A cable drive large equipment coating system

Abstract

The application is directed to the painting operation of large equipment such as aircraft and ship, and proposes a cable-driven large equipment painting system, which mainly comprises a slide rail system, a crown block, a first driving assembly, a first driving cable system, a movable platform and a second spraying robot; the slide rail system is installed in a factory building; the crown block is installed on the slide rail system; the first driving assembly is installed on the crown block and is responsible for driving large space movement; one end of the first driving cable system is installed on the first driving assembly, and the other end is connected to a movable platform cable connector and is controlled by the driving assembly to be retracted or extended; the movable platform is connected to the first driving cable system; the second spraying robot is connected to the movable platform and performs local spraying operation. The application adopts multi-stage cable parallel robot combination to realize the consideration of large working space and local fine painting operation.

Description

Technical Field

[0001] This invention relates to the field of coating of large equipment, and specifically designs a cable-driven coating system for large equipment, which applies cable-driven robots to the field of coating of large equipment to achieve lightweight, low-cost, and large-space coating operations. Background Technology

[0002] Large equipment such as aircraft and ships have huge surface areas and complex shapes, and require high coating quality, resulting in a large workload and high construction difficulty in painting. Although robotic equipment has been widely used in the painting of mass-produced, small-volume products such as automobiles, the painting of large equipment still largely relies on manual labor due to its large size, small batch size, and high degree of customization. This manual labor is labor-intensive, inefficient, and results in poor coating quality stability, making it difficult to achieve precise control of the process and posing safety hazards.

[0003] Cable-parallel robots, which use cables instead of rigid chains, offer advantages such as simple structure, low cost, low inertia, and large workspace, making them highly promising for large-scale equipment painting operations. However, traditional cable-parallel robots have fixed cable exit points, leading to a sharp decline in performance near the workspace boundaries, resulting in poor work efficiency. Furthermore, traditional single-stage cable-parallel robots struggle to simultaneously handle large-space movement and detailed localized painting operations. Summary of the Invention

[0004] To overcome the problems of the existing technology, this invention proposes a cable-driven large equipment painting system for painting operations of large equipment such as aircraft and ships. This system employs a combination of multi-stage parallel cable robots to achieve both large workspace and detailed local painting operations. Simultaneously, the movement of the overhead crane system within the system adjusts the distribution of cable exit points, thereby adjusting the workspace and ensuring that the equipment always moves within the optimal performance area of ​​the workspace.

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

[0006] A cable-driven large equipment painting system, the structure of which includes:

[0007] The slide rail system 1 is responsible for providing the track required for the movement of the overhead crane 2 and bearing the weight of the entire painting system; the overhead crane 2 includes an overhead crane base 21, a motion system 22 and a steering system 23. The motion system 22, which is set on the overhead crane base 21, is responsible for moving along the slide rail system 1 to adjust the position of the primary drive component 3, and the steering system 23, which is fixed on the overhead crane base 21, adjusts the orientation of the primary drive component 3. It can also be used to drive the movement of the moving platform 5.

[0008] The primary drive assembly 3 includes a base 31 connected to the crane's orientation system 23, a roller 32, a fixed pulley 33, a movable pulley 34 mounted on the base 31, and a first reducer 35 connected to the roller shaft 37. A first servo motor 36 connected to the first reducer 35 is responsible for controlling the retraction and extension of the primary drive cable system 4, thereby driving the moving platform 5 to move.

[0009] The primary drive cable system 4 is controlled by the primary drive component 3 to extend and retract, thereby driving the moving platform 5 to move;

[0010] The moving platform 5, connected to the primary drive cable system 4, includes a cable connector 51, a second servo motor 52, a second reducer 53, and a moving platform frame 54. One end of the cable connector 51 is connected to the moving platform frame 54, and the other end is connected to the rope of the primary drive cable system 4. The second servo motor 52 and the second reducer 53 are connected. The moving platform 5 is responsible for providing an installation position for the secondary painting robot 6, and at the same time driving the secondary painting robot 6 to rotate as a whole, thereby adjusting the posture of the secondary painting robot 6.

[0011] The secondary spraying robot 6 is mounted on the moving platform 5. It includes a tilting frame 61 connected to the output shaft of the second reducer 53, multiple sets of secondary platform drives 62, secondary platform fixed pulleys 63, secondary platform moving pulleys 64, and a compound hinge 68 mounted on the tilting frame 61, a drive cable 65 controlled by each set of secondary platform drives 62, a central rod 69 with one end mounted on the compound hinge 68 and the other end connected to the drive cable 65, a spring 67 sleeved on the central rod 69, and a spray gun 66 mounted at the end of the central rod 69. The secondary spraying robot 6 is responsible for performing three-degree-of-freedom spatial motion to realize the spraying operation.

