CN104259036A - Spraying manipulator - Google Patents
Spraying manipulator Download PDFInfo
- Publication number
- CN104259036A CN104259036A CN201410478158.XA CN201410478158A CN104259036A CN 104259036 A CN104259036 A CN 104259036A CN 201410478158 A CN201410478158 A CN 201410478158A CN 104259036 A CN104259036 A CN 104259036A
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- CN
- China
- Prior art keywords
- transverse arm
- column
- belt
- assembly
- telescopic arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
Abstract
The invention discloses a spraying manipulator. The spraying manipulator comprises a column assembly, a cross arm assembly, an extensible arm assembly, a spraying manipulator assembly and a programmable controller; the column assembly is provided with a column lifting mechanism; the cross arm assembly is arranged on the column lifting mechanism and provided with a cross arm translation mechanism; the extensible arm assembly is arranged on the cross arm translation mechanism and provided with an extensible movement mechanism; the spraying manipulator assembly is arranged on the extensible arm assembly and can move along with the extensible arm assembly in a reciprocating extensible mode; the spraying manipulator assembly is provided with a rotating device which is provided with a spray gun frame; a spray gun is arranged on the spray gun frame. According to the spraying manipulator, the four axis movement can be achieved through the column assembly, the cross arm assembly, the extensible arm assembly and the spraying manipulator assembly in turn and accordingly the spraying operation can be performed on various special-shaped workpieces through the spray gun, the manipulator can be programmed according to the different workpieces due to the matching of the programmable controller and accordingly the full-automatic spraying of the manipulator is achieved, and accordingly the spraying efficiency and the spraying quality are greatly improved.
Description
Technical field
The present invention relates to a kind of spray coating mechanical hand.
Background technology
At present, in the spray process production process of workpiece, existing spraying equipment is all generally the spray assembly elevating movement ordered about by Gas fluid pressure/motor on it, completes spray process to make spray gun to the workpiece on station; But such spraying equipment only can be used for the workpiece spraying rule, and still need to carry out hand spray when spraying some special-shaped workpieces, spray efficiency is low, and spraying effect is difficult to control.
Summary of the invention
In order to overcome the deficiencies in the prior art, the invention provides a kind of full automatic spray coating mechanical hand.
The technical solution adopted for the present invention to solve the technical problems is:
Spray coating mechanical hand, comprising:
Columns assemblies, described columns assemblies is provided with column up-down mechanism;
Transverse arm assembly, described transverse arm assembly is arranged in column up-down mechanism also can do elevating movement, and described transverse arm assembly is provided with transverse arm translation mechanism;
Telescopic arm assembly, described telescopic arm assembly is arranged on transverse arm translation mechanism also can do translational motion, and described telescopic arm arrangement of components has stretching motion mechanism, and described stretching motion mechanism can drive telescopic arm assembly to make reciprocal telescopic movement;
Spraying hand assembly, described spraying hand assembly is arranged on telescopic arm assembly also can make reciprocal telescopic movement with telescopic arm assembly, described spraying hand assembly being provided with a tumbler, this tumbler being provided with the gunjet rack for installing spray gun;
Programmable Logic Controller, this Programmable Logic Controller can column elevating mechanism, transverse arm translation mechanism, stretching motion mechanism, tumbler action carry out programming Control.
Described columns assemblies comprises two column sections, and described column up-down mechanism comprises the column belt drive unit that is arranged in column section and is arranged on the driving mechanism that can drive this column belt drive unit.
Described driving mechanism is arranged between two column sections, it comprises column drive motors, belt dressing, left output shaft, right output shaft, described column drive motors is connected with the driving wheel of belt dressing, the output wheel two ends of described belt dressing are respectively connected to left output shaft by a Hooks coupling universal coupling, right output shaft, described column belt drive unit comprises two and is separately positioned on the column belt pulley being arranged on column section two ends and the column belt be arranged between two column belt pulleys, described left output shaft and right output shaft are connected to a wherein column belt pulley of two column sections respectively, described column belt is provided with column sliding platform, described transverse arm assembly is arranged on this column sliding platform.
