Stiff-flexible coupling multi-dimension intelligent spraying robot

Abstract

The present application relates to the field of spraying robots, in particular to a rigid-flexible coupling multi-dimensional intelligent spraying robot. It comprises a main frame, a cross coordinate mechanism, a translation platform, a rotation platform, a spray gun, a movable frame, a driving device, a flexible cable group and a movable pulley device. The main frame is the frame of the spraying robot. The flexible cable group is used to connect the driving device and the translation platform and the rotation platform, realizing five degrees of freedom of the end effector spray gun. The driving device provides power for the flexible cable. The movable frame and the movable pulley device can realize the movement of the pulley group in the vertical and horizontal directions. The cross coordinate mechanism can expand the working space of the end effector and ensure a certain stiffness. The spraying robot realizes the three degrees of freedom of the end effector welding gun and the two degrees of freedom of rotation through the flexible cable, and at the same time realizes the spraying work of the spray gun, solves the problem of slow speed and dexterity, can deal with complex curved surfaces, and sprays irregular shaped materials, greatly improving the adaptability of the spraying equipment.

Description

Technical Field

[0001] This invention relates to the field of spraying robots, specifically to a rigid-flexible coupled multi-dimensional intelligent spraying robot. Background Technology

[0002] Traditional manual spraying often results in low paint utilization, uneven surface coating, and low work efficiency. Furthermore, spraying work poses significant health risks to workers. With the development of spraying technology, the application of spraying robots has become increasingly widespread. These robots can replace workers in extremely harsh environments such as high-risk, high-heat, high-pressure, and frigid conditions, and also expand the working range of the spray gun. By replacing workers in performing routine and repetitive tasks, spraying robots can improve productivity and coating quality.

[0003] Currently, painting robots are increasingly being used in numerous industrial fields. Common painting robots are mainly divided into serial painting robots and parallel painting robots. Because the drive units of serial robots are mounted on each joint, the moment of inertia of the device is relatively large, and errors accumulate between joints, thus preventing high-speed, high-precision movement. Compared to serial robots, the main advantages of parallel robots are: no accumulated errors, higher precision; compact structure, high rigidity, and large load-bearing capacity. However, parallel structures generally suffer from large structural dimensions but small workspace and too many joints, thus requiring a painting robot with a large workspace.

[0004] Patent searches revealed the following known technical solutions:

[0005] Chinese patent document number "CN209078735U" proposes a rope-traction parallel spraying robot for the outer surface of a ship. The robot controls the pitch angle of the spray gun and the overall up-and-down movement through the rope. It can be used for spraying the curved surface of the ship. However, this method cannot guarantee the stability of the spray gun during the spraying process. The spray gun is easily shaken by the reverse thrust of the spraying and the swaying of the rope.

[0006] Chinese patent document number "CN111287417A" proposes an intelligent spraying robot for the exterior walls of high-rise buildings. The robot can move vertically on the wall by using a winch and suction feet, which improves the efficiency and quality of spraying. However, this method requires laying a long guide rail on the top floor, and this spraying method can only be applied to flat exterior walls and cannot be used for spraying curved surfaces.

[0007] Therefore, a spraying device capable of stable spraying and applicable to complex curved surfaces is needed. This invention designs a flexible cable parallel-driven rigid-flexible coupling spraying robot, which uses flexible cable traction to drive the end effector, replacing the rigid drive of the traditional rigid parallel mechanism. Therefore, the flexible cable parallel-driven robot has the characteristics of high operating speed, strong load capacity, and low inertia, enabling the device to flexibly adapt to spraying work on complex planes. Summary of the Invention

[0008] To overcome the shortcomings of the prior art, this invention provides a flexible-rope parallel-driven rigid-flexible coupling spraying robot, which is characterized by its ability to resist the reverse thrust during spraying operations and to spray complex curved surfaces, greatly improving the adaptability of spraying equipment.

[0009] To achieve the above objectives, the present invention adopts the following design scheme:

[0010] A rigid-flexible coupled multi-dimensional intelligent spraying robot includes: a main frame 1, a cross coordinate mechanism 2, a translational platform 3, a rotating platform 4, a spray gun 5, a movable frame 6, a drive unit 7, a flexible cable assembly 8, and a movable pulley device 9. The specific connection relationships are as follows:

[0011] A movable frame 6 is provided on the side of the main frame 1, and the movable frame 6 moves up and down along the vertical direction of the main frame 1. A movable pulley device 9 is provided on the movable frame 6, and the movable pulley device 9 moves back and forth along the length direction of the movable frame 6. A cross coordinate mechanism 2 is movably connected to the top of the main frame 1, and a translational platform 3 is connected below the cross coordinate mechanism 2. A rotating platform 4 is connected to the lower part of the translational platform 3. A spray gun 5 is fixedly installed below the rotating platform 4. Two sets of drive devices 7 are provided at the top (upper base plate 102) and the bottom (lower base plate 104) of the main frame 1. Flexible cable groups 8 are provided between the first set of drive devices 7 and the translational platform 3, and between the second set of drive devices 7 and the rotating platform 4. The driving force of the drive devices 7 located at the top (upper base plate 102) of the main frame 1 is transmitted to the translational platform 3 through the flexible cable group 8 located at the top (upper base plate 102) of the main frame 1, so as to make it move. When the translational platform 3 moves horizontally, the cross coordinate mechanism 2 connected to the translational platform 3 also moves accordingly. This structure provides the painting robot with a larger working space in the horizontal direction, increases its rigidity, and improves its stability.

