Electro-Hydraulic Composite Drive Spraying Robot
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Solution Overview
Problem
Existing spraying robots face limitations in operating space and flexibility, leading to interference between drive ropes and workpieces, especially when dealing with complex surfaces, and struggle to achieve precise motion and high accuracy on large or curved surfaces.
Innovation Solution
A movable electro-hydraulic composite drive spraying robot with a large operating space, featuring multiple movable bases, drive rope adjustment modules, an adjustable auxiliary motion platform, and a rotary motion platform driven by hydraulic push rods, which allows for precise multi-degree-of-freedom motion and avoids interference through balanced traction forces and flexible motion control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If the arm length or number of joints is increased to expand operating space, then the operating space is improved, but the system inertia increases, rigidity decreases, and end precision deteriorates
Solution Approach 1:
The patent employs a parallel mechanism structure where multiple arms move in coordinated fashion, enabling the system to achieve large operating space without requiring individual arms to be excessively long. The dynamic coordination of multiple arms maintains system rigidity while expanding workspace, resolving the contradiction between operating space and precision.
2Area of stationary object
If flexible-cable drive parallel spraying mechanism is used to expand operating space, then the operating space is improved, but the drive ropes interfere with the workpiece when facing complex surfaces
Solution Approach 1:
The patent removes the flexible cables from the driving mechanism, replacing them with a rigid parallel mechanism driven by motors. This extraction of the harmful flexible cables eliminates rope interference with workpieces while maintaining the advantage of large operating space through parallel kinematics.
Solution Approach 2:
The patent replaces the flexible-cable drive system with a motor-driven parallel mechanism. This substitution eliminates the interference problem caused by flexible cables while preserving the large operating space capability through the parallel architecture.
3Manufacturing precision
If serial rigid robot structure is used to achieve high accuracy positioning, then the positioning accuracy is improved, but the operating space is limited and flexibility is reduced
Solution Approach 1:
The patent merges the advantages of serial and parallel mechanisms by using a parallel structure that provides both large operating space and high positioning accuracy. The parallel kinematics enables coordinated motion of multiple arms to achieve precise positioning while maintaining flexibility and access to complex surfaces.
Data Source
AI summary
Provided is a movable electro-hydraulic composite drive spraying robot with a large working space, comprising movable bases, there being a plurality of movable bases cooperatively arranged for bearing a drive rope adjustment module, profile supporting columns in the driving rope adjusting module respectively being fixed on the movable bases, the plurality of movable bases encircling an operating space, a adjustable auxiliary motion platform that is movable being erected in the operating space, a rotary motion platform being arranged below the adjustable auxiliary motion platform, the adjustable auxiliary motion platform and the rotary motion platform being connected by means of a hydraulic push rod, the bottom end surface of the rotary motion platform being provided with a spray gun, and a balance mechanism and a fixed support mechanism for balancing the traction force of the rope and maintaining the balance of the mechanism also being mounted on the movable bases.