[0012] The slide rail system 1 of the cable-driven large equipment painting system is installed in a fixed position inside the factory to provide support for the entire painting system; the overhead crane 2 is installed on the slide rail system 1 and can slide along the slide rail; the first-level drive assembly 3 is installed on the overhead crane 2; the first-level drive cable system 4 is installed on the first-level drive assembly 3, leading out from the roller 32 of the first-level drive assembly 3, guided by the first fixed pulley 33 and the first movable pulley 34 of the first-level drive assembly 3, and finally connected to the cable connector 51 of the moving platform. The first servo motor 36 of the first drive assembly drives the roller 32 to rotate for loading and unloading; the moving platform 5 is connected to the first-level drive cable system 4 through the cable connector 51; the second-level painting robot 6 is connected to the output shaft of the reducer 53 of the moving platform through the tilting frame 61, and is driven by the rotation of the second servo motor 52 of the moving platform 5 to realize the overall rotation of the second-level painting robot 6;

[0013] During the spraying operation, the motion of the coating system includes two parts: the large-space motion of the moving platform 5 and the local spraying motion of the secondary spraying robot 6. The overhead crane 2 moves along the slide rail system 1 to adjust the position of the primary drive component 3. By adjusting the position of the primary drive component 3, the position of the cable exit point is adjusted, ensuring that the moving platform 5 always performs its task within the designated workspace area. The primary drive component 3 controls the large-space motion of the moving platform 5 by extending and retracting the primary drive cable system 4. The moving platform 5 and the secondary spraying robot 6 cooperate to perform local spraying operations. The moving platform 5 is responsible for adjusting the posture of the secondary spraying robot 6, and the secondary spraying robot 6 is responsible for driving the spray gun to perform the spraying motion. Simultaneously, the spray gun oscillates according to the normal direction of the surface to be coated, adjusting the spray width direction. Through the linkage of multiple devices, both large-space motion and local fine coating operations are ultimately achieved.

[0014] The motion system 22 of the overhead crane 2 is fixed on the overhead crane base 21 and installed on the slide rail system 1. The motion system 22 drives the entire overhead crane 2 to move along the slide rail 1. One end of the orientation system 23 is fixed on the overhead crane base 21, and the other end is connected to the primary drive component 3. The orientation system 23 can rotate around its own axis, thereby controlling the horizontal swing of the primary drive component 3, thereby adjusting the orientation of the primary drive component 3.

[0015] One end of the roller 32 of the first-stage drive assembly 3 is rotatably connected to the base 31 via a bearing or other structure, and the other end is connected to the output shaft of the reducer 35 via the roller shaft 37. The roller 32 is engraved with a spiral groove, so that the rope can be tightly wound around the roller along the groove. The housing of the servo motor 36 is connected to the housing of the reducer 37, and the servo motor shaft is connected to the input shaft of the reducer. Multiple fixed pulleys 33 are installed on the base to guide the first-stage drive cable system 4 led out from the roller 32. The movable pulley (34) is installed on the base 31, and its pulley frame can swing horizontally with the change of the rope direction, thereby adaptively adjusting the direction of the pulley groove and preventing the rope from coming out of the groove.

[0016] Each primary drive cable system 4 includes one rope or two or more parallel ropes that are simultaneously wound up and down; the parallel ropes can form parallel constraints on the moving platform 5, thereby constraining the rotational degree of freedom of the moving platform 5, enabling the moving platform 5 to achieve pure translational motion with unchanged attitude; the number of grooves, fixed pulley groups and moving pulleys on the roller of the primary drive assembly 3 are the same as the number of ropes in the corresponding primary drive cable system 4.

[0017] Multiple cable connectors 51 are installed on the moving platform frame 54 of the moving platform 5, each cable connector 51 corresponding to a rope; the housing of the second servo motor 52 is connected to the housing of the second reducer 53, and the shaft of the second servo motor 52 is connected to the input shaft of the second reducer 53. The housing of the second reducer 53 is connected to the frame of the moving platform 5, and the output shaft of the second reducer 53 is connected to the tilting frame 61 of the secondary painting robot.

[0018] A tilting shaft (611) structure is fixedly connected to the tilting frame 61 of the secondary painting robot 6, and is connected to the output shaft of the second reducer 53 of the moving platform; the secondary platform drive 62 is fixedly connected to the tilting frame 61, and each set of secondary platform drives 62 controls the winding and unwinding of a drive cable 65; the pulley frame of the secondary platform moving pulley 64 can swing horizontally with the change of the drive cable direction, thereby adaptively adjusting the pulley groove direction and preventing the cable from coming out of the groove; the drive cable 65 is led out from the secondary platform drive 62, guided by the secondary platform fixed pulley 63 and the secondary platform moving pulley 64, and connected to the end of the central rod 69; the compound hinge 68 is fixedly connected to the tilting frame and is a compound hinge composed of a Hooke hinge and a linear bearing; one end of the central rod 69 is installed on the compound hinge 68. The upper part can swing with the Hooke's hinge in the compound hinge 68 and slide along the linear bearing in the compound hinge 68. The other end is connected to the drive cable 65. The spring 67 is passed through the central rod 69, with one end pressing against the compound hinge 68 and the other end pressing against the end of the central rod 69. The spring 67 is always in a compressed state, providing a thrust along the rod to the end of the central rod 69, thereby assisting in tensioning the drive cable 65. The spray gun 66 is installed at the end of the central rod. The spray gun 66 integrates a swing head with two rotational degrees of freedom to adjust the spray direction and thus perform the painting operation. When the secondary painting robot 6 performs the task, it controls the extension and retraction of each drive cable 65 through the coordinated motion of each secondary platform drive 62, thereby controlling the spray gun 66 at the end of the central rod to achieve three-degree-of-freedom spatial motion.