Described column section upper end is provided with a crossbeam, and described column drive motors is arranged in crossbeam, and described left output shaft and right output shaft are connected to the column belt pulley on two column section tops respectively.
Be provided with a cover plate in the middle part of described crossbeam, described column drive motors is arranged on this cover plate.
Described transverse arm assembly comprises a transverse arm section bar, described transverse arm translation mechanism comprises transverse arm drive motors and is arranged on transverse arm belt drive unit in transverse arm section bar, described transverse arm belt drive unit comprises two transverse arm belt pulleys being separately positioned on transverse arm section bar two ends and the transverse arm belt be arranged on two transverse arm belt pulleys, described transverse arm drive motors is connected to a wherein transverse arm belt pulley by one speed reducer, described transverse arm belt is provided with a transverse arm sliding platform, described telescopic arm assembly is arranged on this transverse arm sliding platform, described transverse arm assembly also comprises a returning quickly device, this returning quickly device comprises the returning electrical motor be arranged on transverse arm sliding platform and the spur rack be arranged on transverse arm section bar, described returning electrical motor place is provided with the pinion engaged with spur rack.
A lateral frame is provided with in described transverse arm section bar, described transverse arm section bar is divided into upper slide rail chamber and the downward cabling chamber for connecting up by this lateral frame, described transverse arm section bar end face and lateral frame are respectively arranged with belt grooves, lower belt grooves, wherein going up belt grooves is hatch frame, described lateral frame is also provided with draw-in groove, this draw-in groove is arranged with guide rail, below described transverse arm sliding platform, is provided with the chute corresponding with guide rail, coordinate by guide rail and chute the slip realizing transverse arm sliding platform.
Also be provided with cover plate in the end of transverse arm section bar, be provided with the scraping block be resisted against on transverse arm belt in this cover plate, this scraping block is for striking off the dust be attached in transverse arm belt outer surface.
Described telescopic arm assembly comprises telescopic arm section bar, described stretching motion mechanism comprises telescopic arm drive motors and is arranged on telescopic arm belt drive unit in telescopic arm section bar, described telescopic arm belt drive unit comprises two telescopic arm belt pulleys being separately positioned on telescopic arm section bar two ends and the telescopic arm belt be arranged on two telescopic arm belt pulleys, described telescopic arm drive motors is connected to a wherein telescopic arm belt pulley by one speed reducer, described telescopic arm belt pulley is provided with telescopic arm sliding platform, described telescopic arm sliding platform is arranged on transverse arm sliding platform, described telescopic arm sliding platform is also configured with a supporting construction, this supporting construction comprises the sliding track mechanism be arranged on transverse arm section bar, be arranged on support slipper on sliding track mechanism and connect the support arm of support slipper and telescopic arm sliding platform.
Also comprise support, on described Bracket setting column section.
The invention has the beneficial effects as follows: spray coating mechanical hand, comprise columns assemblies, transverse arm assembly, telescopic arm assembly, spraying hand assembly, Programmable Logic Controller, described columns assemblies is provided with column up-down mechanism, described transverse arm assembly is arranged in column up-down mechanism also can do elevating movement, described transverse arm assembly is provided with transverse arm translation mechanism, described telescopic arm assembly is arranged on transverse arm translation mechanism also can do translational motion, described telescopic arm arrangement of components has stretching motion mechanism, described stretching motion mechanism can drive telescopic arm assembly to make reciprocal telescopic movement, described spraying hand assembly is arranged on telescopic arm assembly also can make reciprocal telescopic movement with telescopic arm assembly, described spraying hand assembly is provided with a tumbler, this tumbler is provided with gunjet rack, spray gun is arranged on gunjet rack, pass through columns assemblies successively, transverse arm assembly, telescopic arm assembly, spraying hand assembly can realize the four axes motion that three rectilinear coordinates systems add a rotating coordinate system, make spray gun can carry out spraying operation to the workpiece of various abnormity, and Programmable Logic Controller can be coordinated as single-chip microcomputer, PLC, numerically controlled control systems etc. are programmed to manipulator according to different workpiece, realize the full-automatic spraying of manipulator, greatly improve the efficiency of spraying and the quality of spraying.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the present invention is further described.
