A cable parallel macro-micro spraying robot for large surface painting

Abstract

The application discloses a cable parallel macro-micro spraying robot for large-scale surface coating, comprising a macro robot, a micro robot and a spraying module. The macro robot is composed of a frame, a macro robot driving assembly and an out-cable pulley, and realizes the movement of the whole robot in a two-dimensional plane; the micro robot comprises a cable parallel micro robot and a guide rail type micro robot, and can be selected according to actual task requirements and carried on the macro robot; the spraying module completes the paint spraying operation on a target surface under the control of the micro robot. The two-stage macro-cable-micro robot can realize the five-degree-of-freedom movement of a spraying gun in space, the macro robot and the micro robot are complementary, the movement space and the spraying precision are considered, and the spraying robot is suitable for large-range and high-quality paint spraying tasks.

Description

Technical Field

[0001] This invention relates to the fields of robotics, automation, and coating technology, and in particular to a parallel macro-micro spraying robot for coating large surfaces. Background Technology

[0002] With the development of industrial technology, the manufacturing of large-scale industrial equipment has gradually become an important part of high-end manufacturing, and its scale is increasing. Painting, primarily involving applying paint to equipment, is a crucial process in the construction and maintenance of large equipment such as ships and aircraft, directly affecting their lifespan and safety. During the painting process, precise process and quality control are the most important factors in ensuring the functional requirements of the coating; the protective ability of the coating depends 30% on the paint and 70% on the process. Large industrial equipment has a huge surface area, resulting in a large workload for painting, high requirements for painting efficiency and coating quality, and significant construction difficulties. Currently, the surface painting of equipment such as aircraft and ships still relies on manual labor, leading to problems such as poor coating quality stability, low production efficiency, and difficulty in continuously optimizing process quality. On the other hand, painting is a critical technical position, requiring long training periods for skilled workers; painting operations seriously endanger health, leading to a year-on-year decrease in the number of practitioners and a surge in labor costs. There is an urgent need to develop efficient and high-quality automated painting equipment and process technologies.

[0003] Robotic automated painting can replace manual labor, achieving precise process control and effectively improving coating quality and operational efficiency. A core issue in automated painting of large equipment is the extremely large workspace. Taking ships as an example, the side height of a ship can reach over 50 meters. Industrial robot painting systems based on suspended platforms or gantry structures are bulky, lack flexibility, and are expensive, making widespread adoption difficult. Wall-climbing robots can adhere to and move on large-scale surfaces, flexibly completing corresponding tasks. However, there is a trade-off between the load-bearing capacity and movement flexibility of wall-climbing robots, resulting in significant problems with efficiency, load capacity, and positioning in painting applications. Existing industrial robots and automated equipment are insufficient to meet the requirements of efficient, high-quality painting in large spaces. Summary of the Invention

[0004] To address the current challenges of large-scale industrial equipment coating tasks, high construction difficulty, low efficiency of manual coating, and difficulty in ensuring quality, this invention proposes a parallel macro-micro spraying robot for large surface coating. This robot has significant advantages, including lightweight, easy reconfiguration, large workspace, high load capacity, and low cost.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] A parallel macro-micro spraying robot for large surface coating includes a macro robot 1, a micro robot 2 and a spraying module 3;

[0007] The macro robot 1 includes a frame 11, a macro robot drive module 12 and a cable pulley 13 mounted on the frame 11, and the macro robot 1 drives the entire robot to translate in a two-dimensional plane.

[0008] The micro-robot 2 includes two types: cable-parallel micro-robot 21 and guide rail micro-robot 22. Depending on the spraying space, cable-parallel micro-robot 21 or guide rail micro-robot 22 can be selected. Cable-parallel micro-robot 21 controls the motion of spraying module 3 by changing the cable length, while guide rail micro-robot 22 controls the motion of spraying module 3 by controlling the movement of two-stage guide rails.

[0009] The spraying module 3 includes a spray gun 31, an A-axis 32, a C-axis 33, and a base 34. The spray gun 31 can rotate and oscillate under the control of the A-axis 32 and the C-axis 33.

[0010] The microrobot 2 is mounted on the frame 11, and the spraying module 3 is connected in series with the microrobot 2.

