CN107322608A - A kind of high accuracy and the spray robot for facilitating cabling - Google Patents

A kind of high accuracy and the spray robot for facilitating cabling Download PDF

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Publication number
CN107322608A
CN107322608A CN201710624656.4A CN201710624656A CN107322608A CN 107322608 A CN107322608 A CN 107322608A CN 201710624656 A CN201710624656 A CN 201710624656A CN 107322608 A CN107322608 A CN 107322608A
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CN
China
Prior art keywords
axles
axle
installing plate
motor
mounting seat
Prior art date
Application number
CN201710624656.4A
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Chinese (zh)
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CN107322608B (en
Inventor
黄建行
梁春侠
李海波
Original Assignee
佛山市南海普拉迪机器人有限公司
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Priority to CN201710624656.4A priority Critical patent/CN107322608B/en
Publication of CN107322608A publication Critical patent/CN107322608A/en
Application granted granted Critical
Publication of CN107322608B publication Critical patent/CN107322608B/en
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Classifications

    • 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0075Means for protecting the manipulator from its environment or vice versa
    • B25J19/0083Means for protecting the manipulator from its environment or vice versa using gaiters
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/0009Constructional details, e.g. manipulator supports, bases
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements

Abstract

A kind of high accuracy and the spray robot for facilitating cabling;Including base, runner assembly, two axle wobble components, three axle wobble components, four axle runner assemblies and front end runner assembly;The two axles wobble component and three axle wobble components are arranged on two or three axle mounting seats, and two or the three axle mounting seat is fixed on the base;Two or the three axle mounting seat includes left side installing plate, right side installing plate and middle connecting plate, the left side installing plate and the right side installing plate be arranged in parallel, and both are vertically fixed on the rotating disk, the two ends of the middle connecting plate are separately fixed at the left side installing plate and the right side installing plate.By be mounted side by side in two or three axle mounting seats two axle motors and Three-axis drive motor in same level height it is arranged in parallel, both can be respectively mounted and dismantle as two independent modules, will not be interfered when avoiding two axle motors from being worked with Three-axis drive motor, it is simple in construction, it is easy for installation.

Description

A kind of high accuracy and the spray robot for facilitating cabling
Technical field
The present invention relates to spraying equipment field, particularly a kind of high accuracy and the spray robot for facilitating cabling.
Background technology
, it is necessary to directly be sprayed to the surface of ceramic product by front operating personnel in the production technology of ceramic product Glaze, and there is the problem of efficiency of construction is low, labor intensity is big, construction quality can not ensure in existing hand spray, and to applying For workman person, worked under painting environments there is strong influence to own bodies health for a long time.
Robot is the automatic installations for performing repeated work, and it can both receive mankind commander, and can run again pre- The program of first layout, operation is performed according to the principle guiding principle formulated with artificial intelligence technology.Design and operation is stable, the high spray of precision Apply robot with replace it is artificial spraying coating process is completed to ceramic product, be art personnel always in the research of progress.
The content of the invention
For drawbacks described above, it is an object of the invention to propose a kind of high accuracy and facilitate the spray robot of cabling.
For up to this purpose, the present invention uses following technical scheme:
A kind of high accuracy and the spray robot for facilitating cabling;Including base, runner assembly, two axle wobble components, three axles Wobble component, four axle runner assemblies and front end runner assembly;
The runner assembly is arranged on the base, and it includes rotating disk and rotating disk motor, the rotating disk motor The rotating disk can be driven relative to the base rotation;
The two axles wobble component and three axle wobble components are arranged on two or three axle mounting seats, and two or the three axle mounting seat is fixed In the base;Two or the three axle mounting seat includes left side installing plate, right side installing plate and middle connecting plate, and the left side is installed Plate and the right side installing plate be arranged in parallel, and both are vertically fixed on the rotating disk, the two ends difference of the middle connecting plate It is fixed on the left side installing plate and the right side installing plate;
The two axles wobble component includes two axle swing arms, two axle motors, two axle follow-up connecting rods and two axles and is servo-actuated cylinder, The two axles motor is arranged on the outside of the left side installing plate, and two axle is servo-actuated cylinder and installed installed in the right side The outside of plate, the lower end of the two axles swing arm is inserted between the left side installing plate and the right side installing plate, two axle The drive shaft of motor is sequentially passed through after the left side installing plate, the two axles swing arm and the right side installing plate with described two One end of axle follow-up connecting rod is fixedly connected, and the drive shaft of the two axles motor is installed in rotation on the left side installation Plate and the right side installing plate, and the two axles swing arm is fixedly mounted on the drive shaft of the two axles motor, two axle The expansion link that the other end of follow-up connecting rod is servo-actuated cylinder with two axle is hinged;
