CN105149137A - Creeping type large-size workpiece surface painting robot - Google Patents
Creeping type large-size workpiece surface painting robot Download PDFInfo
- Publication number
- CN105149137A CN105149137A CN201510605673.4A CN201510605673A CN105149137A CN 105149137 A CN105149137 A CN 105149137A CN 201510605673 A CN201510605673 A CN 201510605673A CN 105149137 A CN105149137 A CN 105149137A
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- CN
- China
- Prior art keywords
- cylinder
- reducing motor
- arm
- supporting plate
- creeping
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- 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
- B05B13/005—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 mounted on vehicles or designed to apply a liquid on a very large surface, e.g. on the road, on the surface of large containers
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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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention relates to a creeping type large-size workpiece surface painting robot. The creeping type large-size workpiece surface painting robot comprises a creeping mechanism and a painting mechanism, wherein the painting mechanism is fixedly arranged on an upper supporting plate of the creeping mechanism through a connection supporting plate; the painting mechanism is provided with a rotary mechanism, a mechanical arm and a mechanical claw; the rotary mechanism is connected with a speed reducing motor and is driven by the speed reducing motor to rotate and move; the mechanical arm is connected with the speed reducing motor; a large arm and a small arm of the mechanical arm are driven to swing through the speed reducing motor; a spraying gun is clamped by the mechanical claw; the creeping mechanism is provided with the upper supporting plate, a lower supporting plate, an air cylinder and vacuum suction discs; the upper supporting plate and the lower supporting plate are in guide connection through a linear guide rail; the air cylinder is arranged so that walking is finished through the retraction of a piston rod of the air cylinder; the vacuum suction discs are arranged on the two sides of the upper supporting plate so that the upper supporting plate is adsorbed on the surface of a workpiece through the vacuum suction discs. The creeping type large-size workpiece surface painting robot has a function of freely and flexibly creeping on the surface of the large-size complicated workpiece; meanwhile, in a creeping process of a robot body, the painting work can be finished through controlling the mechanical arm and the mechanical claw.
Description
Technical field
The present invention relates to a kind of paint-spray robot of complex part surface, mainly in being unfavorable for manually-operated working environment and artificial unworkable workpiece, spray painting operation being carried out to its surface.
Background technology
Along with the development of machinery industry, lacquering technologies, as one of important technology in machinery production, is applied more and more extensive in machining.Paint-spray robot conventional in the industrial production is at present console mode or cantilevered robotic arm mostly, this robot mainly sprays for the part that some large-scale surface ratios are more regular, such as body of a motor car etc., its shortcoming is the surface of the work for some complexity, due to movement locus more complicated, or space is narrower and small, mechanical hand cannot arrive.Meanwhile, the Degree of Structure Freedom of mechanical hand is more, and more close to the moving function of staff, its structure will be more complicated, also means the increase of spray robot overall weight, and lightness and flexibility are conflicts.Climbing robot in the design a kind ofly can be adsorbed on by sucker the specialized robot that any complex part surface realizes freely-movable, autonomous spraying, solve the problem in actual production, the complicated simultaneously workpiece that build is larger of face shaping being difficult to hand spray operation, and realize lightness and the flexibility of spray structure.
Summary of the invention
The present invention will provide a kind of creeping-type large-scale workpiece surface spraying machine people, and this robot can carry out spray painting operation to large-scale workpiece surface, solves and manually cannot operate and problem that manual operation efficiency is lower.
For achieving the above object, technical scheme of the present invention is achieved in that
A kind of creeping-type large-scale workpiece surface spraying machine people, comprise climbing mechanism, spray body, described spray body is fixed on climbing mechanism upper backup pad by connecting support plate, spray body has slew gear, mechanical arm, mechanical paw, described slew gear connects reducing motor, drives gyration by reducing motor; Described mechanical arm connects reducing motor, and by the large arm of reducing motor driving mechanical arm and the swing of forearm, mechanical paw clamping spray gun, sprays paint for completing; Described climbing mechanism has upper backup pad, lower supporting plate, cylinder, vacuum cup, described upper backup pad is connected with being led by line slideway between lower supporting plate, and cylinder is housed, walking is completed by the flexible of cylinder piston rod, vacuum cup is equipped with in upper backup pad both sides, is adsorbed on the surface of the workpiece by vacuum cup.
