CN107185752A - A kind of Control During Paint Spraying by Robot control system - Google Patents

A kind of Control During Paint Spraying by Robot control system Download PDF

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Publication number
CN107185752A
CN107185752A CN201710356704.6A CN201710356704A CN107185752A CN 107185752 A CN107185752 A CN 107185752A CN 201710356704 A CN201710356704 A CN 201710356704A CN 107185752 A CN107185752 A CN 107185752A
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CN
China
Prior art keywords
axle
plate
handle
cylinder
cursor
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.)
Granted
Application number
CN201710356704.6A
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Chinese (zh)
Other versions
CN107185752B (en
Inventor
黄建行
陈铭章
黄健昌
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Foshan Nanhai Prdy Robot Co Ltd
Original Assignee
Foshan Nanhai Prdy Robot Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Foshan Nanhai Prdy Robot Co Ltd filed Critical Foshan Nanhai Prdy Robot Co Ltd
Priority to CN201710356704.6A priority Critical patent/CN107185752B/en
Publication of CN107185752A publication Critical patent/CN107185752A/en
Application granted granted Critical
Publication of CN107185752B publication Critical patent/CN107185752B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B05SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05BSPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00Machines 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
    • B05B13/02Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04Means 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
    • B05B13/0431Means 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B05SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05BSPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/002Manually-actuated controlling means, e.g. push buttons, levers or triggers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • B25J11/0075Manipulators for painting or coating

Abstract

A kind of Control During Paint Spraying by Robot control system, including robot body and robot control cabinet;The robot control cabinet is connected with robot body;The robot body is made up of nozzle controller, axle sleeve shaft drive, two axle pivoted arms, built-in speed reducer mounting base, electronic box, power supply maneuver box and an axle rotating disk.The present invention proposes a kind of Control During Paint Spraying by Robot control system, is difficult pulling rotation to solve spray robot, procedure operation is complicated, it is difficult to the problem of control is precisely sprayed.

Description

A kind of Control During Paint Spraying by Robot control system
Technical field
The present invention relates to the technical field of Control During Paint Spraying by Robot, more particularly to a kind of Control During Paint Spraying by Robot control system.
Background technology
Spraying, by front operating personnel, directly carries out glaze spraying, existing hand spray has construction to the surface of product Inefficiency, labor intensity are big, construction quality can not ensure, and for workmen, be worked for a long time under painting environments It is unhealthful;
Robot is the automatic installations for performing work.It can both receive mankind commander, and advance volume can be run again The program of row, can also be according to the principle guiding principle action formulated with artificial intelligence technology.Its task is assistance or the substitution mankind The work of work, improves efficiency, cost-effective.Spray robot is at present, than a kind of more conventional industrial robot, to have obtained Being widely recognized as of user.
The content of the invention
It is an object of the invention to propose a kind of Control During Paint Spraying by Robot control system, pulling turn is difficult to solve spray robot Dynamic, procedure operation is complicated, it is difficult to the problem of control is precisely sprayed.
For up to this purpose, the present invention uses following technical scheme:
A kind of Control During Paint Spraying by Robot control system, including robot body and robot control cabinet;The robot control cabinet It is connected with robot body.
The robot body is installed by nozzle controller, axle sleeve shaft drive, two axle pivoted arms, built-in reductor Seat, electronic box, power supply maneuver box and axle rotating disk composition.
The nozzle controller include nozzle, handle one, handle two, the installing plate of handle one, five axle pivoted arms, six axle rotating disks and Handle two installs wrist.
The nozzle is provided with two, and two described nozzles or so are side-by-side, and are respectively arranged in the peace of handle one Fill the lower end of plate;The handle one is located at below the nozzle with being vertically installed on the lower end of the installing plate of handle one.
The installing plate upper end of handle one is articulated with the six axles rotating disk;It is U-shaped that the handle two installs wrist;Described five The two ends insertion of axle pivoted arm is fixed on the handle two and installs wrist front opening, and the handle two is installed to be provided with the left of wrist The handle two.
