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CN-121972338-A - Cable parallel precise spraying robot oriented to complex curved surface

CN121972338ACN 121972338 ACN121972338 ACN 121972338ACN-121972338-A

Abstract

The patent discloses a large-scale equipment surface macro-micro cooperative driving's parallelly connected spraying robot of cable comprises macro robot, moving platform and spraying module. The macro robot adopts a detachable metal static platform frame and four driving ropes to cooperatively control the multi-degree-of-freedom motion of a disc-shaped movable platform, and three-dimensional accurate positioning is realized through an XY linear translation platform and a scissor type lifting mechanism. The four-head atomizing nozzle system is innovated, the spraying of the priming paint, the color paint and the varnish is completed through 90-degree step rotation, the high surface coverage rate is realized through an S-shaped alternate path, and the saturation of the color paint is controlled by combining six-valve flow. The device can be quickly reconfigured to adapt to different working conditions, the spraying efficiency is greatly improved, and the device is particularly suitable for high-quality spraying operation of large-scale equipment such as airplanes, ships and the like.

Inventors

  • LAI XIAONAN
  • YU XIAOFENG

Assignees

  • 吉林化工大学

Dates

Publication Date
20260505
Application Date
20260327

Claims (9)

  1. 1. The robot for the cable parallel spraying device for spraying the surface of the large equipment is characterized by comprising a macro robot, a moving platform, a spraying module and an oil drum replacing platform system; the macro robot comprises a rectangular fixed frame of a fixed platform, a disc-shaped movable platform, four driving modules and ropes, wherein the ropes are respectively connected with the fixed frame of the fixed platform and the disc-shaped movable platform through the driving modules; The linear moving platform comprises an xy-direction linear translation platform, a fixed scissor type lifting mechanism, and a lifter is respectively connected with the linear translation platform and the disc-shaped movable platform; The spraying module comprises a spraying module body and is characterized in that the spraying module body comprises a micro mechanical arm, an L shaft, a rotating platform and four-head atomizing nozzles, the mechanical arm is connected with a disc-shaped movable platform through a rope, the L shaft is respectively connected with the micro mechanical arm and a rotating platform, and the four-head atomizing nozzles automatically rotate under the control of the L shaft and the rotating platform and cooperate with the micro mechanical arm to move.
  2. 2. The robot for the cable parallel spraying device for spraying the surface of the large equipment, which is disclosed in claim 1, is characterized in that the macro robot comprises a rectangular static platform fixing frame for fixing ropes, wherein the rectangular static platform fixing frame is made of detachable metal, and the cable parallel frame can be quickly reconstructed within a certain time; The four driving modules are positioned at four corners of the rectangular static platform frame, four ropes are respectively reeled by four rollers, rope hanging points are positioned in the rope parallel fixing frame and are distributed identically, so that the two ropes at the same side are identical in length and parallel to each other, and the four driving modules respectively and independently drive the ropes to control the winding and unwinding of the ropes; Comprises a disc type movable platform which realizes multi-degree-of-freedom movement through four ropes, wherein the movable platform is arranged at the central high position of a rope parallel frame, the driving end is used for fixing the ropes, a disc-shaped movable platform is adopted to optimize the working space, and four ropes respectively penetrate through the hanging points and are connected to the static platform.
  3. 3. The cable parallel spraying device robot for spraying the surface of the large equipment, which is disclosed in claim 1, is characterized in that the XY linear translation stage is arranged above the cable parallel fixing frame, can perform linear motion in a two-dimensional plane, and has a synchronous linkage function, the fixed scissor type lifting mechanism is fixedly connected below the XY linear translation stage, and the scissor type lifting mechanism realizes lifting motion of stroke amplification through a fork arm geometric relationship; The XY linear translation stage comprises an X-axis sliding rail, a Y-axis sliding rail and a linkage driving assembly, wherein the linkage driving assembly controls the X-axis and the Y-axis to synchronously move, and the top of the fixed scissor type lifting mechanism is fixedly connected with the bottom surface of the XY linear translation stage through bolts or buckles.
  4. 4. The robot for the cable parallel spraying device for spraying the surface of the large equipment, which is disclosed in claim 1, is characterized in that the spraying module comprises a micro mechanical arm, an L-axis, a rotating platform and a four-head atomizing nozzle, wherein the mechanical arm is designed by adopting flexible materials, and a torque sensor, a temperature sensor and the like; six valves are arranged on the rotary table, are respectively an air inlet valve, a feed liquid inlet valve and four atomizing valves, and are used for respectively controlling the flow rate and the speed of spraying of four spray nozzles, and after one layer of spray paint is finished, the spray nozzles rotate step by step through 90 degrees on the rotary table, and all spray painting is finished repeatedly for three times.
  5. 5. The robot of the cable parallel spraying device for spraying the surface of the large equipment, which is disclosed in claim 4, is characterized in that an arm rod of the mechanical arm is of a hollow structure, the inner space of the mechanical arm is enlarged, and a water pipe penetrates through a hollow channel of the arm rod to meet the minimum flow rate; the water pipe is fixed in the hollow channel through a fixing part, and the fixing part is used for limiting the movement of the water pipe in the channel; the fixing part is a clamp or a binding belt arranged on the inner wall of the hollow channel; sealing structures are arranged at two ends of the hollow channel of the arm rod so as to prevent external dust and impurities from entering the hollow channel to influence the water pipe; The water pipe is connected at the joint of the mechanical arm through the rotary joint, and the rotary joint is adapted to the movement of the joint of the mechanical arm, so that the smooth water supply of the water pipe during the movement of the joint is ensured.
  6. 6. A robot for spraying cable parallel connection on the surface of large equipment according to claim 1, wherein each nozzle is responsible for spraying paint, namely primer, color paint and varnish, the green primer is uniformly sprayed on the surface of the large equipment by using a spray head, the color paint is a main color paint layer comprising white and blue, the color saturation is achieved by multiple covering, and the high-gloss varnish is sprayed as the outermost protection.
  7. 7. A robot for a cable parallel spraying apparatus for spraying a surface of a large scale equipment as set forth in claim 1 wherein the continuous S-shaped motion path covers the surface of the workpiece in an alternating path from left to right.
  8. 8. The robot for the cable parallel spraying device for spraying the surface of the large equipment is characterized in that a visual recognition and control system is adopted, real-time monitoring and recognition of the large surface are achieved through laser scanning, cameras and other equipment, accurate control of the coating position and thickness is ensured, anti-interference control is adopted, and model prediction control and disturbance observer are combined to restrain rope vibration.
  9. 9. The robot for the cable parallel spraying device for spraying the surface of the large equipment, which is disclosed in claim 1, is characterized in that an oil drum replacing platform system is arranged, and a quick connection joint is arranged at the connecting part of the oil drum and the oil pipe, so that the quick separation and reconnection are facilitated when the oil drum is replaced; the inside of the vertical structure frame is provided with a closed tubular channel, the cross section shape of the channel is adapted to the outline of the oil pipe, the oil pipe is completely hidden in the tubular channel, and sealing components are arranged at the two ends of the vertical structure frame corresponding to the inlet and outlet of the oil pipe to prevent external sundries from entering the channel to contact the oil pipe; The inner wall of the tubular channel of the vertical structure frame is provided with elastic fixing pieces which are axially distributed at intervals along the channel and used for clamping the oil pipe and limiting the shaking of the oil pipe in the channel, and meanwhile, the fluid conveying in the oil pipe is not influenced.

