beams of the outer frame of the platform are fixedly connected, and the external adjustment mechanism drives the motor to drive the ball screw of the auxiliary motion platform to rotate, and cooperate with the slid guide on the upper and lower sides of the ball screw to realize the movement of the screw nut of the auxiliary motion platform.
- the rotary motion platform 4 is driven by a hydraulic push rod 4001, a rotary motion platform cover plate 4002, a universal joint 4003, a rotary motion platform shell 4004, a set screw 4005, and a rotary motion platform Rope pulley 4101, rotary motion platform driving rope pulley base 4102, bearing upper end cover 4103, base rotating bearing 4104, pulley base rotating shaft 4105, rotating gasket 4106, rotating platform rotating shaft 4201, bending spring 4202, bending spring bracket 4203,
- the bottom end cover 4204 of the slewing motion platform, the upper bearing end cover 4205 of the slewing platform, the upper bearing 4206 of the slewing platform, the lower bearing end cover 4207 of the slewing platform, the lower bearing 4208 of the slewing platform, and the rotation angle sensor 4209 are composed.
- the upper end of the hydraulic push rod 4001 is installed in the compound bidirectional hinge 3006 of the adjustable auxiliary motion platform 3, and the lower end is connected with the rotary platform shaft 4201 through the universal joint 4003.
- the length of the hydraulic push rod 4001 is controllable, and the The joint 4003 realizes the movement of the adjustable auxiliary motion platform 3 and the rotary motion platform 4 in series, constrains the motion of the rotary motion platform 4, and increases the flexibility of the end;
- the rotary motion platform cover 4002 is fixed on the The rotary motion platform shell 4004;
- the spray gun 7 is connected to the lower end of the rotary motion platform shell 4004 through screws.
- the four slewing motion platform drive ropes 6 are dislocated and connected to the four symmetrically distributed slewing motion platform drive rope pulleys 4101.
- the slewing motion platform 4 can be rotated around the slewing platform axis 4201;
- the motion platform 4 is driven by the hydraulic push rod 4001 and the driving rope 6 of the rotary motion platform, and combined with the spring rotating mechanism inside the rotary motion platform 4, the six-degree-of-freedom motion of the rotary motion platform 4 can be realized, thereby driving the The spray gun 7 is in motion.
- the rotary motion platform drive rope pulley 4101 is installed in the rotary motion platform drive rope pulley base 4102, and the rotary motion platform drive rope pulley base 4102 and the bearing upper end cover 4103 can slide relative to each other; the bearing upper end cover 4103 is fixedly connected to the rotary motion platform by screws.
- the base rotating bearing 4104 is installed in the hole groove on the cover plate 4002 of the rotary motion platform;
- the pulley base rotating shaft 4105 is screwed through It is fixedly connected to the drive rope pulley base 4102 of the rotary motion platform to realize the integral rotation of the rotatable bearing seat.
- the rotating gasket 4106 is located in the rotation shaft 4105 of the pulley base and the cover plate 4002 of the rotary motion platform, and plays a role of facilitating sliding.
- the rotary platform shaft 4201 is integrally located inside the rotary motion platform housing 4004, and the rotational position is restricted by the rotary platform upper bearing 4206 and the rotary platform lower bearing 4208, and at the same time with the rotary motion platform bottom end cover 4204. There is relative sliding between them, and the axial position is limited by the bottom end cover 4204 of the rotary motion platform at the same time.
- Two upper and lower wing plates are protruded from the rotary platform shaft 4201 and the rotary motion platform shell 4004. The upper wing plate structure is taken as an example.
- a ring-shaped bending spring bracket 4203 which passes through the holes on the two wings and can slide around the holes; the bending springs 4202 are all semicircular, and one end of these bending springs 4202 is connected to the rotating platform shaft 4201 A section of the wing plate is connected to the wing plate of the rotary motion platform shell 4004, and the middle is limited by the bending spring bracket 4203, which cooperates with the action of the rotary motion platform drive rope 6 to provide a force for the rotation of the rotary motion platform 4. .
- connection method of the lower wing plate is the same as the upper one, but the position is staggered by 90 degrees, so that the elastic force can be superimposed when the upper and lower springs move, so as to make the movement more stable; the bearing 4206 on the slewing platform is installed in the middle of the cover plate 4002 of the slewing motion platform.
- the hole it is fixed by the upper bearing end cover 4205 of the slewing platform; the lower bearing 4208 of the slewing platform is installed in the hole at the bottom of the slewing motion platform shell 4004, and fixed by the lower bearing end cover 4207 of the slewing platform; the bottom end cover of the slewing motion platform 4204 It is connected to the bottom of the rotary motion platform shell 4004 by screws; the spray gun 7 is installed under the bottom end cover 4204 of the rotary motion platform by screws, the base of the rotation angle sensor 4209 is fixed to the spray gun 7 by screws, and the measuring shaft is connected to the rotary platform shaft 4201 , so that the rotation angle of the rotary motion platform 4 relative to the rotary axis 4201 of the rotary platform can be obtained by measuring the rotation angle of the shaft relative to its base by the rotation angle sensor.
- the present invention consists of four sets of drive rope position adjustment modules 1, four sets of mobile bases 2, adjustable auxiliary motion platform 3, rotary motion platform 4, four adjustable auxiliary motion platform drive ropes 5, and four rotary motion platform drive ropes 6 and the spray gun 7 are composed.
- the overall workflow is as follows:
- the host computer determines the position of the main area of the work space according to the position parameters of the workpiece, controls the starting of the balance mechanism in the mobile base 2, adjusts the balance mechanism counterweight 2206 according to the position and shape of the mechanism to balance the tension, and controls 4 groups of mobile
- the movement of the universal wheel 2003 in the base 2 drives the whole robot to move to the designated area.
- the four groups of drive rope position adjustment 1 modules drive the movable pulley 1004 to move up and down through the movement of the synchronous belt mechanism, thereby adjusting the cable point
- the external adjustment mechanism drives the motor 3013 to drive the auxiliary motion platform to adjust the overall size of the frame to change, so as to adapt to the processing needs of workpieces of different shapes and sizes.
- the drive rope servo motor (left) 1201 and the drive rope servo motor (right) 1206 in each group of drive rope position adjustment 1 drive the adjustable auxiliary motion platform drive rope 5 and the rotary motion platform respectively.
- the length of the driving rope 6 changes, so as to control the motion of the auxiliary motion platform and the rotary motion platform.
- the movement of the rotary motion platform is also driven by the hydraulic push rod 4001.
- the spray gun 7 follows its movement and completes the spraying task in the currently feasible working space.
- the tension sensor, the angle sensor 4209, etc. collect data and output it to the host computer, so as to control the position of the balance mechanism counterweight 2206 to adjust with the movement of the end, balance the rope tension to prevent the mechanism from rolling over, and at the same time ensure that there is no interference and other conditions that affect the movement .
- the robot may not be able to completely cover the entire workpiece through one movement of the movable base, so that the overall spraying task cannot be completed.
- the movable base can be unfixed, moved to a new working position, and restarted from the process (2) until the spraying operation of the entire workpiece is completed.