[0011] Preferably, the macro robot 1 includes six sets of macro robot drive modules 12, or four sets of macro robot modules 12, or two sets of macro robot drive modules 12.

[0012] Preferably, when the macro robot 1 includes six sets of macro robot drive modules 12, there are three sets of macro robot drive modules 12 on each side of the frame, one set on top and two sets on the bottom. The rollers 1201 of the upper set of macro robot drive modules are parallel to the sides of the frame, and the rollers 1201 of the lower two sets of macro robot drive modules are parallel to the bottom of the frame. The cable-exit pulleys 13 on the front and rear sides of the lower part are symmetrically distributed about the cable-exit pulleys 13 on the upper part of the frame 11.

[0013] When the macro robot 1 includes two sets of macro robot modules 12, the three ropes located on both sides of the macro robot 1 frame adopt a parallel cable configuration. By making the outlet points and suspension points of the three ropes on the same side the same, it is ensured that the ropes on the same side are of the same length, parallel to each other, and synchronously wound and released. At this time, the three ropes on the same side of the frame are wound by the same roller 1201. At this time, only one set of macro robot drive modules 12 on each side of the frame is needed to drive the entire macro robot 1. The two sets of macro robot drive modules 12 are parallel to the two sides of the frame respectively.

[0014] When the macro robot 1 includes four macro robot modules 12, the macro robot 1 adopts a configuration in which some ropes are parallel. By making the outlet points and suspension points of the two ropes on the same side of the bottom of both sides of the frame the same, it is ensured that they are of the same length, parallel to each other, and synchronously wound and released. At this time, the two ropes on the same side of the bottom of both sides of the frame are wound by the same roller 1201. At this time, each of the bottom sides of the frame is driven by a set of macro robot drive modules 12, while the two ropes at the top are controlled by their respective macro robot drive modules 12 for winding and releasing independently.

[0015] Preferably, each macro robot drive module 12 includes a roller 1201, a mounting side plate 1202, a support tube 1203, a mounting base plate 1204, a ball screw assembly 1205, a linear guide assembly 1206, a cable winding motor 1207, a reversing motor 1208, a reversing motor bracket 1209, a guide wheel 1210, a guide wheel mounting seat 1211, a tension sensor 1212, an encoder 1213, and a reader 1214. The entire module adopts a lightweight design, relying solely on the support tube 1203 to connect the mounting side plate 1202. The two mounting side plates 1202 are fixed to the mounting base plate 1204, forming a three-dimensional installation space. The roller 1201 and the cable winding motor 1207 are connected via the flange of the roller 1201. The ball screw assembly 1205... The ball screw nut of the 5 is connected to the slider of the linear guide assembly 1206, so that the ball screw assembly 1205 can perform reciprocating linear motion synchronously. The screw is driven by the reversing motor 1208, which is fixed to the mounting base 1204 by the reversing motor bracket 1209. The tension sensor 1212 is installed on the ball screw assembly 1205, and the guide wheel mounting seat 1211 is connected to the tension sensor 1212 by bolts. The guide wheel 1210 is installed in the guide wheel mounting seat 1211, the encoder 1213 is fixed on the guide wheel 1210, and the reading head 1214 is fixed inside the guide wheel mounting seat 1211. The rope is wound on the drum 1201, passes around the guide wheel 1210 and leads to the cable outlet pulley 13, and then connects to the suspension bracket 14.

[0016] Preferably, the ball screw assembly 1205 can drive the guide wheel 1210 to reciprocate. When the rope is fully wound around the guide wheel 1210, the reversing motor 1208 changes the current direction, the screw reverses, and the guide wheel 1210 reverses its direction, guiding the rope to achieve multi-layer winding. Rope release is similar to winding. The guide wheel mounting base 1211 forms a 45-degree angle with the rope, and the reading of the tension sensor 1212 corresponds to the magnitude of the rope tension. times.

[0017] Based on actual usage requirements, the robot's load can be determined, thereby determining the diameter and material of the rope. Preferably, the rope material is steel cable, Kevlar cable, etc.

[0018] Preferably, the cable motor 1207 and the commutation motor 1208 of the macro robot drive module 12 can be articulated motors, which saves installation space while having a large torque.

