Series-parallel robot for linkage spraying of large surface structure

Abstract

The invention discloses a series-parallel robot for linkage spraying of a large surface structure. The series-parallel robot comprises an air three-degree-of-freedom moving mechanism and a spraying mechanical arm, the air three-degree-of-freedom moving mechanism comprises an X-direction moving mechanism, a Y-direction moving mechanism and a Z-direction moving mechanism, the two ends of an X-direction moving truss of the X-direction moving mechanism move on X-direction guiding sliding rails in a guiding mode, the X-direction guiding sliding rails are fixedly connected with a workshop steel structure, the Y-direction moving mechanism is installed on the X-direction moving truss in a guiding mode through a guiding assembly at the upper end of a Y-direction moving frame, a Z-direction moving mechanical arm platform of the Z-direction moving mechanism is installed on the Y-direction moving frame in a guiding mode, a base of the spraying mechanical arm is installed on the Z-direction moving mechanical arm platform of the air three-degree-of-freedom moving mechanism, and the air three-degree-of-freedom moving mechanism drives the spraying mechanical arm to achieve translational motion in three directions in the space. The paint spraying device has the advantages of high paint spraying efficiency, uniformity in paint spraying, large movement space, accuracy in positioning, stable gravity center, small shaking, capability of effectively avoiding long-term injury of paint to human bodies and the like.

Description

Technical field: [0001] The invention relates to the application field of robot technology, and mainly relates to a hybrid robot for linkage spraying large-scale surface structures. Background technique: [0002] The methods of painting large surfaces such as trains and airplanes include manual painting and automatic painting. Regardless of the method, the entire process generally includes stripping the original paint, smoothing, priming, and spraying new paint. The spraying process is complicated. However, with the development of industry, the requirements for spraying accuracy and efficiency are getting higher and higher. There are several main problems with manual spray painting: [0003] 1. The efficiency of manual painting is low, and the continuous working time of the whole machine painting is longer. [0004] 2. The painting of the whole machine requires a team with professional knowledge, and the cost of personnel training is relatively high. [0005] 3. After the...

AI Technical Summary

Problems solved by technology

[0003] 1. The efficiency of manual painting is low, and the continuous working time of the whole machine painting is longer

[0004] 2. The painting of the whole machine requires a team with professional knowledge, and the cost of personnel training is relatively high

[0005] 3. After the whole machine is painted, the whole machine is covered with about one ton of paint. At the same time, the uniformity of manual spray painting is poor, which may easily cause uneven painting on both sides of the large surface, resulting in the imbalance of the whole machine

[0006] 4. Coatings are very harmful to the human body. Manual spraying requires protective measures. Even so, it cannot completely eliminate the health damage of paints to sprayers.

Chinese patent CN201510016639.3 relates to a hybrid robot device for automobile body spraying. The gantry can effectively adjust the structural position of the parallel robot arm, which combines the advantages of parallel robots and serial robots, but the robot movement is limited by the size of the gantry. The space is limited, it is not suitable for more large-scale surface spraying and the gantry is located on the ground and affects other equipment space; Chinese patent CN201910641158.X designs a mobile hybrid spraying robot for high-speed rail body spraying, and the mobile robot has more flexible movement space , can effectively spray on complex and large surfaces with large sizes, but the positioning accuracy and mechanism stability are relatively poor, lack of linkage painting operations, the efficiency needs to be further improved, and uniformity problems such as seams may occur when spraying coatings successively

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