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Abstract
提供了一种具有大工作空间的可移动式电液复合驱动喷涂机器人，包括有移动式基座（2），其中移动式基座（2）为多个，其之间配合设置用于承载驱动绳调整模块（1），驱动绳调整模块（1）中的型材支柱（1006）分别固定于移动式基座（2）上，且多个移动式基座（2）围成一个操作空间，操作空间内部架设有可移动的可调式辅助运动平台（3），可调式辅助运动平台（3）下方设置有回转运动平台（4），可调式辅助运动平台（3）与回转运动平台（4）中间通过液压推杆（4001）连接，回转运动平台（4）的底端面安装有喷枪（7），移动式基座（2）上还安装有用于平衡绳索牵引力和维持机构平衡的平衡机构和固定支撑机构。喷涂机器人结构设计合理，实现了较大工作空间内的多自由度运动，同时避免了牵引绳与加工工件发生干涉，提升了设备的适用性。
Description
本发明涉及机器人领域，主要涉及一种具有大工作空间的可移动式电液复合驱动喷涂机器人。
喷涂可以给被加工工件带来防锈、防腐蚀等优点，同时可以改善其外观，已成为各行各业中不可或缺的工艺流程。在传统的工业生产中，主要采取的是人工喷涂的作业方式，然而人工喷涂会对工人带来一定的伤害，同时工作效率低下，喷涂质量也难以保证。因此喷涂机器人正在不断地取代传统人工喷涂，以达到提高生产效率，保证稳定的产品质量的目的。
现有的喷涂机器人以串联刚性机器人为主，多采用在串联机械臂上加装喷枪的解决方案，其定位精度较高，控制流程简单，较易实现，但其工作空间受限于本体特性，难以在较大的表面上进行喷涂作业，而且其灵活度较低，面对复杂表面时可能会出现工作盲区。要扩展其工作空间，提升性能，则只能通过增加臂长或增加关节数，而这会进一步导致系统惯性变大，刚性降低，末端精度降低。
由于串联式喷涂机器人存在的这些缺点，为了扩展其工作空间、优化运动性能，现在已出现一些并联喷涂机构的设计，如柔索驱动并联喷涂机器人等。但是现有的柔索驱动机构在面对复杂表面时，驱动绳极易与被加工工件发生干涉，对喷涂过程造成干扰。例如申请号为202010243575.1的中国发明专利：一种柔索驱动混联喷涂机器人机构及其操作方法，该机构主体通过绳驱动，具有工作空间大等的优点，但在面对有复杂表面的被加工件时末端喷枪不够灵活，同时可能出现驱动绳与工件的干涉；申请号为201910641158.X的中国发明专利：一种用于高铁车身涂装的移动式混联喷涂机器人，该机构的运行空间受轨道限制，同时其末端的实际运动形式接近于串联机械臂，其工作空间受到一定的限制；申请号为CN201811064098.1的中国发明专利:一种船体外表面绳牵引并联喷涂机器人,该机构主要针对船舶两侧曲面，其末端灵活度相对较低，机构不具备普适性。因此，需要设计一种具有较大工作空间以及较高的灵活度，同时可以避免驱动绳与工件干涉的喷涂机器人。
发明内容：
本发明目的就是为了弥补已有技术的缺陷，提供一种具有大工作空间的可移动式电液复合驱动喷涂机器人，以实现较大工作空间内的多自由度运动，同时避免牵引绳与加工工件发生干涉。
本发明是通过以下技术方案实现的：
一种具有大工作空间的可移动式电液复合驱动喷涂机器人，包括有移动式基座、驱动绳调整模块、可调式辅助运动平台、回转运动平台、可调式辅助运动平台驱动绳、回转运动平台驱动绳；
其中移动式基座为多个，其上配合安装有所述驱动绳调整模块，所述驱动绳调整模块的数量与移动式基座相同，所述驱动绳调整模块中的型材支柱分别固定于移动式基座上，且多个移动式基座的围成一个操作空间，操作空间内部架设有可移动的可调式辅助运动平台，所述可调式辅助运动平台的移动通过可调式辅助 运动平台驱动绳驱动，所述可调式辅助运动平台下方设置有回转运动平台，所述回转运动平台的运动通过回转运动平台驱动绳以及所述可调式辅助运动平台与回转运动平台中间安装的液压推杆复合驱动，从而实现对回转运动平台多自由度运动的精确控制，所述回转运动平台的底端面安装有喷枪，所述移动式基座上还安装有用于平衡绳索牵引力和维持机构平衡的平衡机构和固定支撑机构。
所述的驱动绳调整模块为四个，其分别包括有型材支柱，所述型材支柱的上端端部通过定滑轮固定基座安装有用于承载可调式辅助运动平台驱动绳的滑轮，所述可调式辅助运动平台驱动绳的底端绕制在电机驱动的绕线轴上；所述定滑轮固定基座下方的型材支柱上安装有竖直设置的同步带，所述同步带上安装有用于承载回转运动平台驱动绳的移动式滑轮，所述回转运动平台驱动绳的底端也绕制在另一电机驱动的绕线轴上。
所述的移动式基座分别包括有移动基座主体，所述移动基座主体上安装有移动基座主体盖板，所述移动基座主体内环绕安装有固定支撑机构，所述固定支撑机构包括有间隔设置的固定支撑板，所述固定支撑板的转动通过手动扳动至平行于地面并锁定，增大机构的稳定性，所述移动基座主体盖板的上端面安装有平衡机构，所述移动基座主体的底端安装有可升降的万向轮组件。
所述的固定支撑板的两侧分别设有转轴，且固定支撑板绕转轴转动，所述移动基座主体上设有与转轴对应的定位孔，所述定位孔中通过固定支撑板转动轴承与转轴转动安装，所述定位孔的下方移动基座主体上设有方槽，所述方槽内设置有止动弹簧，所述止动弹簧连接有弹性导向设置的弹簧阻扣；
所述的平衡机构包括有平衡机构转动平台，所述平衡机构转动平台的一端通过平衡机构转轴转动安装在移动基座主体盖板上，所述平衡机构转轴的转动通过平衡机构转动电机驱动，所述平衡机构转动平台内转动安装有平衡机构丝杠，所述，所述平衡机构丝杠上导向安装有平衡机构丝杠滑块，所述平衡机构丝杠滑块上安装有配重承载平台，所述配重承载平台上安装有平衡机构配重，所述平衡机构丝杠滑块的底端两侧分别安装有球饺，所述球饺的转动端连接有伸缩支撑杆，所述伸缩支撑杆的另一端分别安装有双向铰链，所述双向铰链连接在移动基座主体对应孔的轴承中，所述平衡机构丝杠通过其端部的平衡机构丝杠驱动电机驱动。
所述万向轮组件包括有升降式移动轮框架，所述升降式移动轮框架的顶部固定安装在移动基座主体的底部，所述升降式移动轮框架内安装有可导向移动的万向轮驱动电机支架，所述万向轮驱动电机支架上固定安装有万向轮驱动电机，所述万向轮驱动电机的输出轴端安装有万向轮，所述万向轮驱动电机支架的升降通过万向轮升降滚珠丝杠螺母带动，且通过万向轮升降滑柱导向。