Described four axles pivoted arm one end is rotatably arranged on the handle two and installed in the chassis of wrist, the four axles pivoted arm The other end be nested in the three axles swing arm;The motor is provided with three, and three motors are installed in Chinese character pin-shaped In the power intake of the three axles swing arm, the motor drives the three axles swing arm to rotate.
The two axles pivoted arm includes cursor, speed reducer mounting base, four axle mounting seats, cursor pedestal, swing arm rotation dress Put, link gearing and assistant cylinder.
The top on the top of the cursor is provided with the speed reducer mounting base, and the side of the speed reducer mounting base is consolidated Surely it is connected with the four axles mounting seat.
The top of the cursor is provided with swinging axle;The front and rear sides of the cursor are provided with clutch shaft bearing and second Bearing.
One end close end of the swinging axle is arranged at the inner ring of the clutch shaft bearing, and the outer ring of the clutch shaft bearing is set In on the cursor;The other end close end of the swinging axle is arranged at the inner ring of the second bearing, the second bearing Outer ring be arranged on the cursor.
The speed reducer mounting base is fixedly connected with the swinging axle.
The swing arm tumbler includes the first Power Component and rotation component;The rotation component is arranged at the pivoted arm On pedestal and it can be connected on the rotation component around its axis rotation, the bottom of the cursor, first power packages Part drives the rotation component to rotate.
The link gearing includes the second Power Component, link transmission axle and link assembly;The link transmission axle It is arranged in the rotation component and it can be around its axis rotation.
First Power Component is respectively placed in the front and rear sides of the cursor pedestal with second Power Component, and It is oppositely arranged.
The assistant rotating device includes front side cylinder and rear side cylinder;The front side cylinder and the rear side cylinder are set In the front and rear sides of the cursor.
The piston rod of the front side cylinder is connected to the end of described swinging axle one end, and the cylinder barrel of the front side cylinder is hinged In on the cursor pedestal;The piston rod of the rear side cylinder is connected to the end of the swinging axle other end, the rear side The piston rod of cylinder is articulated with the cursor pedestal.
The bottom of the cursor pedestal is provided with the axle rotating disk, and the lower surface of the axle rotating disk is installed on described On built-in speed reducer mounting base;The two axles pivoted arm is rotated with the rotation of an axle rotating disk described in person.
The electronic box is installed on rear side of the lower section for rotating stern pedestal;The rear side of the built-in speed reducer mounting base The power supply maneuver box is installed;The power supply maneuver box is located at the underface of the electronic box.
Sensor for being sensed with the robot control cabinet is installed in the power supply maneuver box.
The surface of the upper right electric cabinet door, which is provided with below display screen and button, the side shield, is provided with the warning of three colors Be provided with above lamp, the three colors emergency warning lamp above fan cooling hole, the fan cooling hole be provided with power switch by Observation window is installed, the top plate upper right side is installed provided with three color emergency warning lamps above button, the left side of the power switch button Hole, the quadrate support pipe is provided with two, and two quadrate support pipes are respectively welded below whole cabinet.
The button corresponds to different control programs respectively, and the button includes voltage selection, standby mode, motion respectively Pattern, teaching pattern and alarm button.When operator presses button (voltage selection/standby mode/motor pattern/teaching mould Formula/alarm) go dragging robot body motion when, the movement locus and input system that system can record robot body are saved as One motor program, then can call the program of typing to go to run this program into running status.
It is preferred that, the axle center of the handle one and the axle center of the handle two are mutually perpendicular to;No matter how how is robot body Motion, the handle one is always ensured that with the handle two and is mutually perpendicular to;The swaying direction of two described axle pivoted arms is front and back To the swaying direction of the three axles swing arm is above-below direction, and the four axles pivoted arm turns around axle center rotation, five described axles itself are made The swaying direction of arm is above-below direction, and six described axle rotating disks are fixed around axle center rotation, the described installing plate of handle one itself is made In on six described axle rotating disks, and follow the rotations of six described axle rotating disks synchronous rotary together.
It is preferred that, the display screen is touch screen display screen;Operating personnel can be carried out to machine by touching the display screen The regulation button of device human body has five groups, is voltage select button, standby mode button, motion mould respectively from top to bottom Formula button, teaching mode button, alarm button;The voltage select button has two kinds of selection voltages, from left to right respectively 12v And 24v.