[0019] The secondary platform drive 62 includes a secondary platform roller 621, a coupling 622, a secondary platform reducer 623, a secondary platform servo motor 624, and a support frame 625. One end of the secondary platform roller 621 is rotatably connected to the support frame 625, and the other end is connected to the coupling 622. One end of the coupling 622 is connected to the secondary platform roller 621, and the other end is connected to the output shaft of the secondary platform reducer 623. The housing of the secondary platform reducer 623 is connected to the support frame 625. The housing of the secondary platform servo motor 624 is connected to the secondary platform reducer 623, and its shaft is connected to the input shaft of the secondary platform reducer 623. The drive cable 65 is connected to the secondary platform roller 621. The rotation of the secondary platform motor 624 drives the secondary platform roller 621 to rotate, thereby controlling the extension and retraction of the drive cable 65. Each secondary painting robot 6 has at least three sets of secondary platform drives 62.

[0020] The interior of the painting workshop needs to be equipped with one or more slide rail systems 1, with one or more overhead cranes 2 mounted on each slide rail system, and one or more primary drive components 3 mounted on each overhead crane 2. Each painting system includes at least one slide rail system 1, two overhead cranes 2, and two primary drive components 3. The number of degrees of freedom and the motion form of the moving platform 5 are determined by the number of slide rail systems 1 and the number of ropes contained in each primary drive cable system 4. When there is only one slide rail system, the moving platform 5 has two degrees of freedom and can move in the planar area directly below the slide rail to perform planar spraying. For the painting operation; when the number of slide rail systems 1 is not less than two, the moving platform 5 has three or more degrees of freedom; among them, when not less than three sets of primary drive cable systems 4 use two parallel ropes, or not less than two sets of primary drive cable systems 4 use three or more parallel ropes, or not less than one set of primary drive cable systems 4 uses three or more parallel ropes and not less than one set of primary drive cable systems 4 uses two parallel ropes, the number of degrees of freedom of the moving platform 5 is three, and only translational degrees of freedom exist; in other cases, the moving platform 5 has both translational and rotational degrees of freedom.

[0021] The number of slide rail system 1, overhead crane 2, and ropes can be selected according to the actual painting task requirements; the moving platform 5, overhead crane 2, and primary drive component 3 all adopt a modular design, which can be quickly reconfigured; according to the task requirements, by installing different numbers of overhead cranes 2 on slide rail 1, selecting different numbers of primary drive components 3, and using corresponding numbers of ropes, painting systems with different workspace shapes and performance characteristics can be obtained.

[0022] Depending on the installation conditions of the factory and the requirements of the task, the slide rail system 1 can be a straight slide rail, so that the overhead crane 2 can move in a straight line along the slide rail system 1; it can also be an arc slide rail, so that the overhead crane 2 can move in a corresponding arc along the slide rail system 1; or it can be a ring slide rail, so that the overhead crane 2 can move cyclically along the slide rail system 1.

[0023] The painting system has three drive modes: cable drive mode, crane drive mode, and hybrid drive mode. In cable drive mode, each crane 2 remains stationary and locked on the slide rail 1. The primary drive assembly 3 retracts and extends the primary drive rope 4 to enable the moving platform 5 to move in a large space. Its advantage is that the primary drive assembly 3 can wind a longer rope on the roller 32, enabling a large range of motion. In crane drive mode, each primary drive assembly 3 is locked, and the length of the primary drive rope 4 remains unchanged. The movement of the crane 2 on the slide rail 1 drives the moving platform 5 to move in a large space. Its advantage is that the mapping coefficient from crane movement to moving platform movement is small, enabling precise movement. At the same time, the crane has strong power and can be used in heavy-duty conditions. In hybrid drive mode, the crane 2 moves on the slide rail 1, while the primary drive assembly 3 retracts and extends the primary drive rope 4. Through the coordinated movement of the crane 2 and the primary drive assembly 3, the moving platform 5 is driven. Its advantage is that it can make full use of the various drive systems in the system, providing good flexibility.

[0024] When performing spraying operations, multiple coating systems can be used simultaneously, and the overhead cranes 2 of multiple coating systems can share the slide rail system 1.

[0025] Compared with the prior art, the beneficial effects that can be achieved by implementing the present invention are:

[0026] 1. By utilizing the cable-driven large equipment painting system proposed in this invention, it is possible to achieve large workspace and local fine painting operations in a lightweight and low-cost manner, effectively applying robotic equipment to the painting operations of large equipment such as aircraft and ships.

