Rope traction type grinding, cleaning, and coating integrated operation robot

Patent metadata

Field	Value
Publication number	US-11298830-B2
Application number	US-202117143841-A
Country	US
Kind code	B2
Filing date	Jan 7, 2021
Priority date	Jun 16, 2020
Publication date	Apr 12, 2022
Grant date	Apr 12, 2022

Abstract

The present disclosure relates to a rope traction type grinding, cleaning, and coating integrated operation robot. The operation robot includes a hanging basket, a first traction mechanism connected to the hanging basket, a grinding mechanism arranged in front of the hanging basket, and a cleaning and spraying mechanism and a spring reaction force regulation mechanism arranged in the hanging basket. The first traction mechanism includes first ropes for connecting the hanging basket and first rope winding mechanisms. The cleaning and spraying mechanism includes a first vertical plate and a second vertical plate that are arranged in parallel in a vertical direction. A cleaning nozzle and a spraying nozzle are mounted on the first vertical plate. From the above technical solution, it can be seen that the operation robot adopts a rope traction manner, and has the advantages of large work space, low mechanism inertia, and accurate and reliable location.

First claim

What is claimed is:

1. A rope traction type grinding, cleaning, and coating integrated operation robot, comprising:
a hanging basket ( 1 ) of a frame structure;
a first traction mechanism connected to the hanging basket ( 1 );
a grinding mechanism ( 3 ) arranged in front of the hanging basket ( 1 ); and
a cleaning and spraying mechanism ( 4 ) and a spring reaction force regulation mechanism ( 5 ) arranged in the hanging basket ( 1 );

wherein the first traction mechanism comprises first ropes ( 22 ) for connecting the hanging basket ( 1 ) and first rope winding mechanisms ( 21 ), the first rope winding mechanisms are configured for winding and unwinding the first ropes ( 22 ) respectively so as to regulate a movement of the hanging basket ( 1 ) of three degrees of freedom in space; the cleaning and spraying mechanism ( 4 ) comprises a first vertical plate ( 41 ) and a second vertical plate ( 42 ) that are vertically arranged in parallel; a cleaning nozzle ( 43 ) and a spraying nozzle ( 44 ) are mounted on the first vertical plate ( 41 ); the spring reaction force regulation mechanism ( 5 ) comprises a third vertical plate ( 51 ) that is parallel to the second vertical plate ( 42 ); the second vertical plate ( 42 ) is located between the first vertical plate ( 41 ) and the third vertical plate ( 51 ), and able to move in a front-back direction of the hanging basket ( 1 ); the third vertical plate ( 51 ) is fixedly connected to the hanging basket ( 1 ); a telescopic rod ( 45 ) and a second traction mechanism are arranged between and connected to the first vertical plate ( 41 ) and the second vertical plate ( 42 ); the telescopic rod ( 45 ) is configured to be expanded and contracted to make the first vertical plate ( 41 ) move back and forth relative to the hanging basket ( 1 ); the second traction mechanism controls the first vertical plate ( 41 ) to realize an adjustment of a pitch angle; a rigid rod ( 52 ) and a third traction mechanism are arranged between and connected to the third vertical plate ( 51 ) and the second vertical plate ( 42 ); one end of the rigid rod ( 52 ) is fixedly connected to the second vertical plate ( 42 ); an other end of the rigid rod ( 52 ) is connected to springs ( 54 ) arranged on the third vertical plate ( 51 ) after penetrating through the third vertical plate ( 51 ) vertically; a thrust force applied on the cleaning and spraying mechanism ( 4 ) by the rigid rod ( 52 ) and a reaction force applied on the cleaning and spraying mechanism ( 4 ) due to cleaning and spraying are balanced by changes of lengths of the springs ( 54 ) and changes of included angles between the springs ( 54 ) and the rigid rod ( 52 ); the grinding mechanism ( 3 ) comprises a grinding head ( 31 ) and a telescopic mechanism for connecting the grinding head ( 31 ) and the hanging basket ( 1 ); the telescopic rod ( 45 ) is connected to centers of the first vertical plate ( 41 ) and the second vertical plate ( 42 ); one end of the telescopic rod ( 45 ) is connected to a connecting pin ( 411 ) arranged on the first vertical plate ( 41 ) through a second universal joint ( 412 ); an other end of the telescopic rod ( 45 ) is fixedly connected to the second vertical plate ( 42 ).