Fig. 1 is structural representation of the present invention;
Fig. 2 is the STRUCTURE DECOMPOSITION schematic diagram of transverse arm assembly of the present invention;
Fig. 3 is the generalized section of transverse arm assembly of the present invention;
Fig. 4 is the side view of transverse arm section bar of the present invention;
Fig. 5 is the STRUCTURE DECOMPOSITION schematic diagram of telescopic arm assembly of the present invention;
Fig. 6 is the structural representation of columns assemblies of the present invention;
Fig. 7 is the STRUCTURE DECOMPOSITION schematic diagram of columns assemblies of the present invention;
Fig. 8 is the STRUCTURE DECOMPOSITION schematic diagram of transverse arm sliding platform of the present invention;
Structural representation when Fig. 9 is transverse arm assembly of the present invention interpolation assisted spray gun group.
Detailed description of the invention
Referring to figs. 1 through Fig. 8, Fig. 1 to Fig. 8 is the structural representation of the present invention's specific embodiment, as shown in the figure, spray coating mechanical hand, comprise: columns assemblies 1, transverse arm assembly 2, telescopic arm assembly 3, spraying hand assembly 4, Programmable Logic Controller, described columns assemblies 1 is provided with column up-down mechanism, described transverse arm assembly 2 is arranged in column up-down mechanism also can do elevating movement, described transverse arm assembly 2 is provided with transverse arm translation mechanism, described telescopic arm assembly 3 is arranged on transverse arm translation mechanism also can do translational motion, described telescopic arm assembly 3 is configured with stretching motion mechanism, described stretching motion mechanism can drive telescopic arm assembly 3 to make reciprocal telescopic movement, described spraying hand assembly 4 is arranged on telescopic arm assembly 3 also can make reciprocal telescopic movement with telescopic arm assembly 3, described spraying hand assembly 4 is provided with a tumbler 41 as motor etc., this tumbler 41 is provided with the gunjet rack 42 for installing spray gun, Programmable Logic Controller, this Programmable Logic Controller can column elevating mechanism, transverse arm translation mechanism, stretching motion mechanism, programming Control is carried out in the action of tumbler 41.
As shown in the figure, described columns assemblies 1 comprises two column sections 11, described column up-down mechanism comprises the column belt drive unit that is arranged in column section 11 and is arranged on the driving mechanism that can drive this column belt drive unit, described driving mechanism is arranged between two column sections 11, it comprises column drive motors 12, belt dressing 13, left output shaft 14, right output shaft 15, described column drive motors 12 is connected with the driving wheel 131 of belt dressing 13, output wheel 132 two ends of described belt dressing 13 are respectively connected to left output shaft 14 by a Hooks coupling universal coupling 16, right output shaft 15, described column belt drive unit comprises two and is separately positioned on the column belt pulley 51 being arranged on column section 11 two ends and the column belt 52 be arranged between two column belt pulleys 51, described left output shaft 14 and right output shaft 15 are connected to a wherein column belt pulley 51 of two column sections 11 respectively, described column belt 52 is provided with column sliding platform 53, described transverse arm assembly 2 is arranged on this column sliding platform 53.
As shown in the figure, described column section 11 side is also provided with the support 9 for strengthening structure, a crossbeam 17 is provided with above column section 11 and support 9, described column drive motors 12 is arranged in crossbeam 17, described left output shaft 14 and right output shaft 15 are connected to the column belt pulley 51 on two column section 11 tops respectively, a cover plate 171 is provided with in the middle part of described crossbeam 17, described column drive motors 12 is arranged on this cover plate 171, can safeguard driving mechanism easily by dismantling this cover plate 171.