[0027] 2. The cable-driven large equipment painting system proposed in this invention can adjust the cable exit point of the primary drive cable system by configuring different numbers of overhead cranes and primary drive systems, combined with the movement of the overhead cranes on the slide rail system, thereby obtaining a painting system configuration that is suitable for painting operations of equipment of different shapes and sizes. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the overall structure and application scenarios of the cable-driven large equipment painting system of the present invention.

[0029] Figure 2 This is a schematic diagram of the two-stage cable drive structure of the cable-driven large equipment painting system of the present invention.

[0030] Figure 3 This is a detailed structural diagram of the first-stage drive component of the cable-driven large equipment painting system of the present invention.

[0031] Figure 4 This is a schematic diagram of the rope layout of the first-stage drive component of the cable-driven large equipment painting system of the present invention.

[0032] Figure 5 This is a schematic diagram of the moving platform and the secondary spraying robot of the cable-driven large equipment painting system of the present invention.

[0033] Figure 6 This is a schematic diagram of a two-stage spraying robot for the cable-driven large equipment painting system of the present invention.

[0034] Figure 7 This is a schematic diagram of one embodiment of the cable-driven large equipment painting system of the present invention applied to the ship painting scenario. Detailed Implementation

[0035] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings and specific embodiments. It should be noted that the terms "upper," "lower," "left," "right," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present 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 present invention.

[0036] like Figure 1 and Figure 2 As shown, the main structure of the cable-driven large equipment painting system includes: a slide rail system 1, a crane 2, a primary drive assembly 3, a primary drive cable system 4, a moving platform 5, and a secondary painting robot 6.

[0037] The slide rail system 1 of the cable-driven large equipment painting system is installed in a fixed position inside the factory to provide support for the entire system; the overhead crane 2 is installed on the slide rail system 1 and can slide along the slide rail; the first-stage drive component 3 is installed on the overhead crane 2; one end of the first-stage drive cable system 4 is installed on the first-stage drive component 3 and the other end is connected to the moving platform 5; the second-stage spraying robot 6 is connected to the moving platform 5.

[0038] like Figure 2 and Figure 3 As shown, the overhead crane 2 includes a crane base 21, a motion system 22, and a steering system 23. The motion system 22 is fixed to the crane base 21 and mounted on the slide rail system 1. The movement of the motion system 22 on the slide rail system 1 drives the entire overhead crane 2 to move along the slide rail system 1. One end of the steering system 23 is fixed to the crane base 21, and the other end is connected to the primary drive assembly 3. The steering system 23 can rotate around its own axis, thereby controlling the horizontal swing of the primary drive assembly 3 and adjusting its orientation.

[0039] like Figure 3 and Figure 4As shown, the primary drive assembly 3 includes a base 31, a roller 32, a fixed pulley 33, a movable pulley 34, a reducer 35, a servo motor 36, and a roller shaft 37. The roller 32, fixed pulley 33, movable pulley 34, and reducer 35 are mounted on the base 31. One end of the roller 32 is rotatably connected to the base 31 through a structure such as a bearing, and the other end is connected to the output shaft of the reducer 35 through the roller shaft 37. The roller 32 is engraved with a spiral groove, so that the rope can be tightly wound around the roller along the groove. The housing of the servo motor 36 is connected to the housing of the reducer 37, and the servo motor shaft is connected to the input shaft of the reducer. Multiple fixed pulleys 33 are mounted on the base to guide the primary drive cable system 4 led out from the roller 32. The movable pulley (34) is mounted on the base 31, and its pulley frame can swing horizontally with the change of the rope direction, thereby adaptively adjusting the direction of the pulley groove and preventing the rope from coming out of the groove.

[0040] like Figure 5 As shown, the moving platform 5 includes a cable connector 51, a second servo motor 52, a second reducer 53, and a moving platform frame 54. One end of the cable connector 51 is connected to the moving platform frame 54, and the other end is connected to the rope of the primary drive cable system 4. Each rope corresponds to one cable connector. The housing of the second servo motor 52 is connected to the housing of the second reducer 53, and the shaft of the second servo motor 52 is connected to the input shaft of the second reducer 53. The housing of the second reducer 53 is connected to the frame of the moving platform 5, and the output shaft of the second reducer 53 is connected to the tilting frame 61 of the secondary painting robot.

