Robotic painting system using cable parallel mechanism in series with a frame type robot arm

Abstract

The application discloses a robot spraying system adopting a cable parallel mechanism series connection frame type mechanical arm, which comprises a moving platform, a frame type mechanical arm, an upper spraying executor and a lower spraying executor, and a cable parallel mechanism. The frame type mechanical arm comprises a rotating base, an upper executor base, a lower executor base, an upper swing assembly, a lower swing assembly, a rotating driving device and a swing driving device. The upper swing assembly comprises two upper connecting rods, and the lower swing assembly comprises two lower connecting rods. The cable parallel mechanism comprises a plurality of rope assemblies. Each rope assembly comprises a rope, a pulley block and a rope driving device. One end of each rope is connected with the moving platform, and the other end of each rope is connected with the rope driving device through the pulley block. Each two rope assemblies form a traction group, and the traction groups are at least three. The robot spraying system adopting the cable parallel mechanism series connection frame type mechanical arm has the advantages of time and labor saving, high reliability, good stability and the like.

Description

Technical Field

[0001] This invention relates to the field of robot manufacturing technology, and more specifically, to a robot painting system employing a cable parallel mechanism with a series frame-type robotic arm. Background Technology

[0002] Oil tankers, which load and transport refined petroleum products, are essential transportation tools in the oil transshipment process. Due to the strong permeability and solubility of petroleum products, they accelerate the corrosion of steel plates, and the coating requirements inside the cargo holds of oil tankers are extremely stringent.

[0003] The interior of the product tanker is a closed structure with narrow entrances and exits, making it impossible for large machinery to enter and only allowing personnel to pass through. Existing rigid, large-range motion platforms are not suitable for this purpose.

[0004] The painting process for cargo holds of refined oil tankers in related technologies relies on manual labor using scaffolding for sandblasting and painting. This process requires a large amount of scaffolding, resulting in a significant workload for erection and dismantling, which is time-consuming. Furthermore, due to the difficulty of transporting scaffold boards, pipes, and accessories, there is a high risk of collisions between scaffold boards, pipes, and accessories and the ship's structure, damaging the paint in completed areas and increasing subsequent repair work. This leads to problems such as long cycles and poor reliability in manual painting. In addition, with the increasing demand for refined oil, the area of ​​individual cargo tanks on refined oil tankers is also increasing, further increasing the difficulty and cycle time of painting. Summary of the Invention

[0005] The present invention aims to at least solve one of the technical problems existing in the prior art. To this end, the present invention proposes a robotic painting system employing a cable parallel mechanism with a series frame robotic arm. This robotic painting system employing a cable parallel mechanism with a series frame robotic arm has the advantages of saving time and labor, high reliability, and good stability.

[0006] To achieve the above objectives, an embodiment of the present invention proposes a robotic painting system employing a cable-parallel mechanism with a series-connected frame-type robotic arm. The robotic painting system comprises: a moving platform; and a frame-type robotic arm, which includes a rotating base, an upper actuator base, a lower actuator base, an upper swing assembly, a lower swing assembly, a rotation drive device, and a swing drive device. The rotating base is rotatably mounted on the moving platform with its rotation axis oriented vertically. The lower end of the upper swing assembly is rotatably mounted on the rotating base. The upper end of the lower swing assembly is rotatably mounted on the rotating base. The upper swing assembly and the lower swing assembly are centrally symmetrical about the rotating base. The rotation axes of the upper swing assembly and the lower swing assembly are parallel and both are oriented horizontally. The upper actuator base is rotatably mounted on the upper end of the upper swing assembly, and the lower actuator base is rotatably mounted on the lower end of the lower swing assembly. The upper swing assembly includes two upper connecting rods, and the lower swing assembly includes two lower connecting rods. The upper ends of the two upper connecting rods are rotatably connected to the upper actuator base, and the lower ends are connected to... The rotating base is rotatably connected. Two upper connecting rods are arranged parallel and spaced apart. The lower ends and upper ends of two lower connecting rods are rotatably connected to the lower actuator base and the rotating base, respectively. The two lower connecting rods are arranged parallel and spaced apart. The rotating drive device is drivenly connected to the rotating base. The swing drive device is drivenly connected to the upper swing assembly and the lower swing assembly, respectively. An upper spraying actuator and a lower spraying actuator are provided, with the upper spraying actuator mounted on the upper actuator base and the lower spraying actuator mounted on the lower actuator base. A cable parallel mechanism is also included. The cable parallel mechanism includes multiple rope assemblies. Each rope assembly includes a rope, a pulley system, and a rope drive device. One end of each rope is connected to the moving platform, and the other end is connected to the rope drive device via the pulley system. Every two rope assemblies form a traction group. The two ropes of each traction group are parallel to each other at the portion between the pulley system and the moving platform. The two ropes of each traction group are centrally symmetrically arranged at the connection point of the moving platform at the center in the horizontal direction about the moving platform. There are at least three traction groups.