The three axles wobble component includes three axle swing arms, three axle connecting rods, Three-axis drive motor, three axle follow-up connecting rods and three axles Servo-actuated cylinder;The Three-axis drive motor is arranged on the outside of the left side installing plate, and with the two axles motor same Arranged in parallel in one level height, the Three-axis drive motor is arranged on the outside of the right side installing plate, the three axles connecting rod Front end be inserted between the left side installing plate and the right side installing plate, the drive shaft of the Three-axis drive motor is worn successively Cross to fix with one end of the three axles follow-up connecting rod after the left side installing plate, the three axles connecting rod and the right side installing plate and connect Connect, and the drive shaft of the Three-axis drive motor is installed in rotation on the left side installing plate and the right side installing plate, and The three axles connecting rod is fixedly mounted on the drive shaft of the three axles follow-up connecting rod, the other end of the three axles follow-up connecting rod with it is described The expansion link that three axles are servo-actuated cylinder is hinged;The three axles connecting rod extends to the rear of two or the three axle mounting seat, its rear end and institute The lower end for stating three axle swing arms is hinged;
The four axles runner assembly includes four axle pivoted arms, four axle mounting seats and four axle motors, the four axles pivoted arm Rear end is installed in rotation on the four axles mounting seat, and the four axles motor drives the four axles pivoted arm to rotate;Described two The upper end of axle swing arm is hinged on the front end of the four axles mounting seat, and the upper end of the three axles swing arm is hinged on the four axles mounting seat Rear end;
The front end runner assembly includes five axle mounting seats, five axle pivoted arms, five axle motors, six axle mounting seats, six axles Pivoted arm, six axle motors and handle, the five axles mounting seat are fixedly mounted on the front end of pivoted arm;
The five axles mounting seat is hollow-core construction, is mounted therein with five axle motors, the five axles motor passes through Electric slip ring is connected with the five axles pivoted arm and drives the five axles pivoted arm to rotate, and the six axles mounting seat is consolidated with the five axles pivoted arm Fixed connection;
The six axles mounting seat is hollow-core construction, is mounted therein with six axle motors, the six axles motor passes through Electric slip ring is connected with the six axles pivoted arm and drives the six axles pivoted arm to rotate, and the handle is fixed with the six axles pivoted arm to be connected Connect.
It is preferred that, the quantity of the middle connecting plate is two, and two middle connecting plates be arranged in parallel so that under it Side is to be available for the cable tray that cable passes through.
It is preferred that, the four axles pivoted arm is the hollow structure provided with internal cavities;The lateral wall of the two axles swing arm is provided with Bellows is installed on moveable hinge joint, the moveable hinge joint;
The cable being powered to the five axles motor and six axle motors, is imported into described by the electric slip ring The internal cavities of four axle pivoted arms, and through the four axles mounting seat, institute is together passed with the cable of the four axles motor State and enter the bellows after four axle mounting seats, then, enter described after the bellows is passed along the bellows downwards The cable tray of four axle mounting seats, continues through and is imported after the cable tray in the base.
It is preferred that, the rotary shaft of the five axles motor is perpendicular to the axis of the four axles pivoted arm.
It is preferred that, the rotary shaft of the rotary shaft of the six axles motor perpendicular to the five axles pivoted arm;
The handle is fixedly connected by connector with the six axles pivoted arm, and the connector includes installation portion and inclination Portion, two installation portions are the position relationship being parallel to each other, the handle and the six axles pivoted arm respectively with two peaces Dress portion is fixed;The relatively described installation portion of the rake is obliquely installed, and its two ends is separately fixed at two installation portions End.
It is preferred that, the top of the left side installing plate is provided with thickening part, and the thickening part is by the left side installing plate Upper end is outwardly and integrally-formed;Provided with two motor installing holes, the two axles motor and three in the thickening part Axle motor is fixed on the left side installing plate by two motor installing holes respectively.
It is preferred that, the lower section of the thickening part is provided with ribs, and the side wall of the ribs is fixed on the left side and installed Accept the lower surface for being fixed on the thickening part in the lateral wall of plate, its upper end.
It is preferred that, two axle is servo-actuated cylinder and is installed on the top that three axle is servo-actuated cylinder.
It is preferred that, the outwardly formation otic placode in right side of the left side installing plate, two axle is servo-actuated cylinder and is arranged on institute State otic placode.
It is preferred that, the four axles mounting seat is cylinder hollow-core construction, and the four axles driving electricity is buckled in provided with four shaft housing covers The outside of machine, four shaft housing is fixed on the rear end of the four axles mounting seat.
Beneficial effects of the present invention:By the way that two axle motors and Three-axis drive electricity are mounted side by side in two or three axle mounting seats Machine is arranged in parallel in same level height, and both can be respectively mounted and dismantle as two independent modules, to avoid two axles Motor will not be interfered when being worked with Three-axis drive motor, simple in construction, easy for installation.
