Movable electro-hydraulic composite drive spraying robot with large working space

Patent metadata

Field	Value
Publication number	US-12090502-B2
Application number	US-202118557293-A
Country	US
Kind code	B2
Filing date	May 26, 2021
Priority date	Apr 27, 2021
Publication date	Sep 17, 2024
Grant date	Sep 17, 2024

Abstract

Provided is a movable electro-hydraulic composite drive spraying robot with a large working space, comprising movable bases, there being a plurality of movable bases cooperatively arranged for bearing a drive rope adjustment module, profile supporting columns in the driving rope adjusting module respectively being fixed on the movable bases, the plurality of movable bases encircling an operating space, a adjustable auxiliary motion platform that is movable being erected in the operating space, a rotary motion platform being arranged below the adjustable auxiliary motion platform, the adjustable auxiliary motion platform and the rotary motion platform being connected by means of a hydraulic push rod, the bottom end surface of the rotary motion platform being provided with a spray gun, and a balance mechanism and a fixed support mechanism for balancing the traction force of the rope and maintaining the balance of the mechanism also being mounted on the movable bases.

First claim

What is claimed is:

1. A movable electro-hydraulic composite drive spraying robot with a large operating space comprising a plurality of movable bases, drive rope adjustment modules, an adjustable auxiliary motion platform, a rotary motion platform, and adjustable auxiliary motion platform drive ropes and rotary motion platform drive ropes;
wherein a liftable universal wheel assembly is installed at a bottom end of each of the plurality of movable bases, and the drive rope adjustment modules are cooperatively installed on the plurality of movable bases, a number of the drive rope adjustment modules is equal to a number of the plurality of movable bases, profile supporting columns in the drive rope adjustment modules are respectively fixed on the plurality of movable bases, and an operating space is formed by the plurality of movable bases, the adjustable auxiliary motion platform that is movable is erected in the operating space, the adjustable auxiliary motion platform is driven by the adjustable auxiliary motion platform drive ropes to move, the rotary motion platform is arranged below the adjustable auxiliary motion platform, the rotary motion platform is compositely-driven by the rotary motion platform drive ropes and a hydraulic push rod installed between the adjustable auxiliary motion platform and the rotary motion platform to move, so that a precise control of a multi-degree-of-freedom motion of the rotary motion platform is implemented, a spray gun is installed on a bottom end surface of the rotary motion platform, and balance mechanisms and fixing supporting mechanisms configured to balance traction forces of the ropes and maintain a balance of the movable electro-hydraulic composite drive spraying robot are further installed on the plurality of movable bases.

2. The movable electro-hydraulic composite drive spraying robot with the large operating space according to claim 1 , wherein the number of the drive rope adjustment modules is four, each of the drive rope adjustment modules comprises one of the profile supporting columns, and a pulley configured to bear the adjustable auxiliary motion platform drive rope is installed on a top end part of each of the profile supporting columns through a fixed pulley fixing base, a bottom end of the adjustable auxiliary motion platform drive rope is wound on a winding shaft of a motor drive, a synchronous belt vertically arranged is installed on each of the profile supporting columns below the fixed pulley fixing base, a movable pulley configured to bear the rotary motion platform drive rope is installed on the synchronous belt, and a bottom end of the rotary motion platform drive rope is wound on a winding shaft of another motor drive.

3. The movable electro-hydraulic composite drive spraying robot with the large operating space according to claim 1 , wherein each of the plurality of movable bases comprises a movable base body, a movable base body cover plate is installed on the movable base body, one of the fixing supporting mechanisms is installed inside the movable base body surroundedly, the one of the fixing supporting mechanisms comprises fixing supporting plates arranged at intervals, the fixing supporting plates are rotated to parallel to ground by a manual operation and locked to increase a stability of the movable electro-hydraulic composite drive spraying robot, the corresponding balance mechanism is installed on an upper end surface of the movable base body cover plate.