It is preferred that, two installation sleeves are provided with before and after the top of the cursor pedestal, respectively front sleeve is with after Sleeve.
First Power Component includes the first motor and the first reductor;The rotation component includes the first rotating disk and the Two rotating disks.
The output shaft of first motor is connected to the input of first reductor, the output of first reductor End is fixedly connected with first rotating disk.
First rotating disk is rotatablely arranged in the after sleeve, and second rotating disk is rotatablely arranged at described In front sleeve;First rotating disk is fixedly connected with the bottom of the cursor with second rotating disk.
Second Power Component drives the link transmission axle to rotate;The action input of the link assembly is connected to On the link assembly, the action output end of the link assembly is connected to the four axles mounting seat.
It is preferred that, second Power Component includes the second motor and the second reductor.
One end of the link transmission axle is rotatablely arranged in second rotating disk, the link transmission axle it is another End is rotatablely arranged in first rotating disk;The output shaft of second motor is connected to the input of second reductor End, the output end of second reductor is connected with one end of the link transmission axle;
The link assembly includes first connecting rod and second connecting rod;One end of the first connecting rod and the link transmission axle Connection, the other end of the first connecting rod is articulated with one end of the second connecting rod, and the other end of the second connecting rod is articulated with In the four axles mounting seat.
It is preferred that, it is additionally provided with the first pass between the end of the piston rod of the front side cylinder and one end of the swinging axle Bearings;The piston rod of the front side cylinder is connected with the outer ring of first oscillating bearing, the end of one end of the swinging axle Portion is arranged in the inner ring of first oscillating bearing;
Second joint axle is additionally provided between the end of the piston rod of the rear side cylinder and the other end of the swinging axle Hold;The piston rod of the rear side cylinder is connected with the outer ring of the second joint bearing, the end of the other end of the swinging axle In the inner ring for being arranged at the second joint bearing.
It is preferred that, the built-in speed reducer mounting base D includes bottom plate, top plate, latter supporting plate, rear two supporting plate, the right side One supporting plate, right two supporting plate, supporting plate, back plate, right panel, left plate, foreboard;
The latter supporting plate, rear two supporting plates, a right supporting plate, right two supporting plate, the support Plate is connected between the bottom plate and the top plate.
The back plate and the foreboard, the right panel and the left plate oppose two-by-two is connected to the bottom plate and the top plate Between, form an inner chamber.
Beneficial effects of the present invention:1st, handle, which is set, causes machine easily to pull, it is ensured that the precision of spray coating operations, it is ensured that Quality;2nd, the design of the multi-joint free degree, it is ensured that the flexibility of machine, realizes multi-faceted spraying;3rd, the setting of assistant cylinder, Enter the thrust of cylinder using air so that operating personnel are easier to promote machine;4th, the design concise beauty of robot control cabinet See, procedure operation is convenient, less demanding to operating personnel, easily starts with, accomplishes the saving time, improve efficiency.
Brief description of the drawings
Fig. 1 is the overall structure front view of robot body in the present invention;
Fig. 2 is the overall structure front view of robot control cabinet in the present invention;
Fig. 3 is the structural representation of nozzle controller and axle sleeve shaft drive in the present invention;
Fig. 4 is the structural representation of two axle pivoted arms in the present invention;
Fig. 5 is Fig. 4 S-S to cutting enlarged diagram;
Fig. 6 is Fig. 4 T-T to cutting enlarged diagram;
Fig. 7 is Fig. 4 R-R to cutting enlarged diagram;
Fig. 8 is the structural front view of built-in speed reducer mounting base;
Fig. 9 is the left front view of built-in speed reducer mounting base.