Five axle motors and six axle motors and the person of being driven it is direct-connected and without other intermediate transmission mechanisms, efficiency high/ Precision is high, using the hollow structure of electric slip ring, cable is not distorted, and can large rotation and be not concerned about cable influence row The problems such as journey, direct coupled structure installs very simple, and maintenance is easy.
Brief description of the drawings
Fig. 1 is the stereogram at the left back visual angle of one embodiment of the present of invention;
Fig. 2 is the stereogram at the left front visual angle of one embodiment of the present of invention;
Fig. 3 is the stereogram of the right back angle of one embodiment of the present of invention;
Fig. 4 is the partial enlarged drawing of part A in Fig. 3;
Fig. 5 is two axle swing arms and an implementation of two axle motors, Three-axis drive motor and three axle connecting rods in the present invention The mounting structure figure of example;
Fig. 6 is the structural representation of one embodiment of two or three axle mounting seats in the present invention.
Wherein:Base 1;Runner assembly 2, rotating disk 21, rotating disk motor 22;Two axle wobble components 3, two axle swing arms 31, Two axle motors 32, two axle follow-up connecting rods 33, two axles are servo-actuated cylinder 34;Three axle wobble components 4, three axle swing arms 41, three axles connect Bar 42, Three-axis drive motor 43, three axle follow-up connecting rods 44, three axles are servo-actuated cylinder 45;Four axle runner assemblies 5, four axle pivoted arms 51, four Axle mounting seat 52, four axle motors 53, four shaft housings 54;Front end runner assembly 6, five axle mounting seats 61, five axle pivoted arms 62, five Axle motor 63, six axle mounting seats 64, six axle pivoted arms 65, six axle motors 66, handle 67;Two or three axle mounting seats 7, left side Installing plate 71, thickening part 711, ribs 712, otic placode 713, right side installing plate 72, middle connecting plate 73, motor installing hole 77, Cable tray 78;Connector 8, installation portion 81, rake 82;Articulated joint 9.
Embodiment
Further illustrate technical scheme below in conjunction with the accompanying drawings and by embodiment.
As shown in Figure 1, Figure 2 and Figure 3, a kind of high accuracy and the spray robot of cabling is facilitated;Including base 1, rotating group Part 2, two axle wobble components 3, three axle wobble components 4, four axle runner assemblies 5 and front end runner assembly 6;
As shown in Fig. 2, Fig. 3 and Fig. 5, the runner assembly 2 is arranged on the base 1, and it includes rotating disk 21 and rotating disk drives Dynamic motor 22, the rotating disk motor 22 can drive the rotating disk 21 to be rotated relative to the base 1;
The two axles wobble component 3 and three axle wobble components 4 are arranged on two or three axle mounting seats 7, two or the three axle mounting seat 7 It is fixed on the base 1;Two or the three axle mounting seat 7 includes left side installing plate 71, right side installing plate 72 and middle connecting plate 73, The left side installing plate 71 and the right side installing plate 72 be arranged in parallel, and both are vertically fixed on the rotating disk, the centre The two ends of connecting plate 73 are separately fixed at the left side installing plate 71 and the right side installing plate 72;
The two axles wobble component 3 include two axle swing arms 31, two axle motors 32, two axle follow-up connecting rods 33 and two axles with Take offence cylinder 34, the two axles motor 32 is arranged on the outside of the left side installing plate 71, two axle, which is servo-actuated cylinder 34, pacifies Mounted in the outside of the right side installing plate 72, the lower end of the two axles swing arm 31 is inserted into the left side installing plate 71 and the right side Between side installing plate 72, the drive shaft of the two axles motor 32 sequentially passes through the left side installing plate 71, two axle pendulum One end after arm 31 and the right side installing plate 72 with the two axles follow-up connecting rod 33 is fixedly connected, and the two axles motor 32 drive shaft is installed in rotation on the left side installing plate 71 and the right side installing plate 72, and the two axles swing arm 31 is solid Dingan County is mounted in the drive shaft of the two axles motor 32, and the other end of the two axles follow-up connecting rod 33 and two axle are with taking offence The expansion link of cylinder 34 is hinged;
