TECHNICAL FIELD

The present disclosure relates to the field of robots, and in particular, to a rope traction type grinding, cleaning, and coating integrated operation robot.

BACKGROUND

In manufacturing and cleaning of large equipment, grinding, cleaning and spraying of an outer surface are necessary working processes. When a manual manner is used for operation, there are the disadvantages of high labor intensity, low work efficiency, high danger coefficient and the like. In addition, a paint will do great harm to workers' health in a spraying process, meanwhile, the spraying quality is difficult to ensure. When a traditional spraying robot is used for operation, there are the disadvantages of small work space, low mechanical efficiency, low tail-end operation accuracy and the like, and is bulky in the operation of the large equipment. In addition, at present, most of the large-scale equipment grinding, cleaning and spraying still use different machines for separate operation, which is complex in operation and low in efficiency.

The Chinese patent document number “CN110027673A” proposes an adaptive traction wall climbing robot for multi-functional machining of a giant ship hull. This robot needs to change working heads with different functions when facing different machining requirements, which reduces the machining efficiency. Meanwhile, an electromagnetic adsorption type is used, and the electromagnetic adsorption needs electric energy to maintain adsorption capacity, so the working capacity is limited.

The Chinese patent document number “CN108942897A” proposes a rope traction parallel spraying robot for an outer surface of a ship hull. A steel wire rope is used as a transmission element for transferring the motion and force of a driver to a spray gun, the spraying of large area wall surfaces on both sides of the ship hull is realized by controlling the movement of the spray gun in a spraying surface. This spraying robot has limited transverse displacement, and the nozzle is low in flexibility, so the spraying robot is not suitable for spraying the parts with great changes of lateral displacement and surface shape.

The Chinese patent document number “CN108970866A” proposes a sectional automatic coating system for a large ship. Large-space, flexible, and multi-plane automatic spraying is realized by a rope driven automatic robot coating system. This robot uses parallel ropes to ensure that the spraying robot is kept horizontal all the time in a working process, but the reaction force generated in a spraying process cannot be avoided, and the spraying quality cannot be guaranteed.

In conclusion, in large-scale spraying, most equipment has a plurality of limitations in replacing working heads and balancing the reaction force of the equipment in the spraying process, which results in low efficiency and low quality.

SUMMARY

The objective of the present disclosure is to provide a rope traction type grinding, cleaning, and coating integrated operation robot. The robot realizes a grinding, cleaning, and coating integrated operation in a rope traction manner, and can effectively resist vibration in an operation process and automatically regulate the reaction force generated in the operation process, which improves the operation quality, efficiency and stability.

To achieve the above objective, the present disclosure adopts the following solution: the rope traction type grinding, cleaning, and coating integrated 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 a first rope for connecting the hanging basket and a first rope winding mechanism. The winding and unwinding of the first rope are used for regulating the movement of the hanging basket of three degrees of freedom in space. 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. The spring reaction force regulation mechanism includes a third vertical plate that is parallel to the second vertical plate; the second vertical plate is located between the first vertical plate and the third vertical plate, and may move in the front-back direction of the hanging basket. The third vertical plate is fixedly connected to the hanging basket. A telescopic rod and a second traction mechanism for connecting the first vertical plate and the second vertical plate are arranged therebetween. The stretching and contracting of the telescopic rod make the first vertical plate move back and forth relative to the hanging basket. The second traction mechanism controls the first vertical plate to realize the adjustment of a pitch angle. A rigid rod for connecting the third vertical plate and the second vertical plate and a third traction mechanism are arranged therebetween; one end of the rigid rod is fixedly connected to the second vertical plate; the other end of the rigid rod is connected to springs arranged on the third vertical plate after penetrating through the third vertical plate vertically. The thrust and reaction force stressed on the cleaning and spraying mechanism may be balanced by the change of lengths of the springs and the change of an included angle between each of the springs and the rigid rod. The grinding mechanism includes a grinding head and a telescopic mechanism for connecting the grinding head and the hanging basket.

One end of the first rope is connected to the first rope winding mechanism fixed to the ground, and the other end of the first rope is connected to a single-ended magnetorheological damper arranged at the top of the hanging basket after surrounding through a first pulley block fixed to the top surface of a wall. The other end of the single-ended magnetorheological damper is connected to the top end of the hanging basket through a pin shaft; the first rope winding mechanism is driven to rotate by a first driving motor to realize the winding and unwinding of the first rope. Four groups of the first ropes, the first rope winding mechanisms, the first driving motors, the first pulley blocks, and the single-ended magnetorheological dampers are respectively arranged; the four groups of the single-ended magnetorheological dampers are respectively located at four corners of the top of the hanging basket.

The first rope winding mechanism includes a drum used for winding the first rope, and a left end cover and a right end cover arranged on the two sides of the drum. A first boss and a second boss are respectively arranged in the centers of the end surfaces, close to each other, of the left end cover and a right end cover. The first boss and the second boss are respectively in rotating fit with the left end cover and the right end cover. A roller shaft which is fixedly connected to the first boss and the second boss is arranged in the centers thereof. The drum is arranged on the roller shaft in a sleeving manner, and the drum is in threaded connection with the roller shaft; rotating shafts which penetrate through the drum are uniformly distributed in the circumferential direction of the roller shaft. Two ends of the rotating shaft are respectively fixedly connected to the left end cover and the right end cover. A threaded section matched with the drum is arranged on the roller shaft. A threaded hole matched with the threaded section is formed in the drum. The rotating shaft is a polished shaft. A polished hole which is in transition fit with the rotating shaft is formed in the drum.