Described climbing mechanism comprise guide rail, slide block, the cylinder for front and back walking, the cylinder for side-to-side movement, for sucker suction and the cylinder, sucker connector, sucker stand, cylinder connection piece, the sucker that lift, described guide rail is fixed on lower supporting plate, slide block is fixed on upper backup pad, the described cylinder for front and back walking is contained in upper backup pad front end face, and the described cylinder for side-to-side movement is contained in upper backup pad side; Cylinder for side-to-side movement connects and is used for sucker suction and the cylinder lifted; Described sucker is connected to for the piston rod of sucker suction with the cylinder lifted by sucker stand and cylinder connection piece, drives pressing down and lifting of sucker by piston rod.
Reducing motor, pinion, gear wheel, waist gyroaxis, revolving support part, arm gyroaxis, large arm, revolution connector that described spray body comprises mechanical paw, drives the pivotal reducing motor of waist, drives large arm and forearm rotary; Described pinion is connected with reducing motor interference fit, gear wheel and pinion are connected with a joggle, and reducing motor drives bull gear drive by pinion, and gear wheel is connected at axial restraint with waist gyroaxis, gear wheel drives waist gyroaxis to rotate, and completes waist gyration; Reducing motor connects large arm or forearm by arm gyroaxis, the swing of large arm or forearm is driven by reducing motor, thus realizing the oscillating motion of mechanical arm, mechanical paw connects telescopic hydraulic cylinder, realizes opening and closing of paw by the flexible of hydraulic cylinder piston rod.
The invention has the beneficial effects as follows:
1, the present invention is by the combination of climbing mechanism and spray body, defines to have freely to walk at large complicated surface of the work and can complete the function of spraying paint to surface of the work.
2, the present invention adopts the legged climbing mechanism combined of frame-type and polypody, joins the absorption with multiple vacuum cup, ensure that the efficiency and stability of creeping.
3, the present invention is by one group of gear drive, realizes the gyration of spray body, and utilizes the swing of mechanical arm to add the free degree of spray body, achieve the diversity of spray gun track.
Accompanying drawing explanation
Fig. 1 is front view of the present invention;
Fig. 2 is climbing mechanism of the present invention;
Fig. 3 is spray body of the present invention;
Fig. 4 is the left view of Fig. 3.
Detailed description of the invention
Below in conjunction with accompanying drawing and embodiment, the present invention is further illustrated.
Refer to Fig. 1-4, creeping-type large-scale workpiece surface spraying machine people of the present invention, by climbing mechanism, spray body and other parts composition.
Spray body is fixed on climbing mechanism upper backup pad 5 by connecting support plate 4, and spray body has slew gear, mechanical arm, mechanical paw, and described slew gear connects reducing motor, drives gyration by reducing motor; Mechanical arm connects reducing motor, and by the large arm of reducing motor driving mechanical arm and the swing of forearm, mechanical paw clamping spray gun, sprays paint for completing; Described climbing mechanism has upper backup pad 5, lower supporting plate 6, cylinder, vacuum cup, described upper backup pad 5 is connected with being led by line slideway between lower supporting plate 6, and cylinder is housed, walking is completed by the flexible of cylinder piston rod, vacuum cup is equipped with in upper backup pad 5 both sides, is adsorbed on the surface of the workpiece by vacuum cup.
As shown in Figure 2, climbing mechanism comprises upper bearing plate 5, lower supporting plate 6, line slideway 9, slide block 10, for the cylinder 12 of front and back walking, for the cylinder 11 of side-to-side movement, for sucker suction and the cylinder 7 lifted, sucker connector 15, sucker stand 8, cylinder connection piece 13, cylinder fixture 14, sucker 16 etc.Guide rail 9 is fixed on lower supporting plate 6, slide block 10 is fixed on upper backup pad 5, cylinder 12 for front and back walking is contained in upper backup pad 5 front end face, cylinder 11 for side-to-side movement is contained in upper backup pad 5 side, is moved thus the movement of drive robot body relative to upper backup pad by the flexible drive lower supporting plate of cylinder piston rod.Cylinder 11 for side-to-side movement connects and is used for sucker suction and the cylinder 7 lifted; Sucker 16 is connected to for the piston rod of sucker suction with the cylinder 7 lifted by sucker stand 8 and cylinder connection piece 13, drive the pressing down and lifting of sucker by piston rod, recycling vacuum valve is to suction disc vacuum pumping thus enable sucker be adsorbed on surface of the work.