Wherein:
Robot body 1, robot control cabinet 2;The axle pivoted arm of nozzle controller A, axle sleeve shaft drive B, two C, it is built-in Formula speed reducer mounting base D, electronic box E, power supply maneuver box F, an axle rotating disk G, upper left electric cabinet door a, upper right electric cabinet door b, lower-left electricity cabinet Door c, bottom right electric cabinet door d, side shield e, top plate f, quadrate support pipe g, nozzle A1, the A2 of handle one, the A3 of handle two, handle one are installed Plate A4, five axle pivoted arm A5, six axle rotating disk A6, handle two is installed wrist A7, four axle pivoted arm B1, three axle swing arm B2, motor B3, rotated Arm C1, speed reducer mounting base C2, four axle mounting seat C3, cursor pedestal C4, swing arm tumbler C5, link gearing C6, Assistant cylinder C7, swinging axle C11, clutch shaft bearing C12, second bearing C13, the first Power Component C51, rotation component C52, second Power Component C61, link transmission axle C62, link assembly C63, front side cylinder C71, rear side cylinder C72, bottom plate D01, top plate D02, latter supporting plate D03, rear two supporting plates D04, right supporting plate D05, right two supporting plates D06, supporting plate D07, back plate D08, right panel D09, left plate D10, foreboard D11, inner chamber D12, display screen b1, button b2, three color emergency warning lamp e1, fan cooling hole E2, power switch button e3, observation window e4, three color emergency warning lamp mounting hole f1.
Embodiment
Further illustrate technical scheme below in conjunction with the accompanying drawings and by embodiment.
The present invention is mainly made up of robot body and corresponding control system, and robot uses 5 or 6DOF articulated type Structure, arm has larger space, and can do the track motion of complexity, and its wrist typically has 2~3 frees degree, can spirit Motion living.Spray robot is provided with two handles, facilitates human hand crawl dragging, is also equipped with assistant cylinder, drags for convenience Person can pull revolute easily.
It is operable by button switch and touch display screen with corresponding control system in controller, when operator presses When teaching pattern (standby mode/motor pattern/teaching pattern/alarm) goes dragging robot motion, system can record machine The movement locus and input system of people saves as a motor program, and the program that can call typing subsequently into operational mode is gone This program is run, it is easy to operate, it is less demanding to operating personnel, easily start with.
The application proposes a kind of Control During Paint Spraying by Robot control system, including robot body 1 and robot control cabinet 2;It is described Robot control cabinet 2 is connected with robot body 1.
As shown in figure 1, the robot body 1 is by nozzle controller A, axle sleeve shaft drive B, two axle pivoted arm C, built-in Formula speed reducer mounting base D, electronic box E, power supply maneuver box F and axle rotating disk G compositions.
The nozzle controller A includes nozzle A1, the A2 of handle one, the A3 of handle two, the installing plate A4 of handle one, five axle pivoted arms A5, six axle rotating disk A6 and handle two install wrist A7.
As shown in figure 3, the nozzle A1 is provided with two, two described nozzle A1 or so are side-by-side, and are respectively mounted In the lower end of the installing plate A4 of handle one;The A2 of handle one to be vertically installed on the lower end of the installing plate A4 of handle one, And below the nozzle A1.
The installing plate A4 upper ends of handle one are articulated with the six axles rotating disk A6;The chassis of the six axles rotating disk A6 is installed on The middle part of the five axles pivoted arm A5;It is U-shaped that the handle two installs wrist A7;The two ends insertion of the five axles pivoted arm A5 is fixed on The handle 2 installs wrist A7 front openings, and the handle 2 is installed and is provided with the A3 of handle two on the left of wrist A7.
Described four axles pivoted arm B1 one end is rotatably arranged on the handle two and installed in wrist A7 chassis, four axle The pivoted arm B1 other end is nested in the three axles swing arm B2;The motor B3 is provided with three, and three motor B3 are in product Font is installed in the power intake of the three axles swing arm B2, and the motor B3 drives the three axles swing arm B2 to turn.
As shown in figure 4, the two axles pivoted arm C includes cursor C1, speed reducer mounting base C2, four axle mounting seat C3, rotation Arm pedestal C4, swing arm tumbler C5, link gearing C6 and assistant cylinder C7;
The top on the top of the cursor C1 is provided with the speed reducer mounting base C2, the speed reducer mounting base C2's Side is fixedly connected with the four axles mounting seat C3.
As is seen in fig. 6 or fig. 7, the top of the cursor C1 is provided with swinging axle C11;The cursor C1's is front and rear Both sides are provided with clutch shaft bearing C12 and second bearing C13.