[0012] To elaborate further: The flexible cable group 8 consists of 12 flexible cables. Eight of these cables, 801, are connected to the translational platform 3 via the drive device 7 and four pulley groups A105 at the top of the main frame 1. Each pair of cables forms a group. During movement, each group of cables always maintains the shape of a parallelogram, restricting rotational freedom and allowing only translational freedom along the X, Y, and Z axes. The other four cables, B802 and C803, are connected to the rotating platform 4 via the drive device 7 and four pulley groups B613 and C908 of the movable frame 6. This allows the rotating platform to rotate within a certain angle range under the drive of the cables, enabling the painting robot to complete the painting work.

[0013] Furthermore, the main frame 1 consists of an outer frame A101, an upper base plate 102, anti-detachment pulleys 103, a lower base plate 104, and a pulley block A105. The outer frame A101 is the largest area of ​​movement for the entire painting robot. It is constructed from 40×40 aluminum profiles, each 1000mm long and 200mm wide, connected by angle brackets, T-nuts, and hex bolts. The outer frame A101 is rectangular. A lower base plate 104 is located on the bottom surface of the outer frame A101. An upper base plate 102 is located inside the outer frame A101 above the lower base plate 104. Both the upper base plate 102 and the lower base plate 104 can be used to mount the drive unit 7.

[0014] The anti-derailment pulley 103 is installed on the upper base plate 102. In a preferred embodiment, two anti-derailment pulleys 103 are provided and symmetrically installed below the upper base plate 102 to prevent the flexible rope on the rope winding mechanism from derailing.

[0015] At each of the four corners of the top surface of the outer frame A101, there is a pulley block A105. The preferred solution is that there are four 45° beveled aluminum profiles on the upper part of the frame for installing the pulley block A105 and guiding the flexible cable.

[0016] Furthermore, the cross coordinate mechanism 2 consists of an outer frame B201, linear guide rails A202, sliders A203, connecting blocks 204, and connecting plates 205. The outer frame B201 is square or rectangular, composed of four identical aluminum profiles, and is installed on the top of the main frame 1. A linear guide rail A202 is provided on a set of symmetrical sides of the outer frame B201. A slider A203 is provided on each of the aforementioned linear guide rails A202. The aforementioned two sliders A203 are simultaneously connected to a connecting plate 205. A third linear guide rail A202 is provided on the connecting plate 205, and a third slider A203 is provided on this linear guide rail A202, which is connected to the connecting block 204. In use, the cross coordinate mechanism 2 moves along with the translational platform 3 driven by the drive device 7 driving the flexible cable assembly 8, giving the painting robot a larger working space in the horizontal direction and increasing the rigidity and stability of the painting robot.

[0017] Furthermore, the movable frame 6 is composed of a square sleeve 601, an outer frame C602, a shaft seat 603, a guide rod 604, a ball screw A605, a fixing block 606, a connecting block 607, a servo motor A608, a reducer 609, a bevel gear set 610, a gear seat 611, a synchronous belt 612, and a fixed pulley 613.

[0018] There are four outer frames C602. The outer frames C602 are U-shaped. Every two outer frames C602 are connected together by connecting blocks 607 to form an outer frame C assembly. Fixed pulleys 613 are installed between two outer frames C602. A square sleeve 601 is provided at each of the four corners of the outer frame C assembly. The outer frame C assembly is connected to the main frame 1 by the square sleeves 601.

[0019] Two bearing seats 603 are provided, diagonally mounted on the lower base plate 104 of the main frame 1. Two connecting blocks 607 are provided, respectively fixed between the two outer frames C602, on the same side as the bearing seats 603. Two fixing blocks 606 are provided, mounted on the upper part of the main frame 1, on the same side as the bearing seats 603. The guide rod 604 and the ball screw A605 are mounted on the bearing seats 603 at their lower ends, connected by the connecting blocks 607 in the middle, and mounted on the fixing blocks 606 at their upper ends.

[0020] Servo motor A608 is fixedly mounted on the lower base plate 104 of the main frame 1. Reducer 609 is connected to servo motor A608, and reducer 609 is connected to bevel gear set 610 via a coupling. Bevel gear 610 is mounted on gear seat 611, and the gear on bearing seat 603 is connected to bevel gear set 610 via synchronous belt 612. Servo motor A608 drives bevel gear set 610, which, through synchronous belt 612, drives ball screw A605, allowing the outer frame C602 to move vertically.

[0021] Furthermore, the movable pulley device 9 consists of a stepper motor 901, a coupling 902, a support 903, a base 904, a connecting seat 905, a slider B906, a ball screw B907, a pulley block B908, a fixed seat 909, and a linear guide rail B910. The ball screw B907 is connected to the stepper motor 901 via the coupling 902. The fixed seat 909 is mounted on the aluminum profile of the movable frame 6. The ball screw B907 facing the stepper motor 901 is connected to the support 903. The lower part of the support 903 is connected to the aluminum profile of the movable frame 6 via the base 904. The middle of the ball screw B907 passes through the slider B906, and the other end of the ball screw B907 is mounted on the fixed seat 909. Linear guide rail B910 is mounted on the aluminum profile of movable frame 6, slider B906 is mounted on linear guide rail B910, slider B906 is connected to connecting seat 905 above, and pulley block B908 is fixedly mounted on connecting seat 905.

[0022] Stepper motor 901 drives ball screw B907, enabling pulley block B908 to reciprocate along ball screw B907. Through movable frame 6 and movable pulley device 9, pulley block B908 can move vertically and horizontally, allowing flexible cables B802 and C803 to drive rotating platform 4 via pulley block B908, thereby driving spray gun 5 to complete complex movements and enhancing the dexterity of the painting robot. Furthermore, before painting, pulley block B908 can move towards base 904, allowing the workpiece to be painted to enter the painting area, facilitating the painting operation.