As Fig. 1,3, shown in 4, spray body comprises mechanical paw 1, mechanism body 2, drives the pivotal reducing motor 3 of waist, drives the reducing motor 25 of large arm and forearm rotary, pinion 23, gear wheel 22, clamp nut 17, shaft block ring 18, waist gyroaxis 21, revolving support part 19, taper roll bearing 20, back-up ring 24, yielding coupling 26, arm gyroaxis 31, deep groove ball bearing 29, end cap 30, packing ring 28, large arm 27, revolution connector 32 etc.
Pinion 23 and reducing motor 3 interference fit, gear wheel 22 and pinion 2) coordinate, waist gyroaxis 21 and taper roll bearing 20 interference fit, reducing motor 3 rotates and passes to pinion 23, pinion 2) drive gear wheel 22 to rotate, gear wheel 22 and waist gyroaxis 21 are at axial restraint, and gear wheel 22 connects waist gyroaxis 21 by flat key, gear wheel 22 drives waist gyroaxis 21 to rotate, and completes waist gyration.Reducing motor 25 and shaft coupling 26 interference fit, shaft coupling 26 and arm gyroaxis 31 interference fit, arm gyroaxis 31 and deep groove ball bearing 29 interference fit, arm gyroaxis 31 is connected with large arm 27 or forearm by flat key, reducing motor 25 rotating band is started revolution of arm axle 31 and is rotated, arm gyroaxis 31 drives the swing of large arm 27 or forearm by flat key, thus achieves the oscillating motion of mechanical arm, and mechanical paw 1 realizes opening and closing of paw by the flexible of hydraulic cylinder piston rod.Spray body is fastened by bolts part and climbing mechanism upper backup pad 5 is connected and fixed, and realizes the movement driving spray body in robot crawling process.
The present invention by climbing mechanism and spray body combined, define have complex part surface freedom and flexibility walking and the function that surface of the work is sprayed paint can be completed.The large-scale workpiece that the present invention mainly solves face shaping complexity manually cannot complete the problem of spraying, by utilizing spray robot to replace manual work, achieves the automation of production process.
Claims (3)
1. a creeping-type large-scale workpiece surface spraying machine people, comprise climbing mechanism, spray body, it is characterized in that: described spray body is fixed on climbing mechanism upper backup pad (5) by connecting support plate (4), spray body has slew gear, mechanical arm, mechanical paw, described slew gear connects reducing motor, drives gyration by reducing motor; Described mechanical arm connects reducing motor, and by the large arm of reducing motor driving mechanical arm and the swing of forearm, mechanical paw clamping spray gun, sprays paint for completing; Described climbing mechanism has upper backup pad (5), lower supporting plate (6), cylinder, vacuum cup, led by line slideway between described upper backup pad (5) with lower supporting plate (6) and be connected, and cylinder is housed, walking is completed by the flexible of cylinder piston rod, vacuum cup is equipped with in upper backup pad (5) both sides, is adsorbed on the surface of the workpiece by vacuum cup.
2. creeping-type large-scale workpiece surface spraying machine people according to claim 1, it is characterized in that: described climbing mechanism comprises guide rail (9), slide block (10), for the cylinder (12) of front and back walking, for the cylinder (11) of side-to-side movement, for sucker suction and the cylinder (7) lifted, sucker connector (15), sucker stand (8), cylinder connection piece (13), sucker (16), described guide rail (9) is fixed on lower supporting plate (6), slide block (10) is fixed on upper backup pad (5), the described cylinder (12) for front and back walking is contained in upper backup pad (5) front end face, the described cylinder for side-to-side movement (11) is contained in upper backup pad (5) side, the described cylinder for side-to-side movement (11) connects and is used for sucker suction and the cylinder (7) lifted, described sucker (16) is connected to for the piston rod of sucker suction with the cylinder (7) lifted by sucker stand (8) and cylinder connection piece (13), drives pressing down and lifting of sucker by piston rod.