One end close end of the swinging axle C11 is arranged at the inner ring of the clutch shaft bearing C12, the clutch shaft bearing C12 Outer ring be arranged on the cursor C1;The other end close end of the swinging axle C11 is arranged at the second bearing C13's Inner ring, the outer ring of the second bearing C13 is arranged on the cursor A1;
The speed reducer mounting base C2 is fixedly connected with the swinging axle C11.
As shown in figure 5, the swing arm tumbler C5 includes the first Power Component C51 and rotation component C52;The rotation Component C52 is arranged on the pivoted arm pedestal and it can be connected to the pendulum around its axis rotation, the bottom of the cursor C1 Turn on component C52, the first Power Component C51 drives the rotation component C52 to rotate.
The link gearing C6 includes the second Power Component C61, link transmission axle C62 and link assembly C63;Institute State that link transmission axle C62 is arranged in the rotation component C52 and it can be around its axis rotation;
The first Power Component C51 and the second Power Component C61 is respectively placed in before the cursor pedestal D1 Both sides, and being oppositely arranged afterwards;
As shown in fig. 6, the assistant rotating device C7 includes front side cylinder C71 and rear side cylinder C72;The front side cylinder C71 and the rear side cylinder C72 are arranged at the front and rear sides of the cursor C1;
The piston rod of the front side cylinder C71 is connected to the end of described swinging axle C11 one end, the front side cylinder C71 Cylinder barrel be articulated with the cursor pedestal C4;It is another that the piston rod of the rear side cylinder C72 is connected to the swinging axle C11 The end at end, the piston rod of the rear side cylinder C72 is articulated with the cursor pedestal C4.
As shown in figure 1, the bottom of the cursor pedestal C4 is provided with the axle rotating disk G, the axle rotating disk G End face is installed on the built-in speed reducer mounting base D;The two axles pivoted arm C is with the rotation of an axle rotating disk G described in person Rotate;
The electronic box E is installed on rear side of the lower section for rotating stern pedestal C4;The built-in speed reducer mounting base D's Rear side is provided with the power supply maneuver box F;The power supply maneuver box F is located at the underface of the electronic box E.
Sensor for being sensed with the robot control cabinet 2 is installed in the power supply maneuver box F;
As shown in Fig. 2 the robot control cabinet 2 includes upper left electric cabinet door a, upper right electric cabinet door b, lower-left electric cabinet door c, the right side Lower electric cabinet door d, side shield e, top plate f, quadrate support pipe g and control cabinet;The upper left electric cabinet door a, the upper right electric cabinet door b, The lower-left electric cabinet door c, the bottom right electric cabinet door d, the side shield e, the top plate f enclose group and form cabinet, the cabinet respectively The control cabinet is provided with vivo.
The surface of the upper right electric cabinet door b is provided with below display screen b1 and button b2, the side shield e and is provided with three Fan cooling hole e2, the top peace of the fan cooling hole e2 are installed above color emergency warning lamp e1, the three colors emergency warning lamp e1 Equipped with power switch button e3, observation window e4, the top plate f upper rights are installed above the left side of the power switch button e3 Side is provided with two provided with three color emergency warning lamp mounting hole f1, the quadrate support pipe g, and two quadrate support pipe g are respectively welded Below whole cabinet.
The button b2 corresponds to different control programs respectively, the button b2 include respectively voltage selection, standby mode, Motor pattern, teaching pattern and alarm button.
It is preferred that, the axle center of the A2 of handle one and the axle center of the A3 of handle two are mutually perpendicular to.
It is preferred that, the display screen b is touch screen display screen;The button b2 has five groups, is voltage respectively from top to bottom Select button, standby mode button, motor pattern button, teaching mode button, alarm button;The voltage select button has two Selection voltage is planted, from left to right respectively 12v and 24v.
It is preferred that, it is provided with two installation sleeves, respectively front sleeve C41 before and after the top of the cursor pedestal C4 With after sleeve C42;
As shown in figure 5, the first Power Component C51 includes the first motor C511 and the first reductor C512;The pendulum Turning component C52 includes the first rotating disk C521 and the second rotating disk C522.