[0007] The robotic painting system using a cable parallel mechanism and a series frame-type robotic arm according to embodiments of the present invention has advantages such as saving time and effort, high reliability, and good stability.

[0008] In addition, the robotic painting system employing a cable-parallel mechanism and a series frame-type robotic arm according to the above embodiments of the present invention may also have the following additional technical features:

[0009] According to one embodiment of the present invention, the moving platform includes an upper frame and a lower frame, and the traction groups are four in number and arranged in pairs opposite each other. Two of the opposite traction groups are connected to one of the upper frame and the lower frame, and the other two opposite traction groups are connected to the other of the upper frame and the lower frame. The upper frame and the lower frame are both square frames, and the connection point of the two ropes of each traction group on the moving platform is located at the two ends of the diagonal of the square frame.

[0010] According to one embodiment of the present invention, the pulley block includes: a pulley block base; a guide pulley rotatably mounted on the pulley block base with its rotation axis oriented in a horizontal direction; a cable outlet pulley base rotatably mounted on the pulley block base with its rotation axis oriented in a vertical direction; and a cable outlet pulley rotatably mounted on the cable outlet pulley base with its rotation axis oriented in a horizontal direction.

[0011] According to one embodiment of the present invention, the imaginary line segment connecting the two ropes of each traction group at the connection of the moving platform is parallel to and equal in length to the imaginary line segment connecting the two output pulleys of the traction group.

[0012] According to one embodiment of the invention, the rope drive device is adapted to be installed on the floor, and the pulley assembly is adapted to be installed on the wall and adjacent to the ceiling.

[0013] According to one embodiment of the present invention, the rope driving device includes: a rope driving motor; a winding drum, the winding drum being connected to the motor shaft of the rope driving motor via a reducer, and the end of the rope away from the moving platform being connected to the winding drum and wound on the winding drum.

[0014] According to one embodiment of the present invention, the swing drive device includes: a swing drive motor; and a gear set, wherein the swing drive motor is connected to the two upper connecting rods and the two lower connecting rods respectively via the gear set.

[0015] According to one embodiment of the present invention, the rotation drive device is a rotation drive motor, the rotation drive motor is mounted on the moving platform and the motor shaft is connected to the rotating base for transmission.

[0016] According to one embodiment of the present invention, the upper spraying actuator and the lower spraying actuator are spray guns, multi-axis spraying robots, or operator protective cages.

[0017] According to one embodiment of the present invention, the upper spraying actuator and the lower spraying actuator are provided with suction cups.

[0018] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0019] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0020] Figure 1 This is a schematic diagram of a robotic painting system employing a cable parallel mechanism and a series frame-type robotic arm, according to an embodiment of the present invention.

[0021] Figure 2 This is a partial structural schematic diagram of a robotic painting system employing a cable parallel mechanism and a series frame-type robotic arm, according to an embodiment of the present invention.

[0022] Figure 3 This is a partial structural schematic diagram of a robotic painting system employing a cable parallel mechanism and a series frame-type robotic arm, according to an embodiment of the present invention.