[0019] Preferably, the macro robot drive module 12 has the function of measuring the cable length, which is achieved by the code disk 1213 installed on the guide wheel 1210 and the reading head 1214 inside the guide wheel mounting seat 1211. The cable length change can be calculated by measuring the angle change.

[0020] Preferably, the middle section of the guide wheel 1210 of each macro robot drive module 12 coincides with the middle section of the cable-exit pulley 13 on its corresponding frame 11; the distance from the guide wheel 1210 of each macro robot drive module 12 to the mounting base plate 1204 is equal to the distance from the cable-exit pulley 13 to the mounting base plate 1204.

[0021] Preferably, the cable-parallel microrobot 21 includes a microrobot drive module 2101, a microrobot rope guide pulley 2102, a microrobot cable delivery pulley 2103, a universal joint base 2104, a cylinder 2105, an end shaft 2106, a bearing lug 2107, and an end mounting plate 2108. The microrobot drive module 2101, microrobot rope guide pulley 2102, and microrobot cable delivery pulley 2103 are all distributed on the frame 11, with each set of microrobot rope guide pulleys 2102 and microrobot cable delivery pulleys 2103 arranged back-to-back on two sides of the frame 11. Each microrobot drive module 2101 controls the winding and unwinding of two parallel ropes, with the ropes passing through the microrobot rope guide pulley 21. After passing through frame 11, the robot reaches the other side, bypasses the microrobot cable exit pulley 2103, and connects to the end mounting plate 2108. The microrobot cable exit pulley 2103 can swing adaptively to adapt to the sway of the end mounting plate 2108 while ensuring the parallelism of each set of ropes. The head of cylinder 2105 is connected to the end central shaft 2106, which is fixed to the end mounting plate 2108 by two bearing lugs 2107. The bottom of cylinder 2105 is mounted on frame 11 by universal joint to ensure its freedom of movement. As a rigid support, cylinder 2105 compensates for the lack of constraint in the parallel cable configuration, and can tension the microrobot rope. At the same time, it can control the distance between the spray gun 31 and the target working surface by extension and retraction.

[0022] Preferably, the guide rail type micro-robot 22 includes a transverse guide rail 2201, a transverse drive component 2202, a longitudinal guide rail 2203, a longitudinal drive component 2204, and a spray gun mounting plate 2205. The transverse drive component 2202 is installed at one end of the transverse guide rail 2201, and the longitudinal drive component is installed at one end of the longitudinal guide rail 2203. The longitudinal guide rail 2203 is installed on the frame 11. The transverse guide rail 2201 and the longitudinal guide rail 2203 are arranged perpendicularly to each other. The spray gun mounting plate 2205 is installed on the transverse guide rail 2201 and can move in the plane formed by the transverse guide rail 2201 and the longitudinal guide rail 2203.

[0023] Preferably, the spraying module 3 adopts an AC axis oscillating head, which, together with the macro robot 1 and the micro robot 2, can realize five degrees of freedom of the spray gun 31 in space.

[0024] The painting operation is carried out in the following steps: First, the macro robot 1, micro robot 2, and painting module 3 are assembled. Next, the entire robot is mounted on the suspension bracket 14. Then, the macro robot 1 is controlled for coarse positioning. After the macro robot 1 completes its movement, the micro robot 2 is controlled for positioning accuracy compensation and, together with the painting module 3, performs the painting operation. Depending on the painting space, either the cable-connected micro robot 21 or the guide rail micro robot 22 is selected. The working space of the cable-connected micro robot 21 can exceed the size of its static platform, but it requires more space and is suitable for environments with ample space. The working space of the guide rail micro robot 22 is limited by the length of the rail, but its structure is more compact, making it suitable for situations where installation space is limited and it is difficult to install the long cantilever suspension bracket 14.

[0025] This invention discloses a cable-parallel macro-micro spraying robot for large surface coating. This robot inherits the high load-bearing capacity of parallel mechanisms while also possessing the advantages of low inertia, low cost, and easy reconfiguration due to cable-driven motion. The two-stage robot configuration fully leverages the large workspace of the macro robot and the excellent acceleration and deceleration performance of the micro robot, enabling it to undertake various coating tasks on multiple target surfaces. Compared with existing technologies, this invention has the following beneficial effects:

[0026] 1. The cable-parallel macro-micro spraying robot for large spaces provided by this invention can be widely used in a series of work scenarios with large-scale coating needs, such as shipbuilding and aircraft manufacturing, because macro robots can easily achieve a large movement space. It has significant advantages, especially for work surfaces with a height of tens of meters and a length of hundreds of meters.

