CN108421668A - A kind of adjustable robotic arm apparatus in working region - Google Patents
A kind of adjustable robotic arm apparatus in working region Download PDFInfo
- Publication number
- CN108421668A CN108421668A CN201810222474.9A CN201810222474A CN108421668A CN 108421668 A CN108421668 A CN 108421668A CN 201810222474 A CN201810222474 A CN 201810222474A CN 108421668 A CN108421668 A CN 108421668A
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- CN
- China
- Prior art keywords
- arm
- connecting rod
- lead screw
- driving
- paint vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B16/00—Spray booths
- B05B16/20—Arrangements for spraying in combination with other operations, e.g. drying; Arrangements enabling a combination of spraying operations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Spray Control Apparatus (AREA)
Abstract
The present invention provides a kind of adjustable robotic arm apparatus in working region, including mechanical arm module and spray painting module.The driving element of mechanical arm module is set on the platform of bottom by the adjustable robotic arm apparatus in the working region, and the first arm and the second arm are other than own wt and mating connecting rod weight, not additional weight；First arm and the second arm are adjustable in length, have good adaptability for different working region sizes；The spray painting head of paint spraying apparatus has pressurize measure, situations such as being directed to unexpected fracture, continues spray painting a period of time, avoids caused by fracture spray painting from stopping etc. unexpected；The head that paints has heating function, can heat paint vehicle, and paint vehicle is made to have higher power and pressure, while increasing the atomizing effect of paint vehicle, temperature can be made to increase, and accelerates paint vehicle and dries speed.
Description
Technical field
The present invention relates to robotic technology fields, and in particular to a kind of adjustable robotic arm apparatus in working region.
Background technology
Robot can be divided into parallel robot and serial manipulator, wherein the common type of serial manipulator has joint
Robot.The driving element of common articulated robot, each arm is installed on the joint being connect with forearm, with arm quantity
Increase, the load of each arm can accordingly increase, cause the driving dynamical element volume of arm to increase, the movement velocity of arm slows down,
The problems such as precision of arm is reduced, is unfavorable for high speed and the micromation of articulated robot.On the other hand, most of multi-joint machine
The brachium of people is all nonadjustable, is unfavorable for making a change for working environment.
It is relatively conventional in robot application using robot progress spray painting operation, in painting process, in case of fracture
Lead to paint vehicle cut-off Deng unexpected, it is new to paint since paint vehicle flash-off time is different even if the parts in operation carry out spray painting operation again
Material and old paint vehicle intersection will produce uneven transition trace, and parts can only be scrapped or after-treatment, more waste into
This.
Invention content
Existing in order to overcome the problems, such as, the present invention provides a kind of adjustable robotic arm apparatus in working region, the work
The driving element of mechanical arm module is set on the platform of bottom by the adjustable robotic arm apparatus in region, the first arm and the second arm
Other than own wt and mating connecting rod weight, not additional weight；First arm and the second arm are adjustable in length, needle
There is good adaptability to different working region sizes；The spray painting head of paint spraying apparatus has pressurize measure, can be directed to unexpected
Situations such as fracture, continues spray painting a period of time, avoids spray painting stopping etc. caused by fracture unexpected；The head that paints has heating work(
Can, paint vehicle can be heated, make paint vehicle that there is higher power and pressure, it, can while increasing the atomizing effect of paint vehicle
So that temperature increases, accelerates paint vehicle and dry speed.
Correspondingly, the adjustable robotic arm apparatus in a kind of working region provided by the invention, the working region is adjustable
Robotic arm apparatus include mechanical arm module and spray painting module；
The mechanical arm module includes platform, the first arm, the second arm, first connecting rod, second connecting rod, the first arm driving group
Part, first connecting rod drive component, wherein first arm and/or the second arm are telescopic arms；
The platform is parallel with x/y plane, and a base shaft is fixed on the upper of the platform x forward directions based on base shaft connector
Side；
First arm beginning is articulated in the base shaft, and end is hinged with second arm beginning；
The first connecting rod beginning is articulated in the base shaft, and end is hinged with the second connecting rod beginning；
The second connecting rod end is hingedly and in the middle part of second arm or on end；
First arm, the second arm, first connecting rod and second connecting rod constitute a four-bar mechanism；
The first arm drive component is installed on the platform, for driving first arm to turn around the base shaft
It is dynamic；
The first connecting rod drive component is installed on the platform, for driving the first connecting rod around the base shaft
Rotation；
The spray painting module includes spray painting head, and the spray painting head is installed on second arm end.
