CN107322608B - High-precision spraying robot convenient for wiring - Google Patents

High-precision spraying robot convenient for wiring Download PDF

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Publication number
CN107322608B
CN107322608B CN201710624656.4A CN201710624656A CN107322608B CN 107322608 B CN107322608 B CN 107322608B CN 201710624656 A CN201710624656 A CN 201710624656A CN 107322608 B CN107322608 B CN 107322608B
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CN
China
Prior art keywords
axis
shaft
driving motor
mounting plate
mounting
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Application number
CN201710624656.4A
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Chinese (zh)
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CN107322608A (en
Inventor
黄建行
梁春侠
李海波
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Foshan Pratic Robot Co ltd
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Foshan Pratic Robot Co ltd
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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 high-precision spraying robot convenient for wiring; the device comprises a base, a rotating assembly, a two-axis swinging assembly, a three-axis swinging assembly, a four-axis rotating assembly and a front end rotating assembly; the two-axis swinging assembly and the three-axis swinging assembly are arranged on two-axis and three-axis mounting seats, and the two-axis and three-axis mounting seats are fixed on the base; two triaxial mount pads include left side mounting panel, right side mounting panel and intermediate junction board, the left side mounting panel with right side mounting panel parallel arrangement, and both vertical fixings are in the carousel, the both ends of intermediate junction board are fixed respectively the left side mounting panel with the right side mounting panel. Through installing two driving motor and triaxial driving motor parallel arrangement on same level side by side on two triaxial mount pads, both can regard as two independent modules to install respectively and dismantle to avoid two driving motor and triaxial driving motor during operation can not take place mutual interference, simple structure, simple to operate.

Description

High-precision spraying robot convenient for wiring
Technical Field
The invention relates to the field of spraying equipment, in particular to a high-precision spraying robot convenient for wiring.
Background
In the production process of ceramic products, the front-line operators are required to directly spray glaze on the surfaces of the ceramic products, the existing manual spraying has the problems of low construction efficiency, high labor intensity and incapability of ensuring construction quality, and for the constructors, the operation in the spraying environment for a long time has great influence on the health of the constructors.
The robot is a machine device which automatically executes repeated work, can receive human commands, can run a pre-arranged program, and executes operations according to a principle schema established by an artificial intelligence technology. The design of a spraying robot with stable operation and high precision to replace manpower to finish the spraying process of ceramic products is a research which is always carried out by technical personnel in the field.
Disclosure of Invention
In view of the above-mentioned drawbacks, the present invention provides a spraying robot with high precision and convenient routing.
In order to achieve the purpose, the invention adopts the following technical scheme:
a high-precision spraying robot convenient for wiring; the device comprises a base, a rotating assembly, a two-axis swinging assembly, a three-axis swinging assembly, a four-axis rotating assembly and a front end rotating assembly;
the rotating assembly is arranged on the base and comprises a turntable and a turntable driving motor, and the turntable driving motor can drive the turntable to rotate relative to the base;
the two-axis swinging assembly and the three-axis swinging assembly are arranged on two-axis and three-axis mounting seats, and the two-axis and three-axis mounting seats are fixed on the base; the two-three-axis mounting seat comprises a left mounting plate, a right mounting plate and a middle connecting plate, the left mounting plate and the right mounting plate are arranged in parallel and are vertically fixed on the turntable, and two ends of the middle connecting plate are respectively fixed on the left mounting plate and the right mounting plate;
the two-shaft swinging assembly comprises a two-shaft swinging arm, a two-shaft driving motor, a two-shaft follow-up connecting rod and a two-shaft follow-up cylinder, the two-shaft driving motor is installed on the outer side of the left mounting plate, the two-shaft follow-up cylinder is installed on the outer side of the right mounting plate, the lower end of the two-shaft swinging arm is inserted between the left mounting plate and the right mounting plate, a driving shaft of the two-shaft driving motor sequentially penetrates through the left mounting plate, the two-shaft swinging arm and the right mounting plate and then is fixedly connected with one end of the two-shaft follow-up connecting rod, the driving shaft of the two-shaft driving motor is rotatably installed on the left mounting plate and the right mounting plate, the two-shaft swinging arm is fixedly installed on the driving shaft of the two-shaft driving motor, and the other end of the two-shaft follow-up;