[0023] Figure 4 This is a schematic diagram of the pulley system of the rope assembly of a robot painting system employing a cable parallel mechanism to connect a frame-type robotic arm, according to an embodiment of the present invention.

[0024] Figure 5 This is a schematic diagram of the rope drive device of the rope assembly of a robot painting system employing a parallel cable mechanism and a series frame-type robotic arm, according to an embodiment of the present invention.

[0025] Reference numerals: Robotic painting system using a cable parallel mechanism and a series frame-type robotic arm 1, moving platform 10, upper frame 11, lower frame 12, frame-type robotic arm 20, rotating base 21, upper actuator base 22, lower actuator base 23, upper connecting rod 24, lower connecting rod 25, rotation drive device 26, swing drive device 27, swing drive motor 271, gear set 272, rope assembly 30, rope 31, pulley block 32, pulley block seat 321, guide pulley 322, cable exit pulley seat 323, cable exit pulley 324, guide pulley seat 325, rope drive device 33, rope drive motor 331, winding drum 332, reducer 333, coupling 334, encoder 335, shaft seat 336, upper spraying actuator 41, cargo oil tank 2. Detailed Implementation

[0026] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0027] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, features defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0028] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0029] The following description, with reference to the accompanying drawings, describes a robotic painting system 1 employing a cable parallel mechanism and a series frame robotic arm according to an embodiment of the present invention.

[0030] like Figures 1-5 As shown, the robot painting system 1 of the present invention, which employs a cable parallel mechanism to connect a frame-type robotic arm, includes a moving platform 10, a frame-type robotic arm 20, an upper spraying actuator 41, a lower spraying actuator, and a cable parallel mechanism.

[0031] The frame-type robotic arm 20 includes a rotating base 21, an upper actuator base 22, a lower actuator base 23, an upper swing assembly, a lower swing assembly, a rotation drive device 26, and a swing drive device 27. The rotating base 21 is rotatably mounted on the moving platform 10, and its rotation axis is oriented vertically (the up and down direction is shown by the arrow in the figure and is only for ease of description, not a limitation on the actual setting direction). The lower end of the upper swing assembly is rotatably mounted on the rotating base 21, and the upper end of the lower swing assembly is rotatably mounted on the rotating base 21. The upper swing assembly and the lower swing assembly are centrally symmetrical about the rotating base 21. The rotation axes of the upper swing assembly and the lower swing assembly are parallel and both are oriented horizontally. The upper actuator base 22 is rotatably mounted on the upper end of the upper swing assembly, and the lower actuator base 23 is rotatably mounted on the lower end of the lower swing assembly.

[0032] The upper swing assembly includes two upper connecting rods 24, and the lower swing assembly includes two lower connecting rods 25. The upper ends of the two upper connecting rods 24 are rotatably connected to the upper actuator base 22 and the lower ends are rotatably connected to the rotating base 21. The two upper connecting rods 24 are arranged in parallel and spaced apart. The lower ends of the two lower connecting rods 25 are rotatably connected to the lower actuator base 23 and the upper ends are rotatably connected to the rotating base 21. The two lower connecting rods 25 are arranged in parallel and spaced apart. The rotation drive device 26 is drivenly connected to the rotating base 21. The swing drive device 27 is drivenly connected to the upper swing assembly and the lower swing assembly respectively.

[0033] The upper spraying actuator 41 is mounted on the upper actuator base 22, and the lower spraying actuator is mounted on the lower actuator base 23.

[0034] The cable parallel mechanism includes multiple cable assemblies 30. Each cable assembly 30 includes a cable 31, a pulley block 32, and a cable drive device 33. One end of each cable 31 is connected to the moving platform 10, and the other end is connected to the cable drive device 33 via the pulley block 32. Every two cable assemblies 30 form a traction group. The two cables 31 of each traction group are parallel to each other in the portion between the pulley block and the moving platform 10. The two cables of each traction group are centrally symmetrically arranged at the connection point of the moving platform 10 at the center in the horizontal direction about the moving platform 10. There are at least three traction groups.

