Flexible-rope-driven hybrid spray painting robot mechanism and operating method thereof

Patent metadata

Field	Value
Publication number	US-11325243-B2
Application number	US-202017594388-A
Country	US
Kind code	B2
Filing date	May 27, 2020
Priority date	Mar 31, 2020
Publication date	May 10, 2022
Grant date	May 10, 2022

Abstract

A flexible-rope-driven hybrid spray painting robot mechanism includes a static platform framework, a flexible-rope-guided pulley train, flexible transmission ropes, a moving platform, and drive mechanisms. A moving platform casing is driven by eight flexible ropes in parallel, to realize three degrees of freedom of translation thereof. A spray gun is connected in series to the moving platform casing via a universal joint cross, and is driven by four flexible ropes in parallel, to realize two degrees of freedom of rotation thereof. Beneficial technical effect of the present invention: The flexible ropes are used in parallel to control three degrees of freedom of translation and two degrees of freedom of rotation of the end spray gun, achieving advantages of a small movement inertia and flexible movement. Electric drive devices are placed together in a bottom layer of the static platform framework and are isolated from a spraying space.

First claim

What is claimed is:

1. A flexible-rope-driven hybrid spray painting robot mechanism, comprising:
a static platform framework having upper and lower two three-dimensional spaces;
a workpiece conveying mechanism mounted at the bottom of the upper three-dimensional space of the static platform framework;
drive mechanisms mounted at the bottom of the lower three-dimensional space of the static platform framework;
a moving platform moving in the upper three-dimensional space of the static platform framework, wherein a spray gun is mounted on the moving platform;
flexible transmission ropes connected to the moving platform at the ends and connected to the drive mechanisms at the other ends; and
a flexible-rope-guided pulley train mounted on the whole static platform framework and used to realize guiding of the flexible transmission ropes;
wherein the drive mechanisms drive the flexible transmission ropes to control three degrees of freedom of translation of the moving platform and two degrees of freedom of rotation of the spray gun with respect to the moving platform, thus realizing spraying of a workpiece on the workpiece conveying mechanism.

2. The flexible-rope-driven hybrid spray painting robot mechanism according to claim 1 , wherein the static platform framework is formed by an upper rectangular frame, a lower rectangular frame, a framework base, vertical frame edges, lateral barrier plates, and a bottom barrier plate; the four vertical frame edges connect the upper rectangular frame, the lower rectangular frame, and the framework base, to form upper and lower two three-dimensional spaces; the upper three-dimensional space is a movement space for the moving platform, and the lower three-dimensional space is used to accommodate the drive mechanisms; the lateral barrier plates are respectively mounted at the four lateral sides of the lower three-dimensional space, and the bottom barrier plate is mounted on the lower rectangular frame; four flexible-rope-guided pulley trains in total are distributed circumferentially on the static platform framework, and are used to guide the flexible transmission ropes; and the workpiece conveying mechanism passes through the upper three-dimensional space from below and is connected to the lower rectangular frame, so as to realize automatic fixing of the workpiece.