The three axles wobble component 4 includes three axle swing arms 41, three axle connecting rods 42, Three-axis drive motor 43, the servo-actuated company of three axles The axle of bar 44 and three is servo-actuated cylinder 45;The Three-axis drive motor 43 be arranged on the left side installing plate 71 outside, and with it is described Two axle motors 32 are arranged in parallel in same level height, and the Three-axis drive motor 43 is arranged on the right side installing plate 72 outside, the front end of the three axles connecting rod 42 is inserted between the left side installing plate 71 and the right side installing plate 72, institute The drive shaft for stating Three-axis drive motor 43 sequentially passes through the left side installing plate 71, the three axles connecting rod 42 and right side installation One end after plate 72 with the three axles follow-up connecting rod 44 is fixedly connected, and the Three-axis drive motor 43 drive shaft rotationally Installed in the left side installing plate 71 and the right side installing plate 72, and the three axles connecting rod 42 be fixedly mounted on three axle with The drive shaft of dynamic connecting rod 44, the expansion link that the other end of the three axles follow-up connecting rod 44 is servo-actuated cylinder 45 with three axle is hinged; The three axles connecting rod 42 extends to the rear of two or the three axle mounting seat 7, and its rear end and the lower end of the three axles swing arm 41 are hinged;
The four axles runner assembly 5 includes four axle pivoted arms 51, four axle mounting seats 52 and four axle motors 53, four axle The rear end of pivoted arm 51 is installed in rotation on the four axles mounting seat 52, and the four axles motor 53 drives the four axles pivoted arm 51 rotate;The upper end of the two axles swing arm 31 is hinged on the front end of the four axles mounting seat 52, the upper end of the three axles swing arm 41 It is hinged on the rear end of the four axles mounting seat 52;
The front end runner assembly 6 includes five axle mounting seats 61, five axle pivoted arms 62, five axle motors 63, six axles and installed 64, six axle pivoted arms 65 of seat, six axle motors 66 and handle 67, the five axles mounting seat 61 are fixedly mounted on before pivoted arm 51 End;
The five axles mounting seat 61 is hollow-core construction, is mounted therein with five axle motors 63, the five axles motor 63 are connected with the five axles pivoted arm 62 by electric slip ring and drive the five axles pivoted arm 62 to rotate, the six axles mounting seat 64 and institute Five axle pivoted arms 62 are stated to be fixedly connected;
The six axles mounting seat 64 is hollow-core construction, is mounted therein with six axle motors 66, the six axles motor 66 are connected with the six axles pivoted arm 65 by electric slip ring and drive the six axles pivoted arm 65 to rotate, the handle 67 and six axle Pivoted arm 65 is fixedly connected.
In spray robot, while four axle 52 rotation of mounting seat relatively of the energy of four axle pivoted arm 51, moreover it is possible in two axle swing arms 31 Swing under drive with three axle swing arms 41.Wherein, the upper end of two axle swing arms 31 and three axle swing arms 41 respectively with four axle pivoted arms 51 are hinged, and the lower end of two axle swing arms 31 is fixed on the rotary shaft of two axle motors 32, and in the drive of two axle motors 32 Under make swing;The lower end of three axle swing arms 41 and the rear end of the three axles connecting rod 42 are hinged, the front end of the three axles connecting rod 42 It is fixed on the rotary shaft of Three-axis drive motor 43 so that drive of the three axle swing arms 41 in the axle connecting rod 42 of Three-axis drive motor 43 and three Under make swing;
Both are caused itself to produce in order to avoid the swing angle change of two axle swing arms 31 and three axle swing arms 41 uneven Power, and then the offside of the kinematic accuracy of four axle pivoted arms 51, two axle motors 32 and Three-axis drive motor 43 is influenceed, set respectively Two axles are servo-actuated cylinder 34 and are hinged with two axle motors 32, and three axles are servo-actuated cylinder 45 and are hinged with Three-axis drive motor 43.Described in Two axles are servo-actuated the axle of cylinder 34 and three and are servo-actuated the gases at high pressure that constant air pressure is injected in the cylinder barrel of cylinder 45, in the two axles swing arm 31 With three axle swing arms 41 toward during swing, two axle is servo-actuated the piston rod stretching retraction that the axle of cylinder 34 and three is servo-actuated cylinder 45, There are more gases at high pressure to enter in cylinder barrel, make the piston rod not put because of the two axles swing arm 31 and three axle swing arms 41 Dynamic angle change and occur piston rod toward the phenomenon retracted in cylinder barrel.Two axle is servo-actuated the axle of cylinder 34 and three and is servo-actuated 45 pairs of cylinder The swing arm 31 of two axles and three axle swing arms 41 produce a torque, its direction and the two axles swing arm 31 and three axle swing arms 41 itself The torque of out-of-balance force is on the contrary, so as to facilitate the two axles motor 32 and Three-axis drive motor 43 to drive two axle respectively The swing of 31 and three axle swing arm of swing arm 41.
Again, five axle mounting seats 61 are fixedly mounted on the front end of four axle pivoted arms 51, and six axle mounting seats 64 can pacify relative to five axles Dress seat 61 is rotated, and handle 67 can be rotated relative to six axle mounting seats 64, multivariant connection so that four axle pivoted arms 51 are cleverer It is living, using more convenient.