[0035] Specifically, multiple rope assemblies 30 pull the moving platform 10 in different directions. The rope parallel mechanism drives multiple ropes 31 through multiple rope drive devices 33 to adjust the horizontal direction and height of the moving platform 10. The frame-type robotic arm 20 drives the rotating base 21 to rotate relative to the moving platform 10 in the vertical direction through the rotation drive device 26 to adjust the horizontal orientation of the upper spraying actuator 41 and the lower spraying actuator. The frame-type robotic arm 20 adjusts the height of the upper spraying actuator 41 and the lower spraying actuator and the distance between them and the rotating base 21 in the horizontal direction by swinging the upper swing assembly and the lower swing assembly, so that the upper spraying actuator 41 and the lower spraying actuator can reach any position in the cargo oil tank 2.

[0036] For example, when spraying on the side wall of cargo oil tank 2, the moving platform 10 is moved to a position close to the side wall of cargo oil tank 2 by the traction of the cable parallel mechanism, the lower swing assembly tilts and extends in the corresponding direction, and the lower spraying actuator performs spraying. When spraying the ceiling of cargo oil tank 2, the moving platform 10 is moved to a position close to the ceiling of cargo oil tank 2 by the traction of the cable parallel mechanism, the upper swing assembly stands upright, and the upper spraying actuator 41 performs spraying.

[0037] According to an embodiment of the present invention, a robotic painting system 1 employing a cable-parallel mechanism to connect a frame-type robotic arm is provided. By setting up a frame-type robotic arm 20 and the cable-parallel mechanism, the cable-parallel mechanism drives the frame-type robotic arm 20 to adjust its horizontal position and height. The swinging and rotating of the frame-type robotic arm 20 adjusts the orientation, height, and horizontal position of the painting actuator, enabling the painting actuator to move to various positions within the cargo oil tank 2 and other spaces to perform painting operations on various parts of the inner surface of the cargo oil tank 2 and other spaces. Moreover, by using the frame-type robotic arm 20 and the cable-parallel robotic arm to drive the painting actuator, parts of the cable-parallel mechanism such as ropes 31 and pulleys, and parts of the frame-type robotic arm 20 such as connecting rods, can be easily assembled after passing through the inlet and outlet of the cargo oil tank 2, avoiding the problem that large motion platforms and other machinery have difficulty entering the cargo oil tank 2.

[0038] Furthermore, by using a frame-type robotic arm 20 and a cable parallel structure to achieve position adjustment of the spraying actuator, compared with the manual spraying method of erecting scaffolding in related technologies, the process of erecting scaffolding can be eliminated, reducing the workload of erection, saving erection time, and avoiding damage to the finished paint during the erection of scaffolding. It also reduces damage to the finished paint during the disassembly and assembly of parts, shortens the operation cycle, and improves operational reliability.

[0039] Furthermore, by having the upper swing assembly include two upper connecting rods 24 and the lower swing assembly include two lower connecting rods 25, with the two upper connecting rods 24 arranged in parallel and spaced apart, and the two lower connecting rods 25 arranged in parallel and spaced apart, it is convenient to construct a frame-type robotic arm, which facilitates the passage of the parts of the frame-type robotic arm 20 through the inlet and outlet of the cargo oil tank 2. Moreover, the connecting rods can be used to form a parallelogram linkage mechanism, which facilitates the driving of the upper swing assembly and the lower swing assembly. In addition, the actuator base can be kept parallel to the rotating base 21, which helps to ensure the spraying angle of the spraying actuator.

[0040] Furthermore, by arranging the upper swing assembly and the lower swing assembly in a centrally symmetrical manner about the rotating base 21, the gravitational torques of the upper swing assembly and the lower swing assembly can cancel each other out at the moving platform 10, reducing the holding torque and energy consumption required for rotation of the swing drive device 27, improving the stability of the frame-type robotic arm 20, and thus improving the stability of the spraying actuator.