[0023] Furthermore, the drive unit 7 consists of a rope winding mechanism A701 and a rope winding mechanism B702. There are four rope winding mechanisms A701, fixed at the four corners of the upper base plate 102 of the main frame 1, which control the movement of the translational platform 3 via the drive rope 801. The rope winding mechanisms B702 are fixed on the four sides of the lower base plate 104 of the main frame 1. The structures of rope winding mechanisms A701 and B702 differ only in the drum; everything else is the same. The positions of rope winding mechanisms A701 and B702 are staggered, making the rope arrangement more reasonable and avoiding interference between the ropes. The movement of the rotating platform 4 is controlled by the drive ropes B802 and C803.

[0024] Furthermore, the roll mechanism A701 consists of a roll base 711, a roll 712, a coupling 713, a servo motor B714, and a servo motor mount 715. The roll base 711 and the servo motor mount 715 are bolted to the base plate. The roll 712 is mounted on the roll base 711 via rolling bearings and connected to the servo motor B714 via the coupling 713. The forward and reverse rotation of the servo motor B714 drives the roll 712 to rotate via the coupling 713, which in turn drives the flexible cable to move, enabling the end effector spray gun 5 to complete the spraying operation.

[0025] Furthermore, the flexible cable group 8 includes: flexible cable A801, flexible cable B802, and flexible cable C803. The lower end of flexible cable A801 ​​is connected to the rope winding mechanism A701 of the drive device 7, and after passing through the pulley group A105 of the main frame 1, its upper end is connected to the lifting ring of the translational platform 3. There are a total of 8 flexible cables A801, arranged in pairs, maintaining a parallelogram structure to prevent rotational freedom of the translational platform 3. The lower end of flexible cable B802 is connected to the rope winding mechanism B702 of the drive device 7, and after passing through the pulley group B908 of the movable pulley device 9, its upper end is connected to the lifting ring 404 of the rotating platform 4. The lower end of flexible cable C803 is connected to the rope winding mechanism B702 of the drive device 7, and after passing through the fixed pulley 613 of the movable frame 6, its upper end is connected to the lifting ring 404 of the rotating platform 4. The flexible cable B802 can move horizontally along the linear guide rail B910, and the flexible cable C803 cooperates to control the rotational degrees of freedom of the end effector spray gun 5 around the X and Y axes.

[0026] Furthermore, the translational platform 3 consists of a connecting seat 301, a translational plate 302, lifting rings 303, and a spring rod 304. The connecting seat 301 is fixed to the top of the translational plate 302 with screws and is connected to the connecting block 204 of the cross coordinate mechanism 2. There are eight lifting rings 303, arranged in pairs, installed on the side of the translational plate 302. The spring rod 304 is fixed directly below the translational plate 302. The lifting rings 303 are connected to the flexible cable A801 ​​in the flexible cable assembly 8, and the flexible cable is extended and retracted by the drive device 7, causing the translational platform 3 to move in the horizontal direction.

[0027] Furthermore, the spring rod 304 consists of an upper rod 311, an internal spring 312, and a lower rod 313. When the upper rod 311 and lower rod 313 are at their longest lengths, the internal spring 312 is at its original length. The spring rod 304 extends and retracts with the spraying position, and the downward thrust generated by the internal spring 312 can resist the counter-thrust generated by the spray gun 5 during spraying, making the spraying process more stable.

[0028] Furthermore, the rotating platform 4 consists of a ball joint 401, a ball joint support 402, a rotating plate 403, and lifting rings 404. The ball joint 401 is mounted on the ball joint support 402, and its upper end is connected to the spring rod 304 of the translational platform 3. The ball joint support 402 is fixed to the rotating plate 403 with screws. There are four lifting rings 404, which are installed at the four corners of the rotating plate 403. The spray gun 5 is welded to the rotating platform 4. Thus, the translational degree of freedom realized by the translational platform 3 is realized on the spray gun 5 welded to the rotating platform 4, so that the end effector spray gun has three translational degrees of freedom and two rotational degrees of freedom around the X and Y directions, for a total of five degrees of freedom. The flexible cables B802 and C803 in the flexible cable group 8 control the rotating platform 4 and also control the end effector spray gun 5, thus playing a role in constraining the structure and adjusting the attitude.

[0029] Furthermore, the rigid-flexible coupled multi-dimensional intelligent painting robot is equipped with sensors, including wire displacement sensors, angular velocity sensors, force sensors, and vision sensors. There are four wire displacement sensors, mounted on drive unit 7 connected to flexible cable A801. There are four angular velocity sensors, mounted on drive unit 7 connected to flexible cables B802 and C803. There are eight force sensors, mounted on flexible cables A801, B802, and C803 respectively. There is one vision sensor, placed on the vertical profile of the main frame 1. All these sensors are connected to the industrial control computer via the feedback input terminal of the motion control card. The spray gun 5 at the output end of the rigid-flexible coupled multi-dimensional intelligent painting robot, driven by parallel flexible cables, is connected to the motion control circuit.

[0030] Furthermore, the driving method for the rigid-flexible coupled multi-dimensional intelligent spraying robot described in this invention is as follows:

[0031] Step 1: Initialize the system.

[0032] Step 2: Turn on the sensor unit to detect the real-time status of various sensors installed on the painting robot and the feedback signals.

[0033] Step 3: The host computer determines the location of the main area of ​​the workspace based on the workpiece's position parameters, and moves the workpiece to be sprayed to a suitable height.

[0034] Step 4: Input the shape and orientation parameters of the workpiece to be coated into the host computer for analysis.

[0035] Step 5: Based on the approximate shape and posture parameters of the workpiece to be coated, adjust the position of the cable outlet under the control of the host computer to adapt to the processing requirements of workpieces of different shapes and sizes.