[0027] 2. The cable-driven macro-micro spraying robot provided by this invention has advantages such as low cost, modularity, convenient addition and subtraction of configurations, simple assembly, good stability, and strong adaptability due to its simple structure and cable drive.

[0028] 3. The cable-parallel macro-micro spraying robot provided by this invention connects two robot configurations in series, achieving complementary advantages between macro and micro robots and comprehensively meeting the requirements of a large working range and high work efficiency. The macro robot's drive module is highly integrated, capable of simultaneously performing functions such as driving, force measurement, cable length measurement, and automatic cable arrangement, while also providing ample space for personalized function customization. The micro robot has two optional configurations, allowing selection of either the cable-parallel micro robot 21 or the guide rail micro robot 22 according to specific scenarios and needs. The micro robot further compensates for the shortcomings of the macro robot in terms of positioning accuracy and acceleration / deceleration, while also increasing the overall system's degree of freedom. This invention has a high degree of intelligence, can replace manual labor to achieve green spraying, reduces the input of manpower and materials, and achieves the goal of cost reduction and efficiency improvement. Attached Figure Description

[0029] Figure 1 This is an overall schematic diagram of a cable-parallel macro-micro spraying robot for large surface coating according to the present invention.

[0030] Figure 2 This is a schematic diagram of the macro robot drive module of a cable-parallel macro-micro spraying robot for large surface coating according to the present invention.

[0031] Figure 3 This is a front view of a parallel macro-micro spraying robot for large surface coating according to the present invention.

[0032] Figure 4 This is a rear view of a parallel macro-micro spraying robot for large surface coating according to the present invention.

[0033] Figure 5 This is a schematic diagram of the end effector of a cable-parallel macro-micro spraying robot for large surface coating according to the present invention.

[0034] Figure 6 This is a schematic diagram of a rail-mounted microrobot for a parallel macro-micro spraying robot used for large surface coating according to the present invention.

[0035] Figure 7 This is a schematic diagram illustrating an application scenario of the parallel macro-micro spraying robot for large surface coating according to the present invention. Detailed Implementation

[0036] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings and examples.

[0037] like Figure 1 This diagram illustrates a parallel macro-micro spraying robot for large surface coating. It describes the relative relationships between the macro robot, micro robot, and spraying module, as well as the overall layout.

[0038] A parallel macro-micro spraying robot for large surface coating includes a macro robot 1, a micro robot 2, and a spraying module 3.

[0039] The macro robot 1 serves as the carrying mechanism for the entire equipment. Its frame 11 provides mounting holes for the micro robots. The weight of the micro robots 2 and the painting module 3 is borne by the macro robot 1. The macro robot frame 11 can also house components such as reaction force devices, air pumps, and electronic control boards.

[0040] The accompanying drawings of this embodiment illustrate a macro robot 1 comprising six sets of macro robot drive modules 12. Three sets of macro robot drive modules 12 are located on each side of the frame: one set on top and two sets on the bottom. The rollers 1201 of the top set of macro robot drive modules are parallel to the sides of the frame, while the rollers 1201 of the two bottom sets are parallel to the bottom of the frame. The cable-exit pulleys 13 on the lower front and rear sides are symmetrically distributed about the upper cable-exit pulleys 13 of the frame 11. Other configurations comprising four sets of macro robot modules 12 or two sets of macro robot drive modules have already been clearly described in the text of the invention description section and will not be shown in the accompanying drawings.