In the foregoing description, the driving mechanism of column belt drive unit is arranged on centre position above two column sections 11, successively by left output shaft 14, right output shaft 15 outputs power to the column belt drive unit in two column sections 11, realize elevating movement, certainly in specific implementation process, also driving mechanism can be biased, underlying etc., only need to change power transmission shaft, such is changed known by the technical staff in mechanical transmission fields, be not described further at this, and belt dressing 13 preferably adopts synchronous belt drive, it also can adopt other transmission device as chain gear transmission, gear drive etc., be not described further at this.
As shown in the figure, described transverse arm assembly 2 comprises a transverse arm section bar 21, described transverse arm translation mechanism comprises transverse arm drive motors 22 and is arranged on transverse arm belt drive unit in transverse arm section bar 21, described transverse arm belt drive unit comprises two transverse arm belt pulleys 23 being separately positioned on transverse arm section bar 21 two ends and the transverse arm belt 24 be arranged on two transverse arm belt pulleys 23, described transverse arm drive motors 22 is connected to a wherein transverse arm belt pulley 23 by one speed reducer, described transverse arm belt 24 is provided with a transverse arm sliding platform 25, described telescopic arm assembly 3 is arranged on this telescopic arm sliding platform 35, in the present embodiment, described transverse arm assembly 2 also preferably arranges a returning quickly device, this returning quickly device comprises the returning electrical motor 91 be arranged on transverse arm sliding platform 25 and the spur rack 92 be arranged on transverse arm section bar 21, described returning electrical motor 91 place is provided with the pinion engaged with spur rack 92, transverse arm belt drive unit is adopted to drive telescopic arm assembly 3 normally to spray during normal spraying, sprayed or, telescopic arm assembly 3 return fast can be made by this returning quickly device, save the return time, improve the efficiency of spraying, the vertical setting of returning electrical motor 91 in the present embodiment, certainly in specific implementation process, also can adopt horizontal setting, horizontal etc.
As shown in the figure, described telescopic arm assembly 3 comprises telescopic arm section bar 31, described stretching motion mechanism comprises telescopic arm drive motors 32 and is arranged on telescopic arm belt drive unit in telescopic arm section bar 31, described telescopic arm belt drive unit comprises two telescopic arm belt pulleys 33 being separately positioned on telescopic arm section bar 31 two ends and the telescopic arm belt 34 be arranged on two telescopic arm belt pulleys 33, described telescopic arm drive motors 32 is connected to a wherein telescopic arm belt pulley 33 by one speed reducer, described telescopic arm belt pulley 33 is provided with telescopic arm sliding platform 35, described telescopic arm sliding platform 35 is arranged on transverse arm sliding platform 25, further, described telescopic arm sliding platform 35 is also configured with a supporting construction, this supporting construction comprises the sliding track mechanism 93 be arranged on transverse arm section bar 21, be arranged on support slipper 94 on sliding track mechanism 93 and connect the support arm 95 of support slipper 94 and telescopic arm sliding platform 35, whole telescopic arm assembly 3 is supported by support arm 95, improve the overall construction intensity of manipulator.
In above-mentioned embodiment, described column section 11, transverse arm section bar 21, telescopic arm section bar 31 are the aluminium profile structure of analog structure, described column belt drive unit, transverse arm belt drive unit, telescopic arm belt drive unit are similar transmission device, stated as example by transverse arm belt drive unit with transverse arm assembly 2 below, column belt drive unit and telescopic arm belt drive unit are not then described further.