[0036] Step 6: The drive device 7 drives the flexible cable group 8 to change its length, thereby controlling the movement of the translational platform 3 and the rotating platform 4.

[0037] Step 7: During the movement of the translational platform 3 and the rotating platform 4, the spray gun 5 follows their movement and completes the spraying task within the currently feasible workspace. Force sensors, angle sensors, etc., collect data and output it to the host computer, thereby controlling the drive device to adjust according to the end effector's movement, ensuring that there is no interference or other factors affecting the movement.

[0038] The present invention discloses a rigid-flexible coupled multi-dimensional intelligent spraying robot. The device is composed of different modules and has an overall size of 1 meter in length, 1 meter in width, and 1.2 meters in height.

[0039] The advantages of this invention are:

[0040] This invention presents a cable-driven painting robot that uses a cable to drive the end effector, enabling it to easily handle painting complex curved surfaces and solving the problems of slow response speed and dexterity.

[0041] This invention employs a movable frame and a movable pulley device, which enables the pulley block to move in both the vertical and horizontal directions. By changing the position of the cable exit point, complex actions of the end effector can be achieved, thereby improving the dexterity of the spraying device.

[0042] This invention uses a spring rod to connect the translational platform and the rotating platform. By rationally arranging the springs, the springs can be used to resist the thrust generated by the nozzle during the spraying operation, thereby improving the stability of the spraying operation.

[0043] The driving devices of the present invention are respectively arranged on the upper and lower base plates. By reasonably arranging the driving devices, mutual interference between the flexible cables can be avoided.

[0044] In this invention, the eight flexible cables connected to the translational platform are arranged in pairs and maintain a parallelogram shape, which can limit the rotational freedom of the translational platform and make the cable drive more stable. Attached Figure Description

[0045] Figure 1 This is a schematic diagram of the spraying robot structure of the present invention;

[0046] Figure 2 This is a schematic diagram of the main framework of the present invention;

[0047] Figure 3 This is a schematic diagram of the cross coordinate mechanism of the present invention;

[0048] Figure 4 This is a schematic diagram of the movable frame of the present invention;

[0049] Figure 5 This is a schematic diagram of the movable pulley device of the present invention;

[0050] Figure 6 This is a schematic diagram of the structure of the driving device of the present invention;

[0051] Figure 7 for Figure 6 A schematic diagram of the lower center drive unit;

[0052] Figure 8 for Figure 6 Schematic diagram of the middle winding rope mechanism;

[0053] Figure 9 This is a schematic diagram of the flexible cable assembly (translational) of the present invention;

[0054] Figure 10 This is a schematic diagram of the flexible cable assembly (rotating) of the present invention;

[0055] Figure 11 This is a schematic diagram of the translational platform of the present invention;

[0056] Figure 12 for Figure 11 Schematic diagram of the middle spring rod;

[0057] Figure 13 This is a schematic diagram of the rotating platform of the present invention;

[0058] Figure 14 This is a flowchart of the process of the present invention.

[0059] Reference numerals: 1. Main frame; 2. Cross coordinate mechanism; 3. Translational platform; 4. Rotating platform; 5. Spray gun; 6. Movable frame; 7. Drive device; 8. Flexible cable assembly; 9. Movable pulley assembly; 101. Outer frame; 102. Upper base plate; 103. Anti-detachment pulley; 104. Lower base plate; 105. Pulley assembly; 105. Outer frame; 201. Linear guide rail; 202. Slider; 203. Connecting block; 204. Connecting plate; 205. Square sleeve; 601. Outer frame; 602. Shaft seat; 603. Guide rod; 604. Ball screw; 605. Fixing block; 606. Connecting block; 607. Servo motor; 608. Reducer; 609. Bevel gear assembly; 610. Gear seat; 611. Synchronous belt; 612. Fixed pulley; 6 13. Stepper motor 901, coupling 902, support base 903, base 904, connecting base 905, slider B906, ball screw B907, pulley block B908, fixed base 909, linear guide rail B910, rope winding mechanism A701, rope winding mechanism B702, drum base 711, drum 712, coupling 713, servo motor B714, servo motor base 715, flexible cable A801, flexible cable B802, flexible cable C803, connecting base 301, translational plate 302, lifting ring 303, spring rod 304, upper rod 311, built-in spring 312, lower rod 313, ball joint 401, ball joint support 402, rotating plate 403, lifting ring 404. Detailed Implementation

[0060] The embodiments of the present invention are described in detail below. These embodiments are implemented based on the technical solution of the present invention, and provide detailed implementation methods and specific operation processes. However, the scope of protection of the present invention is not limited to the following embodiments.

[0061] Combination Figure 1 A rigid-flexible coupled multi-dimensional intelligent spraying robot consists of a main frame 1, a cross coordinate mechanism 2, a translational platform 3, a rotating platform 4, a spray gun 5, a movable frame 6, a drive device 7, a flexible cable group 8, and a movable pulley device 9.