[0041] Figure 2 This is a schematic diagram of the macro robot drive module of a parallel macro-micro spraying robot for large surface coating according to the present invention. It mainly illustrates the driving principle of the macro robot. The macro robot drive module 12 includes a roller 1201, a mounting side plate 1202, a support tube 1203, a mounting base plate 1204, a ball screw assembly 1205, a linear guide rail assembly 1206, a winding motor 1207, a reversing motor 1208, a reversing motor bracket 1209, a guide wheel 1210, a guide wheel mounting seat 1211, a tension sensor 1212, an encoder 1213, and a reader 1214. The winding motor 1207 drives the roller 1201 to wind the rope. To prevent disorderly stacking of the rope, the guide wheel 1210 guides the rope to wind evenly along the length of the roller 1201. When one layer is fully wound, the reversing motor 1208 changes the current direction, the ball screw reverses, and the guide wheel 1210 reverses its direction, thus allowing the rope to evenly begin winding the next layer. The same principle applies to rope release and entanglement.

[0042] Figure 3 , Figure 4 These are front and rear views of a cable-parallel macro-micro spraying robot motion system for large surface coating according to the present invention, which describes the installation method and driving principle of the cable-parallel micro robot. Figure 5 This is a schematic diagram of the end effector of a cable-parallel macro-micro spraying robot for large surface coating according to the present invention, which describes the connection method between the cylinder and the end mounting plate of the cable-parallel micro robot.

[0043] like Figure 1 , Figure 3 , Figure 4 and Figure 5As shown, the cable parallel microrobot includes a microrobot drive module 2101, a microrobot rope guide pulley 2102, a microrobot cable output pulley 2103, a universal joint base 2104, a cylinder 2105, an end shaft 2106, a bearing lug 2107, and an end mounting plate 2108. The cable parallel microrobot is motion-controlled by three sets of microrobot drive modules 2101. One set of microrobot drive modules 2101 simultaneously drives two parallel cables, which are tensioned by the cylinder 2105.

[0044] like Figure 6 The diagram shows a guide rail type microrobot for large surface coating using a parallel macro-micro spraying robot, illustrating the installation method and driving principle of the guide rail type microrobot 22. The guide rail type microrobot 22 includes a transverse guide rail 2201, a transverse drive assembly 2202, a longitudinal guide rail 2203, a longitudinal drive assembly 2204, and a spray gun mounting plate 2205. The spray gun mounting plate 2205 performs two-degree-of-freedom motion within the plane formed by the motion space of the two guide rails.

[0045] Figure 7 This illustration demonstrates an application scenario of this equipment. One end of the six ropes of the macro robot 1 is wound around the macro robot drive module 12, and the other end is fixed to a suspension bracket 14 on the deck. The suspension bracket 14 is clamped to the flange by a vise, and the remaining degrees of freedom are constrained by back tension cables, achieving stable suspension. The fixing method of the suspension bracket 14 is not limited to... Figure 6 As shown, the spacing can be adjusted according to the specific working environment. The spacing of the suspension brackets 14 can also be selected according to the specific working conditions, reaching tens or even hundreds of meters.

[0046] The painting operation is carried out in the following steps: First, the macro robot 1, micro robot 2, and painting module 3 are assembled. Next, the entire robot is mounted on the suspension bracket 14. Then, the macro robot 1 is controlled for coarse positioning. After the macro robot 1 completes its movement, the micro robot 2 is controlled for positioning accuracy compensation and, together with the painting module 3, performs the painting operation. Depending on the painting space, either the cable-connected micro robot 21 or the guide rail micro robot 22 is selected. The working space of the cable-connected micro robot 21 can exceed the size of its static platform, but it requires more space and is suitable for environments with ample space. The working space of the guide rail micro robot 22 is limited by the length of the rail, but its structure is more compact, making it suitable for situations where installation space is limited and it is difficult to install the long cantilever suspension bracket 14.

[0047] It is worth noting that although the technical solutions and preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, the present invention is not limited to the specific embodiments described above. The embodiments described above are merely illustrative. Those skilled in the art can make many other forms based on the inspiration of the present invention without departing from the spirit and scope of the claims, and these all fall within the scope of protection of the present invention.

