A redundant degree-of-freedom robot for interior surface painting of narrow cavities

Abstract

The invention belongs to the technical field of robots, in particular to a redundant degree-of-freedom robot for painting the inner surface of a narrow cavity. It includes a bottom rotating mechanism, a connecting rod, a first telescopic arm, a second telescopic arm and a wrist mechanism connected in sequence; the lower end of the connecting rod is arranged on the bottom rotating mechanism through the first rotary joint, so as to realize the multi-degree-of-freedom rotation of the connecting rod, and the connecting The upper end of the rod is connected to one end of the first telescopic arm through the second rotary joint to realize the rotation of the first telescopic arm, and the other end of the first telescopic arm is connected to one end of the second telescopic arm through the third rotary joint to realize the rotation of the second telescopic arm ;Three rotary joints and a bottom rotation mechanism realize 4 rotations, the first and second telescopic arms realize 2 translations, so that the robot end effector can be positioned flexibly, the wrist mechanism includes finger rotation, hand swing and wrist rotation With 3 degrees of freedom, the end spray gun can move flexibly on the inner surface of the narrow cavity to meet the spraying needs.

Description

technical field [0001] The invention belongs to the technical field of robots, in particular to a redundant degree-of-freedom robot for painting the inner surface of a narrow cavity. Background technique [0002] Compared with traditional manual spraying, spraying robots can improve spraying quality and spraying efficiency, and also keep workers away from the harsh first-line spraying environment, which has corresponding humanitarian significance. Most of the current spraying robots perform spraying operations on the outer surface of the workpiece, and the inner surface coating of the narrow cavity cannot achieve reliable robot intelligent spraying, such as the coating of the inner surface of the large blades of wind power generation, the inner surface of the long pipeline of ships, etc. Surface coating, etc. After searching, the patent with the application number of 201911088957.5 discloses a retractable mechanical arm of a painting robot for ships. This patent can realize...

AI Technical Summary

Problems solved by technology

Most of the current spraying robots perform spraying operations on the outer surface of the workpiece, but the inner surface of the narrow cavity cannot be reliably sprayed intelligently by robots, such as the inner surface of the large blades of wind power generation, and the inner surface of the long pipeline of the ship. Surface coating, etc.

After searching, the patent with the application number 201911088957.5 discloses a retractable mechanical arm of a painting robot for ships. The patent can realize the movement of 7 degrees of freedom, but the patent only makes a detailed design of the mechanical arm. The design of the key hand joints is not yet well designed

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