Preferred embodiment, the first arm drive component include the first arm driving pedestal, the first arm driving motor, the
One arm drives lead screw, the first arm driving lead screw sliding block and the first arm drive connection part；
The first arm driving pedestal is hinged on the x negative senses of the platform；
The first arm driving lead screw and the first arm driving lead screw sliding block are installed in the first arm driving shell, and described first
Arm drives lead screw slide block set on first arm driving lead screw, and the first arm drive connection part drives silk with first arm
Bar sliding block is connected and fixed；The first arm drive connection part and the lead screw are coaxial, and are connected and fixed with first arm beginning；
The first arm driving shell is fixed in side by side with the first arm driving motor on the first arm driving pedestal；
One end of the shaft of the first arm driving motor and first arm driving lead screw is based in first arm driving pedestal
Gear connection transmission；
The first arm drive connection part is connected and fixed with first arm beginning and drives first arm around the base
Shaft rotates.
Preferred embodiment, the first connecting rod drive component include first connecting rod driving pedestal, first connecting rod driving
Motor, first connecting rod driving lead screw, first connecting rod driving lead screw sliding block and first connecting rod drive connection part；
The first connecting rod driving pedestal is hinged on the x negative senses of the platform；
The first connecting rod driving lead screw and first connecting rod driving lead screw sliding block are installed in first connecting rod driving shell, institute
State first connecting rod driving lead screw slide block set the first connecting rod driving lead screw on, the first connecting rod drive connection part with it is described
First connecting rod driving lead screw sliding block is connected and fixed；The first connecting rod drive connection part and the lead screw are coaxial, and with described
One connecting rod beginning is connected and fixed；
The first connecting rod driving shell is fixed in the first connecting rod side by side with the first connecting rod driving motor and drives
On pedestal；One end of the shaft of the first connecting rod driving motor and first connecting rod driving lead screw is driven in the first connecting rod
Based on gear connection transmission in dynamic pedestal；
The first connecting rod drive connection part and the first connecting rod beginning be connected and fixed and drive the first connecting rod around
The base shaft rotation.
Preferred embodiment, first arm include the first outer arm and the first inner arm, and shown first inner arm can be described
First outer wall internal slide, and pass through the lock of first outer arm and the first inner arm to be locked at first outer arm based on one
On.
Preferred embodiment, second arm include two piece of second sub- arm and the second sliding block；Two piece of second sub- arm
It is fixed each other by the second arm connector, the second sliding block is stuck between two piece of second sub- arm, and based on screw locking in two pieces
On second sub- arm；
Pulley is installed on the second sliding block, is unclamped in the screw, second sliding block can be based on the cunning
Wheel slides axially on the described two second sub- arms.
Preferred embodiment, there are one paint vehicle chamber and air chambers for the spray painting head setting；
There are one the feed opening entered for high pressure paint vehicle, at least one highly pressurised liquids that is used for enter for the paint vehicle chamber connection
Pressurize hole and discharge hole for being atomized high pressure paint vehicle, the hydraulic piston for completely cutting off paint vehicle is provided in the pressurize hole；
There are one the air admission hole entered for high pressure gas and a ventholes for the air chamber connection.
Preferred embodiment, the paint vehicle chamber are located at spray painting head center；The air chamber is cylindrical, is located at institute
State paint vehicle chamber periphery.
Preferred embodiment, the paint vehicle chamber are provided with the heating ring heated for high pressure paint vehicle outside.
Preferred embodiment, the spray painting module further includes for the feeding device of conveying high-pressure paint vehicle, for conveying
The air delivery device of high pressure gas and pressurizer for conveying high-pressure liquid；
The feeding device is connect with the feed opening, and the air delivery device is connect with the air admission hole, the pressurize dress
It sets and is connect with the pressurize hole.