The output shaft of the first motor C511 is connected to the input of the first reductor C512, and described first slows down Machine C512 output end is fixedly connected with the first rotating disk C521;
The first rotating disk C521 is rotatablely arranged in the after sleeve C42, and the second rotating disk C522 is rotatable Ground is arranged in the front sleeve C41;The first rotating disk C521 and the second rotating disk C522 is fixedly connected with described turn Swing arm C1 bottom;
The second Power Component C61 drives the link transmission axle C62 to rotate;The action of the link assembly C63 is defeated Enter end to be connected on the link assembly C63, the action output end of the link assembly C63 is connected to the four axles mounting seat C3。
It is preferred that, the second Power Component C61 includes the second motor C611 and the second reductor C612;
One end of the link transmission axle C62 is rotatablely arranged in the second rotating disk C522, the link transmission The axle C62 other end is rotatablely arranged in the first rotating disk C521;The output shaft of the second motor C611 is connected to The input of the second reductor C612, the output end of the second reductor C612 and the one of the link transmission axle C62 End connection.
The link assembly C63 includes first connecting rod C631 and second connecting rod C632;One end of the first connecting rod C631 It is connected with the link transmission axle C62, the other end of the first connecting rod C631 is articulated with one end of the second connecting rod C632, The other end of the second connecting rod C632 is articulated with the four axles mounting seat C3.
It is preferred that, it is additionally provided between the end of the piston rod of the front side cylinder C71 and one end of the swinging axle C11 First oscillating bearing C73;The piston rod of the front side cylinder C71 is connected with the outer ring of the first oscillating bearing C73, described The end of swinging axle C11 one end is arranged in the inner ring of the first oscillating bearing C73;
Second is additionally provided between the end of the piston rod of the rear side cylinder C72 and the other end of the swinging axle C11 Oscillating bearing C74;The piston rod of the rear side cylinder C72 is connected with the outer ring of the second joint bearing C74, the swinging axle The end of the C11 other end is arranged in the inner ring of the second joint bearing C74.
It is preferred that, built-in speed reducer mounting base D includes bottom plate D01, top plate D02, latter supporting plate as described in Fig. 8, Fig. 9 D03, rear two supporting plates D04, right supporting plate D05, right two supporting plates D06, supporting plate D07, back plate D08, right panel D09, left plate D10, foreboard D11;
The latter supporting plate D03, rear two supporting plate D04, the right supporting plate D05, right two supporting plate D06, the supporting plate D07 are connected between the bottom plate D01 and the top plate D02;
The back plate D08 and foreboard D11, the right panel D09 and the left plate D10 oppose be connected to the bottom two-by-two Between plate D01 and the top plate D02, an inner chamber D12 is formed.
The technical principle of the present invention is described above in association with specific embodiment.These descriptions are intended merely to explain the present invention's Principle, and limiting the scope of the invention can not be construed in any way.Based on explanation herein, the technology of this area Personnel, which would not require any inventive effort, can associate other embodiments of the present invention, and these modes are fallen within Within protection scope of the present invention.

Claims (7)

1. a kind of Control During Paint Spraying by Robot control system, it is characterised in that:Including robot body and robot control cabinet;The machine People's switch board is connected with robot body;
The robot body is by nozzle controller, axle sleeve shaft drive, two axle pivoted arms, built-in speed reducer mounting base, electricity Case, power supply maneuver box and axle rotating disk composition;
The nozzle controller includes nozzle, handle one, handle two, the installing plate of handle one, five axle pivoted arms, six axle rotating disks and handle Two install wrist;
The nozzle is provided with two, and two described nozzles or so are side-by-side, and are respectively arranged in the installing plate of handle one Lower end;The handle one is located at below the nozzle with being vertically installed on the lower end of the installing plate of handle one;
The installing plate upper end of handle one is articulated with the six axles rotating disk;The chassis of the six axles rotating disk is installed on five axle and turned The middle part of arm;It is U-shaped that the handle two installs wrist;The two ends insertion of the five axles pivoted arm is fixed on the handle two and installs hand Wrist front opening, the handle two is installed and is provided with the handle two on the left of wrist;