[0041] like Figure 6As shown, the secondary painting robot 6 includes a tilting frame 61, a secondary platform drive 62, a fixed pulley 63, a movable pulley 64, a drive cable 65, a spray gun 66, a spring 67, a compound clamp 68, and a central rod 69. A tilting shaft (611) structure is fixedly connected to the tilting frame 61, and is connected to the output shaft of the second reducer 53 of the movable platform. The secondary platform drive 62 is fixedly connected to the tilting frame 61, and each set of secondary platform drives 62 controls the winding and unwinding of one drive cable 65. The secondary platform fixed pulley 63 is fixedly connected to the tilting frame 61. The secondary platform movable pulley 64 is fixedly connected to the tilting frame 61, and its pulley frame can swing horizontally according to the direction of the drive cable, thereby adaptively adjusting the direction of the pulley groove and preventing the cable from coming out of the groove. The drive cable 65 is led out from the secondary platform drive 62, guided by the secondary platform fixed pulley 63 and the secondary platform movable pulley 64, and connected to the end of the central rod 69. The compound hinge 68 is fixed to the tilting frame and is a composite hinge composed of a Hooke hinge and a linear bearing. One end of the central rod 69 is mounted on the compound hinge 68, allowing it to swing with the Hooke hinge in the compound hinge 68 and slide along the linear bearing in the compound hinge 68. The other end is connected to the drive cable 65. A spring 67 passes through the central rod 69, with one end pressing against the compound hinge 68 and the other end pressing against the end of the central rod 69. The spring 67 is always in a compressed state, providing a thrust along the rod to the end of the central rod 69, thereby assisting in tensioning the drive cable 65. The spray gun 66 is mounted at the end of the central rod and integrates a swing head with two rotational degrees of freedom to adjust the spray direction, thereby performing the painting operation. When the secondary painting robot 6 performs its task, it controls the extension and retraction of each drive cable 65 through the coordinated motion of each secondary platform drive 62, thereby controlling the spray gun 66 at the end of the central rod to achieve three-degree-of-freedom spatial motion.

[0042] The secondary platform drive 62 includes a secondary platform roller 621, a coupling 622, a secondary platform reducer 623, a secondary platform servo motor 624, and a support frame 625. One end of the secondary platform roller 621 is rotatably connected to the support frame 625, and the other end is connected to the coupling 622. One end of the coupling 622 is connected to the secondary platform roller 621, and the other end is connected to the output shaft of the secondary platform reducer 623. The housing of the secondary platform reducer 623 is connected to the support frame 625. The housing of the secondary platform servo motor 624 is connected to the secondary platform reducer 623, and its shaft is connected to the input shaft of the secondary platform reducer 623. The drive cable 65 is connected to the secondary platform roller 621. The rotation of the secondary platform motor 624 drives the secondary platform roller 621 to rotate, thereby controlling the winding and unwinding of the drive cable 65. Specific Implementation Example 1:

[0044] Figure 1 This corresponds to one embodiment of the present invention applied to the surface coating operation of large aircraft.

[0045] In this embodiment, three linear slide rail systems 1 are arranged inside the painting workshop. Two painting systems work together to paint the wings of the aircraft 7. Each painting system uses four overhead cranes 2. Two overhead cranes 2 are arranged on the slide rail systems 1 located on both sides, while the slide rail system 1 located in the middle is shared by both painting systems and has four overhead cranes 2. Each set of primary drive cable systems 4 uses two parallel ropes that are synchronously wound and released to form parallel constraints on the moving platform 5, enabling the moving platform 5 to achieve three-dimensional pure translational motion with unchanged attitude.

[0046] During the painting operation, each overhead crane 2 of the two painting systems remains stationary and locked on the slide rail system 1. The primary drive component 3 on each crane controls the retraction and extension of the primary drive cable system 4, thereby controlling the movement of the moving platform 5 above the aircraft 7. After moving to the vicinity of the area to be painted, the primary drive component 3 locks, keeping the moving platform 5 stationary at the target position. Simultaneously, the second servo motor 52 on the moving platform 5 rotates to adjust the tilting frame 61 of the secondary painting robot 6 to the corresponding angle. Then, the secondary platform drives 62 on the secondary painting robot 6 control the retraction and extension of the drive cable 65, thereby controlling the spray gun 66 to perform the spraying motion. During the movement, the spray gun 66 relies on its own installed tilting head to adjust its attitude, ensuring that the spraying direction is always along the normal of the surface to be painted. After completing the painting of one area, the primary drive component 3 on each crane controls the retraction and extension of the primary drive cable system 4, thereby controlling the movement of the moving platform 5 to the next area to be painted. When the area to be painted is located in a poor-performing area of ​​the current workspace, each crane 2 moves on the slide rail to adjust the position of the primary drive component until the area to be painted is located in a better-performing area of ​​the current workspace, and then the painting operation continues. Specific Implementation Example 2:

[0048] Figure 7 This corresponds to one embodiment of the present invention applied to the surface coating operation of large ships.

[0049] In this embodiment, the slide rail system 1 arranged inside the painting workshop is a closed rounded rectangle, and the overhead crane 2 can move cyclically along the slide rail system 1. Two painting systems work together to paint the sides and top surface of the ship 8, and each painting system uses two overhead cranes. Each set of primary drive cable system 4 uses three parallel ropes that are simultaneously wound and released, forming a parallel constraint on the moving platform 5. When the overhead cranes remain stationary, the moving platform 5 can achieve two-dimensional pure translational motion with unchanged attitude within the plane determined by the line connecting the two overhead cranes and the direction of gravity.