Claims

1. A parallel macro-micro spraying robot for large surface coating, characterized in that: It includes a macro robot (1), a micro robot (2), and a spraying module (3); The macro robot (1) includes a frame (11), a macro robot drive module (12) and a cable pulley (13) mounted on the frame (11). The macro robot (1) drives the entire robot to translate in a two-dimensional plane. The microrobot (2) includes two types: cable parallel microrobot (21) and guide rail microrobot (22). Depending on the spraying space, cable parallel microrobot (21) or guide rail microrobot (22) is selected. Cable parallel microrobot (21) achieves motion control of spraying module (3) by changing cable length, and guide rail microrobot (22) achieves motion control of spraying module (3) by controlling the movement of two-stage guide rails. The spraying module (3) includes a spray gun (31), an A-axis (32), a C-axis (33), and a base (34). The spray gun (31) spins and swings under the control of the A-axis (32) and the C-axis (33), and works with the macro robot (1) and the micro robot (2) to realize the five degrees of freedom of the spray gun (31) in space. The microrobot (2) is mounted on the frame (11), and the spraying module (3) is connected in series with the microrobot (2); Each macro robot drive module (12) includes a roller (1201), mounting side plate (1202), support tube (1203), mounting base plate (1204), ball screw assembly (1205), linear guide assembly (1206), cable motor (1207), reversing motor (1208), reversing motor bracket (1209), guide wheel (1210), guide wheel mounting seat (1211), tension sensor (1212), encoder (1213), and reader (1214). The entire macro robot drive module adopts a lightweight design, relying solely on the support tube (1203) to connect the mounting side plate (1202). The two mounting side plates (1202) are fixed to the mounting base plate (1204), forming a three-dimensional installation space. The roller (1201) and the cable motor (1207) are connected through the flange of the roller (1201). The ball screw assembly (1205) The ball screw nut of ball screw assembly (1205) is connected to the slider of linear guide assembly (1206), so that ball screw assembly (1205) can perform reciprocating linear motion synchronously; the ball screw is driven by reversing motor (1208), which is fixed on mounting base plate (1204) by reversing motor bracket (1209); tension sensor (1212) is mounted on ball screw assembly (1205), and guide wheel mounting seat (121) 1) Connected to the tension sensor (1212) by bolts; the guide wheel (1210) is installed in the guide wheel mounting base (1211), the code disk (1213) is fixed on the guide wheel (1210), and the reading head (1214) is fixed on the inside of the guide wheel mounting base (1211); the rope is wound on the drum (1201), passes around the guide wheel (1210) and leads to the cable pulley (13), and then is connected to the suspension bracket (14).

2. The cable-parallel macro-micro spraying robot for large surface coating according to claim 1, characterized in that: The macro robot (1) includes six macro robot drive modules (12), or four macro robot modules (12), or two macro robot drive modules (12).

3. The cable-parallel macro-micro spraying robot for large surface coating according to claim 2, characterized in that: When the macro robot (1) includes six macro robot drive modules (12), there are three macro robot drive modules (12) on each side of the frame, one on top and two on the bottom. The rollers (1201) of the upper macro robot drive module are parallel to the sides of the frame, and the rollers (1201) of the lower two macro robot drive modules are parallel to the bottom of the frame. The cable pulleys (13) on the front and rear sides of the lower part are symmetrically distributed about the cable pulleys (13) on the upper part of the frame (11). When the macro robot (1) includes two sets of macro robot modules (12), the three ropes on both sides of the macro robot (1) frame adopt a parallel cable configuration. By making the outlet points and suspension points of the three ropes on the same side the same, it is ensured that the ropes on the same side are of the same length, parallel to each other, and synchronously wound and released. At this time, the three ropes on the same side of the frame are wound by the same roller (1201). At this time, only one set of macro robot drive modules (12) on each side of the frame is needed to drive the entire macro robot (1). The two sets of macro robot drive modules (12) are parallel to the two sides of the frame respectively. When the macro robot (1) includes four macro robot modules (12), the macro robot (1) adopts a configuration in which some ropes are parallel ropes. By making the outlet points and suspension points of the two ropes on the same side of the bottom of the frame the same, it is ensured that they are the same length, parallel to each other and synchronously wound and released. At this time, the two ropes on the same side of the bottom of the frame are wound by the same roller (1201). At this time, each of the bottom sides of the frame is driven by a set of macro robot drive modules (12), and the two ropes at the top are controlled separately by their respective macro robot drive modules (12).