Described four axles pivoted arm one end is rotatably arranged on the handle two and installed in the chassis of wrist, the four axles pivoted arm it is another One end is nested in the three axles swing arm;The motor is provided with three, and three motors are described in Chinese character pin-shaped being installed on In the power intake of three axle swing arms, the motor drives the three axles swing arm to rotate;
The two axles pivoted arm includes cursor, speed reducer mounting base, four axle mounting seats, cursor pedestal, swing arm tumbler, company Bar transmission device and assistant cylinder;
The top on the top of the cursor is provided with the speed reducer mounting base, and the side of the speed reducer mounting base, which is fixed, to be connected It is connected to the four axles mounting seat;
The top of the cursor is provided with swinging axle;The front and rear sides of the cursor are provided with clutch shaft bearing and the second axle Hold;
One end close end of the swinging axle is arranged at the inner ring of the clutch shaft bearing, and the outer ring of the clutch shaft bearing is arranged at institute State on cursor;The other end close end of the swinging axle is arranged at outside the inner ring of the second bearing, the second bearing Circle is arranged on the cursor;
The speed reducer mounting base is fixedly connected with the swinging axle;
The swing arm tumbler includes the first Power Component and rotation component;The rotation component is arranged at the pivoted arm pedestal Go up and it can be connected on the rotation component around its axis rotation, the bottom of the cursor, the first Power Component band The dynamic rotation component is rotated;
The link gearing includes the second Power Component, link transmission axle and link assembly;The link transmission axle is set In in the rotation component and it can be around its axis rotation;
First Power Component is respectively placed in the front and rear sides of the cursor pedestal with second Power Component, and relatively Set;
The assistant rotating device includes front side cylinder and rear side cylinder;The front side cylinder and the rear side cylinder are arranged at institute State the front and rear sides of cursor;
The piston rod of the front side cylinder is connected to the end of described swinging axle one end, and the cylinder barrel of the front side cylinder is articulated with institute State on cursor pedestal;The piston rod of the rear side cylinder is connected to the end of the swinging axle other end, the rear side cylinder Piston rod be articulated with the cursor pedestal;
The bottom of the cursor pedestal is provided with the axle rotating disk, and the lower surface of the axle rotating disk is installed on described built-in On formula speed reducer mounting base;The two axles pivoted arm is rotated with the rotation of an axle rotating disk described in person;
The electronic box is installed on rear side of the lower section for rotating stern pedestal;The rear side of the built-in speed reducer mounting base is installed There is the power supply maneuver box;The power supply maneuver box is located at the underface of the electronic box;
Sensor for being sensed with the robot control cabinet is installed in the power supply maneuver box;
The robot control cabinet includes upper left electric cabinet door, upper right electric cabinet door, lower-left electric cabinet door, bottom right electric cabinet door, side shield, top Plate, quadrate support pipe and control cabinet;The upper left electric cabinet door, the upper right electric cabinet door, the lower-left electric cabinet door, bottom right electricity Cabinet door, the side shield, the top plate enclose group and formed in cabinet, the cabinet respectively is provided with the control cabinet;
The surface of the upper right electric cabinet door, which is provided with below display screen and button, the side shield, is provided with three color emergency warning lamps, It is provided with above the three colors emergency warning lamp above fan cooling hole, the fan cooling hole and power switch button is installed, Observation window is installed, the top plate upper right side is provided with three color emergency warning lamp mounting holes above the left side of the power switch button, The quadrate support pipe is provided with two, and two quadrate support pipes are respectively welded below whole cabinet;
The button corresponds to different control programs respectively, and the button includes voltage selection, standby mode, motion mould respectively Formula, teaching pattern and alarm button.
2. a kind of Control During Paint Spraying by Robot control system according to claim 1, it is characterised in that:The axle center of the handle one with The axle center of the handle two is mutually perpendicular to.
3. a kind of Control During Paint Spraying by Robot control system according to claim 1, it is characterised in that:The display screen is aobvious for touch screen Display screen;The button has five groups, is voltage select button respectively from top to bottom, standby mode button, motor pattern button, shows Teach mode button, alarm button;The voltage select button has two kinds of selection voltages, from left to right respectively 12v and 24v.