the three-axis swinging assembly comprises a three-axis swinging arm, a three-axis connecting rod, a three-axis driving motor, a three-axis follow-up connecting rod and a three-axis follow-up cylinder; the three-shaft driving motor is arranged on the outer side of the left mounting plate and is arranged in parallel with the two-shaft driving motor at the same horizontal height, the three-shaft driving motor is arranged on the outer side of the right mounting plate, the front end of the three-shaft connecting rod is inserted between the left mounting plate and the right mounting plate, the driving shaft of the three-shaft driving motor sequentially penetrates through the left mounting plate, the three-shaft connecting rod and the right mounting plate and then is fixedly connected with one end of the three-shaft follow-up connecting rod, the driving shaft of the three-shaft driving motor is rotatably arranged on the left mounting plate and the right mounting plate, the three-shaft connecting rod is fixedly arranged on the driving shaft of the three-shaft follow-up connecting rod, and the other end of the three-shaft follow-up; the three-axis connecting rod extends towards the rear of the two three-axis mounting seats, and the rear end of the three-axis connecting rod is hinged with the lower end of the three-axis swing arm;
the four-axis rotating assembly comprises a four-axis rotating arm, a four-axis mounting seat and a four-axis driving motor, the rear end of the four-axis rotating arm is rotatably mounted on the four-axis mounting seat, and the four-axis driving motor drives the four-axis rotating arm to rotate; the upper end of the two-axis swing arm is hinged to the front end of the four-axis mounting seat, and the upper end of the three-axis swing arm is hinged to the rear end of the four-axis mounting seat;
the front-end rotating assembly comprises a five-axis mounting seat, a five-axis rotating arm, a five-axis driving motor, a six-axis mounting seat, a six-axis rotating arm, a six-axis driving motor and a handle, wherein the five-axis mounting seat is fixedly mounted at the front end of the rotating arm;
the five-axis mounting seat is of a hollow structure, a five-axis driving motor is mounted in the five-axis mounting seat, the five-axis driving motor is connected with the five-axis rotating arm through an electric slip ring and drives the five-axis rotating arm to rotate, and the six-axis mounting seat is fixedly connected with the five-axis rotating arm;
the six-shaft mounting seat is of a hollow structure, a six-shaft driving motor is mounted in the six-shaft mounting seat, the six-shaft driving motor is connected with the six-shaft rotating arm through an electric slip ring and drives the six-shaft rotating arm to rotate, and the handle is fixedly connected with the six-shaft rotating arm.
Preferably, the number of the middle connecting plates is two, and the two middle connecting plates are arranged in parallel, so that a wiring channel through which a cable can pass is arranged below the middle connecting plates.
Preferably, the four-axis rotating arm is a hollow structure provided with an internal cavity; the outer side wall of the two-shaft swing arm is provided with a movable hinge joint, and a corrugated pipe is arranged on the movable hinge joint;
cables for electrifying the five-axis driving motor and the six-axis driving motor converge into an inner cavity of the four-axis rotating arm through the electric slip ring, penetrate through the four-axis mounting seat, penetrate out of the four-axis mounting seat together with the cables of the four-axis driving motor, enter the corrugated pipe, then descend along the corrugated pipe, penetrate out of the corrugated pipe, enter a wiring channel of the four-axis mounting seat, continue to pass through the wiring channel and then converge into the base.
Preferably, the rotating shaft of the five-axis driving motor is perpendicular to the central axis of the four-axis rotating arm.
Preferably, the rotating shaft of the six-shaft driving motor is perpendicular to the rotating shaft of the five-shaft rotating arm;
the handle is fixedly connected with the six-axis rotating arm through a connecting piece, the connecting piece comprises mounting parts and inclined parts, the two mounting parts are parallel to each other, and the handle and the six-axis rotating arm are respectively fixed with the two mounting parts; the slope part is relative the installation department slope sets up, and its both ends are fixed respectively two the tip of installation department.
Preferably, a thickened part is arranged above the left mounting plate, and the thickened part is integrally formed by outwards protruding the upper end of the left mounting plate; two motor mounting holes are formed in the thickened portion, and the two-shaft driving motor and the three-shaft driving motor are fixed to the left mounting plate through the two motor mounting holes respectively.
Preferably, a reinforcing rib is arranged below the thickened portion, the side wall of the reinforcing rib is fixed on the outer side wall of the left mounting plate, and the upper end of the reinforcing rib is fixedly connected with the lower end face of the thickened portion in a bearing mode.
Preferably, the two-axis follow-up cylinder is installed above the three-axis follow-up cylinder.
Preferably, the right side of the left side mounting plate protrudes outwards to form an ear plate, and the two-shaft follow-up cylinder is mounted on the ear plate.
Preferably, the four-axis mount pad is drum hollow structure, is equipped with four-axis shell cover and detains four-axis driving motor's outside, four-axis shell installation is fixed the rear end of four-axis mount pad.
The invention has the beneficial effects that: through installing two driving motor and triaxial driving motor parallel arrangement on same level side by side on two triaxial mount pads, both can regard as two independent modules to install respectively and dismantle to avoid two driving motor and triaxial driving motor during operation can not take place mutual interference, simple structure, simple to operate.