In the technical program, two axle motors 32 and Three-axis drive motor 43 are mounted side by side on two or three axle mounting seats 7 Left side installing plate 71 outside, two axles, which are servo-actuated cylinder 34 and three axle and are servo-actuated cylinder 45, is separately mounted to two or three axle mounting seats 7 The front end of the outside of right side installing plate 72, the lower end of two axle swing arms 31 and three axle connecting rods 42 is inserted into the left side He of installing plate 71 respectively Between right side installing plate 72.
During installation, the rotary shafts of two axle motors 32 sequentially pass through left side installing plate 71 left side bearing mounting hole 74, After the right side bearing mounting hole 75 of two axle swing arms 31 and right side installing plate 72, then by two axle follow-up connecting rods 33 and two axles with taking offence Cylinder 34 is connected, and (outer ring of two bearings is separately fixed at can left side by bearing for the rotary shaft of the two axles motor 32 In bearing mounting hole 74 and right side bearing mounting hole 75, the inner ring of two bearings is separately fixed at the rotation of two axle motors 32 Axle two ends) the left side installing plate 71 and the right side installing plate 72 are installed in rotation on, and the two axles swing arm 31 is fixed Installed in the medium position of the drive shaft of the two axles motor 32;The cylinder body of the servo-actuated cylinder 34 of two axles, which is fixedly mounted on, to be in The cylinder mounting seat 76 of the top of right side bearing mounting hole 75.
And the rotary shaft of Three-axis drive motor 43 sequentially passes through another left side bearing mounting hole on the installing plate 71 of left side 74th, after another right side bearing mounting hole 75 on the front end and right side installing plate 72 of three axle connecting rods 42, then it is servo-actuated by three axles Connecting rod 44 and three axles are servo-actuated cylinder 45 and are connected, and the Three-axis drive motor 43 rotary shaft by bearing (two bearings it is outer Circle be separately fixed at can left side bearing mounting hole 74 and right side bearing mounting hole 75 in, the inner ring of two bearings is separately fixed at three The rotary shaft two ends of axle motor 43) the left side installing plate 71 and the right side installing plate 72 are installed in rotation on, and The front end of the three axles connecting rod 42 is fixedly mounted on the medium position of the drive shaft of the Three-axis drive motor 43, and it is to described The rear extension of two or three axle mounting seats 7, the lower end and the rear end of three axle connecting rods 42 of the three axles swing arm 41 be hinged, and three axles are with taking offence The cylinder body of cylinder 45 is fixedly mounted on the cylinder mounting seat 76 in the lower section of right side bearing mounting hole 75.
In the technical program, by the way that two axle motors 32 and Three-axis drive electricity are mounted side by side in two or three axle mounting seats 7 Machine 43 is arranged in parallel in same level height, and both can be respectively mounted and dismantle as two independent modules, to avoid two Axle motor 32 will not be interfered when being worked with Three-axis drive motor 43, simple in construction, easy for installation.
Five axle mounting seats 61 are designed to hollow-core construction, to install five axle motors 63, five axle motors 63 lead to Cross electric slip ring and directly drive the unitary rotation of six axle mounting seat 64, the transmission for being attached and moving without other accessories is another Aspect, be also using five axle mounting seats 61 as five axle motors 63 shell, it is to avoid in the spray robot course of work produce Winged liquid, fly the normal operation that slag etc. enters influence motor in motor.
Six axle mounting seats 64 are designed to hollow-core construction, to install six axle motors 66, six axle motors 66 lead to Crossing electric slip ring drives the handle 67 to rotate, and precision is high during control;On the other hand, it is also to regard six axle mounting seats 64 as six axles The shell of motor 66, it is to avoid winged liquid, winged slag for being produced in the spray robot course of work etc. enter influence motor in motor Normal operation.
Five axle motors 63 and six axle motors 66 and the person of being driven it is direct-connected and without other intermediate transmission mechanisms, efficiency Height/precision is high, using the hollow structure of electric slip ring, cable is not distorted, and can large rotation and be not concerned about cable shadow The problems such as ringing stroke, direct coupled structure installs very simple, and maintenance is easy.
The quantity of the middle connecting plate 73 is two, and two middle connecting plates 73 be arranged in parallel so that below For the cable tray 78 for being available for cable to pass through.
Convenient use, improves service efficiency.
The four axles pivoted arm 51 is the hollow structure provided with internal cavities;The lateral wall of the two axles swing arm 31 is provided with activity Bellows is installed on articulated joint 9, the moveable hinge joint 9;
The cable being powered to the five axles motor 63 and six axle motors 66, is imported into by the electric slip ring The internal cavities of the four axles pivoted arm 51, and through the four axles mounting seat 52, the cable with the four axles motor 53 Together pass and enter the bellows after the four axles mounting seat 52, then, passing the ripple along the bellows downwards Enter the cable tray 78 of the four axles mounting seat 52 after pipe, continue through and imported after the cable tray 78 in the base 1.