所述的可调式辅助运动平台驱动绳通过驱动绳调整模块中的一个电机驱动，从驱动绳调整模块中伸出后连接在可调式辅助运动平台驱动绳挂钩上，从而带动可调式辅助运动平台运动；所述的回转运动平台驱动绳由驱动绳调整模块中的另一个电机驱动，从驱动绳调整模块中伸出后绕过可调式辅助运动平台上的过渡滑轮，回转运动平台驱动绳上，从而实现对该绳空间位置的限制与调整，最终连接至回转运动平台，从而与所述液压推杆一并带动回转运动平台运动；所述的可调式辅助运动平台驱动绳和回转运动平台驱动绳上分别安装有用于实时监控绳的拉力并反馈的绳拉力传感器。
所述的可调式辅助运动平台包括有可调式辅助运动平台内板，所述可调式辅助运动平台内板外安装有大小可调的可调式辅助运动平台外框架，所述可调式辅 助运动平台外框架的上端面安装有呈矩形对称分布的可调式辅助运动平台驱动绳挂钩，所述可调式辅助运动平台外框架的底端部安装有呈圆周分布的用于安装过渡滑轮的回转运动平台驱动绳过渡滑轮基座，所述可调式辅助运动平台外框架的每个边的中部均从中间断开，且通过其之间的辅助运动平台滚珠丝杆对接调整，所述可调式辅助运动平台外框架在调整中通过径向分布的运动滑轨导向。
所述辅助运动平台滚珠丝杆的一端通过联轴器与外部调节机构驱动电机的输出轴端连接，所述外部调节机构驱动电机安装在断开处一侧的可调式辅助运动平台外框架边梁的槽位中，所述辅助运动平台滚珠丝杆的另一端端部连接有导轴，所述导轴导向转动安装于另一侧的可调式辅助运动平台外框架边梁的台阶内孔的滑动轴承中，所述辅助运动平台滚珠丝杆上旋合有辅助运动平台丝杠螺母，所述辅助运动平台丝杠螺母通过螺钉与导轴所在侧的可调式辅助运动平台外框架边梁固定连接，通过外部调节机构驱动电机驱动辅助运动平台滚珠丝杆转动，且配合滚珠丝杆上下方的滑柱导向实现辅助运动平台丝杠螺母移动，从而带动另一侧的可调式辅助运动平台外框架边梁的移动实现可调式辅助运动平台外框架的可调，所述运动滑轨包括有两导向配合的外套管和内管体，所述外套管固定在可调式辅助运动平台内板的底端面上，所述内管体的端部与可调式辅助运动平台外框架连接。
所述回转运动平台的中部转动安装有回转平台转轴，所述回转平台转轴的上端部通过万向节与液压推杆的底端端部连接，所述回转运动平台的上端面圆周方向上安装有间隔设置的滑轮基座，所述滑轮基座上安装有回转运动平台驱动绳滑轮，所述回转运动平台驱动绳滑轮的底端面安装有回转运动平台壳体，且回转平台转轴的下端部位于回转运动平台壳体内部，且回转运动平台壳体内还安装有用于测量回转运动平台相对于回转平台转轴转角的转角传感器以及用于配合完成旋转运动的弯曲弹簧。
所述的滑轮基座的底端安装有滑轮基座转轴，所述滑轮基座转轴的上端部通过回转平台上轴承和回转平台上轴承端盖转动压装在回转运动平台上，所述滑轮基座转轴的下端部通过回转平台下轴承和回转平台下轴承端盖转动压装在回转运动平台壳体的中部；所述转平台转轴和回转运动平台壳体上均伸出了上下两块错位设置的翼板，所述回转平台转轴和回转运动平台壳体各自的上翼板之间有圆环状的弯曲弹簧支架，其穿过两个翼板上的孔槽，并可绕孔进行滑动；所述弹簧支架上套装有弯曲弹簧，所述弯曲弹簧均为半圆形，其一端连接在回转平台转轴的翼板上，另一端连接在回转运动平台壳体的翼板上，中间穿过弯曲弹簧支架进行限位，配合回转运动平台驱动绳的作用，为回转运动平台的转动提供作用力；所述两组共计四个弯曲弹簧通过分别安装在上下错位设置的两组翼板上，提升其处于不同旋转角度时的稳定性，所述回转运动平台壳体的底端部安装有回转运动平台底部端盖，所述回转运动平台底部端盖的底端安装有喷枪。
上述结构的喷涂机器人具体使用过程如下：
(1)系统初始化，将待喷涂工件放置于固定位置，并确定工件的位置参数，输入控制系统上位机中；
(2)上位机依据工件的位置参数，确定工作空间主要区域位置，移动式基座中的平衡机构启动，根据机构位置形态调整配重进行拉力平衡，各移动式基座带动机器人整体移动至指定区域；
(3)移动式基座在移动至指定位置后，各移动式基座中的万向轮均提升离开地面，固定支撑机构打开；
(4)将待喷涂工件的形状姿态参数输入上位机进行分析；
(5)根据待喷涂工件的大致形状姿态参数，在上位机的控制下，驱动驱动绳位置调整模块调整出索点位置，同时调整辅助运动平台调整框架整体大小，从而适应不同形状、大小的工件的加工需求；
(6)电机带动驱动绳的长短变化，从而控制辅助运动平台运动、回转运动平台运动的运动，同时回转运动平台的运动也受到液压推杆的驱动；
(7)在回转运动平台的运动过程中，喷枪跟随其运动，并完成当前可行的工作空间的喷涂任务；拉力传感器、转角传感器等进行数据采集输出至上位机，从而控制平衡机构随末端运动进行调整，防止机构侧翻，同时确保不存在干涉等影响运动的情况；
(8)在工件较大时，可能机器人并不能通过一次移动式基座的运动完全覆盖整个工件，从而无法完成整体的喷涂任务，此时可由移动式基座解除固定，运动至新的工作位置，从流程(2)重新开始，直至完成整个工件的喷涂作业。
本发明设计的具有大工作空间可移动式电液复合驱动的喷涂机器人，通过将绳索驱动电机以及驱动绳位置调整模块安装在可移动式基座上，从而实现机构整体工作空间可调，满足大工作空间的需求，同时借助平衡机构以及固定支撑机构保持其运动及喷涂时的稳定；采用电机带动的绳驱动与液压推杆联合驱动的电液复合驱动形式，在保证系统的工作空间的同时，提升喷涂精度与动态性能。借助辅助运动平台对驱动绳进行限位，避免驱动绳与工件的干涉；通过在末端平台加入弹簧，为末端喷枪增加了旋转自由度，实现更复杂的运动姿态。
本发明的优点是：
1.机器人整体安放在四个移动式基座上，借助移动实现了机器人系统整体的大范围运动，使机器人具备了较大的工作空间。同时在移动式基座中设计有平衡机构，用于平衡绳索对移动式基座的牵引力，防止机构侧翻；还设计有固定支撑系统，提高移动式基座固定时的稳定性。
2.回转运动平台采用电机带动的绳驱动与液压推杆联合驱动的电液复合驱动形式，液压推杆分别与辅助运动平台和回转运动平台连接，在保证系统的工作空间的同时，提升喷涂精度与动态性能。
3.通过辅助运动平台上的滑轮对回转运动平台驱动绳进行限位，可以实现驱动绳在空间中的变向，有效避免在对复杂曲面进行喷涂时回转运动平台驱动绳与被喷涂工件的干涉，提升设备的适用性。
4.涂料系统等可固定于辅助运动平台，在不影响末端喷涂平台的运动性能的同时，提升辅助运动平台的运动稳定性；同时可以实现涂料系统与末端喷枪的随动，从而在对大型表面进行喷涂，需要大范围移动时不受涂料系统的限制。