4. The movable electro-hydraulic composite drive spraying robot with the large operating space according to claim 3 , wherein rotating shafts are arranged on two sides of each of the fixing supporting plates, and the fixing supporting plate is rotated around the rotating shafts, the movable base body is provided with positioning holes corresponding to the rotating shafts, the rotating shafts are rotatably installed in the positioning holes through fixing-supporting-plate rotating bearings, the movable base body below the positioning holes is provided with square grooves, retaining springs are arranged in the square grooves, and the retaining springs are connected with spring resistance buckles arranged in elastic guide;
each of the balance mechanisms comprises a balance mechanism rotating platform, one end of the balance mechanism rotating platform is rotatably installed on the movable base body cover plate through a balance mechanism rotating shaft, the balance mechanism rotating shaft is driven by a balance mechanism rotating motor to rotate, a balance mechanism lead screw is rotatably installed inside the balance mechanism rotating platform, a balance mechanism lead screw slider is guidedly installed on the balance mechanism lead screw, a counterweight bearing platform is installed on the balance mechanism lead screw slider, a balance mechanism counterweight is installed on the counterweight bearing platform, spherical joints are respectively installed on both sides of a bottom end of the balance mechanism lead screw slider, a rotating end of each of the spherical joints is connected with a telescopic supporting rod, and a two-way hinge is installed at another end of the telescopic supporting rod, the two-way hinge is connected inside a bearing of the corresponding positioning hole of the movable base body, and the balance mechanism lead screw is driven by a balance mechanism lead screw drive motor at an end of each of the balance mechanisms;
each of the universal wheel assembly comprises a liftable moving wheel frame, a top part of the liftable moving wheel frame is fixedly installed on a bottom part of the movable base body, and a universal wheel drive motor bracket capable of guidedly-moving is installed inside the liftable moving wheel frame, a universal wheel drive motor is fixedly installed on the universal wheel drive motor bracket, and a universal wheel is installed at an output shaft end of the universal wheel drive motor, and the universal wheel drive motor bracket is driven by a universal wheel lifting ball lead screw nut to lift and lower and is guided by a universal wheel lifting sliding column.

5. The movable electro-hydraulic composite drive spraying robot with the large operating space according to claim 1 , wherein each of the adjustable auxiliary motion platform drive ropes is driven by one motor in the corresponding drive rope adjustment module to protrude from the corresponding drive rope adjustment module to connect on an adjustable auxiliary motion platform drive rope hook, so as to drive the adjustable auxiliary motion platform to move; each of the rotary motion platform drive ropes is driven by another motor in the corresponding drive rope adjustment module to protrude from the corresponding drive rope adjustment module to wind through a transition pulley on the adjustable auxiliary motion platform, so as to restrict and adjust a spatial position of the rope, and eventually each of the rotary motion platform drive ropes is connected to the rotary motion platform to drive the rotary motion platform to move together with the hydraulic push rod; and rope tension sensors configured to monitor and feed back rope tensions in real time are installed on the adjustable auxiliary motion platform drive ropes and the rotary motion platform drive ropes respectively.

6. The movable electro-hydraulic composite drive spraying robot with the large operating space according to claim 5 , wherein the adjustable auxiliary motion platform comprises an adjustable auxiliary motion platform inner plate, an adjustable auxiliary motion platform outer frame with adjustable size is installed outside the adjustable auxiliary motion platform inner plate, the adjustable auxiliary motion platform drive rope hooks symmetrically distributed in a rectangular shape are installed on an upper end surface of t

Assignees

• Univ Hefei Technology

Inventors

• Zi Bin
• Zhao Jiahao
• Qian Sen
• Wang Zhengyu
• Xu Feng
• Pan Jingfeng
• Zhou Bin
• Jiang Shanshan
• Li Yuan

Classifications

• B25J11/0075

  Manipulators for painting or coating · CPC title

• B25J9/104

  with cables, chains or ribbons · CPC title

• B25J5/007

  mounted on wheels · CPC title

• B05B12/124

  responsive to distance between spray apparatus and target · CPC title

• B05B13/0278

  Arrangement or mounting of spray heads (B05B13/0207 takes precedence) · CPC title