[0050] When performing the painting operation on the side of the ship 8, each of the two painting systems' overhead cranes 2 remains stationary and locked on the slide rail system 1. The primary drive components 3 on each crane control the retraction and extension of the primary drive cable system 4, thereby controlling the movement of the moving platform 5 on the side of the ship. After moving to the vicinity of the area to be painted, the primary drive components 3 lock, keeping the moving platform 5 stationary at the target position. At the same time, the second servo motor 52 on the moving platform 5 rotates to adjust the tilting frame 61 of the secondary painting robot 6 to the corresponding angle. Then, each secondary platform drive 62 on the secondary painting robot 6 controls the retraction and extension of the drive cable 65, thereby controlling the spray gun 66 to perform the spraying motion. During the movement, the spray gun 66 relies on its own installed tilting head to adjust its posture, ensuring that the spraying direction is always along the normal of the surface to be painted. After completing the painting of one area, the primary drive components 3 on each crane control the retraction and extension of the primary drive cable system 4, thereby controlling the moving platform 5 to move to the next area to be painted. When the area to be painted is located in a poor-performing area within the current workspace, each overhead crane 2 moves on the slide rail to adjust the position of the primary drive component until the area to be painted is located in a better-performing area within the current workspace, and then the painting operation continues. During the movement of the overhead crane 2, the crane's orientation system 23 performs corresponding horizontal swings to adjust the orientation of the primary drive component 3, preventing the direction difference between the primary drive cable system 4 and the primary drive component 3 from being too large, exceeding the horizontal swing range of the primary drive component's movable pulley 34 and causing the cable to slip out of the groove.

[0051] When performing painting operations on the flat area of ​​the upper deck of vessel 8, the two overhead cranes 2 of each painting system move to opposite sides of the rounded rectangular slide rail. Then, the primary drive assembly 3 of both painting systems controls the primary drive cable system 4 to retract to a suitable position and remain locked, so that the moving platform 5 is above the deck of vessel 8. The second servo motor 52 on the moving platform 5 is adjusted to rotate and adjust the tilting frame 61 of the secondary spraying robot 6, so that the spray gun 66 of the secondary spraying robot is vertically downward. Then, each overhead crane 2 moves along the straight section of the slide rail 1 at the same speed, thereby controlling the moving platform 5 to move along the same straight line to achieve spraying on the upper surface of the deck. After completing one spraying, the primary drive assembly 3 controls the primary drive cable system 4 to retract to move the moving platform to another suitable position. Then, each overhead crane 2 moves along the straight section of the slide rail system 1 at the same speed to perform the next spraying.

[0052] 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 cable-driven large equipment painting system, characterized in that: include: The slide rail system (1) is responsible for providing the track required for the movement of the overhead crane (2) and bearing the weight of the entire painting system; The overhead crane (2) includes an overhead crane base (21), a motion system (22) and a steering system (23). The motion system (22) set on the overhead crane base (21) is responsible for moving along the slide rail system (1) to adjust the position of the primary drive component (3), and uses the steering system (23) fixed on the overhead crane base (21) to adjust the orientation of the primary drive component (3), and can also be used to drive the moving platform (5) to move. The primary drive assembly (3) includes a base (31) connected to the crane's steering system (23), a roller (32), a fixed pulley (33), a movable pulley (34) mounted on the base (31), and a first reducer (35) connected to the roller shaft (37). A first servo motor (36) connected to the first reducer (35) is responsible for controlling the retraction and extension of the primary drive cable system (4), thereby driving the moving platform (5) to move. The primary drive cable system (4) is controlled by the primary drive assembly (3) to extend and retract, thereby driving the moving platform (5) to move; The moving platform (5) is connected to the primary drive cable system (4) and includes a cable connector (51), a second servo motor (52), a second reducer (53), and a moving platform frame (54). One end of the cable connector (51) is connected to the moving platform frame (54), and the other end is connected to the rope of the primary drive cable system (4). The second servo motor (52) and the second reducer (53) are connected. The moving platform (5) is responsible for providing the installation position for the secondary painting robot (6) and driving the secondary painting robot (6) to rotate as a whole, thereby adjusting the posture of the secondary painting robot (6). The secondary spraying robot (6) is installed on the moving platform (5), including a tilting frame (61) connected to the output shaft of the second reducer (53), multiple sets of secondary platform drives (62), secondary platform fixed pulleys (63), secondary platform moving pulleys (64), and compound hinges (68) installed on the tilting frame (61), a drive cable (65) controlled by each set of secondary platform drives (62) for retraction and extension, a central rod (69) with one end installed on the compound hinge (68) and the other end connected to the drive cable (65), a spring (67) sleeved on the central rod (69), and a spray gun (66) installed at the end of the central rod (69). The secondary spraying robot (6) is responsible for performing three-degree-of-freedom spatial motion to realize the spraying operation. The slide rail system (1) of the cable-driven large equipment painting system is installed in a fixed position inside the factory to provide support for the entire painting system; the overhead crane (2) is installed on the slide rail system (1) and can slide along the slide rail; the first-level drive assembly (3) is installed on the overhead crane (2); the first-level drive cable system (4) is installed on the first-level drive assembly (3), and is led out from the roller (32) of the first-level drive assembly (3), guided by the first fixed pulley (33) and the first movable pulley (34) of the first-level drive assembly (3), and finally connected to the cable connector (51) of the moving platform. The first servo motor (36) of the first drive assembly drives the roller (32) to rotate for loading and unloading; the moving platform (5) is connected to the first-level drive cable system (4) through the cable connector (51); the second-level painting robot (6) is connected to the output shaft of the second reducer (53) of the moving platform through the flipping frame (61), and is driven by the rotation of the second servo motor (52) of the moving platform (5) to realize the overall rotation of the second-level painting robot (6); When performing the spraying operation, the movement of the coating system includes two parts: the large-space movement of the moving platform (5) and the local spraying movement of the secondary spraying robot (6). Among them, the crane (2) moves along the slide rail system (1) to adjust the position of the primary drive component (3). By adjusting the position of the primary drive component (3), the position of the cable exit point is adjusted, so that the moving platform (5) always performs the task in the specified work space area. The primary drive component (3) controls the moving platform (5) to achieve large-space movement by retracting and extending the primary drive cable system (4). The moving platform (5) and the secondary spraying robot (6) cooperate to achieve local spraying operation. The moving platform (5) is responsible for adjusting the posture of the secondary spraying robot (6), and the secondary spraying robot (6) is responsible for driving the spray gun to perform the spraying movement. At the same time, the spray gun swings according to the normal direction of the surface to be coated to adjust the spraying direction. Through the linkage of multiple devices, the large-space movement and local fine coating operation are finally taken into account.