5.回转运动平台内部存在弯曲弹簧，配合错位连接的驱动绳，在不增加主动驱动原件的情况下，可以实现回转运动平台绕转轴的转动，从而实现末端喷枪的六自由度运动。
6.驱动绳出索点位置以及辅助运动平台的形状可调，能够满足不同形式工件的工作需求，调整机构简单易操作，提高机器人灵活性与适应性。
图1是本发明整体结构示意图；
图2是驱动绳位置调整模块结构示意图；
图3是定滑轮及其安装组件部件图；
图4是双驱动电机部件图；
图5是同步带机构部件图；
图6是移动式基座结构示意图；
图7a是移动式基座固定支撑机构锁死时的结构示意图；
图7b是图7a中A向的主视图；
图7c是图7b中B处的局部结构放大图；
图7d是移动式基座固定支撑机构运动时的结构示意图；
图7e是图7d中C向的主视图；
图7f是图7e中D处的局部结构放大图；
图8是移动式基座的平衡机构结构图；
图9是可升降式移动轮部件图；
图10是可调式辅助运动平台及回转运动平台整体结构示意图；
图11a是可调式辅助运动平台结构示意图；
图11b为图11a中E处的局部结构放大图；
图12是回转运动平台结构示意图；
图13a是可转动轴承座部件图；
图13b是图13a中F处的局部结构放大图；
图14a是弹簧回转机构部件图；
图14b是图14a中G处的局部结构放大图；
图14c是图14a中H处的局部结构放大图；
图15是该机构的控制流程图。
各图中附图标记如下：
图1：驱动绳位置调整模块-1、移动式基座-2、可调式辅助运动平台-3、回转运动平台-4、可调式辅助运动平台驱动绳-5、回转运动平台驱动绳-6、喷枪-7；
图2：定滑轮固定基座-1001、同步带上基座-1002、同步带-1003、移动式滑轮-1004、同步带下基座-1005、型材支柱-1006；
图3：滑轮-1101、定滑轮基座-1102、螺钉-1103；
图4：驱动绳伺服电机(左)-1201、双电机支架-1202、绕线轴联轴器-1203、绕线轴(左)-1204、绕线轴(右)-1205、驱动绳伺服电机(右)-1206；图5：同步带固定基座-1301、同步带驱动电机-1302、同步带驱动电机联轴器-1303、同步带轮-1304；
图6：移动基座主体盖板-2001、移动基座主体-2002、万向轮-2003、固定支撑板-2004、万向轮升降电机支架-2005、万向轮升降电机-2006；
图7a-7f：固定支撑板转动轴承-2101、止动弹簧-2102、弹簧阻扣-2103；
图8：平衡机构转动电机-2201、平衡机构转动电机支架-2202、平衡机构转动平台-2203、平衡机构丝杠驱动电机-2204、平衡机构丝杠-2205、平衡机构配重-2206、配重承载平台-2207、平衡机构丝杠滑块-2208、平衡机构滑轨-2209、球铰-2210、伸缩支撑杆-2211、双向铰链-2212、平衡机构转轴-2213、锥齿轮(大)-2214、锥齿轮(小)-2215；
图9：可升降式移动轮框架-2301、万向轮升降滑柱-2302、万向轮驱动电机-2303、万向轮驱动电机支架-2304、万向轮升降滚珠丝杠螺母-2305、万向轮升降滚珠丝杠-2306、万向轮升降电机联轴器-2307；
图10：可调式辅助运动平台驱动绳拉力传感器-5001、回转运动平台驱动绳拉力 传感器-6001；
图11a-11b：可调式辅助运动平台外框架-3001、可调式辅助运动平台驱动绳挂钩-3002、回转运动平台驱动绳过渡滑轮基座-3003、回转运动平台驱动绳过渡滑轮-3004、可调式辅助运动平台内板-3005、复合双向铰链-3006、双向铰链安装轴承-3007、运动滑轨-3008、辅助运动平台丝杠螺母-3009、螺钉-3010、辅助运动平台滚珠丝杠-3011、外部调节机构驱动电机联轴器-3012、外部调节机构驱动电机-3013、外部调节机构滑柱-3014、滑动轴承3015；
图12：液压推杆-4001、回转运动平台盖板-4002、万向节-4003、回转运动平台壳体-4004、紧定螺钉-4005；
图13a-13b：回转运动平台驱动绳滑轮-4101、回转运动平台驱动绳滑轮基座-4102、轴承上端盖-4103、基座转动轴承-4104、滑轮基座转轴-4105、旋转垫片-4106；
图14a-14c：回转平台转轴-4201、弯曲弹簧-4202、弯曲弹簧支架-4203、回转运动平台底部端盖-4204、回转平台上轴承端盖-4205、回转平台上轴承4206、回转平台下轴承端盖-4207、回转平台下轴承-4208、转角传感器-4209。
下面给出本发明的具体实施方法，并结合附图加以说明。
结合图1，具有大工作空间可移动式电液复合驱动的喷涂机器人由四个完全相同的驱动绳位置调整模块1、四个完全相同的移动式基座2、可调式辅助运动平台3、回转运动平台4、四根可调式辅助运动平台驱动绳5、四根回转运动平台驱动绳6、喷枪7组成。
进一步说，四个移动式基座2负责承载其他机构，通过移动式基座2上预留的安装孔，将对应的四个驱动绳调整模块1中的型材支柱1006固定于移动式基座2上，从而实现机器人整体的大范围运动；可调式辅助运动平台驱动绳5由驱动绳调整模块1中的一个电机驱动，从驱动绳调整模块1中伸出后连接在可调式辅助运动平台驱动绳挂钩3002上，从而带动可调式辅助运动平台3运动；回转运动平台驱动绳6由驱动绳调整模块1中的另一个电机驱动，从驱动绳调整模块1中伸出后绕过可调式辅助运动平台3上的回转运动平台驱动绳过渡滑轮3004，从而实现对该绳位置的限制与调整，最终连接至回转运动平台4，从而带动回转运动平台4；可调式辅助运动平台3与回转运动平台4中间通过液压推杆4001连接，从而实现对回转运动平台4的进一步精确控制；喷枪7通过螺栓安装于回转运动平台4上。
结合图2、3、4、5，驱动绳位置调整模块1是由定滑轮固定基座1001、同步带上基座1002、同步带1003、移动式滑轮1004、同步带下基座1005、型材支柱1006、滑轮1101、定滑轮基座1102、螺钉1103、驱动绳伺服电机(左)1201、双电机支架1202、绕线轴联轴器1203、绕线轴(左)1204、绕线轴(右)1205、驱动绳伺服电机(右)1206同步带固定基座1301、同步带驱动电机1302、同步带驱动电机联轴器1303、同步带轮1304组成的。