Five axle motors 63 and six axle motors 66 and the person of being driven it is direct-connected and without other intermediate transmission mechanisms, efficiency Height/precision is high, and using the hollow structure of electric slip ring, the cable of the five axles motor 63 and six axle motors 66 passes through Four hollow axle pivoted arms 51, bellows is together imported with the cable of four axle motors 53, then, along the bellows downwards The cable tray 78 for entering the four axles mounting seat 52 after the bellows is passed, continues through and is imported after the cable tray 78 In the base 1 so that the cable of whole spray robot will not be distorted and wound, and four axle pivoted arms 51 can turn on a large scale The problems such as moving and be not concerned about cable influence stroke, easy maintenance.
The rotary shaft of the five axles motor 63 is perpendicular to the axis of the four axles pivoted arm 51.
Relative to being connected the rotary shaft of five axle motors 63 is parallel directly with four axle pivoted arms 51, five axle in the present embodiment The rotary shaft of motor 63 is perpendicular with the axis of four axle pivoted arms 51, more saves space during equipment running, and raising is used Efficiency.
Rotary shaft of the rotary shaft of the six axles motor 66 perpendicular to the five axles pivoted arm 62;
As shown in Figures 3 and 4, the handle 67 is fixedly connected by connector 8 with the six axles pivoted arm 65, the connection Part 8 includes installation portion 81 and rake 82, and two installation portions 81 are the position relationship being parallel to each other, the handle 67 and institute Six axle pivoted arms 65 are stated to fix with two installation portions 81 respectively;The relatively described installation portion 81 of the rake 82 is obliquely installed, And its two ends is separately fixed at the end of two installation portions 81.
Relative to being connected the rotary shaft of six axle motors 66 is parallel directly with five axle pivoted arms 62, six axle in the present embodiment The rotary shaft of motor 66 is perpendicular with the axis of five axle pivoted arms 62, more saves space during equipment running, and raising is used Efficiency.
Handle 67 is arranged on to the outside of six axle pivoted arms 65 by connector 8, it is to avoid both axle pivoted arms 65 of handle 67 and six Rotation interfere, it is ensured that the normal operation of equipment, and by two installation portions 81 respectively with six axle pivoted arms 65 and handle 67 Fixed, convenient operation, improves efficiency during installation.
As shown in fig. 6, the top of the left side installing plate 71 is provided with thickening part 711, the thickening part 711 is by the left side The upper end of side installing plate 71 is outwardly and integrally-formed;It is described provided with two motor installing holes 77 in the thickening part 711 Two axle motors 32 and Three-axis drive motor 43 are fixed on the left side by two motor installing holes 77 respectively and installed Plate 71.
Two axle motors 32 and Three-axis drive motor 43 are mounted side by side on the left side installing plate 71 of two or three axle mounting seats 7 Outside, and in the present embodiment, the outwardly formation thickening part 711 in upper end of left side installing plate 71, thickening part 711 is interior provided with difference The motor installing hole 77 of two axle motors 32 and Three-axis drive motor 43 is installed, the hole side wall of the bottom of motor installing hole 77 is two Axle motor 32 and Three-axis drive motor 43 provide upward support force, to improve stability when the two is installed.
The lower section of the thickening part 711 is provided with ribs 712, and the side wall of the ribs 712 is fixed on the left side peace The lateral wall of plate 71 is filled, the lower surface for being fixed on the thickening part 711 is accepted in its upper end.
The outwardly formation thickening part 711 in upper end of left side installing plate 71 so that thickening part 711 is in hanging state, Ribs 712 is set in the lower section of thickening part 711, is that thickening part 711 provides upward support force, to improve its stability, with And the stability of two axle motors 32 and Three-axis drive motor 43 is further improved, and added thin by ribs 712 The approach of vibration wave when dissipating two axle motors 32 and the operation of Three-axis drive motor 43, so as to strengthen two axle motors 32 and three Precision when axle motor 43 drives.
Two axle is servo-actuated cylinder 34 and is installed on the top that three axle is servo-actuated cylinder 45.
Two axles are servo-actuated cylinder 34 and three axle and are servo-actuated cylinder 45 according to position distribution up and down staggeredly, then and, two axles are with taking offence Cylinder 34 is connected by two axle follow-up connecting rods 33 with the driving the tip of the axis of two axle motors 32, and three axles are servo-actuated cylinder 45 and pass through three Axle follow-up connecting rod 44 is connected with the driving the tip of the axis of Three-axis drive motor 43;The swing arm 31 of two axles and three axle swing arms 41 are forward After when swinging, two axles, which are servo-actuated the axle of cylinder 34 and three and are servo-actuated the piston rod of cylinder 45, stretches out retraction without dry between generation Relate to, improve service efficiency.