2. The cable-driven large equipment painting system according to claim 1, characterized in that: The motion system (22) frame of the overhead crane (2) is fixed on the overhead crane base (21) and installed on the slide rail system (1). The motion system (22) moves on the slide rail system (1) to drive the entire overhead crane (2) along the slide rail. One end of the orientation system (23) is fixed on the overhead crane base (21), and the other end is connected to the primary drive component (3). The orientation system (23) can rotate around its own axis, thereby controlling the horizontal swing of the primary drive component (3) and thus adjusting the orientation of the primary drive component (3).

3. The cable-driven large equipment painting system according to claim 1, characterized in that: One end of the roller (32) of the first-stage drive assembly (3) is rotatably connected to the base (31) via a bearing, and the other end is connected to the output shaft of the first reducer (35) via a roller shaft (37). The roller (32) is engraved with a spiral groove, so that the rope can be tightly wound around the roller along the groove. The housing of the servo motor (36) is connected to the housing of the first reducer (35), and the shaft of the servo motor is connected to the input shaft of the reducer. Multiple fixed pulleys (33) are installed on the base to guide the first-stage drive cable system (4) drawn from the roller (32). The movable pulley (34) is installed on the base (31), and its pulley frame can swing horizontally with the change of the rope direction, thereby adaptively adjusting the direction of the pulley groove and preventing the rope from coming out of the groove.

4. The cable-driven large equipment painting system according to claim 1, characterized in that: Each primary drive cable system (4) includes one rope or two or more parallel ropes that are simultaneously wound up and down; the parallel ropes can form parallel constraints on the moving platform (5), thereby constraining the rotational degree of freedom of the moving platform (5) and enabling the moving platform (5) to achieve pure translational motion with unchanged posture; the number of grooves, the number of fixed pulley groups and the number of moving pulleys on the roller of the primary drive assembly (3) are the same as the number of ropes in the corresponding primary drive cable system (4).

5. The cable-driven large equipment painting system according to claim 1, characterized in that: Multiple cable connectors (51) are set on the moving platform frame (54) of the moving platform (5), and each cable connector (51) corresponds to a rope; the housing of the second servo motor (52) is connected to the housing of the second reducer (53), and the shaft of the second servo motor (52) is connected to the input shaft of the second reducer (53); the housing of the second reducer (53) is connected to the frame of the moving platform (5), and the output shaft of the second reducer (53) is connected to the flipping frame (61) of the secondary spraying robot.

6. The cable-driven large equipment painting system according to claim 1, characterized in that: A flipping shaft (611) structure is fixedly connected to the flipping frame (61) of the secondary painting robot (6), which is connected to the output shaft of the second reducer (53) of the moving platform; the secondary platform drive (62) is fixedly connected to the flipping frame (61), and each set of secondary platform drives (62) controls the winding and unwinding of a drive cable (65); the pulley frame of the secondary platform movable pulley (64) can swing horizontally with the change of the drive cable direction, thereby adaptively adjusting the pulley groove direction and preventing the cable from coming out of the groove; the drive cable (65) is led out from the secondary platform drive (62), guided by the secondary platform fixed pulley (63) and the secondary platform movable pulley (64), and connected to the end of the central rod (69); the compound hinge (68) is fixedly connected to the flipping frame and is a compound hinge composed of a Hooke hinge and a linear bearing; one end of the central rod (69) is installed on the compound hinge (68). The upper end can swing with the Hooke hinge in the compound hinge (68) and slide along the linear bearing in the compound hinge (68), and the other end is connected to the drive cable (65); the spring (67) is passed on the central rod (69), one end is pressed against the compound hinge (68), and the other end is pressed against the end of the central rod (69). The spring (67) is always in a compressed state, providing a thrust along the rod to the end of the central rod (69), thereby assisting in tensioning the drive cable (65); the spray gun (66) is installed at the end of the central rod. The spray gun (66) integrates a swing head with two rotational degrees of freedom to adjust the spray direction and then perform the painting operation; when the secondary spraying robot (6) performs the task, it controls the extension and retraction of each drive cable (65) through the coordinated motion of each secondary platform drive (62), thereby controlling the spray gun (66) at the end of the central rod to achieve three-degree-of-freedom spatial motion.