进一步说，可调式辅助运动平台驱动绳5连接于绕线轴(左)1204，伸出后通过定滑轮基座1102上的小孔绕上滑轮1101并伸出，而定滑轮基座1102固连于定滑轮固定基座1001，在型材支柱1006留有安装孔，定滑轮固定基座1001通过紧定螺钉安装于型材支柱1006上；回转运动平台驱动绳6连接于绕线轴(右) 1205，伸出后通过移动式滑轮1004绕于其中滑轮上并伸出，移动式滑轮1004固连于同步带1003上，随其运动，以达到调整回转运动平台驱动绳6出索点位置的目的；同步带机构借助同步带上基座1002与同步带下基座1005，用螺钉固连于型材支柱1006上。
进一步详细说，结合图3，滑轮1101通过轴承与转轴安装于定滑轮基座1102上，定滑轮基座1102与定滑轮固定基座1001上均留有螺纹孔，通过螺钉1103将其连接。
进一步详细说，结合图4，两个相同的电机驱动绳伺服电机(左)1201和驱动绳伺服电机(右)1206通过螺栓安装于双电机支架1202上，并通过两个相同的绕线轴联轴器1203分别连接于绕线轴(左)1204和绕线轴(右)1205，最终驱动可调式辅助运动平台驱动绳5与回转运动平台驱动绳6。
进一步详细说，结合图5，同步带机构包含两组上下对称的同步带驱动构件，即同步带驱动电机1302安装于同步带固定基座1301的固定槽位中，由同步带驱动电机联轴器1303带动同步带轮1304运动。
结合图6、7a-7f、8、9，移动式基座2由移动基座主体盖板2001、移动基座主体2002、万向轮2003、固定支撑板2004、万向轮升降电机支架2005、万向轮升降电机2006、固定支撑板转动轴承轴2101、止动弹簧2102、弹簧阻扣2103、平衡机构转动电机2201、平衡机构转动电机支架2202、平衡机构转动平台2203、平衡机构丝杠驱动电机2204、平衡机构丝杠2205、平衡机构配重2206、配重承载平台2207、平衡机构丝杠滑块2208、平衡机构滑轨2209、球铰2210、伸缩支撑杆2211、双向铰链2212、平衡机构转轴2213、锥齿轮(大)2214、锥齿轮(小)2215、可升降式移动轮框架2301、万向轮升降滑柱2302、万向轮驱动电机2303、万向轮驱动电机支架2304、万向轮升降滚珠丝杠螺母2305、万向轮升降滚珠丝杠2306、万向轮升降电机联轴器2307组成。
进一步说，移动基座主体盖板2001通过螺钉安装于移动基座主体2002上；4个固定支撑板2004环形对称布置于移动基座主体2002上，可绕安装于移动基座主体2002上的固定支撑板转动轴承2101转动，当移动式基座运动时，该支撑板垂直于地面紧贴移动基座主体2002的边壁，当机器人整体移动至工作位置后，该固定支撑板2004可手动扳动至平行于地面并锁定，增大机构的稳定性；平衡机构转动电机2201通过平衡机构转动电机支架2202固定安装在移动基座主体盖板2001上，负责驱动平衡机构的整体转动，伸缩支撑杆2211通过双向铰链2212连接在移动基座主体2002上，为平衡机构提供支撑；4组可升降式移动轮部件通过螺钉对称固定于移动基座主体2002的平面板上，该机构可实现万向轮2003的转动，同时由一个电机驱动万向轮2003的升降，从而在移动式基座2无需运动时使机构有更好的稳定性。
进一步详细说，结合图7a-7f，固定支撑板转动轴承2101安装于移动基座主体2002上的定位孔中，并与固定支撑板2004上伸出的转轴配合，使固定支撑板2004可绕转轴转动；止动弹簧2102与弹簧阻扣2103安装于移动基座主体2002的方槽中，当固定支撑板2004运动至垂直于移动基座主体2002边壁的角度时，弹簧阻扣2103在止动弹簧2102的推动下卡入固定支撑板2004的对应槽位中，从而限制其运动。图7a-7f中具体展示了当系统由移动状态转换为锁定状态时，万向轮2003提升离开地面，固定支撑板2004转动至接触地面并锁定的过程。
进一步详细说，结合图8，平衡机构转动电机2201固定在平衡机构转动电机支架2202上，平衡机构转动电机支架2202通过螺钉与移动基座主体盖板2001 连接；平衡机构转动电机2201通过联轴器驱动锥齿轮(小)2215，进而驱动与锥齿轮(小)2215啮合的锥齿轮(大)2214；锥齿轮(大)2214与平衡机构转轴2213通过键连接传动；平衡机构转轴2213通过移动基座主体盖板2001以及移动基座主体2002上的轴承进行转动；平衡机构转动平台2203与平衡机构转轴2213同样采用键连接传动；平衡机构丝杠驱动电机2204固定在平衡机构转动平台2203的槽位中，并通过联轴器连接驱动平衡机构丝杠2205转动；平衡机构丝杠2205一端固定于平衡机构转动平台2203对应孔的轴承中，一端固定于平衡机构滑轨2209对应孔的轴承中；平衡机构滑轨2209通过螺钉固定于平衡机构转动平台2203上；平衡机构丝杠滑块2208内部通过丝杠螺母与平衡机构丝杠2205配合传动，外部与平衡机构滑轨2209中的滑动轨道配合，实现平衡机构丝杠滑块2208的直线运动；平衡机构配重2206安装在配重承载平台2207上，配重承载平台2207通过螺钉安装在平衡机构丝杠滑块2208上，随其运动；两个相同球铰2210通过螺钉固定连接在平衡机构丝杠滑块2208下，随其同步运动；球铰2210转动端与伸缩支撑杆2211连接，伸缩支撑杆2211末端连接在双向铰链2212上，实现两自由度的转动；双向铰链2212连接在移动基座主体2002对应孔的轴承中。通过平衡机构转动电机2201的驱动，借助锥齿轮传动，实现机构的整体转动；通过平衡机构丝杠驱动电机2204的驱动，实现平衡机构丝杠滑块2208的直线运动，带动平衡机构配重2206的运动；通过机构的转动以及平衡机构丝杠滑块2208的直线运动，实现平衡机构配重2206的位置调整，从而配合平衡绳索牵引力的变化，改善机构的稳定性，防止机构侧翻等现象。伸缩支撑杆2211一端连接在球铰2210上，随平衡机构丝杠滑块2208运动，一端连接连接在双向铰链2212上，进行两自由度的转动，实现杆长随平衡机构姿态位置的调整，为平衡机构整体提供支撑，保持其稳定，防止平衡机构丝杠2205、平衡机构滑轨2209因承载过大而发生弯曲。
进一步详细说，结合图9，可升降式移动轮框架2301顶部预留有安装孔，通过螺栓安装于移动基座主体2002底部；万向轮2003连接在万向轮驱动电机2303上，由其驱动；万向轮驱动电机2303通过螺栓安装于万向轮驱动电机支架2304上，万向轮驱动电机支架2304则通过螺栓与万向轮升降滚珠丝杠螺母2305连接，由万向轮升降滚珠丝杠螺母2305带动运动；万向轮升降滚珠丝杠2306一端通过万向轮升降电机联轴器2307由万向轮升降电机2006驱动，另一端安装于可升降式移动轮框架2301底部孔的轴承中；万向轮升降电机2006安装于万向轮升降电机支架2005上，并用螺栓固定于可升降式移动轮框架2301。该机构可实现万向轮2003的转动，驱动移动式基座2的运动，并可以完成万向轮2003的升降，使其离开地面，从而在机器人不需要运动时提供更好的稳定性。