[0041] Furthermore, by making the two ropes 31 of each traction group parallel to each other at the portion between the pulley group and the moving platform 10, and by centrally symmetrically arranging the two ropes of each traction group at the connection point of the moving platform 10 at the center in the horizontal direction about the moving platform 10, the two ropes 31 of each traction group can pull the moving platform 10 in parallel, and the torques of the two ropes 31 of each traction group on the moving platform 10 can cancel each other out. Through the synchronous release and retraction of the two ropes 31 in each traction group, it is easy to keep the moving platform 10 horizontal during movement, avoid the frame-type robotic arm 20 from swaying, and thus improve the stability of the spraying actuator.

[0042] Furthermore, by setting at least three of the aforementioned traction groups, the cable parallel mechanism can be facilitated to drive the moving platform 10 from at least three directions, making it easy to move the moving platform 10 to various horizontal positions within the cargo oil tank 2.

[0043] Therefore, the robot painting system 1 using a cable parallel mechanism and a series frame robotic arm according to the embodiments of the present invention has the advantages of saving time and effort, high reliability, and good stability.

[0044] The following description, with reference to the accompanying drawings, describes a robotic painting system 1 employing a cable parallel mechanism and a series frame robotic arm, according to a specific embodiment of the present invention.

[0045] In some specific embodiments of the present invention, such as Figures 1-5 As shown, the robot painting system 1 of the present invention, which employs a cable parallel mechanism to connect a frame-type robotic arm, includes a moving platform 10, a frame-type robotic arm 20, an upper spraying actuator 41, a lower spraying actuator, and a cable parallel mechanism.

[0046] Advantageously, such as Figure 1 and Figure 2 As shown, the moving platform includes an upper frame 11 and a lower frame 12. There are four traction groups arranged in pairs, each opposite to the other. Two of the opposite traction groups are connected to one of the upper frame 11 and the lower frame 12, and the other two opposite traction groups are connected to the other of the upper frame 11 and the lower frame 12. Both the upper frame 11 and the lower frame 12 are square frames. The connection points of the two ropes 31 of each traction group on the moving platform 10 are located at opposite ends of the diagonal of the square frame. This allows the moving platform 10 to be pulled from four directions using the four traction groups. Furthermore, by placing the ropes 31 of the opposite traction groups on a single frame, the ropes 31 of the non-opposite traction groups are staggered vertically, preventing interference between them.

[0047] Specifically, such as Figure 1 and Figure 4 As shown, the pulley block 32 includes a pulley block base 321, a guide pulley 322, a cable delivery pulley base 323, and a cable delivery pulley 324. The guide pulley 322 is rotatably mounted on the pulley block base 321 with its rotation axis oriented horizontally. The cable delivery pulley base 323 is rotatably mounted on the pulley block base 321 with its rotation axis oriented vertically. The cable delivery pulley 324 is rotatably mounted on the cable delivery pulley base 323 with its rotation axis oriented horizontally. This allows the guide pulley 322 to initially orient the rope 31, and the cable delivery pulley 324 to further guide the rope 31. The relative rotation between the cable delivery pulley base 323 and the pulley block base 321 allows for adjustment of the azimuth angle of the cable delivery pulley 324, ensuring that the cable delivery pulley 324 always follows the swing of the rope 31, guaranteeing that the portion of the cable delivery pulley 324 and the rope 31 between the cable delivery pulley 324 and the moving platform 10 is coplanar.

[0048] Specifically, such as Figure 4 As shown, the guide pulley 322 is mounted on the pulley block seat 321 via the guide pulley seat 325. This facilitates the installation of the guide pulley 322.

[0049] More advantageously, such as Figure 1 As shown, the imaginary line segment connecting the two ropes 31 of each traction group at the connection point of the moving platform 10 is parallel to and equal in length to the imaginary line segment connecting the two output pulleys 324 of the traction group. This facilitates the formation of a parallelogram mechanism between the two ropes 31 and the pulley group 324 and the moving platform 10, thereby facilitating synchronous parallel traction of the moving platform 10. Furthermore, it helps to keep the moving platform 10 horizontal during its movement, improving its stability and thus further enhancing the stability of the spraying actuator.