Five-axis driving motor and six axis driving motor directly link and do not have other intermediate drive mechanism with the person driven, and efficient/precision is high, uses the hollow structure of electric slip ring, makes the cable can not distort to can rotate on a large scale and do not worry that the cable influences the stroke scheduling problem, directly link the structural installation very simply, the maintenance is simple and convenient.
Drawings
FIG. 1 is a perspective view of a left rear perspective of one embodiment of the present invention;
FIG. 2 is a perspective view of a front left perspective of one embodiment of the present invention;
FIG. 3 is a perspective view of a rear right perspective of one embodiment of the present invention;
fig. 4 is a partially enlarged view of a portion a of fig. 3;
FIG. 5 is a view of the mounting structure of the two-axis swing arm and two-axis driving motor, and the three-axis driving motor and three-axis link according to an embodiment of the present invention;
fig. 6 is a schematic structural view of an embodiment of a two-and-three-axis mount of the present invention.
Wherein: a base 1; the rotating assembly 2, a turntable 21 and a turntable driving motor 22; the device comprises a two-axis swinging assembly 3, a two-axis swinging arm 31, a two-axis driving motor 32, a two-axis follow-up connecting rod 33 and a two-axis follow-up cylinder 34; the three-axis swing assembly 4, a three-axis swing arm 41, a three-axis connecting rod 42, a three-axis driving motor 43, a three-axis follow-up connecting rod 44 and a three-axis follow-up cylinder 45; the four-axis rotating assembly 5, a four-axis rotating arm 51, a four-axis mounting seat 52, a four-axis driving motor 53 and a four-axis shell 54; the front end rotating assembly 6, a five-axis mounting seat 61, a five-axis rotating arm 62, a five-axis driving motor 63, a six-axis mounting seat 64, a six-axis rotating arm 65, a six-axis driving motor 66 and a handle 67; the two-triaxial mounting seat 7, the left mounting plate 71, the thickened part 711, the reinforcing rib 712, the ear plate 713, the right mounting plate 72, the middle connecting plate 73, the motor mounting hole 77 and the wiring channel 78; the connecting member 8, the mounting portion 81, the inclined portion 82; a hinged joint 9.
Detailed Description
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
As shown in fig. 1, 2 and 3, a high-precision and easy-to-run spray coating robot; the device comprises a base 1, a rotating assembly 2, a two-axis swinging assembly 3, a three-axis swinging assembly 4, a four-axis rotating assembly 5 and a front end rotating assembly 6;
as shown in fig. 2, 3 and 5, the rotating assembly 2 is mounted on the base 1 and includes a turntable 21 and a turntable driving motor 22, and the turntable driving motor 22 can drive the turntable 21 to rotate relative to the base 1;
the two-axis swinging assembly 3 and the three-axis swinging assembly 4 are arranged on a two-three-axis mounting seat 7, and the two-three-axis mounting seat 7 is fixed on the base 1; the two-three-shaft mounting base 7 comprises a left mounting plate 71, a right mounting plate 72 and a middle connecting plate 73, the left mounting plate 71 and the right mounting plate 72 are arranged in parallel and are vertically fixed on the turntable, and two ends of the middle connecting plate 73 are respectively fixed on the left mounting plate 71 and the right mounting plate 72;
the two-axis swinging component 3 comprises a two-axis swinging arm 31, a two-axis driving motor 32, a two-axis following connecting rod 33 and a two-axis following cylinder 34, the two-axis driving motor 32 is installed at the outer side of the left side installation plate 71, the two-axis following cylinder 34 is installed at the outer side of the right side installation plate 72, the lower end of the two-axis swing arm 31 is inserted between the left mounting plate 71 and the right mounting plate 72, the driving shaft of the two-shaft driving motor 32 passes through the left mounting plate 71, the two-shaft swing arm 31 and the right mounting plate 72 in sequence and then is fixedly connected with one end of the two-shaft follow-up connecting rod 33, and the driving shafts of the two-shaft driving motor 32 are rotatably installed at the left side mounting plate 71 and the right side mounting plate 72, the two-axis swing arm 31 is fixedly arranged on a driving shaft of the two-axis driving motor 32, and the other end of the two-axis follow-up connecting rod 33 is hinged with a telescopic rod of the two-axis follow-up cylinder 34;