[0062] Furthermore, the main frame 1 is the framework of the entire painting robot, and all parts are directly or indirectly mounted on the main frame 1 in different ways. The drive device 7 is divided into two parts, which are mounted on the upper base plate and the lower base plate of the main frame, respectively. The drive device 7 on the upper base plate is used to drive the flexible cable assembly 8, so that the translation platform 3 moves. The drive device 7 on the lower base plate is used to drive the flexible cable assembly 8, so that the rotation platform 4 moves. The setting of the upper and lower base plates and the allocation of the installation positions of the drive devices can reasonably distribute the position of the flexible cables and avoid interference between the flexible cables. The movable frame 6 is mounted on the aluminum profile in the vertical direction of the main frame 1. The ball screw is driven up and down by the forward and reverse rotation of the servo motor on the lower base plate, so that the movable frame 6 moves in the vertical direction. The movable pulley device 9 is mounted on the aluminum profile opposite to the movable frame 6. The ball screw is driven by the stepper motor, so that the pulley assembly moves back and forth on the linear guide rail. The cross coordinate mechanism 2 is mounted on the top of the main frame 1. As the drive device 7 drives the flexible cable assembly 8, the movable frame 6 moves in the vertical direction. The cable assembly 8 drives the translational platform 3 to move, giving the painting robot a larger working space in the horizontal direction and increasing its rigidity and stability. The translational platform 3 is installed at the lower part of the cross coordinate mechanism 2. The rotating platform 4 is connected to the lower part of the translational platform 3 via a ball joint. The spray gun 5 is fixedly installed below the rotating platform 4. The flexible cable assembly 8 has a total of 12 flexible cables. Eight flexible cables A801 ​​are connected to the translational platform 3 through the drive device 7 and four pulley groups A105 at the top of the main frame 1. Each pair of cables forms a group. During the movement, each group of flexible cables always maintains the shape of a parallelogram, restricting the rotational degree of freedom and only allowing translational degrees of freedom along the X, Y, and Z axes. The other four flexible cables B802 and C803 are connected to the rotating platform 4 through the drive device 7 and two pulley groups B908 and two fixed pulleys 613 of the movable frame 6, allowing the rotating platform to rotate within a certain angle range under the drive of the flexible cables, thus enabling the painting robot to complete the painting work.

[0063] Combination Figure 2 The main frame 1 consists of an outer frame A101, an upper base plate 102, anti-detachment pulleys 103, a lower base plate 104, and a pulley block A105.

[0064] Furthermore, the outer frame A101 is the largest area where the painting robot operates. The outer frame is constructed from 40×40 aluminum profiles with lengths of 1000mm and 200mm, and the profiles are connected by angle brackets, T-nuts, and hex bolts. The upper base plate 102 is installed on the first layer of aluminum profiles, and the lower base plate 104 is installed on the second layer of aluminum profiles. The drive unit 7 is installed on the upper and lower base plates. There are two anti-derailment pulleys 103, which are symmetrically installed below the upper base plate 102 to prevent the flexible cable on the rope winding mechanism from derailing. There are four 45° beveled aluminum profiles on the upper part of the frame for installing pulley group A105, which guides the flexible cable.

[0065] Combination Figure 3 The cross coordinate mechanism 2 consists of an outer frame B201, a linear guide rail A202, a slider A203, a connecting block 204, and a connecting plate 205.

[0066] Furthermore, the outer frame B201 is square, composed of four identical aluminum profiles, and is installed on top of the main frame 1; there are three linear guide rails A202, two of which are installed on the symmetrical aluminum profiles of the outer frame B201, and the other is installed on the connecting plate 205; there are three sliders A203, two of which are installed on the symmetrical linear guide rails A202, and the connecting plate 205 is installed on these two sliders A203 by screws, and the third slider A203 is installed on the middle linear guide rail A202; the connecting block 204 is installed on the middle slider A203 by screws. The cross coordinate mechanism 2 moves with the drive device 7 driving the flexible cable group 8 to move the translation platform 3, giving the painting robot a large working space in the horizontal direction, and increasing the rigidity and stability of the painting robot.

[0067] Combination Figure 4 The movable frame 6 is composed of a square sleeve 601, an outer frame C602, a shaft seat 603, a guide rod 604, a ball screw A605, a fixing block 606, a connecting block 607, a servo motor A608, a reducer 609, a bevel gear set 610, a gear seat 611, a synchronous belt 612, and a fixed pulley 613.

[0068] Furthermore, the outer frame C602 is composed of four identical aluminum profiles. The outer frame C602 and the square sleeve 601 are connected by angle brackets, T-nuts, and hex bolts. The outer frame C602 and the square sleeve 601 are installed on the aluminum profiles of the main frame 1 in the vertical direction. The outer frames C602 are connected by connecting blocks 607. Fixed pulleys 613 are symmetrically installed between the aluminum profiles of two outer frames C602. Two bearing seats 603 are provided, which are installed diagonally on the lower base plate 104 of the main frame 1. Two connecting blocks 607 are provided, which are fixed between the two outer frames C602 respectively, and connected to the bearing seats 603. 3. On the same side; two fixing blocks 606 are provided, installed above the main frame 1, on the same side as the bearing 603; the lower ends of the guide rod 604 and the ball screw A605 are installed on the bearing 603, the middle section is connected by a connecting block 607, and the upper ends are installed on the fixing blocks 606; the servo motor A608 is fixedly installed on the lower base plate 104 of the main frame 1, the reducer 609 is connected to the servo motor A608, the bevel gear set 610 is connected to the reducer 609 by a coupling, the bevel gear is installed on the gear seat 611, and the gear on the bearing 603 is connected to the bevel gear set 610 by a synchronous belt 612. The servo motor A608 drives the bevel gear set 610, which is transmitted through the synchronous belt 612, driving the ball screw A605 to move, so that the outer frame C602 can move in the vertical direction.

[0069] Combination Figure 5 The movable pulley device 9 consists of a stepper motor 901, a coupling 902, a support base 903, a base 904, a connecting base 905, a slider B906, a ball screw B907, a pulley block B908, a fixed base 909, and a linear guide rail B910.