7. A cable-driven large equipment painting system according to claim 6, characterized in that: The secondary platform drive (62) includes a secondary platform roller (621), a coupling (622), a secondary platform reducer (623), a secondary platform servo motor (624), and a support frame (625). One end of the secondary platform roller (621) is rotatably connected to the support frame (625), and the other end is connected to the coupling (622). One end of the coupling (622) is connected to the secondary platform roller (621), and the other end is connected to the output shaft of the secondary platform reducer (623). The secondary platform reducer (623) housing... Connected to the support frame (625), the housing of the secondary platform servo motor (624) is connected to the secondary platform reducer (623), and its shaft is connected to the input shaft of the secondary platform reducer (623); the drive cable (65) is connected to the secondary platform roller (621), and the rotation of the secondary platform servo motor (624) drives the secondary platform roller (621) to rotate, thereby controlling the release and retraction of the drive cable (65); the number of secondary platform drive (62) groups installed on each secondary painting robot (6) is greater than or equal to three.

8. A cable-driven large equipment painting system according to claim 1, characterized in that: The interior of the painting workshop needs to be equipped with one or more slide rail systems (1), each slide rail system is equipped with one or more overhead cranes (2), and each overhead crane (2) is equipped with one or more first-stage drive components (3); each painting system includes at least one slide rail system (1), two overhead cranes (2) and two first-stage drive components (3); the number of degrees of freedom and motion form of the moving platform (5) are determined by the number of slide rail systems (1) and the number of ropes contained in each set of first-stage drive cable systems (4); when the number of slide rail systems is one, the moving platform (5) has two degrees of freedom and can move in the plane area directly below the slide rail, performing... For flat spraying operations; when the number of slide rail systems (1) is not less than two, the moving platform (5) has three or more degrees of freedom; among them, when not less than three sets of primary drive cable systems (4) use two parallel ropes, or not less than two sets of primary drive cable systems (4) use three or more parallel ropes, or not less than one set of primary drive cable systems (4) uses three or more parallel ropes and not less than one set of primary drive cable systems (4) uses two parallel ropes, the number of degrees of freedom of the moving platform (5) is three, and only translational degrees of freedom exist; in other cases, the moving platform (5) has both translational and rotational degrees of freedom; The number of slide rail system (1), overhead crane (2) and ropes is selected according to the actual painting task requirements; the moving platform (5), overhead crane (2) and primary drive component (3) are all modularly designed and can be quickly reconfigured; according to the task requirements, by installing different numbers of overhead cranes (2) on the slide rail, selecting different numbers of primary drive components (3), and using corresponding numbers of ropes, painting systems with different workspace shapes and performance characteristics can be obtained.

9. A cable-driven large equipment painting system according to claim 1, characterized in that: According to the installation conditions of the factory and the requirements of the task, the slide rail system (1) is a straight slide rail, which makes the overhead crane (2) move in a straight line along the slide rail on the slide rail system (1); or an arc slide rail, which makes the overhead crane (2) move in a corresponding arc along the slide rail on the slide rail system (1); or a ring slide rail, which makes the overhead crane (2) move in a circular motion along the slide rail on the slide rail system (1).

10. A cable-driven large equipment painting system according to claim 1, characterized in that: The painting system has three driving modes: cable drive mode, crane drive mode, and hybrid drive mode. In cable drive mode, each crane (2) remains stationary and locked on the slide rail. The primary drive assembly (3) retracts and extends the primary drive cable system (4) to realize the movement of the moving platform (5) in a large space. Its advantage is that the primary drive assembly (3) can wind a longer rope on the roller (32), which can realize a large range of motion. In crane drive mode, each primary drive assembly (3) is locked, and the length of the primary drive cable system (4) remains unchanged. The overhead crane (2) drives the moving platform (5) to move in a large space by moving on the slide rail. Its advantage is that the mapping coefficient from the crane movement to the moving platform movement is small, which can achieve fine movement. At the same time, the crane has strong power and is used for heavy-duty conditions. In the hybrid drive mode, the overhead crane (2) moves on the slide rail, while the first-level drive component (3) retracts and extends the first-level drive cable system (4). Through the coordinated movement of the overhead crane (2) and the first-level drive component (3), the moving platform (5) is driven. Its advantage is that it can make full use of each group of drive systems in the system and has good flexibility. When performing spraying operations, multiple coating systems can be used simultaneously for coating, and the overhead cranes (2) of multiple coating systems can share the slide rail system (1).

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