the three-axis swinging assembly 4 comprises a three-axis swinging arm 41, a three-axis connecting rod 42, a three-axis driving motor 43, a three-axis follow-up connecting rod 44 and a three-axis follow-up cylinder 45; the three-axis driving motor 43 is installed at the outer side of the left side installation plate 71 and is arranged in parallel with the two-axis driving motor 32 at the same horizontal height, the three-shaft driving motor 43 is installed at the outer side of the right mounting plate 72, the front end of the three-shaft connecting rod 42 is inserted between the left mounting plate 71 and the right mounting plate 72, the driving shaft of the three-shaft driving motor 43 passes through the left mounting plate 71, the three-shaft connecting rod 42 and the right mounting plate 72 in sequence and then is fixedly connected with one end of the three-shaft follower connecting rod 44, and the driving shaft of the three-shaft driving motor 43 is rotatably mounted to the left side mounting plate 71 and the right side mounting plate 72, the three-axis connecting rod 42 is fixedly arranged on a driving shaft of the three-axis follow-up connecting rod 44, and the other end of the three-axis follow-up connecting rod 44 is hinged with a telescopic rod of the three-axis follow-up cylinder 45; the three-axis connecting rod 42 extends towards the rear of the two-three-axis mounting seat 7, and the rear end of the three-axis connecting rod is hinged with the lower end of the three-axis swing arm 41;
the four-axis rotating assembly 5 comprises a four-axis rotating arm 51, a four-axis mounting seat 52 and a four-axis driving motor 53, wherein the rear end of the four-axis rotating arm 51 is rotatably mounted on the four-axis mounting seat 52, and the four-axis driving motor 53 drives the four-axis rotating arm 51 to rotate; the upper end of the two-axis swing arm 31 is hinged to the front end of the four-axis mounting seat 52, and the upper end of the three-axis swing arm 41 is hinged to the rear end of the four-axis mounting seat 52;
the front-end rotating assembly 6 comprises a five-axis mounting seat 61, a five-axis rotating arm 62, a five-axis driving motor 63, a six-axis mounting seat 64, a six-axis rotating arm 65, a six-axis driving motor 66 and a handle 67, wherein the five-axis mounting seat 61 is fixedly mounted at the front end of the rotating arm 51;
the five-axis mounting seat 61 is of a hollow structure, a five-axis driving motor 63 is mounted in the five-axis mounting seat, the five-axis driving motor 63 is connected with the five-axis rotating arm 62 through an electric slip ring and drives the five-axis rotating arm 62 to rotate, and the six-axis mounting seat 64 is fixedly connected with the five-axis rotating arm 62;
the six-axis mounting base 64 is of a hollow structure, a six-axis driving motor 66 is mounted in the six-axis mounting base, the six-axis driving motor 66 is connected with the six-axis rotating arm 65 through an electric slip ring and drives the six-axis rotating arm 65 to rotate, and the handle 67 is fixedly connected with the six-axis rotating arm 65.
In the painting robot, the four-axis rotating arm 51 can rotate relative to the four-axis mounting base 52, and can swing back and forth under the driving of the two-axis swing arm 31 and the three-axis swing arm 41. The upper ends of the two-axis swing arm 31 and the three-axis swing arm 41 are respectively hinged with the four-axis rotating arm 51, and the lower end of the two-axis swing arm 31 is fixed on a rotating shaft of the two-axis driving motor 32 and swings back and forth under the driving of the two-axis driving motor 32; the lower end of the three-axis swing arm 41 is hinged with the rear end of the three-axis connecting rod 42, and the front end of the three-axis connecting rod 42 is fixed on the rotating shaft of the three-axis driving motor 43, so that the three-axis swing arm 41 swings back and forth under the driving of the three-axis driving motor 43 and the three-axis connecting rod 42;
in order to avoid the unbalanced force generated by the two-axis swing arm 31 and the three-axis swing arm 41 due to the change of the swing angle thereof and further influence the movement precision of the four-axis rotating arm 51, a two-axis follow-up cylinder 34 is respectively arranged at the opposite sides of the two-axis driving motor 32 and the three-axis driving motor 43 and hinged with the two-axis driving motor 32, and a three-axis follow-up cylinder 45 is hinged with the three-axis driving motor 43. High-pressure gas with constant air pressure is injected into the cylinder barrels of the two-axis follow-up cylinder 34 and the three-axis follow-up cylinder 45, when the two-axis swing arm 31 and the three-axis swing arm 41 swing back and forth, the piston rods of the two-axis follow-up cylinder 34 and the three-axis follow-up cylinder 45 stretch out and retract, more high-pressure gas enters the cylinder barrels, and the phenomenon that the piston rods retract into the cylinder barrels due to the change of the swing angles of the two-axis swing arm 31 and the three-axis swing arm 41 is avoided. The two-axis follow-up cylinder 34 and the three-axis follow-up cylinder 45 are right the two-axis swing arm 31 and the three-axis swing arm 41 both generate a moment, and the directions of the two-axis swing arm 31 and the three-axis swing arm 41 are opposite to the moment of the unbalanced force of the two-axis swing arm 31 and the three-axis swing arm 41, so that the two-axis driving motor 32 and the three-axis driving motor 43 respectively drive the two-axis swing arm 31 and the three-axis swing arm 41 to swing back and forth.