结合图10，可调式辅助运动平台驱动绳5由驱动绳位置调整模块1上的滑轮1101伸出后连接至可调式辅助运动平台3，回转运动平台驱动绳6由驱动绳位置调整模块1上移动式滑轮1004伸出后绕过回转运动平台驱动绳过渡滑轮3004最终连接至回转运动平台4；这两种绳上分别安装有可调式辅助运动平台驱动绳拉力传感器5001以及回转运动平台驱动绳拉力传感器6001，用于实时监控绳的拉力并反馈；液压推杆4001上端安装在可调式辅助运动平台3的复合双向铰链3006内，下端通过万向节4003与回转平台转轴4201连接，通过两者的限制在可调式辅助运动平台3与回转运动平台4之间进行运动的传递。
结合图11a、11b，可调式辅助运动平台3由可调式辅助运动平台外框架3001、可调式辅助运动平台驱动绳挂钩3002、回转运动平台驱动绳过渡滑轮基座3003、 回转运动平台驱动绳过渡滑轮3004、可调式辅助运动平台内板3005、复合双向铰链3006、双向铰链安装轴承3007、运动滑轨3008、辅助运动平台丝杠螺母3009、螺钉3010、辅助运动平台滚珠丝杠3011、外部调节机构驱动电机联轴器3012、外部调节机构驱动电机3013、外部调节机构滑柱3014所组成。
进一步说，结合图11a，4个可调式辅助运动平台驱动绳挂钩3002固定安装在可调式辅助运动平台外框架3001上方；4个回转运动平台驱动绳过渡滑轮基座3003固定安装于可调式辅助运动平台外框架3001底部伸出部分，在基座上安装有回转运动平台驱动绳过渡滑轮3004；调式辅助运动平台外框架3001上通过螺钉安装有运动滑轨3008，运动滑轨3008的另一端伸入可调式辅助运动平台内板3005上的滑槽中，使可调式辅助运动平台外框架3001可以沿运动滑轨3008方向运动；4组完全相同的可调式辅助运动平台外框架3001及其配套组件组成了可调式辅助运动平台3的外部可调框架，用于调整平台大小，从而使驱动绳的牵引点位置改变，使其适应不同尺寸的工件，防止回转运动平台驱动绳6与工件发生干涉；复合双向铰链3006安装于可调式辅助运动平台内板3005上轴承座孔中的双向铰链安装轴承3007中，其具有两个转动自由度。可调式辅助运动平台3通过改变回转运动平台驱动绳6的空间位姿，防止其干涉加工工件，同时可调式辅助运动平台3可以安装防止喷枪机构的配套组件，如供料系统等，实现供料系统等与喷枪7的随动，提升系统实际可操作性；供料系统等也相当于可调式辅助运动平台3的配重，提升其工作稳定性，也可抵消液压推杆4001的作用力，保持可调式辅助运动平台3的水平。
进一步详细说，结合图11b，外部调节机构驱动电机3013固定安装于调式辅助运动平台外框架3001内部槽位中，通过外部调节机构驱动电机联轴器3012与辅助运动平台滚珠丝杠3011的一端连接，驱动其运动，辅助运动平台滚珠丝杆的另一端端部连接有导轴，导轴导向转动安装于另一侧的可调式辅助运动平台外框架边梁的台阶内孔中，且台阶内孔中安装有供导轴导向的滑动轴承3015，辅助运动平台滚珠丝,3011上旋合有辅助运动平台丝杠螺母3009，辅助运动平台丝杠螺母3009通过螺钉与导轴所在侧的可调式辅助运动平台外框架边梁固定连接，通过外部调节机构驱动电机驱动辅助运动平台滚珠丝杆转动，且配合滚珠丝杆上下方的滑柱导向实现辅助运动平台丝杠螺母移动，由辅助运动平台滚珠丝杠3011带动辅助运动平台丝杠螺母3009运动，从而实现两个可调式辅助运动平台外框架3001的相对直线运动，达到调整可调式辅助运动平台3大小的目的；外部调节机构滑柱3014分别安装于两个可调式辅助运动平台外框架3001相对的圆柱滑槽中。
结合图12、13a、13b、14a-14c，回转运动平台4由液压推杆4001、回转运动平台盖板4002、万向节4003、回转运动平台壳体4004、紧定螺钉4005、回转运动平台驱动绳滑轮4101、回转运动平台驱动绳滑轮基座4102、轴承上端盖4103、基座转动轴承4104、滑轮基座转轴4105、旋转垫片4106、回转平台转轴4201、弯曲弹簧4202、弯曲弹簧支架4203、回转运动平台底部端盖4204、回转平台上轴承端盖4205、回转平台上轴承4206、回转平台下轴承端盖4207、回转平台下轴承4208、转角传感器4209组成。
进一步说，结合图12，液压推杆4001上端安装在可调式辅助运动平台3的复合双向铰链3006内，下端通过万向节4003与回转平台转轴4201连接，液压推杆4001长度可控，通过万向节4003实现可调式辅助运动平台3与回转运动平台4的运动串联，对回转运动平台4的运动进行约束，进增大末端的灵活性；回 转运动平台盖板4002通过紧定螺钉4005固定在回转运动平台壳体4004上；喷枪7则通过螺钉连接于回转运动平台壳体4004下端。四根回转运动平台驱动绳6错位连接在4个对称分布的回转运动平台驱动绳滑轮4101上，通过错位连接的方式，结合弹簧回转机构可以实现回转运动平台4绕回转平台转轴4201的转动；回转运动平台4在液压推杆4001与回转运动平台驱动绳6的复合驱动下，结合回转运动平台4内部的弹簧回转机构，可以实现回转运动平台4的六自由度运动，从而带动安装在其上的喷枪7进行运动。
进一步详细说，结合图12、13a、13b，有4组完全相同的可转动轴承座，均匀布置在回转运动平台盖板4002上。回转运动平台驱动绳滑轮4101安装在回转运动平台驱动绳滑轮基座4102中，回转运动平台驱动绳滑轮基座4102与轴承上端盖4103之间可以相对滑动；轴承上端盖4103通过螺钉固连在回转运动平台盖板4002上，并抵住基座转动轴承4104外圈，对其进行限位；基座转动轴承4104安装于回转运动平台盖板4002上的孔槽内；滑轮基座转轴4105通过螺钉固定连接在回转运动平台驱动绳滑轮基座4102，实现可转动轴承座的整体转动。旋转垫片4106则位于滑轮基座转轴4105与回转运动平台盖板4002中，起到便于滑动的作用。通过可转动轴承座的整体转动，可以实现可转动轴承座的自我调整，以配合回转运动平台驱动绳6在运动中牵引方向的改变。