The right side of the left side installing plate 71 is outwardly to form otic placode 713, and two axle is servo-actuated cylinder 34 and is arranged on institute State otic placode 713.
Otic placode 713 adds the space of left side installing plate 71, for setting positioned at the right side bearing mounting hole 75 The cylinder mounting seat 76 of side, to facilitate two axles to be servo-actuated the installation and motion of cylinder 34, optimizes space layout, improves usability Energy.
The four axles mounting seat 52 is cylinder hollow-core construction, and the four axles motor 53 is buckled in provided with four shaft housings 54 cover Outside, four shaft housing 54 is fixed on the rear end of the four axles mounting seat 52.
Four shaft housings 54 avoid the winged liquid produced in the spray robot course of work, fly slag etc. into four axle motors 53 The normal operation of four axle motors 53 of interior influence, improves service efficiency, simple and compact for structure, easy for installation, improves using effect Rate.
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 (10)

1. a kind of high accuracy and the spray robot for facilitating cabling, it is characterised in that:Swung including base, runner assembly, two axles Component, three axle wobble components, four axle runner assemblies and front end runner assembly;
The runner assembly is arranged on the base, and it includes rotating disk and rotating disk motor, and the rotating disk motor can drive The rotating disk is moved relative to the base rotation;
The two axles wobble component and three axle wobble components are arranged on two or three axle mounting seats, and two or the three axle mounting seat is fixed on institute State base;Two or the three axle mounting seat include left side installing plate, right side installing plate and middle connecting plate, the left side installing plate and The right side installing plate is be arranged in parallel, and both are vertically fixed on the rotating disk, and the two ends of the middle connecting plate are fixed respectively In the left side installing plate and the right side installing plate;
The two axles wobble component includes two axle swing arms, two axle motors, two axle follow-up connecting rods and two axles and is servo-actuated cylinder, described Two axle motors are arranged on the outside of the left side installing plate, and two axle is servo-actuated cylinder and is arranged on the right side installing plate Outside, the lower end of the two axles swing arm is inserted between the left side installing plate and the right side installing plate, the two axles driving The drive shaft of motor sequentially pass through after the left side installing plate, the two axles swing arm and the right side installing plate with two axle with One end of dynamic connecting rod is fixedly connected, and the two axles motor drive shaft be installed in rotation on the left side installing plate and The right side installing plate, and the two axles swing arm is fixedly mounted on the drive shaft of the two axles motor, two axle is servo-actuated The expansion link that the other end of connecting rod is servo-actuated cylinder with two axle is hinged;
It is servo-actuated that the three axles wobble component includes three axle swing arms, three axle connecting rods, Three-axis drive motor, three axle follow-up connecting rods and three axles Cylinder;The Three-axis drive motor is arranged on the outside of the left side installing plate, and with the two axles motor in same water Arranged in parallel in flat height, the Three-axis drive motor is arranged on before the outside of the right side installing plate, the three axles connecting rod End is inserted between the left side installing plate and the right side installing plate, and the drive shaft of the Three-axis drive motor sequentially passes through institute It is fixedly connected after stating left side installing plate, the three axles connecting rod and the right side installing plate with one end of the three axles follow-up connecting rod, And the drive shaft of the Three-axis drive motor is installed in rotation on the left side installing plate and the right side installing plate, and it is described Three axle connecting rods are fixedly mounted on the drive shaft of the three axles follow-up connecting rod, the other end of the three axles follow-up connecting rod and three axle The expansion link of servo-actuated cylinder is hinged;The three axles connecting rod extends to the rear of two or the three axle mounting seat, its rear end and described three The lower end of axle swing arm is hinged;
The four axles runner assembly includes four axle pivoted arms, four axle mounting seats and four axle motors, the rear end of the four axles pivoted arm The four axles mounting seat is installed in rotation on, the four axles motor drives the four axles pivoted arm to rotate;The two axles pendulum The upper end of arm is hinged on the front end of the four axles mounting seat, and the upper end of the three axles swing arm is hinged on after the four axles mounting seat End;
The front end runner assembly include five axle mounting seats, five axle pivoted arms, five axle motors, six axle mounting seats, six axle pivoted arms, Six axle motors and handle, the five axles mounting seat are fixedly mounted on the front end of pivoted arm;
The five axles mounting seat is hollow-core construction, is mounted therein with five axle motors, and the five axles motor is sliding by electricity Ring is connected with the five axles pivoted arm and drives the five axles pivoted arm to rotate, and the six axles mounting seat is fixed with the five axles pivoted arm to be connected Connect;
The six axles mounting seat is hollow-core construction, is mounted therein with six axle motors, and the six axles motor is sliding by electricity Ring is connected with the six axles pivoted arm and drives the six axles pivoted arm to rotate, and the handle is fixedly connected with the six axles pivoted arm.