4. The cable-parallel macro-micro spraying robot for large surface coating according to claim 1, characterized in that: The ball screw assembly (1205) drives the guide wheel (1210) to reciprocate. When the rope is fully wound around the guide wheel (1210), the reversing motor (1208) changes the current direction, the screw reverses, and the guide wheel (1210) reverses its direction, guiding the rope to achieve multi-layer winding. Rope release is similar to winding. The guide wheel mounting base (1211) forms a 45-degree angle with the rope, and the reading of the tension sensor (1212) corresponds to the magnitude of the rope tension. times; The macro robot drive module (12) has the function of measuring the cable length, which is achieved by the code disk (1213) installed on the guide wheel (1210) and the reading head (1214) inside the guide wheel mounting base (1211). The cable length change is obtained by measuring the angle change. Based on actual usage requirements, determine the robot's load, and thus determine the diameter and material of the rope.

5. A parallel macro-micro spraying robot for large surface coating according to claim 1, characterized in that: The cable motor (1207) and commutator motor (1208) of the macro robot drive module (12) are joint motors, which save installation space while having a large torque.

6. The cable-parallel macro-micro spraying robot for large surface coating according to claim 1, characterized in that: The middle section of the guide wheel (1210) of each macro robot drive module (12) coincides with the middle section of the cable-exit pulley (13) on its corresponding frame (11); the distance from the guide wheel (1210) of each macro robot drive module (12) to the mounting base plate (1204) is equal to the distance from the cable-exit pulley (13) to the mounting base plate (1204).

7. A parallel macro-micro spraying robot for large surface coating according to claim 1, characterized in that: The cable-parallel microrobot (21) includes a microrobot drive module (2101), a microrobot rope guide pulley (2102), a microrobot cable delivery pulley (2103), a universal joint base (2104), a cylinder (2105), an end-effector (2106), a bearing lug (2107), and an end-effector mounting plate (2108). The microrobot drive module (2101), the microrobot rope guide pulley (2102), and the microrobot cable delivery pulley (2103) are all distributed on the frame (11). Each set of microrobot rope guide pulleys (2102) and microrobot cable delivery pulleys (2103) is arranged back-to-back on two sides of the frame (11). Each microrobot drive module (2101) 1) Control the release and retraction of two parallel ropes. After passing through the micro-robot rope guide pulley (2102), the rope passes through the frame (11) to reach the other side, and after passing around the micro-robot cable release pulley (2103), it connects to the end mounting plate (2108). The micro-robot cable release pulley (2103) can swing adaptively to adapt to the sway of the end mounting plate (2108) while ensuring the parallelism of each set of ropes. The head of the cylinder (2105) is connected to the end central shaft (2106). The end central shaft (2106) is fixed to the end mounting plate (2108) through two bearing lugs (2107), which plays the role of tensioning the parallel micro-robot ropes. At the same time, it can also control the distance of the spray gun (31) to the target working surface through extension and retraction.

8. A parallel macro-micro spraying robot for large surface coating according to claim 1, characterized in that: The guide rail type micro-robot (22) includes a transverse guide rail (2201), a transverse drive assembly (2202), a longitudinal guide rail (2203), a longitudinal drive assembly (2204), and a spray gun mounting plate (2205). The transverse drive assembly (2202) is installed at one end of the transverse guide rail (2201), and the longitudinal drive assembly is installed at one end of the longitudinal guide rail (2203). The longitudinal guide rail (2203) is installed on the frame (11). The transverse guide rail (2201) and the longitudinal guide rail (2203) are arranged perpendicularly to each other. The spray gun mounting plate (2205) is installed on the transverse guide rail (2201) and can move in the plane formed by the transverse guide rail (2201) and the longitudinal guide rail (2203).

9. A parallel macro-micro spraying robot for large surface coating according to claim 1, characterized in that: The spraying operation is carried out in the following steps: First, the assembly of the macro robot (1), micro robot (2) and spraying module (3) is completed. Then, the robot is hung on the suspension bracket (14). Then, the macro robot (1) is operated to perform coarse positioning. After the macro robot (1) has completed its operation, the micro robot (2) is operated to perform positioning accuracy compensation and spraying operation is carried out in conjunction with the spraying module (3). When there is sufficient spraying space, choose the cable-parallel micro-robot (21); when the installation space is limited and it is difficult to install the long cantilever suspension bracket (14), choose the guide rail micro-robot (22).

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