3. The flexible-rope-driven hybrid spray painting robot mechanism according to claim 2 , wherein the flexible-rope-guided pulley train comprises a first upward-traction guide pulley, a second upward-traction guide pulley, a third upward-traction guide pulley, a fourth upward-traction guide pulley, a fifth upward-traction guide pulley, a sixth upward-traction guide pulley, a double guide pulley, a first downward-traction guide pulley, a second downward-traction guide pulley, a third downward-traction guide pulley, a first rotation-traction guide pulley, a second rotation-traction guide pulley, and a third rotation-traction guide pulley;
the first upward-traction guide pulley is mounted on a corner of the upper rectangular frame, and the geometric circle center of the first upward-traction guide pulley falls on the axis of a vertical frame edge where it is located, so that the first upward-traction guide pulley is able to freely slide on a 90-degree arc-shaped slide rail; the second upward-traction guide pulley is mounted on a beam of the upper rectangular frame that is on a clockwise direction in which the first upward-traction guide pulley turns around the axis of its corresponding vertical frame edge, and the circle of a slide path of the second upward-traction guide pulley is always tangent to the middle section of a slide path of the first upward-traction guide pulley; the third upward-traction guide pulley is mounted on a vertical frame edge at the right side of the second upward-traction guide pulley, a symmetry plane of the third upward-traction guide pulley is kept passing through the central axis of the vertical frame edge, and the circle of a slide path of the third upward-traction guide pulley is tangent to the middle section of the slide path of the second upward-traction guide pulley; the fourth upward-traction guide pulley is mounted right below the third upward-traction guide pulley, a pulley direction of the fourth upward-traction guide pulley is orthogonal to a pulley direction of the third upward-traction guide pulley, and the circle of a slide path of the fourth upward-traction guide pulley is tangent to the middle section of the framework base; the fifth upward-traction guide pulley is mounted on a lateral side of the framework base at the same height and in the same plane as the fourth upward-traction guide pulley, and coincides with the middle section of the slide path of the fourth upward-traction guide pulley; and the sixth upward-traction guide pulley is mounted on the upper side of a beam where the fifth upward-traction guide pulley is located, and the middle section of a slide path of the sixth upward-traction guide pulley is tangent to the right side of the circle of a slide path of the fifth upward-traction guide pulley;
the double guide pulley is mounted on the lower rectangular frame right below the first upward-traction guide pulley; two coaxial pulleys of the double guide pulley can turn in opposite directions; and the double guide pulley is able to slide on an arc-shaped guide rail by taking the innermost ridge of the corresponding vertical frame edge as a rotation axis;
the first downward-traction guide pulley is mounted on a vertical frame edge and located inside the upper three-dimensional space of the static platform framework, and a symmetry plane of the pulley coincides with a diagonal plane of the vertical frame edge; the second downward-traction guide pulley is mounted at the inner side of the lower rectangular frame at the left with respect to the first downward-traction guide pulley, and the middle section of a slide path of the pulley is parallel to a plane where it is located; and the third downward-traction guide pulley is mounted at the inner side of a corresponding beam of the framework base right below the beam where the second downward-traction guide pulley is located; and
the first rotation-traction guide pulley is mounted right below the first downward-traction guide pulley; the second rotation-traction guide pulley is mounted at the inner side of a corresponding beam of the lower rectangular frame below the second upward-traction guide pulley, and the middle section of a slide path of the pulley is parallel to its mounting surface; and the third rotation-traction guide pulley is mounted at the inner side of a corresponding beam of the framework base right below the beam where the second rotation-traction guide pulley is located.

4. The flexible-rope-driven hybrid spray painting robot mechanism according to claim 3 , wherein the first upward-traction guide pulley comprises a pulley, a deep groove ball bearing, a shoulder screw, a retaining ring, a hexagon nut, a pulley bracket, a slider, an arc-shaped guide rail, a 90-degree arc-shaped guide rail baseplate, bracket screws, guide rail mounting screws, and guide rail baseplate mounting bolts;
the deep groove ball bearing has an interference fit with an inner hole of the pulley, and is located at the middle in a pulley thickness direction; the shoulder screw successively passes through one lateral plate of the pulley bracket, the retaining ring, the deep groove ball bearing, and the other lateral plate of the pulley bracket, and is finally fastened by the hexagon nut; a pulley bracket baseplate is fastened to the slider via bracket screws; the arc-shaped guide rail is connected to the arc-shaped guide rail baseplate via the guide rail mounting screws; and two ends of the arc-shaped guide rail baseplate are respectively connected to two adjoining beams of the

Assignees

• Univ Hefei Technology

Inventors

• Zi Bin
• Wang Xu
• Wang Zhengyu
• Wang Daoming
• Qian Sen
• You Wei
• Zheng Lei

Classifications

• Y02P70/10

  Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working · CPC title

• B25J11/0075 Primary

  Manipulators for painting or coating · CPC title

• B25J9/0072 Primary

  of the hybrid type, i.e. having different kinematics chains · CPC title

• B25J9/0093

  co-operating with conveyor means · CPC title

• B25J9/0078 Primary

  actuated by cables · CPC title