And then, the five-axis mounting seat 61 is fixedly mounted at the front end of the four-axis rotating arm 51, the six-axis mounting seat 64 can rotate relative to the five-axis mounting seat 61, the handle 67 can rotate relative to the six-axis mounting seat 64, and the four-axis rotating arm 51 is more flexible and more convenient to use due to the multi-degree of freedom connection.
In this technical scheme, install two axle driving motor 32 and triaxial driving motor 43 in the outside of two triaxial mount pads 7's left side mounting panel 71 side by side, two axle follow-up cylinder 34 and triaxial follow-up cylinder 45 install respectively in the outside of two triaxial mount pads 7's right side mounting panel 72, and the lower extreme of two axle swing arm 31 and the front end of triaxial connecting rod 42 cartridge respectively is between left side mounting panel 71 and right side mounting panel 72.
During installation, after the rotating shaft of the two-shaft driving motor 32 sequentially passes through the left bearing installation hole 74 of the left installation plate 71, the right bearing installation hole 75 of the two-shaft swing arm 31 and the right installation plate 72, the rotating shaft is connected with the two-shaft follow-up cylinder 34 through the two-shaft follow-up connecting rod 33, the rotating shaft of the two-shaft driving motor 32 is rotatably installed on the left installation plate 71 and the right installation plate 72 through bearings (the outer rings of the two bearings are respectively fixed in the left bearing installation hole 74 and the right bearing installation hole 75, the inner rings of the two bearings are respectively fixed at two ends of the rotating shaft of the two-shaft driving motor 32), and the two-shaft swing arm 31 is fixedly installed at the middle position of the driving shaft of the two-shaft driving motor; the cylinder body of the two-shaft follow-up cylinder 34 is fixedly mounted on a cylinder mounting seat 76 above the right bearing mounting hole 75.
The rotating shaft of the three-axis driving motor 43 passes through another left bearing mounting hole 74 on the left mounting plate 71, the front end of the three-axis connecting rod 42 and another right bearing mounting hole 75 on the right mounting plate 72 in sequence, and then is connected with the three-axis follow-up cylinder 45 through the three-axis follow-up connecting rod 44, and the rotating shaft of the three-axis driving motor 43 is rotatably mounted on the left mounting plate 71 and the right mounting plate 72 through bearings (the outer rings of the two bearings are fixed in the left bearing mounting hole 74 and the right bearing mounting hole 75 respectively, and the inner rings of the two bearings are fixed at the two ends of the rotating shaft of the three-axis driving motor 43 respectively), while the front end of the three-axis connecting rod 42 is fixedly mounted at the middle position of the driving shaft of the three-axis driving motor 43 and extends towards the rear of the two three-axis mounting seats 7, and the lower, the cylinder body of the triaxial follow-up cylinder 45 is fixedly mounted on a cylinder mounting seat 76 below the right bearing mounting hole 75.
In this technical scheme, through installing two axle driving motor 32 and triaxial driving motor 43 parallel arrangement on same level side by side on two triaxial mount pads 7, both can regard as two independent modules to install respectively and dismantle to avoid two axle driving motor 32 and triaxial driving motor 43 during operation can not take place mutual interference, simple structure, simple to operate.
The five-axis mounting seat 61 is designed into a hollow structure and used for mounting a five-axis driving motor 63, the five-axis driving motor 63 directly drives the six-axis mounting seat 64 to integrally rotate through an electric slip ring, other accessories are not needed to be connected, motion transmission is not needed, on the other hand, the five-axis mounting seat 61 is also used as a shell of the five-axis driving motor 63, and liquid flying, slag flying and the like generated in the working process of the spraying robot are prevented from entering the motor to influence the normal operation of the motor.
The six-shaft mounting seat 64 is designed into a hollow structure and used for mounting a six-shaft driving motor 66, the six-shaft driving motor 66 drives the handle 67 to rotate through an electric slip ring, and the control accuracy is high; on the other hand, the six-axis mounting base 64 is also used as a shell of the six-axis driving motor 66, so that the phenomenon that liquid flying, slag flying and the like generated in the working process of the spraying robot enter the motor to influence the normal operation of the motor is avoided.
Five-axis driving motor 63 and six-axis driving motor 66 directly link with the person driven and do not have other intermediate drive mechanism, and efficient/precision is high, uses the hollow structure of electric slip ring, makes the cable can not distort to can rotate on a large scale and do not worry that the cable influences the problem such as stroke, directly link the structure installation very simply, it is simple and convenient to maintain.