[0070] Furthermore, the ball screw B907 is connected to the stepper motor 901 via a coupling 902. A fixed base 909 is mounted on the aluminum profile of the movable frame 6. One end of the ball screw B907 is connected to a support base 903, and the lower part of the support base 903 is connected to the aluminum profile of the movable frame 6 via a base 904. The ball screw B907 passes through a slider B906 in the middle, and the other end is mounted on the fixed base 909. A linear guide rail B910 is mounted on the aluminum profile of the movable frame 6, and the slider B906 is mounted on the linear guide rail B910. The top of the slider B906 is connected to a connecting base 905, and a pulley assembly B908 is fixedly mounted on the connecting base 905. The stepper motor 901 drives the ball screw B907, causing the pulley assembly B908 to reciprocate along the ball screw B907. The movable frame 6 and the movable pulley device 9 enable the pulley block B908 to move in both the vertical and horizontal directions. This allows the flexible cable B802 to drive the rotating platform 4 via the pulley block B908, thereby driving the spray gun 5 to complete complex actions and enhancing the dexterity of the painting robot. In addition, before the painting operation, the pulley block B908 can move towards the base 904, allowing the part to be painted to enter the painting area, thus facilitating the completion of the painting operation.

[0071] Combination Figure 6 , Figure 7 , Figure 8 The drive unit 7 consists of a rope winding mechanism A701 and a rope winding mechanism B702.

[0072] Furthermore, there are four rope winding mechanisms A701, fixed at the four corners of the upper base plate 102 of the main frame 1, which control the movement of the translational platform 3 by driving the flexible rope A801; the rope winding mechanism B702 is fixed on the four sides of the lower base plate 104 of the main frame 1; the only difference between the rope winding mechanisms A701 and B702 is the drum, and the rest are the same; the positions of the rope winding mechanisms A701 and B702 are staggered, which makes the arrangement of the flexible rope more reasonable and avoids interference between the movements of the flexible ropes.

[0073] In more detail, the roll mechanism A701 consists of a roll base 711, a roll 712, a coupling 713, a servo motor B714, and a servo motor mount 715. The roll base 711 and the servo motor mount B714 are fixed to the base plate with bolts. The roll 712 is mounted on the roll base 711 via rolling bearings and is connected to the servo motor B714 via the coupling 713. The forward and reverse rotation of the servo motor B714 drives the roll 712 to rotate via the coupling 713, which in turn drives the flexible cable to move, enabling the end effector spray gun 5 to complete the spraying work.

[0074] Combination Figure 9 , Figure 10The flexible cord group 8 consists of flexible cord A801, flexible cord B802 and flexible cord C803.

[0075] Furthermore, the lower end of flexible cable A801 ​​is connected to the rope winding mechanism A701 of the drive device 7, passes through the pulley block A105 of the main frame 1, and the upper end is connected to the lifting ring of the translational platform 3; there are a total of 8 flexible cables A801, with each pair of flexible cables A801 ​​forming a group, and maintaining a parallelogram structure to prevent the translational platform 3 from rotating freely; the lower end of flexible cable B802 is connected to the rope winding mechanism B702 of the drive device 7, passes through the pulley block B908 of the movable pulley device 9, and the upper end is connected to the lifting ring 404 of the rotating platform 4; the lower end of flexible cable C803 is connected to the rope winding mechanism B702 of the drive device 7, passes through the fixed pulley 613 of the movable frame 6, and the upper end is connected to the lifting ring 404 of the rotating platform 4; flexible cable B802 can move horizontally along the linear guide rail B910, and flexible cable C803 cooperates to control the rotational freedom of the end effector spray gun 5 around the X and Y directions.

[0076] Combination Figure 11 , Figure 12 The translational platform 3 consists of a connecting seat 301, a translational plate 302, a lifting ring 303, and a spring rod 304.

[0077] Furthermore, the connecting seat 301 is fixed above the translational plate 302 by screws and connected to the connecting block 204 of the cross coordinate mechanism 2; there are 8 lifting rings 303, in pairs, installed on the side of the translational plate 302; the spring rod 304 is fixed directly below the translational plate 302; the lifting rings 303 are connected to the flexible cable A801, and the flexible cable is extended and retracted by the drive device 7, so that the translational platform 3 moves in the horizontal direction.

[0078] In more detail, the spring rod 304 consists of an upper rod 311, an internal spring 312, and a lower rod 313. When the upper rod 311 and lower rod 313 are at their longest lengths, the internal spring 312 is at its original length. The spring rod 304 extends and retracts with the spraying position, and the downward thrust generated by the internal spring 312 can resist the counter-thrust generated by the spray gun 5 during spraying, making the spraying process more stable.

[0079] Combination Figure 13 The rotating platform 4 consists of a ball joint 401, a ball joint support 402, a rotating plate 403, and a lifting ring 404.

[0080] Furthermore, the ball joint 401 is mounted on the ball joint support 402, and its upper end is connected to the spring rod 304 of the translational platform 3; the ball joint support 402 is fixed to the rotating plate 403 by screws; there are four lifting rings 404, which are installed at the four corners of the rotating plate 403; the spray gun 5 is welded to the rotating platform 4. Thus, the translational degree of freedom achieved by the translational platform 3 is realized on the spray gun 5 welded to the rotating platform 4, giving the end effector spray gun 5 three translational degrees of freedom and two rotational degrees of freedom around the X and Y directions, for a total of five degrees of freedom. The flexible cables B802 and C803, while controlling the rotating platform 4, also control the end effector spray gun 5, thus serving to constrain the structure and adjust its attitude.

[0081] The output end of the rigid-flexible coupled multi-dimensional intelligent painting robot is connected to the control circuit, and various sensors are connected to the feedback input end of the motion control board. The sensors include wire displacement sensors, angular velocity sensors, force sensors, and vision sensors: there are four wire displacement sensors mounted on the drive mechanism of the flexible cable A801; four angular velocity sensors are mounted on the drivers of the flexible cables B802 and C803; eight force sensors are mounted on the flexible cables A801, B802, and C803 respectively; and one vision sensor is placed on the vertical profile of the main frame 1.