进一步详细说，结合图14a-14c，回转平台转轴4201整体位于回转运动平台壳体4004内部，通过回转平台上轴承4206和回转平台下轴承4208进行转动位置限制，同时与回转运动平台底部端盖4204之间存在相对滑动，并通过同时与回转运动平台底部端盖4204进行轴向位置限制。在回转平台转轴4201和回转运动平台壳体4004上均伸出了上下两块翼板，以上方翼板的结构为例，回转平台转轴4201和回转运动平台壳体4004各自的上翼板之间有圆环状的弯曲弹簧支架4203，其穿过两个翼板上的孔槽，并可绕孔进行滑动；弯曲弹簧4202均为半圆形，这些弯曲弹簧4202的一端连接在回转平台转轴4201的翼板上，一段连接在回转运动平台壳体4004的翼板上，中间穿过弯曲弹簧支架4203进行限位，配合回转运动平台驱动绳6的作用，为回转运动平台4的转动提供作用力。下方翼板的连接方式与上方相同，只是位置错开90度，这样在上下方弹簧运动时可以对弹力进行叠加，从而使运动更平稳；回转平台上轴承4206安装在回转运动平台盖板4002中间的孔中，通过回转平台上轴承端盖4205进行固定；回转平台下轴承4208安装在回转运动平台壳体4004底部的孔中，通过回转平台下轴承端盖4207进行固定；回转运动平台底部端盖4204通过螺钉连接在回转运动平台壳体4004底部；喷枪7通过螺钉安装在回转运动平台底部端盖4204下方，转角传感器4209基座通过螺钉固连于喷枪7，测量轴则连接在回转平台转轴4201上，这样即可通过转角传感器测量轴相对于其基座的转动角度获得回转运动平台4相对于回转平台转轴4201的转角。
结合图1至图15，对本发明功能进行总体说明。本发明由四组驱动绳位置调整模块1、四组移动式基座2、可调式辅助运动平台3、回转运动平台4、四根可调式辅助运动平台驱动绳5、四根回转运动平台驱动绳6以及喷枪7组成。其整体工作流程如下：
(1)将待喷涂工件放置于固定位置，并确定工件的位置参数，输入控制系统上位机中。
(2)上位机依据工件的位置参数，确定工作空间主要区域位置，控制移动式基座2中的平衡机构启动，根据机构位置形态调整平衡机构配重2206进行拉力平 衡，并控制4组移动式基座2中的万向轮2003的运动，从而带动机器人整体移动至指定区域。
(3)移动式基座2在移动至指定位置后，4组基座中的万向轮2003均提升离开地面，固定支撑机构打开。
(4)将待喷涂工件的形状姿态参数输入上位机中进行分析。
(5)根据待喷涂工件的形状姿态参数，在上位机的控制下，四组驱动驱动绳位置调整1模块通过其中同步带机构的运动，带动移动式滑轮1004的上下移动，从而调整出索点位置；同时通过外部调节机构驱动电机3013带动辅助运动平台调整框架整体大小改变，从而适应不同形状、大小的工件的加工需求。
(6)在完成准备步骤后，每组驱动驱动绳位置调整1中的驱动绳伺服电机(左)1201以及驱动绳伺服电机(右)1206分别带动可调式辅助运动平台驱动绳5和回转运动平台驱动绳6的长短变化，从而控制辅助运动平台运动、回转运动平台运动的运动。同时回转运动平台的运动也受到液压推杆4001的驱动。
(7)在回转运动平台的运动过程中，喷枪7跟随其运动，并完成当前可行的工作空间的喷涂任务。同时拉力传感器、转角传感器4209等进行数据采集并输出至上位机，从而控制平衡机构配重2206的位置随末端运动进行调整，平衡绳索拉力防止机构侧翻，同时确保不存在干涉等影响运动的情况。
(8)在工件较大时，可能机器人并不能通过一次移动式基座的运动完全覆盖整个工件，从而无法完成整体的喷涂任务。此时可由移动式基座解除固定，运动至新的工作位置，从流程(2)重新开始，直至完成整个工件的喷涂作业。
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。
Claims (10)
- 一种具有大工作空间的可移动式电液复合驱动喷涂机器人，其特征在于：包括有移动式基座、驱动绳调整模块、可调式辅助运动平台、回转运动平台、可调式辅助运动平台驱动绳、回转运动平台驱动绳；其中移动式基座为多个，其上配合安装有所述驱动绳调整模块，所述驱动绳调整模块的数量与移动式基座相同，所述驱动绳调整模块中的型材支柱分别固定于移动式基座上，且由多个移动式基座围成一个操作空间，操作空间内部架设有可移动的可调式辅助运动平台，所述可调式辅助运动平台的移动通过可调式辅助运动平台驱动绳驱动，所述可调式辅助运动平台下方设置有回转运动平台，所述回转运动平台的运动通过回转运动平台驱动绳以及所述可调式辅助运动平台与回转运动平台中间安装的液压推杆复合驱动，从而实现对回转运动平台多自由度运动的精确控制，所述回转运动平台的底端面安装有喷枪，所述移动式基座上还安装有用于平衡绳索牵引力和维持机构平衡的平衡机构和固定支撑机构。
- 根据权利要求1所述的具有大工作空间的可移动式电液复合驱动喷涂机器人，其特征在于：所述的驱动绳调整模块为四个，其分别包括有型材支柱，所述型材支柱的上端端部通过定滑轮固定基座安装有用于承载可调式辅助运动平台驱动绳的滑轮，所述可调式辅助运动平台驱动绳的底端绕制在电机驱动的绕线轴上；所述定滑轮固定基座下方的型材支柱上安装有竖直设置的同步带，所述同步带上安装有用于承载回转运动平台驱动绳的移动式滑轮，所述回转运动平台驱动绳的底端也绕制在另一电机驱动的绕线轴上。
- 根据权利要求1所述的具有大工作空间的可移动式电液复合驱动喷涂机器人，其特征在于：所述的移动式基座分别包括有移动基座主体，所述移动基座主体上安装有移动基座主体盖板，所述移动基座主体内环绕安装有固定支撑机构，所述固定支撑机构包括有间隔设置的固定支撑板，所述固定支撑板的转动通过手动扳动至平行于地面并锁定，增大机构的稳定性，所述移动基座主体盖板的上端面安装有平衡机构，所述移动基座主体的底端安装有可升降的万向轮组件。