2. The rope traction type grinding, cleaning, and coating integrated operation robot according to claim 1 , wherein one end of each of the first ropes ( 22 ) is connected to a corresponding one of the first rope winding mechanisms ( 21 ) fixed to the ground; an other end of each first rope ( 22 ) is connected to a corresponding one of single-ended magnetorheological dampers ( 11 ) arranged at a top of the hanging basket ( 1 ) after surrounding through a corresponding one of first pulley blocks ( 23 ) fixed to a top surface of a wall; an other end of each of the single-ended magnetorheological dampers ( 11 ) is connected to the top of the hanging basket ( 1 ) through a pin shaft; each of the first rope winding mechanisms ( 21 ) is driven to rotate by a corresponding one of first driving motors ( 24 ) to realize the winding and unwinding of the first rope ( 22 ); a number of the first ropes ( 22 ), a number of the first rope winding mechanisms ( 21 ), a number of the first driving motors ( 24 ), a number of the first pulley blocks ( 23 ), and a number of the single-ended magnetorheological dampers ( 11 ) are all four; the four single-ended magnetorheological dampers ( 11 ) are located at four corners of the top of the hanging basket ( 1 ) respectively.

3. The rope traction type grinding, cleaning, and coating integrated operation robot according to claim 1 , wherein each of the first rope winding mechanisms ( 21 ) comprises a drum ( 211 ) configured for winding a corresponding one of the first ropes ( 22 ), and a left end cover ( 212 ) and a right end cover ( 213 ) respectively arranged on two sides of the drum ( 211 ); a first boss ( 2121 ) and a second boss ( 2131 ) are respectively arranged at centers of end surfaces, close to each other, of the left end cover ( 212 ) and a right end cover ( 213 ); the first boss ( 2121 ) and the second boss ( 2131 ) are respectively in rotating fit with the left end cover ( 212 ) and the right end cover ( 213 ); a roller shaft ( 214 ) is fixedly connected to and arranged at centers of the first boss ( 2121 ) and the second boss ( 2131 ); the drum ( 211 ) is arranged on the roller shaft ( 214 ) in a sleeving manner, and the drum ( 211 ) is in threaded connection with the roller shaft ( 214 ); rotating shafts ( 215 ) which penetrate through the drum ( 211 ) are uniformly distributed in a circumferential direction of the roller shaft ( 214 ); two ends of the rotating shaft ( 215 ) are respectively fixedly connected to the left end cover ( 212 ) and the right end cover ( 213 ); a threaded section matched with the drum ( 211 ) is arranged on the roller shaft ( 214 ); a threaded hole matched with the threaded section is formed in the drum ( 211 ); the rotating shaft ( 215 ) is a polished shaft; a polished hole which is in transition fit with the rotating shaft ( 215 ) is formed in the drum ( 211 ).

4. The rope traction type grinding, cleaning, and coating integrated operation robot according to claim 2 , wherein each of the first rope winding mechanisms ( 21 ) comprises a drum ( 211 ) configured for winding a corresponding one of the first ropes ( 22 ), and a left end cover ( 212 ) and a right end cover ( 213 ) respectively arranged on two sides of the drum ( 211 ); a first boss ( 2121 ) and a second boss ( 2131 ) are respectively arranged at centers of end surfaces, close to each other, of the left end cover ( 212 ) and a right end cover ( 213 ); the first boss ( 2121 ) and the second boss ( 2131 ) are respectively in rotating fit with the left end cover ( 212 ) and the right end cover ( 213 ); a roller shaft ( 214 ) is fixedly connected to and arranged at centers of the first boss ( 2121 ) and the second boss ( 2131 ); the drum ( 211 ) is arranged on the roller shaft ( 214 ) in a sleeving manner, and the drum ( 211 ) is in threaded connection with the roller shaft ( 214 ); rotating shafts ( 215 ) which penetrate through the drum ( 211 ) are uniformly distributed in a circumferential direction of the roller shaft ( 214 ); two ends of the rotating shaft ( 215 ) are respectively fixedly connected to the left end cover ( 212 ) and the right end cover ( 213 ); a threaded section matched with the drum ( 211 ) is arranged on the roller shaft ( 214 ); a threaded hole matched with the threaded section is formed in the drum ( 211 ); the rotating shaft ( 215 ) is a polished shaft; a polished hole which is in transition fit with the rotating shaft ( 215 ) is formed in the drum ( 211 ).

5. The rope traction type grinding, cleaning, and coating integrated operation robot according to claim 1 , wherein the telescopic mechanism comprises a first fixe

Assignees

• Univ Hefei Technology

Inventors

• Wang Daoming
• Xie Pengtao
• Zi Bin
• Wang Zhengyu
• Qian Sen
• Huang Zitong

Classifications

• B08B13/00

  Accessories or details of general applicability for machines or apparatus for cleaning · CPC title

• B08B3/08

  the liquid having chemical or dissolving effect · CPC title

• B24B41/02

  Frames; Beds; Carriages · CPC title

• B05B13/0431 Primary

  with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to three-dimensional [3D] surfaces · CPC title

• B25J11/0075 Primary

  Manipulators for painting or coating · CPC title