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A rigid-flexible coupling parallel robot multi-color spraying experimental device and spraying method

A rigid-flexible coupling and experimental device technology, applied in the direction of spraying devices, measuring devices, instruments, etc., can solve the problems of inability to realize rotation, inability to realize fine multi-color automatic spraying, etc., to reduce paint overspray, prevent interference, improve The effect of motion stability

Active Publication Date: 2022-03-29
HEFEI UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The end effector is also driven by eight ropes in opposite directions, which can realize three translational motions and two rotational degrees of freedom of the end spray gun, but it is still unable to achieve rotation around the z-axis direction, and cannot achieve fine multi-color automatic spraying

Method used

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  • A rigid-flexible coupling parallel robot multi-color spraying experimental device and spraying method
  • A rigid-flexible coupling parallel robot multi-color spraying experimental device and spraying method
  • A rigid-flexible coupling parallel robot multi-color spraying experimental device and spraying method

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Embodiment Construction

[0066] Provide the specific implementation method of the present invention below, and illustrate in conjunction with accompanying drawing.

[0067] combine figure 1 , a rigid-flexible coupling parallel robot multi-color spraying experimental device consists of a rigid support 1, a pull-type drive assembly 2, an end effector 3, a rigid spring telescopic rod assembly 4, a 360° rotary joint assembly 5, and a multi-color rectangular spray gun assembly 6 And part of the electromechanical control system.

[0068] To further illustrate, the rigid support 1 is a rectangular parallelepiped space frame as a whole, and the bottom can be fixed to the ground through anchor bolts; the pull-type drive assembly 2 has eight steel wire ropes distributed symmetrically up and down, and the steel wire ropes are fixed on the top of the rigid support 1 and on the ball screw The pulley is connected with it, nine servo motors are installed on the bottom of the frame through bolts, and provide driving...

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Abstract

The invention discloses a rigid-flexible coupling parallel robot multi-color spraying experimental device and a spraying method, including a rigid support, a pull-type drive assembly, an end effector, a rigid spring telescopic rod assembly, a 360° rotary joint assembly, and a multi-color rectangular spray gun Components and electromechanical control system parts; the rigid support provides overall support for the robot; the pull-type drive assembly provides driving force for the end effector, and the upper end of the end effector is connected to the top cross universal joint of the rigid support through a rigid spring telescopic rod assembly. The rigid spring telescopic rod assembly realizes the passive tensioning of the end effector through the spring and the telescopic rod. The 360° swivel joint assembly adds a rotational degree of freedom to the end effector. One-color rectangular spray gun assembly, the spray gun assembly can carry out multi-color spraying and prevent paint from overspraying. The invention can complete the automatic spraying of multi-color patterns on the surface of three-dimensional workpieces, and monitor the spraying quality in real time.

Description

Technical field: [0001] The invention relates to the field of spraying robots, and mainly relates to a rigid-flexible coupling parallel robot multi-color spraying experimental device and a spraying method. Background technique: [0002] Spraying operations are widely used in sanitary ware, furniture, automobiles, ships, aerospace and other fields. Traditional spraying operations require workers to hold spraying equipment to complete the work, which has the disadvantages of low spraying efficiency, unstable quality, and harmful health. Because spraying robots have the advantages of high spraying efficiency, stable quality, high paint utilization rate, large flexibility, and wide working range, manual spraying has been gradually replaced by robot spraying. At present, most of the spraying robots are in rigid serial configuration, and their shortcomings such as large moment of inertia, high energy consumption, and small working space limit their application in the field of spr...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B05B13/04B05B12/14B05B12/00G01N21/956
CPCB05B13/0431B05B12/14B05B12/00G01N21/956
Inventor 訾斌徐锋王正雨钱森周斌赵嘉浩潘敬锋郑磊
Owner HEFEI UNIV OF TECH
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