3. creeping-type large-scale workpiece surface spraying machine people according to claim 1, is characterized in that: described spray body comprises mechanical paw (1), the drive pivotal reducing motor of waist (3), the reducing motor (25) driving large arm and forearm rotary, pinion (23), gear wheel (22), waist gyroaxis (21), revolving support part (19), arm gyroaxis (31), large arm (27), revolution connector (32); Described pinion (23) is connected with reducing motor (3) interference fit, gear wheel (22) and pinion (23) are connected with a joggle, reducing motor (3) drives gear wheel (22) to rotate by pinion (23), gear wheel (22) is connected at axial restraint with waist gyroaxis (21), gear wheel (22) drives waist gyroaxis (21) to rotate, and completes waist gyration; Reducing motor (25) connects large arm (27) or forearm by arm gyroaxis (31), the swing of large arm (27) or forearm is driven by reducing motor (25), thus realize the oscillating motion of mechanical arm, mechanical paw (1) connects telescopic hydraulic cylinder, realizes opening and closing of paw by the flexible of hydraulic cylinder piston rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510605673.4A CN105149137A (en) | 2015-09-22 | 2015-09-22 | Creeping type large-size workpiece surface painting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510605673.4A CN105149137A (en) | 2015-09-22 | 2015-09-22 | Creeping type large-size workpiece surface painting robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105149137A true CN105149137A (en) | 2015-12-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510605673.4A Pending CN105149137A (en) | 2015-09-22 | 2015-09-22 | Creeping type large-size workpiece surface painting robot |
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| CN (1) | CN105149137A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105459107A (en) * | 2016-02-16 | 2016-04-06 | 北京建筑大学 | Mechanical arm for spraying inner wall of large-diameter pipelines |
| CN105921328A (en) * | 2016-06-28 | 2016-09-07 | 大连民族大学 | Automatic climbing paint spraying robot |
| CN109436118A (en) * | 2018-10-30 | 2019-03-08 | 同济大学 | The hard and soft soft combination of the adaptive bionic wall climbing robot of wall roughness is wet to be suctioned |
| CN111408494A (en) * | 2019-01-08 | 2020-07-14 | 上海交通大学 | Rail type spraying robot |
| CN113044134A (en) * | 2021-04-30 | 2021-06-29 | 常州大学 | Quadruped robot capable of crawling on horizontal grid |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1097157A (en) * | 1992-12-01 | 1995-01-11 | 柳沢健 | walking robot |
| CN101596955A (en) * | 2009-05-07 | 2009-12-09 | 长沙楚天科技有限公司 | Bag-out device for big soft infusion bag production line |
| CN101954341A (en) * | 2009-07-21 | 2011-01-26 | 上海发那科机器人有限公司 | Automobile roof coating robot sucker claw |
| CN203919042U (en) * | 2014-04-30 | 2014-11-05 | 温家成 | Mineral conveying robot |
| CN204640240U (en) * | 2015-03-17 | 2015-09-16 | 南京理工大学 | A kind of Apery manipulator arm |
-
2015
- 2015-09-22 CN CN201510605673.4A patent/CN105149137A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1097157A (en) * | 1992-12-01 | 1995-01-11 | 柳沢健 | walking robot |
| CN101596955A (en) * | 2009-05-07 | 2009-12-09 | 长沙楚天科技有限公司 | Bag-out device for big soft infusion bag production line |
| CN101954341A (en) * | 2009-07-21 | 2011-01-26 | 上海发那科机器人有限公司 | Automobile roof coating robot sucker claw |
| CN203919042U (en) * | 2014-04-30 | 2014-11-05 | 温家成 | Mineral conveying robot |
| CN204640240U (en) * | 2015-03-17 | 2015-09-16 | 南京理工大学 | A kind of Apery manipulator arm |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105459107A (en) * | 2016-02-16 | 2016-04-06 | 北京建筑大学 | Mechanical arm for spraying inner wall of large-diameter pipelines |
| CN105459107B (en) * | 2016-02-16 | 2018-04-17 | 北京建筑大学 | A kind of mechanical arm for spraying large-diameter pipeline inner wall |
| CN105921328A (en) * | 2016-06-28 | 2016-09-07 | 大连民族大学 | Automatic climbing paint spraying robot |
| CN105921328B (en) * | 2016-06-28 | 2018-06-29 | 大连民族大学 | A kind of automatic climbing paint-spray robot |
| CN109436118A (en) * | 2018-10-30 | 2019-03-08 | 同济大学 | The hard and soft soft combination of the adaptive bionic wall climbing robot of wall roughness is wet to be suctioned |
| CN109436118B (en) * | 2018-10-30 | 2021-06-08 | 同济大学 | Rigid-soft combined wet absorption foot of bionic wall-climbing robot with self-adaptive wall roughness |
| CN111408494A (en) * | 2019-01-08 | 2020-07-14 | 上海交通大学 | Rail type spraying robot |
| CN113044134A (en) * | 2021-04-30 | 2021-06-29 | 常州大学 | Quadruped robot capable of crawling on horizontal grid |
| CN113044134B (en) * | 2021-04-30 | 2021-12-24 | 常州大学 | Quadruped robot capable of crawling on horizontal grid |
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| PB01 | Publication | ||
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Application publication date: 20151216 |