Cable-strut hybrid drive spraying robot with variable working interval

Abstract

The invention discloses a cable-strut hybrid drive spraying robot with a variable working interval, and relates to the technical field of spraying robots. The cable-strut hybrid drive spraying robot comprises a hanging basket frame, an end effector angle control mechanism, a traction and working interval control mechanism, a tail end execution structure, a damping rope driving mechanism, a platform rope traction mechanism and a rope traction vibration reduction mechanism,and the end effector angle control mechanism, the traction and working interval control mechanism and the tail end execution structure are mounted on the hanging basket frame. The damping rope driving mechanism is used for driving stable translation of the hanging basket frame in the space. The hanging basket frame is dragged to move through the damping rope driving mechanism and the platform rope traction mechanism, and large-range rapid movement of the tail end execution structure is achieved. The end effector angle control mechanism and the traction and working interval control mechanism are used for driving and dragging the tail end execution structure to carry out accurate positioning movement of three-degree-of-freedom translation and two-degree-of-freedom rotation in an effective working interval range, so that the positioning rigidity and precision are high, the spraying quality is high, and the cable-strut hybrid drive spraying robot is particularly suitable for spraying the surfaces of large parts.

Description

technical field [0001] The invention relates to the technical field of spraying robots, in particular to a spraying robot with a variable working range. Background technique [0002] Surface coating is an essential workflow in the manufacturing process of mechanical parts. At present, most of the surface spraying of large parts is still done manually or by traditional tandem spraying robots. The area and workload of spraying work on the surface of large parts are huge, the labor intensity of manual spraying is too high, the spraying efficiency is low, the spraying quality is not stable and ideal, and the working environment of spraying work will also have adverse effects on human health; and The traditional tandem spraying robot has a large mass and low mechanism flexibility, and it is difficult to better cope with complex work requirements. Its end precision is low, and it cannot well spray irregular surfaces with large curvature changes. [0003] Through prior art search...

AI Technical Summary

Problems solved by technology

[0012] The end effector of this prior art cannot realize three-degree-of-freedom translation inside the hanging basket, and the work efficiency is low, and the motor inside the hanging basket is exposed to the outside, and no explosion-proof protection measures are taken.

[0013] To sum up, in the prior art, in terms of rope-drawn spraying robots, the equipment has many limitations in terms of work space control, rope tension and vibration suppression, balanced reaction force and effective explosion protection, resulting in poor motion stability and low precision of the machine. Spraying quality and efficiency can not be guaranteed

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