2. spray robot according to claim 1, it is characterised in that:The quantity of the middle connecting plate is two, two The individual middle connecting plate be arranged in parallel so that the cable tray to be available for cable to pass through below.
3. spray robot according to claim 2, it is characterised in that:The four axles pivoted arm is provided with internal cavities Hollow structure;The lateral wall of the two axles swing arm is provided with moveable hinge joint, the moveable hinge joint and is provided with bellows;
The cable being powered to the five axles motor and six axle motors, four axle is imported into by the electric slip ring The internal cavities of pivoted arm, and through the four axles mounting seat, described four are together passed with the cable of the four axles motor Enter the bellows after axle mounting seat, then, four axle is entered after the bellows is passed along the bellows downwards The cable tray of mounting seat, continues through and is imported after the cable tray in the base.
4. spray robot according to claim 1, it is characterised in that:The rotary shaft of the five axles motor perpendicular to The axis of the four axles pivoted arm.
5. spray robot according to claim 4, it is characterised in that:The rotary shaft of the six axles motor perpendicular to The rotary shaft of the five axles pivoted arm;
The handle is fixedly connected by connector with the six axles pivoted arm, and the connector includes installation portion and rake, two The individual installation portion is the position relationship being parallel to each other, and the handle is solid with two installation portions respectively with the six axles pivoted arm It is fixed;The relatively described installation portion of the rake is obliquely installed, and its two ends is separately fixed at the end of two installation portions.
6. spray robot according to claim 1, it is characterised in that:The top of the left side installing plate is provided with thickening Portion, the thickening part is outwardly and integrally-formed by the upper end of the left side installing plate;Two are provided with the thickening part Individual motor installing hole, the two axles motor and Three-axis drive motor are fixed on institute by two motor installing holes respectively State left side installing plate.
7. spray robot according to claim 6, it is characterised in that:The lower section of the thickening part is provided with ribs, institute The side wall for stating ribs is fixed on the lateral wall of the left side installing plate, and the lower end for being fixed on the thickening part is accepted in its upper end Face.
8. spray robot according to claim 1, it is characterised in that:Two axle is servo-actuated cylinder and is installed on three axle The top of servo-actuated cylinder.
9. spray robot according to claim 8, it is characterised in that:The outwardly shape in right side of the left side installing plate Into otic placode, two axle is servo-actuated cylinder and is arranged on the otic placode.
10. spray robot according to claim 1, it is characterised in that:The four axles mounting seat is cylinder hollow-core construction, The outside of the four axles motor is buckled in provided with four shaft housing covers, four shaft housing is fixed on the four axles mounting seat Rear end.
CN201710624656.4A 2017-07-27 2017-07-27 High-precision spraying robot convenient for wiring Active CN107322608B (en)

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CN108098759A (en) * 2017-12-27 2018-06-01 华南智能机器人创新研究院 A kind of adjustable arm long high speed three-axis robot of the electronic clamping jaw of band
CN108098747A (en) * 2017-12-27 2018-06-01 华南智能机器人创新研究院 A kind of wu-zhi-shan pig of the electronic clamping jaw of band
CN108714510A (en) * 2018-05-28 2018-10-30 芜湖纵横智能制造产业技术研究有限公司 A kind of plates of automobile spray painting robot easy to operation
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CN103568002A (en) * 2013-06-25 2014-02-12 王常勇 Six-axis degree-of-freedom manipulator
US8894117B1 (en) * 2013-12-03 2014-11-25 Korea Institute Of Science And Technology Robot finger driving module using differential gear characteristics and robot hand including the same
CN104002304A (en) * 2014-05-08 2014-08-27 昆明理工大学 Novel pneumatic manipulator
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Publication number Priority date Publication date Assignee Title
CN108098759A (en) * 2017-12-27 2018-06-01 华南智能机器人创新研究院 A kind of adjustable arm long high speed three-axis robot of the electronic clamping jaw of band
CN108098747A (en) * 2017-12-27 2018-06-01 华南智能机器人创新研究院 A kind of wu-zhi-shan pig of the electronic clamping jaw of band
CN108714510A (en) * 2018-05-28 2018-10-30 芜湖纵横智能制造产业技术研究有限公司 A kind of plates of automobile spray painting robot easy to operation
CN109605110A (en) * 2018-12-25 2019-04-12 中智未来(天津)机器人科技有限公司 A kind of industrial robot for numerically-controlled machine tool loading and unloading

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