[0050] Optionally, such as Figure 1 As shown, the rope drive unit 33 is suitable for installation on the floor, and the pulley block 32 is suitable for installation on the wall and adjacent to the ceiling. This facilitates the installation of the rope parallel mechanism and allows the rope parallel mechanism to traction the moving platform 10.

[0051] Figure 3 and Figure 5 A robotic painting system 1 employing a cable-parallel mechanism and a series frame-type robotic arm is shown according to some examples of the present invention. For example... Figure 5 As shown, the rope drive device 33 includes a rope drive motor 331 and a winding drum 332. The winding drum 332 is connected to the motor shaft of the rope drive motor 331 via a reducer 333. The end of the rope 31 away from the moving platform is connected to the winding drum 332 and wound on it. Thus, the rope 31 can be wound and unwound by the rope drive motor 331 driving the winding drum 332 to wind or unwind it.

[0052] Specifically, such as Figure 5 As shown, the motor shaft of the rope drive motor 331 is connected to the reducer 333. The reducer 333 is connected to the winding drum 332 via the coupling 334. The end of the rotating shaft of the winding drum 332 away from the rope drive motor 331 is provided with a bearing seat 336 to improve the stability of the rotation of the winding drum 332. The end of the rope drive motor 331 away from the winding drum 332 is provided with an encoder 335 to facilitate closed-loop control, thereby further facilitating the synchronous control of multiple rope drive motors 331.

[0053] Specifically, such as Figure 3 As shown, the swing drive device 27 includes a swing drive motor 271 and a gear set 272. The swing drive motor 271 is connected to two upper connecting rods 24 and two lower connecting rods 25 via the gear set 272. For example, the motor shaft of the swing drive motor 271 can be connected to a driving gear, and each upper connecting rod 24 and each lower connecting rod 25 can be connected to a driven gear, with the driving gear meshing with four driven gears respectively. This facilitates synchronous driving of the four connecting rods, ensuring that the upper and lower swing components maintain central symmetry during swinging to counteract gravitational torque.

[0054] More specifically, such as Figure 3 As shown, the rotation drive device 26 is a rotation drive motor, which is mounted on the moving platform 10 and its shaft is connected to the rotating base 21 for transmission. This facilitates the rotation drive of the rotating base 21.

[0055] Optionally, the upper spraying actuator and the lower spraying actuator can be a spray gun, a multi-axis spraying robot, or a protective cage for operators. All of these can enable spraying operations on the cargo oil tank 2.

[0056] Figure 1 and Figure 2 The diagram shows an embodiment where the upper spraying actuator 41 is an operator protective cage, allowing the spraying operator to perform spraying operations on the inner surface of the cargo oil tank 2 from inside the operator protective cage.

[0057] Advantageously, the upper spraying actuator 41 and the lower spraying actuator are equipped with suction cups. This allows the suction cups to adhere to the wall or ceiling of the cargo oil tank 2, thereby further improving the stability of the spraying actuators during spraying operations.

[0058] Other configurations and operations of the robot painting system 1 using a cable parallel mechanism and a series frame robotic arm according to embodiments of the present invention are known to those skilled in the art and will not be described in detail here.