The number of the middle connecting plates 73 is two, and the two middle connecting plates 73 are arranged in parallel, so that a routing channel 78 through which a cable can pass is arranged below the middle connecting plates 73.
The use is convenient, and the use efficiency is improved.
The four-axis rotating arm 51 is a hollow structure provided with an internal cavity; the outer side wall of the two-shaft swing arm 31 is provided with a movable hinge joint 9, and a corrugated pipe is mounted on the movable hinge joint 9;
cables for electrifying the five-axis driving motor 63 and the six-axis driving motor 66 converge into the inner cavity of the four-axis rotating arm 51 through the electric slip ring, pass through the four-axis mounting seat 52, penetrate out of the four-axis mounting seat 52 together with cables of the four-axis driving motor 53, enter the corrugated pipe, then descend along the corrugated pipe, penetrate out of the corrugated pipe, enter a wiring channel 78 of the four-axis mounting seat 52, continue to pass through the wiring channel 78, and converge into the base 1.
Five-axis driving motor 63 and six axis driving motor 66 directly link with the person being driven and do not have other intermediate drive mechanism, and efficient/precision is high, uses the hollow structure of electric sliding ring, five-axis driving motor 63 and six axis driving motor 66's cable conductor passes through hollow four-axis rocking arm 51, and the cable conductor with four-axis driving motor 53 is together amalgamated into the bellows, again along the bellows is downward, gets into after wearing out the bellows the line passageway 78 of walking of four-axis mount pad 52 is gone into to continue to pass through walk in the passageway 78 is amalgamated in the base 1 for whole spraying robot's cable conductor can not distort and twine, and four-axis rocking arm 51 can rotate on a large scale and do not worry the cable and influence the problem such as stroke, and maintain portably.
The rotating shaft of the five-axis driving motor 63 is perpendicular to the central axis of the four-axis rotating arm 51.
Compared with the method that the rotating shaft of the five-shaft driving motor 63 is directly connected with the four-shaft rotating arm 51 in parallel, the rotating shaft of the five-shaft driving motor 63 is perpendicular to the central axis of the four-shaft rotating arm 51 in the embodiment, so that the space of the device during operation is saved, and the use efficiency is improved.
The rotating shaft of the six-shaft driving motor 66 is perpendicular to the rotating shaft of the five-shaft rotating arm 62;
as shown in fig. 3 and 4, the handle 67 is fixedly connected to the six-axis swivel arm 65 through a connecting member 8, the connecting member 8 includes a mounting portion 81 and an inclined portion 82, the two mounting portions 81 are parallel to each other, and the handle 67 and the six-axis swivel arm 65 are respectively fixed to the two mounting portions 81; the inclined portion 82 is inclined relative to the mounting portion 81, and both ends of the inclined portion are fixed to the ends of the mounting portion 81.
Compared with the method that the rotating shaft of the six-shaft driving motor 66 is directly connected with the five-shaft rotating arm 62 in parallel, the rotating shaft of the six-shaft driving motor 66 is perpendicular to the central axis of the five-shaft rotating arm 62 in the embodiment, so that the space of the equipment during operation is saved, and the use efficiency is improved.
Install handle 67 in the outside of six rocking arms 65 through connecting piece 8, avoid handle 67 and six rocking arms 65 rotation between them to take place to interfere, guarantee the normal operating of equipment, and fixed with six rocking arms 65 and handle 67 respectively through two installation departments 81, convenient operation during the installation, raise the efficiency.
As shown in fig. 6, a thickened portion 711 is provided above the left mounting plate 71, and the thickened portion 711 is integrally formed by protruding an upper end of the left mounting plate 71; two motor mounting holes 77 are formed in the thickened portion 711, and the two-axis drive motor 32 and the three-axis drive motor 43 are fixed to the left mounting plate 71 through the two motor mounting holes 77 respectively.
The two-axis driving motor 32 and the three-axis driving motor 43 are installed side by side on the outer side of the left mounting plate 71 of the two-three-axis mounting base 7, and in this embodiment, the upper end of the left mounting plate 71 protrudes outwards to form a thickened portion 711, a motor mounting hole 77 for respectively installing the two-axis driving motor 32 and the three-axis driving motor 43 is formed in the thickened portion 711, and a hole side wall at the lower portion of the motor mounting hole 77 provides upward supporting force for the two-axis driving motor 32 and the three-axis driving motor 43, so as to improve the stability when the two are installed.
Reinforcing ribs 712 are arranged below the thickened portion 711, the side walls of the reinforcing ribs 712 are fixed on the outer side wall of the left mounting plate 71, and the upper ends of the reinforcing ribs are fixedly connected with the lower end surface of the thickened portion 711.