The telescopic mechanism includes a first fixed table and a second fixed table that are arranged in parallel in the vertical direction. A lifting scissors mechanism for connecting the first fixed table and the second fixed table is arranged therebetween. The lifting scissors mechanism is driven by a hydraulic cylinder. The grinding head is connected to the outer side surface of the first fixed table through a spherical hinge. The second fixed table is matched and fixed to horizontal sliding rails arranged on a mounting plate of the hanging basket. The second fixed table may move left and right in the direction limited by the horizontal sliding rails.

The telescopic rod is connected at the centers of the first vertical plate and the second vertical plate. One end of the telescopic rod is connected to a connecting pin arranged on the first vertical plate through a candan universal joint, and the other end of the telescopic rod is fixedly connected to the second vertical plate. The second traction mechanism includes second ropes, second pulley blocks fixed to the first vertical plate, and second rope winding mechanisms and third rope winding mechanisms fixed to the second vertical plate. One end of the second rope is connected to the second rope winding mechanism, and the other end of the second rope is connected to the third rope winding mechanism after surrounding through the second pulley block. The second rope winding mechanism and the third rope winding mechanism are driven by a second driving mechanism. The second rope winding mechanism, the third rope winding mechanism, and the second driving mechanism are all fixed to an upper steller hinge. A lower steller hinge matched with the upper steller hinge is fixed to the second vertical plate. A first candan universal joint for connecting the upper steller hinge and the lower steller hinge is arranged therebetween. Three groups of the second ropes, the second pulley blocks, the second rope winding mechanisms, the third rope winding mechanisms, and the second driving motors are respectively arranged.

Both the cleaning nozzle and the spraying nozzle are fixed to an S-shaped nozzle gripper; a rotary shaft in rotating fit with the outer plate surface of the first vertical plate is arranged in the center of the S-shaped nozzle gripper; under the driving of a motor, the rotary shaft completes a rotation of 0 to 180 degrees to switch the cleaning nozzle and the spraying nozzle; the cleaning nozzle and the spraying nozzle should be located at the central position of the second vertical plate when in a working state; the cleaning nozzle and the spraying nozzle are respectively connected to a cleaning liquid barrel and a paint barrel arranged at a bottom plate of the hanging basket through connecting pipes.

A rigid rod hole matched with the rigid rod is formed in the center of the third vertical plate. The rigid rod is connected to the rigid rod hole through a prismatic joint, and the rigid rod may move in the axial direction of a third platform; four through grooves which are perpendicular to the rigid rod are uniformly distributed in the circumferential direction of the rigid hole; a central shaft is arranged in the center of the through groove in the length direction of the through groove; a mass block is arranged on the central shaft in a sleeving manner; the mass block is in sliding fit with moving guide rails arranged on the groove walls on the two sides of the through groove; an extension spring is arranged at one end, far away from the rigid rod hole, of the central shaft in a sleeving manner; one end of the extension spring is fixed to the mass block; the other end of the extension spring is fixed to the groove wall of the through groove; the end surface, close to the second vertical plate, of the mass block is connected to the third traction mechanism; the end surface, far away from the second vertical plate, of the mass block is connected to the spring through a spring fixing terminal; the other end of the spring is connected to an end part of the rigid rod through a spring knot.

The third traction mechanism includes third ropes, and third pulley blocks and fourth rope winding mechanisms fixed to the second vertical plate; one end of the third rope is connected to the mass block; the other end of the third rope is connected to the fourth rope winding mechanism after surrounding through the third pulley block; the fourth rope winding mechanisms is driven by a third driving motor; four groups of the third ropes, the third pulley groups, the fourth rope winding mechanisms, and the third driving motors are respectively arranged.

The hanging basket is of an overall structure, and includes a top plate and a bottom plate that are arranged in parallel, and vertical posts for connecting the top plate and the bottom plate; a partition plate which is arranged horizontally is arranged between the top plate and the bottom plate; a mounting plate which is perpendicular to the partition plate and is fixed to the vertical posts at the front end of the hanging basket is arranged at the front end of the partition plate; the cleaning and spraying mechanism and the spring reaction force regulation mechanism are mounted between the top plate and the partition plate; the grinding mechanism is fixed to the outer plate surface of the mounting plate; guide rails are respectively and symmetrically arranged on the lower plate surface of the top plate and the upper plate surface of the partition plate; the arrangement direction of the guide rails coincides with the front-back direction of the hanging basket; a baffle plate is arranged at the front ends of the guide rails; the third vertical plate is arranged at the rear ends of the guide rails; the rollers in rolling fit with the guide rails are respectively arranged on the upper end surface and the lower end surface of the second vertical plate; the upper end surface and the lower end surface of the third vertical plate are respectively and fixedly connected to the top plate and the partition plate.

Magnetorheological dampers for connecting the hanging basket and the top surface of the wall are further arranged therebetween; three magnetorheological dampers are arranged; double-ended magnetorheological dampers for connecting the bottom surface of the partition plate and the vertical posts are arranged therebetween; four groups of the double-ended magnetorheological dampers are arranged; one end of the double-ended magnetorheological damper is hinged to an upper connecting pin seat arranged on the partition plate; the other end of the double-ended magnetorheological damper is hinged to a lower connecting pin seat arranged on the vertical post.

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. Meanwhile, the operation robot integrates grinding, cleaning and spraying mechanisms, effectively balances thrust and reaction force during a working process through the spring reaction force regulation mechanism, and is suitable for spraying manufacturing of large equipment, parts, and irregular curved surfaces thereof.