As Fig. 2, 3, shown in 4, a lateral frame 211 is provided with in transverse arm section bar 21, described transverse arm section bar 21 is divided into upper slide rail chamber 212 and the downward cabling chamber 213 for connecting up by this lateral frame 211, described transverse arm section bar 21 end face and lateral frame 211 upper surface are respectively arranged with belt grooves 214, lower belt grooves 215, wherein going up belt grooves 214 is hatch frame, described lateral frame 211 is also provided with draw-in groove 216, this draw-in groove 216 is arranged with guide rail 251, the chute 252 corresponding with guide rail 251 is provided with below described transverse arm sliding platform 25, the slip realizing transverse arm sliding platform 25 is coordinated by guide rail 251 and chute 252, its transverse arm sliding platform 25 is fixed on transverse arm belt 24, can move reciprocatingly with transverse arm belt 24, and coordinate by transverse arm belt 24 and upper belt grooves 214 space closed in transverse arm section bar 21, prevent dust from entering, ensure reliability and the fluency of transverse arm belt drive unit, and extend its life-span used, further, cover plate 217 is also provided with in the end of transverse arm section bar 21, be provided with the scraping block 218 be resisted against on transverse arm belt 24 in this cover plate 217, this scraping block 218, for striking off the dust be attached on transverse arm belt 24 outer surface, further prevents dust from entering in transverse arm section bar 21.
As shown in Figure 8, in the present embodiment, transverse arm sliding platform 25 preferably adopts package assembly, it comprises base plate 255 and slide unit 1, slide unit 2 254, during assembling, base plate 255 to be first incorporated in slide rail chamber 212 and to be fixed on guide rail 251, be threaded connection slide unit 1 again, slide unit 2 254 is mounted on base plate 255, the assembling of transverse arm sliding platform 25 can be completed, solve the problem that transverse arm sliding platform 25 installs difficulty, and base plate 255 and slide unit 1, the concavo-convex screens cooperatively interacted also is provided with between slide unit 2 254, to improve base plate 255 and slide unit 1, the stability connected between slide unit 2 254, and telescopic arm sliding platform 35 and column sliding platform 53 also adopt the structure similar with transverse arm sliding platform 25, be not described further at this.
As shown in Figure 9, assisted spray gun group 27 is added in transverse arm assembly 2 side of the present invention, this assisted spray gun group 27 comprises the extension arm 271 being fixed on transverse arm assembly 2 side, this extension arm 271 is provided with the auxiliary telescopic arm component 272 with telescopic arm assembly 3 similar, this auxiliary telescopic arm component 272 is provided with spray gun assembly 273, the present invention can improve the flexibility of spraying further by arranging assisted spray gun group 27, make even, the high efficiency that spray more.
During use, spray gun is arranged on gunjet rack 42, the four axes motion that three rectilinear coordinates systems add a rotating coordinate system can be realized successively by columns assemblies 1, transverse arm assembly 2, telescopic arm assembly 3, spraying hand assembly 4, make spray gun can carry out spraying operation to the workpiece of various abnormity, and Programmable Logic Controller such as single-chip microcomputer, PLC, numerically controlled control system etc. can be coordinated to programme to manipulator according to different workpiece, realize the full-automatic spraying of manipulator, greatly improve the efficiency of spraying and the quality of spraying.
Above better enforcement of the present invention is illustrated; certainly; the present invention can also adopt form different from the embodiment described above; the equivalent conversion that those of ordinary skill in the art do under the prerequisite without prejudice to spirit of the present invention or change accordingly, all should belong in protection scope of the present invention.
Claims (10)
1. spray coating mechanical hand, is characterized in that: comprising:
Columns assemblies (1), described columns assemblies (1) is provided with column up-down mechanism;
Transverse arm assembly (2), described transverse arm assembly (2) is arranged in column up-down mechanism also can do elevating movement, and described transverse arm assembly (2) is provided with transverse arm translation mechanism;
Telescopic arm assembly (3), described telescopic arm assembly (3) is arranged on transverse arm translation mechanism also can do translational motion, described telescopic arm assembly (3) is configured with stretching motion mechanism, and described stretching motion mechanism can drive telescopic arm assembly (3) to make reciprocal telescopic movement;
Spraying hand assembly (4), described spraying hand assembly (4) is arranged on telescopic arm assembly (3) above also can make reciprocal telescopic movement with telescopic arm assembly (3), described spraying hand assembly (4) being provided with a tumbler (41), this tumbler (41) being provided with the gunjet rack (42) for installing spray gun;
Programmable Logic Controller, this Programmable Logic Controller can column elevating mechanism, transverse arm translation mechanism, stretching motion mechanism, tumbler (41) action carry out programming Control.