[0059] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0060] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A robotic painting system employing a cable-parallel mechanism and a series-frame robotic arm, characterized in that, include: Dynamic platform; A frame-type robotic arm includes a rotating base, an upper actuator base, a lower actuator base, an upper swing assembly, a lower swing assembly, a rotation drive device, and a swing drive device. The rotating base is rotatably mounted on a moving platform with its rotation axis oriented vertically. The lower end of the upper swing assembly is rotatably mounted on the rotating base, and the upper end of the lower swing assembly is rotatably mounted on the rotating base. The upper and lower swing assemblies are centrally symmetrical about the rotating base, and their rotation axes are parallel and both oriented horizontally. The upper actuator base is rotatably mounted on the upper swing assembly. The upper end of the moving assembly, the lower actuator base is rotatably disposed at the lower end of the lower swing assembly, the upper swing assembly includes two upper connecting rods, the lower swing assembly includes two lower connecting rods, the upper ends of the two upper connecting rods are rotatably connected to the upper actuator base and the lower ends are rotatably connected to the rotating base, the two upper connecting rods are arranged in parallel and spaced apart, the lower ends of the two lower connecting rods are rotatably connected to the lower actuator base and the upper ends are rotatably connected to the rotating base, the two lower connecting rods are arranged in parallel and spaced apart, the rotation drive device is drivenly connected to the rotating base, and the swing drive device is drivenly connected to the upper swing assembly and the lower swing assembly respectively; An upper spraying actuator and a lower spraying actuator, wherein the upper spraying actuator is mounted on the upper actuator base and the lower spraying actuator is mounted on the lower actuator base; A cable parallel mechanism includes multiple cable assemblies. Each cable assembly includes a cable, a pulley system, and a cable drive device. One end of each cable is connected to the moving platform, and the other end is connected to the cable drive device via the pulley system. Every two cable assemblies form a traction group. The two cables of each traction group are parallel to each other at the portion between the pulley system and the moving platform. The two cables of each traction group are centrally symmetrically arranged at the connection point of the moving platform at the center of the horizontal direction about the moving platform. There are at least three traction groups. The swing drive device includes: Oscillating drive motor; The gear set is used to drive the oscillating motor, which is connected to the two upper connecting rods and the two lower connecting rods respectively.

2. The robotic painting system employing a cable-parallel mechanism and a series frame-type robotic arm as described in claim 1, characterized in that, The moving platform includes an upper frame and a lower frame. There are four traction groups arranged in pairs opposite each other. Two of the opposite traction groups are connected to one of the upper frame and the lower frame, and the other two opposite traction groups are connected to the other of the upper frame and the lower frame. The upper frame and the lower frame are both square frames. The connection point of the two ropes of each traction group on the moving platform is located at the two ends of the diagonal of the square frame.

3. The robotic painting system employing a cable-parallel mechanism and a series frame-type robotic arm as described in claim 1, characterized in that, The pulley system includes: Pulley block base; A guide pulley, which is rotatably mounted on the pulley block base and whose axis of rotation is oriented in the horizontal direction; A cable-out pulley seat, which is rotatably mounted on the pulley block seat and whose rotation axis is oriented in the vertical direction; A cable-exiting pulley is rotatably mounted on a cable-exiting pulley seat, with its rotation axis oriented in the horizontal direction.

4. The robotic painting system employing a cable-parallel mechanism and a series frame-type robotic arm as described in claim 3, characterized in that, The imaginary line segment connecting the two ropes of each traction group at the connection point of the moving platform is parallel to and equal in length to the imaginary line segment connecting the two exit pulleys of the traction group.

5. The robotic painting system employing a cable-parallel mechanism and a series frame-type robotic arm as described in claim 1, characterized in that, The rope drive is adapted to be installed on the floor, and the pulley assembly is adapted to be installed on the wall and adjacent to the ceiling.

6. The robotic painting system employing a cable-parallel mechanism and a series frame-type robotic arm as described in claim 1, characterized in that, The rope drive device includes: Rope-driven motor; A winding drum is connected to the motor shaft of the rope drive motor via a reducer. The end of the rope away from the moving platform is connected to the winding drum and wound on the winding drum.

7. The robot painting system employing a cable-parallel mechanism and a series frame-type robotic arm as described in claim 1, characterized in that, The rotation drive device is a rotation drive motor, which is mounted on the moving platform and the motor shaft is connected to the rotating base for transmission.

8. The robotic painting system employing a cable-parallel mechanism and a series frame-type robotic arm as described in claim 1, characterized in that, The upper spraying actuator and the lower spraying actuator are spray guns, multi-axis spraying robots, or operator protective cages.

9. The robotic painting system employing a cable-parallel mechanism and a series frame-type robotic arm as described in claim 1, characterized in that, The upper spraying actuator and the lower spraying actuator are equipped with suction cups.

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