The upper end of the left mounting plate 71 protrudes outward to form a thickened portion 711, so that the thickened portion 711 is in a suspended state, a reinforcing rib 712 is provided below the thickened portion 711 to provide an upward supporting force for the thickened portion 711, so as to improve the stability of the thickened portion 711, and further improve the stability of the two-axis drive motor 32 and the three-axis drive motor 43, and a path for evacuating vibration waves generated when the two-axis drive motor 32 and the three-axis drive motor 43 operate is increased by the reinforcing rib 712, so that the precision of the two-axis drive motor 32 and the three-axis drive motor 43 during driving is enhanced.
The two-axis follow-up cylinder 34 is installed above the three-axis follow-up cylinder 45.
The two-axis follow-up cylinder 34 and the three-axis follow-up cylinder 45 are distributed according to the up-down staggered position, and then the two-axis follow-up cylinder 34 is connected with the tail end of the driving shaft of the two-axis driving motor 32 through the two-axis follow-up connecting rod 33, and the three-axis follow-up cylinder 45 is connected with the tail end of the driving shaft of the three-axis driving motor 43 through the three-axis follow-up connecting rod 44; when the two-axis swing arm 31 and the three-axis swing arm 41 swing back and forth, the piston rods of the two-axis follow-up cylinder 34 and the three-axis follow-up cylinder 45 extend and retract without interference between the two and the three, and the use efficiency is improved.
The right side of the left mounting plate 71 protrudes outward to form an ear plate 713, and the two-axis follow-up cylinder 34 is mounted on the ear plate 713.
The ear plate 713 increases the space of the left side mounting plate 71 for disposing the cylinder mounting seat 76 above the right side bearing mounting hole 75, so as to facilitate the mounting and movement of the two-axis follow-up cylinder 34, optimize the spatial layout and improve the usability.
Four-axis mount pad 52 is drum hollow structure, is equipped with four-axis shell 54 cover and detains four-axis driving motor 53's outside, four-axis shell 54 installation is fixed the rear end of four-axis mount pad 52.
The four-axis shell 54 prevents flying liquid, flying slag and the like generated in the working process of the spraying robot from entering the four-axis driving motor 53 to influence the normal operation of the four-axis driving motor 53, improves the use efficiency, and has the advantages of simple and compact structure, convenience in installation and improvement of the use efficiency.
The technical principle of the present invention is described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without inventive effort, which would fall within the scope of the present invention.

Claims (9)

1. The utility model provides a high accuracy and convenient spraying robot of walking line which characterized in that: the device comprises a base, a rotating assembly, a two-axis swinging assembly, a three-axis swinging assembly, a four-axis rotating assembly and a front end rotating assembly;
the rotating assembly is arranged on the base and comprises a turntable and a turntable driving motor, and the turntable driving motor can drive the turntable to rotate relative to the base;
the two-axis swinging assembly and the three-axis swinging assembly are arranged on two-axis and three-axis mounting seats, and the two-axis and three-axis mounting seats are fixed on the base; the two-three-axis mounting seat comprises a left mounting plate, a right mounting plate and a middle connecting plate, the left mounting plate and the right mounting plate are arranged in parallel and are vertically fixed on the turntable, and two ends of the middle connecting plate are respectively fixed on the left mounting plate and the right mounting plate;
the two-shaft swinging assembly comprises a two-shaft swinging arm, a two-shaft driving motor, a two-shaft follow-up connecting rod and a two-shaft follow-up cylinder, the two-shaft driving motor is installed on the outer side of the left mounting plate, the two-shaft follow-up cylinder is installed on the outer side of the right mounting plate, the lower end of the two-shaft swinging arm is inserted between the left mounting plate and the right mounting plate, a driving shaft of the two-shaft driving motor sequentially penetrates through the left mounting plate, the two-shaft swinging arm and the right mounting plate and then is fixedly connected with one end of the two-shaft follow-up connecting rod, the driving shaft of the two-shaft driving motor is rotatably installed on the left mounting plate and the right mounting plate, the two-shaft swinging arm is fixedly installed on the driving shaft of the two-shaft driving motor, and the other end of the two-shaft follow-up;
the three-axis swinging assembly comprises a three-axis swinging arm, a three-axis connecting rod, a three-axis driving motor, a three-axis follow-up connecting rod and a three-axis follow-up cylinder; the three-shaft driving motor is arranged on the outer side of the left mounting plate and is arranged in parallel with the two-shaft driving motor at the same horizontal height, the three-shaft driving motor is arranged on the outer side of the right mounting plate, the front end of the three-shaft connecting rod is inserted between the left mounting plate and the right mounting plate, the driving shaft of the three-shaft driving motor sequentially penetrates through the left mounting plate, the three-shaft connecting rod and the right mounting plate and then is fixedly connected with one end of the three-shaft follow-up connecting rod, the driving shaft of the three-shaft driving motor is rotatably arranged on the left mounting plate and the right mounting plate, the three-shaft connecting rod is fixedly arranged on the driving shaft of the three-shaft follow-up connecting rod, and the other end of the three-shaft follow-up; the three-axis connecting rod extends towards the rear of the two three-axis mounting seats, and the rear end of the three-axis connecting rod is hinged with the lower end of the three-axis swing arm;