[0082] Combination Figure 14 A control method for a rigid-flexible coupled multi-dimensional intelligent spraying robot control system includes the following steps:

[0083] Step 1: Initialize the system, check the network communication between modules to ensure it is working properly, manually input the initial coordinates of the end effector, place the workpiece to be coated in a fixed position, determine the position parameters of the workpiece, and input them into the host computer of the control system.

[0084] Step 2: Turn on the sensor unit to detect the real-time status of various sensors installed on the painting robot and the feedback signals.

[0085] Step 3: The host computer determines the location of the main area of ​​the workspace based on the workpiece's position parameters, and moves the workpiece to be sprayed to a suitable height.

[0086] Step 4: Input the shape and orientation parameters of the workpiece to be coated into the host computer for analysis.

[0087] Step 5: Based on the approximate shape and posture parameters of the workpiece to be coated, under the control of the host computer, drive the rope winding mechanism A701 and the rope winding mechanism B702 to adjust the position of the rope release point, thereby adapting to the processing requirements of workpieces of different shapes and sizes.

[0088] Step 6: The drive device 7 drives the flexible cable group 8 to change its length, thereby controlling the movement of the translational platform 3 and the rotating platform 4.

[0089] Step 7: During the movement of the translational platform 3 and the rotating platform 4, the spray gun 3 follows their movement and completes the spraying task within the currently feasible workspace. The tension sensor, angle sensor, and other sensors collect data and output it to the host computer, thereby controlling the drive device to adjust according to the end effector's movement, ensuring that there is no interference or other factors affecting the movement.

[0090] Step 8: When the workpiece is large, the robot may not be able to completely cover the entire workpiece in one spraying operation, thus failing to complete the overall spraying task. In this case, you can start again from step 3 until the entire workpiece is sprayed.

Claims

1. A rigid-flexible coupled multi-dimensional intelligent spraying robot, characterized in that: include: The main frame (1), cross coordinate mechanism (2), translational platform (3), rotating platform (4), spray gun (5), movable frame (6), drive device (7), flexible cable assembly (8), and movable pulley device (9) are connected as follows: A movable frame (6) is provided on the side of the main frame (1), and the movable frame (6) moves up and down along the vertical direction of the main frame (1). A movable pulley device (9) is provided on the movable frame (6), and the movable pulley device (9) moves back and forth along the length direction of the movable frame (6); A cross coordinate mechanism (2) is provided at the top of the main frame (1), and a translational platform (3) is connected below the cross coordinate mechanism (2). A rotating platform (4) is connected to the lower part of the translational platform (3); a spray gun (5) is fixedly installed below the rotating platform (4). Two sets of drive devices (7) are provided at the top and bottom of the main frame (1); Flexible cable groups (8) are provided between the first set of drive devices (7) and the translational platform (3), and between the second set of drive devices (7) and the rotating platform (4). The driving force of the first set of driving devices (7) located at the top of the main frame (1) is transmitted to the translation platform (3) through the flexible cable group (8) located at the top of the main frame (1), and the platform moves; when the translation platform (3) moves horizontally, the cross coordinate mechanism (2) connected to the translation platform (3) also moves accordingly; the flexible cable group (8) connected to the second set of driving devices (7) transmits the corresponding driving force to the rotating platform (4), and the platform moves.

2. The rigid-flexible coupled multi-dimensional intelligent spraying robot according to claim 1, characterized in that: The main frame (1) consists of an outer frame A (101), an upper base plate (102), an anti-detachment pulley (103), a lower base plate (104), and a pulley group A (105). The outer frame A (101) is a rectangular frame. A lower base plate (104) is provided on the bottom surface of the outer frame A (101). An upper base plate (102) is provided inside the outer frame A (101) above the lower base plate (104). Both the upper base plate (102) and the lower base plate (104) can be used to install the drive device (7). The anti-detachment pulley (103) is installed on the upper base plate (102). A pulley group A (105) is provided at each of the four corners of the top surface of the outer frame A (101).

3. The rigid-flexible coupled multi-dimensional intelligent spraying robot according to claim 1, characterized in that: The cross coordinate mechanism (2) consists of an outer frame B (201), a linear guide rail A (202), a slider A (203), a first connecting block (204), and a connecting plate (205); wherein, the outer frame B (201) is square or rectangular and is installed on the top of the main frame (1); a linear guide rail A (202) is provided on a set of symmetrical sides of the outer frame B (201); a slider A (203) is provided on each of the aforementioned linear guide rails A (202); the aforementioned two sliders A (203) are simultaneously connected to a connecting plate (205); a third linear guide rail A (202) is provided on the connecting plate (205), and a third slider A (203) is provided on the linear guide rail A (202), and the slider A (203) is connected to the first connecting block (204).

4. The rigid-flexible coupled multi-dimensional intelligent spraying robot according to claim 1, characterized in that: The movable frame (6) consists of a square sleeve (601), an outer frame C (602), a shaft seat (603), a guide rod (604), a ball screw A (605), a fixing block (606), a second connecting block (607), a servo motor A (608), a reducer (609), a bevel gear set (610), a gear seat (611), a synchronous belt (612), and a fixed pulley (613); wherein: It has 4 outer frames C (602); the outer frames C (602) are in the shape of a square. The two outer frames C (602) are connected together by the second connecting block (607) to form an outer frame C assembly; a fixed pulley (613) is installed between the two outer frames C (602). A square sleeve (601) is provided at each of the four corners of the outer frame C component; the outer frame C component is connected to the main frame (1) through the square sleeve (601); Two bearing seats (603) are provided, which are installed diagonally on the lower base plate (104) of the main frame (1); two second connecting blocks (607) are provided, which are fixed between the two outer frames C (602) respectively, and are on the same side as the bearing seats (603); two fixing blocks (606) are provided, which are installed above the main frame (1) and are on the same side as the bearing seats (603); wherein the lower ends of the guide rod (604) and the ball screw A (605) are installed on the bearing seats (603), the middle section is connected by the second connecting blocks (607), and the upper ends are installed on the fixing blocks (606); Servo motor A (608) is fixedly installed in the main frame (1). Reducer (609) is connected to servo motor A (608). Reducer (609) is connected to bevel gear set (610) through a coupling. Bevel gear set (610) is installed on gear seat (611). Gear on shaft seat (603) is connected to bevel gear set (610) through synchronous belt (612). Servo motor A (608) drives bevel gear set (610) and drives ball screw A (605) through synchronous belt (612) transmission, so that outer frame C (602) can move in the vertical direction.