2. spray coating mechanical hand according to claim 1, it is characterized in that: described columns assemblies (1) comprises two column sections (11), described column up-down mechanism comprises the column belt drive unit that is arranged in column section (11) and is arranged on the driving mechanism that can drive this column belt drive unit.
3. spray coating mechanical hand according to claim 2, it is characterized in that: described driving mechanism is arranged between two column sections (11), it comprises column drive motors (12), belt dressing (13), left output shaft (14), right output shaft (15), described column drive motors (12) is connected with the driving wheel (131) of belt dressing (13), output wheel (132) two ends of described belt dressing (13) are respectively connected to left output shaft (14) by a Hooks coupling universal coupling (16), right output shaft (15), described column belt drive unit comprises two and is separately positioned on the column belt pulley (51) being arranged on column section (11) two ends and the column belt (52) be arranged between two column belt pulleys (51), described left output shaft (14) and right output shaft (15) are connected to a wherein column belt pulley (51) of two column sections (11) respectively, described column belt (52) is provided with column sliding platform (53), described transverse arm assembly (2) is arranged on this column sliding platform (53).
4. spray coating mechanical hand according to claim 3, it is characterized in that: described column section (11) upper end is provided with a crossbeam (17), described column drive motors (12) is arranged in crossbeam (17), and described left output shaft (14) and right output shaft (15) are connected to the column belt pulley (51) on two column sections (11) top respectively.
5. spray coating mechanical hand according to claim 4, is characterized in that: described crossbeam (17) middle part is provided with a cover plate (171), and described column drive motors (12) is arranged on this cover plate (171).
6. spray coating mechanical hand according to claim 1, it is characterized in that: described transverse arm assembly (2) comprises a transverse arm section bar (21), described transverse arm translation mechanism comprises transverse arm drive motors (22) and is arranged on the interior transverse arm belt drive unit of transverse arm section bar (21), described transverse arm belt drive unit comprises two transverse arm belt pulleys (23) being separately positioned on transverse arm section bar (21) two ends and the transverse arm belt (24) be arranged on two transverse arm belt pulleys (23), described transverse arm drive motors (22) is connected to a wherein transverse arm belt pulley (23) by one speed reducer, described transverse arm belt (24) is provided with a transverse arm sliding platform (25), described telescopic arm assembly (3) is arranged on this transverse arm sliding platform (25), described transverse arm assembly (2) also comprises a returning quickly device, this returning quickly device comprises the returning electrical motor (91) be arranged on transverse arm sliding platform (25) and the spur rack (92) be arranged on transverse arm section bar (21), described returning electrical motor (91) place is provided with the pinion engaged with spur rack (92).
7. spray coating mechanical hand according to claim 6, it is characterized in that: in described transverse arm section bar (21), be provided with a lateral frame (211), described transverse arm section bar (21) is divided into upper slide rail chamber (212) and the downward cabling chamber (213) for connecting up by this lateral frame (211), described transverse arm section bar (21) end face and lateral frame (211) are respectively arranged with belt grooves (214), lower belt grooves (215), wherein going up belt grooves (214) is hatch frame, described lateral frame (211) is also provided with draw-in groove (216), this draw-in groove (216) is arranged with guide rail (251), described transverse arm sliding platform (25) below is provided with the chute (252) corresponding with guide rail (251), the slip realizing transverse arm sliding platform (25) is coordinated by guide rail (251) and chute (252).
8. spray coating mechanical hand according to claim 7, it is characterized in that: be also provided with cover plate (217) in the end of transverse arm section bar 21, be provided with the scraping block (218) be resisted against on transverse arm belt (24) in this cover plate (217), this scraping block (218) is for striking off the dust be attached on transverse arm belt (24) outer surface.