the four-axis rotating assembly comprises a four-axis rotating arm, a four-axis mounting seat and a four-axis driving motor, the rear end of the four-axis rotating arm is rotatably mounted on the four-axis mounting seat, and the four-axis driving motor drives the four-axis rotating arm to rotate; the upper end of the two-axis swing arm is hinged to the front end of the four-axis mounting seat, and the upper end of the three-axis swing arm is hinged to the rear end of the four-axis mounting seat;
the front-end rotating assembly comprises a five-axis mounting seat, a five-axis rotating arm, a five-axis driving motor, a six-axis mounting seat, a six-axis rotating arm, a six-axis driving motor and a handle, wherein the five-axis mounting seat is fixedly mounted at the front end of the rotating arm;
the five-axis mounting seat is of a hollow structure, a five-axis driving motor is mounted in the five-axis mounting seat, the five-axis driving motor is connected with the five-axis rotating arm through an electric slip ring and drives the five-axis rotating arm to rotate, and the six-axis mounting seat is fixedly connected with the five-axis rotating arm;
the six-shaft mounting seat is of a hollow structure, a six-shaft driving motor is mounted in the six-shaft mounting seat, the six-shaft driving motor is connected with the six-shaft rotating arm through an electric slip ring and drives the six-shaft rotating arm to rotate, and the handle is fixedly connected with the six-shaft rotating arm;
the four-axis rotating arm is of a hollow structure with an internal cavity; the outer side wall of the two-shaft swing arm is provided with a movable hinge joint, and a corrugated pipe is arranged on the movable hinge joint;
cables for electrifying the five-axis driving motor and the six-axis driving motor converge into an inner cavity of the four-axis rotating arm through the electric slip ring, penetrate through the four-axis mounting seat, penetrate out of the four-axis mounting seat together with the cables of the four-axis driving motor, enter the corrugated pipe, then descend along the corrugated pipe, penetrate out of the corrugated pipe, enter a wiring channel of the four-axis mounting seat, continue to pass through the wiring channel and then converge into the base.
2. The painting robot of claim 1, wherein: the number of the middle connecting plates is two, and the two middle connecting plates are arranged in parallel, so that a wiring channel through which a cable can pass is arranged below the middle connecting plates.
3. The painting robot of claim 1, wherein: and a rotating shaft of the five-axis driving motor is perpendicular to the central axis of the four-axis rotating arm.
4. The painting robot of claim 3, wherein: the rotating shaft of the six-shaft driving motor is vertical to the rotating shaft of the five-shaft rotating arm;
the handle is fixedly connected with the six-axis rotating arm through a connecting piece, the connecting piece comprises mounting parts and inclined parts, the two mounting parts are parallel to each other, and the handle and the six-axis rotating arm are respectively fixed with the two mounting parts; the slope part is relative the installation department slope sets up, and its both ends are fixed respectively two the tip of installation department.
5. The painting robot of claim 1, wherein: a thickened part is arranged above the left mounting plate and is integrally formed by outwards protruding the upper end of the left mounting plate; two motor mounting holes are formed in the thickened portion, and the two-shaft driving motor and the three-shaft driving motor are fixed to the left mounting plate through the two motor mounting holes respectively.
6. The painting robot of claim 5, wherein: and a reinforcing rib is arranged below the thickened part, the side wall of the reinforcing rib is fixed on the outer side wall of the left mounting plate, and the upper end of the reinforcing rib is fixedly connected with the lower end face of the thickened part.
7. The painting robot of claim 1, wherein: the two-axis follow-up cylinder is arranged above the three-axis follow-up cylinder.
8. The painting robot of claim 7, wherein: the outside protrusion in right side of left side mounting panel forms the otic placode, two axle follow-up cylinder installs the otic placode.
9. The painting robot of claim 1, wherein: the four-axis mount pad is drum hollow structure, is equipped with four-axis shell cover and detains four-axis driving motor's outside, four-axis shell installation is fixed the rear end of four-axis mount pad.
CN201710624656.4A 2017-07-27 2017-07-27 High-precision spraying robot convenient for wiring Active CN107322608B (en)

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CN108098747B (en) * 2017-12-27 2020-09-01 华南智能机器人创新研究院 Five-axis robot with electric clamping jaw
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
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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