- 根据权利要求3所述的具有大工作空间的可移动式电液复合驱动喷涂机器人，其特征在于：所述的固定支撑板的两侧分别设有转轴，且固定支撑板绕转轴转动，所述移动基座主体上设有与转轴对应的定位孔，所述定位孔中通过固定支撑板转动轴承与转轴转动安装，所述定位孔的下方移动基座主体上设有方槽，所述方槽内设置有止动弹簧，所述止动弹簧连接有弹性导向设置的弹簧阻扣；所述的平衡机构包括有平衡机构转动平台，所述平衡机构转动平台的一端通过平衡机构转轴转动安装在移动基座主体盖板上，所述平衡机构转轴的转动通过平衡机构转动电机驱动，所述平衡机构转动平台内转动安装有平衡机构丝杠，所述平衡机构丝杠上导向安装有平衡机构丝杠滑块，所述平衡机构丝杠滑块上安装有配重承载平台，所述配重承载平台上安装有平衡机构配重，所述平衡机构丝杠滑块的底端两侧分别安装有球饺，所述球饺的转动端连接有伸缩支撑杆，所述伸缩支撑杆的另一端分别安装有双向铰链，所述双向铰链连接在移动基座主体对应孔的轴承中，所述平衡机构丝杠通过其端部的平衡机构丝杠驱动电机驱动。所述万向轮组件包括有升降式移动轮框架，所述升降式移动轮框架的顶部固定安装在移动基座主体的底部，所述升降式移动轮框架内安装有可导向移动的万向轮驱动电机支架，所述万向轮驱动电机支架上固定安装有万向轮驱动电机，所述万向轮驱动电机的输出轴端安装有万向轮，所述万向轮驱动电机支架的升降通 过万向轮升降滚珠丝杠螺母带动，且通过万向轮升降滑柱导向。
- 根据权利要求1所述的具有大工作空间的可移动式电液复合驱动喷涂机器人，其特征在于：所述的可调式辅助运动平台驱动绳通过驱动绳调整模块中的一个电机驱动，从驱动绳调整模块中伸出后连接在可调式辅助运动平台驱动绳挂钩上，从而带动可调式辅助运动平台运动；所述的回转运动平台驱动绳由驱动绳调整模块中的另一个电机驱动，从驱动绳调整模块中伸出后绕过可调式辅助运动平台上的过渡滑轮，从而实现对该绳空间位置的限制与调整，最终连接至回转运动平台，从而与所述液压推杆一并带动回转运动平台运动；所述的可调式辅助运动平台驱动绳和回转运动平台驱动绳上分别安装有用于实时监控绳的拉力并反馈的绳拉力传感器。
- 根据权利要求5所述的具有大工作空间的可移动式电液复合驱动喷涂机器人，其特征在于：所述的可调式辅助运动平台包括有可调式辅助运动平台内板，所述可调式辅助运动平台内板外安装有大小可调的可调式辅助运动平台外框架，所述可调式辅助运动平台外框架的上端面安装有呈矩形对称分布的可调式辅助运动平台驱动绳挂钩，所述可调式辅助运动平台外框架的底端部安装有呈圆周分布的用于安装过渡滑轮的回转运动平台驱动绳过渡滑轮基座，所述可调式辅助运动平台外框架的每个边的中部均从中间断开，且通过其之间的辅助运动平台滚珠丝杆对接调整，所述可调式辅助运动平台外框架在调整中通过径向分布的运动滑轨导向。
- 根据权利要求6所述的具有大工作空间的可移动式电液复合驱动喷涂机器人，其特征在于：所述辅助运动平台滚珠丝杆的一端通过联轴器与外部调节机构驱动电机的输出轴端连接，所述外部调节机构驱动电机安装在断开处一侧的可调式辅助运动平台外框架边梁的槽位中，所述辅助运动平台滚珠丝杆的另一端端部连接有导轴，所述导轴导向转动安装于另一侧的可调式辅助运动平台外框架边梁的台阶内孔的滑动轴承中，所述辅助运动平台滚珠丝杆上旋合有辅助运动平台丝杠螺母，所述辅助运动平台丝杠螺母通过螺钉与导轴所在侧的可调式辅助运动平台外框架边梁固定连接，通过外部调节机构驱动电机驱动辅助运动平台滚珠丝杆转动，且配合滚珠丝杆上下方的滑柱导向实现辅助运动平台丝杠螺母移动，从而带动另一侧的可调式辅助运动平台外框架边梁的移动实现可调式辅助运动平台外框架的可调，所述运动滑轨包括有两导向配合的外套管和内管体，所述外套管固定在可调式辅助运动平台内板的底端面上，所述内管体的端部与可调式辅助运动平台外框架连接。
- 根据权利要求1所述的具有大工作空间的可移动式电液复合驱动喷涂机器人，其特征在于：所述回转运动平台的中部转动安装有回转平台转轴，所述回转平台转轴的上端部通过万向节与液压推杆的底端端部连接，所述回转运动平台的上端面圆周方向上安装有间隔设置的滑轮基座，所述滑轮基座上安装有回转运动平台驱动绳滑轮，所述回转运动平台驱动绳滑轮的底端面安装有回转运动平台壳体，且回转平台转轴的下端部位于回转运动平台壳体内部，且回转运动平台壳体内还安装有用于测量回转运动平台相对于回转平台转轴转角的转角传感器以及用于配合完成旋转运动的弯曲弹簧。
- 根据权利要求8所述的具有大工作空间的可移动式电液复合驱动喷涂机器人，其特征在于：所述的滑轮基座的底端安装有滑轮基座转轴，所述滑轮基座转轴的上端部通过回转平台上轴承和回转平台上轴承端盖转动压装在回转运动平台上，所述滑轮基座转轴的下端部通过回转平台下轴承和回转平台下轴承端盖 转动压装在回转运动平台壳体的中部；所述回转平台转轴和回转运动平台壳体上均伸出了上下两块错位设置的翼板，所述回转平台转轴和回转运动平台壳体各自的上翼板之间有圆环状的弯曲弹簧支架，其穿过两个翼板上的孔槽，并可绕孔进行滑动；所述弹簧支架上套装有弯曲弹簧，所述弯曲弹簧均为半圆形，其一端连接在回转平台转轴的翼板上，另一端连接在回转运动平台壳体的翼板上，中间穿过弯曲弹簧支架进行限位，配合回转运动平台驱动绳的作用，为回转运动平台的转动提供作用力，所述两组共计四个弯曲弹簧通过分别安装在上下错位设置的两组翼板上，提升其处于不同旋转角度时的稳定性；所述回转运动平台壳体的底端部安装有回转运动平台底部端盖，所述回转运动平台底部端盖的底端安装有喷枪。
- 一种基于上述权利要求1-9任意一权利要求所述的具有大工作空间的可移动式电液复合驱动喷涂机器人，其特征在于：上述结构的喷涂机器人的具体工作流程如下：(1)系统初始化，将待喷涂工件放置于固定位置，并确定工件的位置参数，输入控制系统上位机中；(2)上位机依据工件的位置参数，确定工作空间主要区域位置，移动式基座中的平衡机构启动，根据机构位置形态调整配重进行拉力平衡，各移动式基座带动机器人整体移动至指定区域；(3)移动式基座在移动至指定位置后，各移动式基座中的万向轮均提升离开地面，固定支撑机构打开；(4)将待喷涂工件的形状姿态参数输入上位机进行分析；(5)根据待喷涂工件的大致形状姿态参数，在上位机的控制下，驱动驱动绳位置调整模块调整出索点位置，同时调整辅助运动平台调整框架整体大小，从而适应不同形状、大小的工件的加工需求；(6)电机带动驱动绳的长短变化，从而控制辅助运动平台运动、回转运动平台运动的运动，同时回转运动平台的运动也受到液压推杆的驱动；(7)在回转运动平台的运动过程中，喷枪跟随其运动，并完成当前可行的工作空间的喷涂任务；拉力传感器、转角传感器等进行数据采集输出至上位机，从而控制平衡机构随末端运动进行调整，防止机构侧翻，同时确保不存在干涉等影响运动的情况；(8)在工件较大时，可能机器人并不能通过一次移动式基座的运动完全覆盖整个工件，从而无法完成整体的喷涂任务，此时可由移动式基座解除固定，运动至新的工作位置，从流程(2)重新开始，直至完成整个工件的喷涂作业。
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