9. spray coating mechanical hand according to claim 6, it is characterized in that: described telescopic arm assembly (3) comprises telescopic arm section bar (31), described stretching motion mechanism comprises telescopic arm drive motors (32) and is arranged on the interior telescopic arm belt drive unit of telescopic arm section bar (31), described telescopic arm belt drive unit comprises two telescopic arm belt pulleys (33) being separately positioned on telescopic arm section bar (31) two ends and the telescopic arm belt (34) be arranged on two telescopic arm belt pulleys (33), described telescopic arm drive motors (32) is connected to a wherein telescopic arm belt pulley (33) by one speed reducer, described telescopic arm belt pulley (33) is provided with telescopic arm sliding platform (35), described telescopic arm sliding platform (35) is arranged on transverse arm sliding platform (25), described telescopic arm sliding platform (35) is also configured with a supporting construction, this supporting construction comprises the sliding track mechanism (93) be arranged on transverse arm section bar (21), be arranged on support slipper (94) on sliding track mechanism (93) and connect the support arm (95) of support slipper (94) and telescopic arm sliding platform (35).
10. spray coating mechanical hand according to claim 2, is characterized in that: also comprise support (9), and described support (9) is arranged on column section (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410478158.XA CN104259036A (en) | 2014-09-18 | 2014-09-18 | Spraying manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410478158.XA CN104259036A (en) | 2014-09-18 | 2014-09-18 | Spraying manipulator |
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|---|---|
| CN104259036A true CN104259036A (en) | 2015-01-07 |
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|---|---|---|---|
| CN201410478158.XA Pending CN104259036A (en) | 2014-09-18 | 2014-09-18 | Spraying manipulator |
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Cited By (9)
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| CN105127990A (en) * | 2015-08-27 | 2015-12-09 | 李有明 | Single-arm mechanical hand |
| CN107587099A (en) * | 2017-08-26 | 2018-01-16 | 芜湖鼎瀚再制造技术有限公司 | A kind of plasma gun |
| CN107825426A (en) * | 2017-11-23 | 2018-03-23 | 纳博特南京科技有限公司 | A kind of motion control device for industrial robot based on machine vision |
| CN108211430A (en) * | 2018-03-26 | 2018-06-29 | 佛山汇众森泰科技有限公司 | A kind of coating defoaming device |
| CN109296174A (en) * | 2018-09-26 | 2019-02-01 | 苏州市鑫泰建筑装璜有限公司 | A kind of stone material dry suspending glue stations |
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| CN105127990A (en) * | 2015-08-27 | 2015-12-09 | 李有明 | Single-arm mechanical hand |
| CN107587099A (en) * | 2017-08-26 | 2018-01-16 | 芜湖鼎瀚再制造技术有限公司 | A kind of plasma gun |
| CN107825426A (en) * | 2017-11-23 | 2018-03-23 | 纳博特南京科技有限公司 | A kind of motion control device for industrial robot based on machine vision |
| CN108211430A (en) * | 2018-03-26 | 2018-06-29 | 佛山汇众森泰科技有限公司 | A kind of coating defoaming device |
| CN109296174A (en) * | 2018-09-26 | 2019-02-01 | 苏州市鑫泰建筑装璜有限公司 | A kind of stone material dry suspending glue stations |
| CN109967276A (en) * | 2019-04-24 | 2019-07-05 | 沈阳华维激光设备制造有限公司 | A kind of automatic enamel flush coater |
| CN110253548A (en) * | 2019-05-22 | 2019-09-20 | 浙江工业大学 | A kind of automatic grabbing device that Three Degree Of Freedom is fine-tuning |
| CN110253548B (en) * | 2019-05-22 | 2021-05-04 | 浙江工业大学 | Three-degree-of-freedom fine-adjustable automatic grabbing device |
| CN110534341A (en) * | 2019-09-24 | 2019-12-03 | 国网山东省电力公司东营供电公司 | The fluosilicic rubber sprayer of dry type hollow series reactor |
| CN112709732A (en) * | 2020-12-29 | 2021-04-27 | 中北大学 | Automatic butt joint device |
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