Description

Cable parallel precise spraying robot oriented to complex curved surface Technical Field The invention belongs to the technical field of industrial automation and surface treatment, and particularly relates to a large-scale equipment surface spraying robot system based on a cable parallel mechanism and multi-axis cooperative control. The system realizes high-efficiency and high-precision automatic coating of large curved workpieces (such as ships, airplanes and wind power generation equipment) through modularized structural design, macro-micro robot cooperative motion control and intelligent spraying process integration, and is particularly suitable for multi-coating layered spraying scenes. Background The traditional large equipment surface spraying technology has the following challenges that ‌ has strong manual dependency ‌, manual spraying is easily influenced by experience of operators, coating uniformity is poor, health and safety risks exist, ‌ equipment has insufficient flexibility ‌, a track type or fixed robot is difficult to adapt to dynamic deformation of large-scale and complex curved surface workpieces, installation and maintenance cost is high, ‌ multi-coating process efficiency is low ‌, existing equipment mainly adopts single-nozzle sequential operation and needs multiple positioning and switching procedures, production cycle is prolonged, ‌ dynamic control precision is insufficient ‌, environmental disturbance (such as wind load and vibration) influences the stability of a spraying path, and coating thickness deviation and surface defects are caused. Although the rope parallel robot has a large-range motion capability, the anti-interference capability of a rope driving system of the rope parallel robot is weak, and the deep coupling control of the rope parallel robot and the spraying technological parameters is lacked. The invention solves the technical bottleneck through the integration of structural innovation and intelligent algorithm. Disclosure of Invention 1. System architecture ‌ The cable parallel spraying robot system provided by the invention comprises the following core modules: ‌ -cable parallel macro robot ‌, which provides a large-scale and high dynamic movement capability; ‌ Multi-axis Mobile platform ‌: expansion plane and vertical workspace; ‌ the intelligent spraying terminal ‌ integrates a multi-sensor and a color separation spraying module, and accurate process control is achieved. ‌ 1 Rope parallel macro robot ‌ ‌ The stationary platform frame ‌ is composed of a rectangular stationary platform fixing frame, a disc-shaped movable platform, four driving modules and ropes. The modularized detachable metal material is adopted, the modularized detachable metal material is composed of a high-strength metal material, and the four corners are provided with independent driving units, so that the rapid reconstruction is supported to adapt to different operation scenes; ‌ the driving module ‌ is characterized in that each driving unit comprises a servo motor, a speed reducing mechanism and a roller rope winding device, the winding and the unwinding of a rope are controlled through the roller rope winding, the rope hanging point is parallel to the same side of the rope outlet point, and the disc-shaped movable platform is driven to realize multi-degree-of-freedom movement, so that the working space is optimized; ‌ the movable platform ‌ is of a disc-shaped structure, multiple degrees of freedom of movement are realized through traction of four ropes, a hinge is arranged in the center and connected with a spraying terminal, and the coverage range of a working space is optimized; ‌ anti-interference control ‌, based on model predictive control and disturbance observation algorithm, compensating environment interference in real time, and ensuring motion stability of the movable platform. The cable parallel macro robot spraying system solves the problems of low precision, poor efficiency and heavy pollution in the coating of large equipment through structural innovation and intelligent upgrading, and becomes a typical application of intelligent transformation in the high-end manufacturing field. ‌ A ‌ 2 Multi-axis Mobile platform ‌ ‌ XY linear translation stage ‌, which is arranged on the top of the static platform and realizes the linear motion in a two-dimensional plane through a high-precision guide rail and a servo driving system; ‌ scissor type lifting mechanism ‌ is fixed below the translation stage by adopting a multi-stage linkage design, provides large-stroke vertical lifting capacity, and cooperatively expands the six-degree-of-freedom movement range with the rope parallel macro robot. The scissor type lifting mechanism and the XY linear translation table are comprehensively controlled, and high-precision and large-range movement of spraying is realized through three-dimensional space cooperative positioning. The scissor type lifting mechanism utilizes the geometrical amplif