5. The rigid-flexible coupled multi-dimensional intelligent spraying robot according to claim 1, characterized in that: The movable pulley device (9) consists of a stepper motor (901), a second coupling (902), a support base (903), a base (904), a second connecting base (905), a slider B (906), a ball screw B (907), a pulley block B (908), a fixed base (909), and a linear guide B (910); The ball screw B (907) is connected to the stepper motor (901) via the second coupling (902); The mounting base (909) is installed on the aluminum profile of the movable frame (6); The ball screw B (907) facing the stepper motor (901) is connected to the support base (903). The lower part of the support base (903) is connected to the movable frame (6) through the base (904). The ball screw B (907) passes through the slider B (906) in the middle. The other end of the ball screw B (907) is mounted on the fixed base (909). Linear guide rail B (910) is mounted on movable frame (6), slider B (906) is mounted on linear guide rail B (910), slider B (906) is connected to second connecting seat (905) above, and pulley group B (908) is fixedly mounted on second connecting seat (905); The stepper motor (901) drives the ball screw B (907), which causes the pulley block B (908) to reciprocate along the ball screw B (907). Through the movable frame (6) and the movable pulley device (9), the pulley block B (908) can move in the vertical and horizontal directions, so that the flexible cable B (802) and the flexible cable C (803) can drive the rotating platform (4) through the pulley block B (908), thereby driving the spray gun (5) to complete complex actions and enhancing the dexterity of the painting robot. In addition, before the painting operation, the pulley block B (908) can move towards the base (904) so ​​that the part to be painted can enter the painting area, thereby facilitating the completion of the painting operation.

6. The rigid-flexible coupled multi-dimensional intelligent spraying robot according to claim 1, characterized in that: The drive unit (7) consists of a rope winding mechanism A (701) and a rope winding mechanism B (702); there are four rope winding mechanisms A (701), which are fixed at the four corners of the main frame (1) and control the movement of the translation platform (3) by driving the flexible rope A (801); the rope winding mechanism B (702) is fixed on the four sides of the main frame (1) and controls the movement of the rotating platform (4) by driving the flexible rope B (802) and the flexible rope C (803).

7. The rigid-flexible coupled multi-dimensional intelligent spraying robot according to claim 6, characterized in that: The roll mechanism A (701) consists of a roll base (711), a roll (712), a first coupling (713), a servo motor B (714), and a servo motor base (715). The roll base (711) and the servo motor base (715) are fixed to the base plate by bolts. The roll (712) is mounted on the roll base (711) by rolling bearings and is connected to the servo motor B (714) by the first coupling (713). By rotating the servo motor B (714) in both directions, the roll (712) is driven to rotate by the first coupling (713), which drives the flexible cable to move, so that the end effector spray gun (5) completes the spraying work.

8. The rigid-flexible coupled multi-dimensional intelligent spraying robot according to claim 1, characterized in that: The rope group (8) includes: rope A (801), rope B (802) and rope C (803); The lower end of the flexible cable A (801) is connected to the drive device (7), and after passing through the main frame (1), its upper end is connected to the lifting ring of the translation platform (3); there are a total of 8 flexible cables A (801), and each pair of flexible cables A (801) forms a group, so that the translation platform (3) avoids rotational degrees of freedom; The lower end of the flexible cable B (802) is connected to the drive device (7), and after passing through the movable pulley device (9), its upper end is connected to the rotating platform (4). The lower end of the flexible cable C (803) is connected to the drive device (7), and after passing through the movable frame (6), its upper end is connected to the rotating platform (4); the flexible cable B (802) can move horizontally along the linear guide rail B (910), and the flexible cable C (803) cooperates to control the rotational degrees of freedom of the end effector spray gun (5) around X and Y.

9. The rigid-flexible coupled multi-dimensional intelligent spraying robot according to claim 1, characterized in that: The translational platform (3) consists of a first connecting seat (301), a translational plate (302), a lifting ring (303), and a spring rod (304); The first connecting seat (301) is above the translational plate (302) and is connected to the cross coordinate mechanism (2); there are 8 lifting rings (303), which are installed on the side of the translational plate (302) in pairs; the spring rod (304) is fixed directly below the translational plate (302); the lifting ring (303) is connected to the flexible cable group (8), and the flexible cable is extended and retracted by the driving device (7), so that the translational platform (3) moves in the horizontal direction.

10. A rigid-flexible coupled multi-dimensional intelligent spraying robot according to claim 9, characterized in that: The spring rod (304) consists of an upper rod (311), an internal spring (312), and a lower rod (313); When the upper rod (311) and lower rod (313) are at their longest length, the built-in spring (312) is at its original length. The spring rod (304) extends and retracts with the spraying position. The downward thrust generated by the built-in spring (312) can resist the counter-thrust generated by the spray gun (5) during spraying, making the spraying process more stable.

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