The present invention provides a kind of adjustable robotic arm apparatus in working region, the adjustable mechanical arm in the working region is set
Standby that the driving element of mechanical arm module is set on the platform of bottom, the first arm and the second arm are in addition to own wt and mating
Connecting rod weight outside, not additional weight；First arm and the second arm are adjustable in length, for different working region sizes
With good adaptability；The spray painting head of paint spraying apparatus has pressurize measure, situations such as being directed to unexpected fracture, continues spray painting one
The section time avoids spray painting stopping etc. caused by fracture unexpected；The head that paints has heating function, can heat paint vehicle, make
Paint vehicle has higher power and pressure, while increasing the atomizing effect of paint vehicle, temperature can be made to increase, and accelerates paint vehicle and dries in the air
Dry speed.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention, for this field
For those of ordinary skill, without creative efforts, it can also be obtained according to these attached drawings
Its attached drawing.
Fig. 1 shows the three dimensional structure diagram of the adjustable robotic arm apparatus in working region of the embodiment of the present invention；
Fig. 2 shows the front views of the adjustable robotic arm apparatus in working region of the embodiment of the present invention；
Fig. 3 shows the first arm front view of the embodiment of the present invention；
Fig. 4 shows the first connecting rod front view of the embodiment of the present invention；
Fig. 5 shows the kinematic sketch of the adjustable robotic arm apparatus in working region of the embodiment of the present invention；
Fig. 6 shows the perspective view of first connecting rod drive component of the embodiment of the present invention；
Fig. 7 shows the radial cross-section of the second arm of the embodiment of the present invention；
Fig. 8 shows the axial cross-sectional view of the first arm of the embodiment of the present invention；
Fig. 9 shows the three dimensional structure diagram of spray painting head of the embodiment of the present invention；
Figure 10 show the embodiment of the present invention spray painting head feed opening orientation full sectional view；
Figure 11 show the embodiment of the present invention spray painting head air admission hole orientation full sectional view；
Figure 12 show the embodiment of the present invention spray painting head pressurize hole orientation full sectional view；
Figure 13 shows the attachment structure schematic diagram of the feed pipe and pressurize pipeline of the embodiment of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained all other without creative efforts
Embodiment shall fall within the protection scope of the present invention.
Fig. 1 shows the three dimensional structure diagram of the adjustable robotic arm apparatus in working region of the embodiment of the present invention.This hair
The adjustable robotic arm apparatus in a kind of working region that bright embodiment provides, including mechanical arm module and spray painting module.
The mechanical arm module include platform 101, the first arm 102, the second arm 103, first connecting rod 105, second connecting rod 104,
First arm drive component 107,106 drive component of first connecting rod.
The platform 101 is parallel with x/y plane, and a base shaft 108 is fixed on the platform x based on base shaft connector 109
Positive top.In specific implementation, 101 top surface of platform is a flat surface, and the plane is parallel with x/y plane, and shape is not unique.In platform x
On positive position, it is provided with the base shaft connector 109 that two installed for base shaft 108 arrange vertically, 108 liang of base shaft
End is separately fixed on two base shaft base shaft connectors 109.Base shaft connector 109 is mainly used for base shaft is vacantly solid
In the fixed height to a setting, make between base shaft and platform that there are spaces to move for remaining part, avoids generating interference.At this
In inventive embodiments, the axis of base shaft 108 is parallel with y-axis.
Fig. 3 shows the first arm configuration front view of the embodiment of the present invention, and in specific implementation, sky can be used in the first arm 102
Core structure is to mitigate its dead weight.It can be obtained in conjunction with overall structure shown in FIG. 1,102 beginning of the first arm is articulated with the base and turns
On axis 108, end is hinged with 103 beginning of the second arm；In order to for the installation connection of the first arm drive component 107, the first arm 102
It is carried on the back on abterminal direction at beginning, extends the first arm connector, the output of the first arm connector and the first arm drive component
End is hinged.It should be noted that the first arm connector and the first arm are relatively-stationary, and the axial length of the first arm connector
Less than the axial length of the first arm, it is based on lever principle, the micro-displacement of the first arm connector can be made, through base shaft 108
Point is amplified to the big apart from displacement of the first arm end, is conducive to the quick movement of the first arm end.