4. a kind of Control During Paint Spraying by Robot control system according to claim 1, it is characterised in that:The top of the cursor pedestal Two installation sleeves, respectively front sleeve and after sleeve are provided with before and after portion;
First Power Component includes the first motor and the first reductor;The rotation component includes the first rotating disk and second turn Disk;
The output shaft of first motor is connected to the input of first reductor, the output end of first reductor with First rotating disk is fixedly connected;
First rotating disk is rotatablely arranged in the after sleeve, and second rotating disk is rotatablely arranged at the protheca In cylinder;First rotating disk is fixedly connected with the bottom of the cursor with second rotating disk;
Second Power Component drives the link transmission axle to rotate;The action input of the link assembly is connected to described On link assembly, the action output end of the link assembly is connected to the four axles mounting seat.
5. a kind of Control During Paint Spraying by Robot control system according to claim 1, it is characterised in that:The second Power Component bag Include the second motor and the second reductor;
One end of the link transmission axle is rotatablely arranged in second rotating disk, and the other end of the link transmission axle can It is rotatably arranged in first rotating disk;The output shaft of second motor is connected to the input of second reductor, The output end of second reductor is connected with one end of the link transmission axle;
The link assembly includes first connecting rod and second connecting rod;One end of the first connecting rod connects with the link transmission axle Connect, the other end of the first connecting rod is articulated with one end of the second connecting rod, the other end of the second connecting rod is articulated with institute State in four axle mounting seats.
6. a kind of Control During Paint Spraying by Robot control system according to claim 1, it is characterised in that:The piston of the front side cylinder The first oscillating bearing is additionally provided between the end of one end of bar and the swinging axle;The piston rod of the front side cylinder with it is described The outer ring connection of first oscillating bearing, the end of one end of the swinging axle is arranged in the inner ring of first oscillating bearing; Second joint bearing is additionally provided between the end of the piston rod of the rear side cylinder and the other end of the swinging axle;After described The piston rod of side cylinder is connected with the outer ring of the second joint bearing, and the end of the other end of the swinging axle is arranged at described In the inner ring of second joint bearing.
7. a kind of Control During Paint Spraying by Robot control system according to claim 1, it is characterised in that:The built-in reductor peace Filling seat includes bottom plate, top plate, latter supporting plate, rear two supporting plate, a right supporting plate, right two supporting plate, supporting plate, back plate, the right side Plate, left plate, foreboard;
The latter supporting plate, rear two supporting plates, a right supporting plate, right two supporting plate, the supporting plate connect It is connected between the bottom plate and the top plate;
The back plate and the foreboard, the right panel and the left plate oppose two-by-two be connected to the bottom plate and the top plate it Between, form an inner chamber.
CN201710356704.6A 2017-05-19 2017-05-19 A kind of Control During Paint Spraying by Robot control system Active CN107185752B (en)

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CN110523571A (en) * 2019-09-02 2019-12-03 苏州市创诚金属制品有限公司 A kind of anti-dead angle spraying equipment of micro-tube

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CN104211441A (en) * 2014-08-11 2014-12-17 哈尔滨博强机器人技术有限公司 Professional glaze spraying six-axis robot
CN204712049U (en) * 2015-05-28 2015-10-21 中山市鸿之远工业机器人有限公司 A kind of Six-DOF industrial robot
CN105214876A (en) * 2015-09-29 2016-01-06 深圳瑞和建筑装饰股份有限公司 From mobile spray robot

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US20020104900A1 (en) * 2001-02-08 2002-08-08 Nicky Borcea Robot spray head for cavity treatment
EP2574384A1 (en) * 2011-09-28 2013-04-03 KUKA Laboratories GmbH Fairground ride and method for operating same
CN104162890A (en) * 2014-07-04 2014-11-26 倪立新 Step-by-step teaching robot based on motor power and control method thereof
CN104211441A (en) * 2014-08-11 2014-12-17 哈尔滨博强机器人技术有限公司 Professional glaze spraying six-axis robot
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CN110523571A (en) * 2019-09-02 2019-12-03 苏州市创诚金属制品有限公司 A kind of anti-dead angle spraying equipment of micro-tube
CN110523571B (en) * 2019-09-02 2021-04-02 苏州肯美特设备集成有限公司 Anti-dead-angle spraying equipment for micro pipeline

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