Twisting type soft robot inner cavity environment ionization film coating spraying equipment

Abstract

The invention discloses twisted type soft robot inner cavity environment ionization film coating spraying equipment. The equipment comprises a supporting frame, a guide rail type soft robot positioning adjuster, lifting type supporting legs, rolling wheels, a workbench, a controller, a rack, a soft robot inner cavity sprayer body and a protective partition plate. The invention belongs to the technical field of pipeline robots, and particularly relates to twisted type soft robot inner cavity environment ionization film coating spraying equipment. According to the method, the environment of the inner cavity of the soft robot and the coating are subjected to positive ionization and negative ionization correspondingly according to the Van der Graft electrification principle, the coating forms a uniform and firm spraying film through the electrostatic paint spraying technology, and wrinkles of the inner cavity of the soft robot are detected through the ultrasonic detection technology; the twisting type single-support spiral single body can move in the specific position of the inner cavity of the robot, and the problems that when the inner cavity of the soft robot is sprayed in the current market, the spraying face is uneven, wrinkles and dead angle areas are prone to occurring, and effective spraying cannot be conducted are effectively solved.

Description

technical field [0001] The invention belongs to the technical field of pipeline robots, and specifically refers to a twisted soft robot inner cavity environment ionization coating spraying equipment. Background technique [0002] With the development of science and technology, traditional robots with invariable rigidity can no longer meet people's needs. Soft robots rely on their special materials and processes, safe human-computer interaction, adaptability to wearable devices, and their shape, weight, and use. Compared with traditional robots, it has great advantages, and has been extensively researched in the fields of biomedicine, artificial intelligence and bionics. Soft robot technology has also achieved certain results in the development of artificial limbs for the disabled and the research and development of rehabilitation medical equipment. However, the structural design of soft robots, especially the design of the inner cavity structure, will have a crucial impact ...

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Problems solved by technology

[0004] In view of the above situation, in order to overcome the defects of the prior art, the present invention provides a method of using the principle of van de Graaff electrification to separate the inner cavity environment and coating of the soft robot Positive ionization and negative ionization, through electrostatic spraying technology, the paint can form an enveloping effect on the inner cavity of the soft robot, so that the paint can flow directionally along the electric force line to the inner cavity of the soft robot with positive charge, thereby forming a uniform and firm spray coating film, and using ultrasonic detection The technology detects the inner cavity folds of the soft robot, and realizes the movement of the twisted single-supported helical unit at a specific position in the inner cavity of the robot through the interaction between two adjacent sets of pneumatic rotating and bending units, effectively solving the problem of the soft robot in the current market. When spraying the inner cavity of the robot, the spraying surface is not smooth, and it is prone to wrinkles and dead angle areas, which cannot be effectively sprayed

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