Fig. 4 shows the first connecting rod structure front view of the embodiment of the present invention, and the second arm 103 is by two piece of second arm cover board group
At being fixed by more than one second arm fixing piece between two piece of second arm cover board.In conjunction with whole knot shown in FIG. 1
Structure, 105 beginning of the first connecting rod are articulated in the base shaft, and end is hinged with 104 beginning of the second connecting rod；In order to supply
The installation connection of first connecting rod drive component 103, first connecting rod 105 are carried on the back at beginning on abterminal direction, and first connecting rod is extended
Connector, first connecting rod connector and the output end of first connecting rod drive component 106 are hinged.It should be noted that first connecting rod connects
Fitting and first connecting rod are relatively-stationary, and the axial length of first connecting rod connector is less than the axial length of first connecting rod,
Based on lever principle, the micro-displacement of first connecting rod connector can be made, through base shaft fulcrum, be amplified to first connecting rod end
Greatly apart from displacement, be conducive to the quick movement of first connecting rod end.
104 end of the second connecting rod is hingedly and on second arm.
Further, the smaller aluminum or aluminum alloy of density can be used as material in the first arm 102 and the second arm 103, with into
One step mitigates its weight.
Fig. 5 shows the structure diagram of the adjustable robotic arm apparatus in the working region, and the working region in conjunction with Fig. 2 is adjustable
The robotic arm apparatus front view of section replaces the first arm, the second arm, first connecting rod, second connecting rod with straight line respectively, uses circle respectively
Instead of each hinge joint, wherein the name of each hinge joint is as follows：Base shaft, i.e. 102 beginning of the first arm begin with first connecting rod 105
The hinge joint at end is the first hinge joint 121, and 105 end of first connecting rod and the hinge joint at 104 beginning of second connecting rod are hinged for second
Point 122, the hinge joint at 102 end of the first arm and 103 beginning of the second arm are third hinge joint 123,104 end of second connecting rod and the
The hinge joint of two arms 103 is the 4th hinge joint 124, the first arm 102,104 structure of the second arm 103, first connecting rod 105 and second connecting rod
At a four-bar mechanism.
In specific implementation, the end of the second arm 103 can be arranged on the 4th hinge joint 124, due to the second arm 103 at this time
The 4th hinge joint 124 of end distance it is relatively close, based on lever principle it is found that the end of the second arm 103 is relative to the second arm 103
The displacement at beginning is acted in diminution, is conducive to the end-of-pipe control precision for improving the second arm 103；But the structure based on four-bar mechanism
Limitation, the set-up mode can cause the scope of activities of the second arm 103 smaller.
Therefore, it in specific implementation, can also extend the length of the second arm, make to stretch out the 4th hinge joint 124, the setting outside end
Mode is conducive to increase the scope of activities of the second arm, can be suitble to more working environments.
Further, the first arm 102 and/or the second arm 103 can also be set to telescopic arms, with the flexible modulation work
Make motion range and the track of the adjustable robotic arm apparatus working distal tip in region.
Telescopic arm structure mainly has two kinds of sliding telescopic arm and sleeve type telescopic arm.
Fig. 7 shows radial cross section when the second arm uses sliding telescopic arm structure.Sliding telescopic arm is
Refer to the distance by adjusting end on arm and realizes the purpose for changing arm lengths.The embodiment of the present invention is with the second arm using sliding
Telescopic arm structure is introduced.
Second arm includes two piece of second sub- arm 137 and the second sliding block 141.Second sub- arm, 137 section is of an L-shaped structure,
Two piece of second sub- arm, 137 upper end is fixed each other by the second arm connector 139；Second sliding block 141 is in I-shaped, waist
It is stuck between two piece of second 137 lower end of sub- arm, top is lock onto based on screw 138 on two piece of second sub- arm 137 respectively；
Pulley 140 is installed on the second sliding block 141, is unclamped in the screw 138, second sliding block 141
It can be slid axially on the described two second sub- arms 137 based on the pulley 140.
The spray painting head 1300 of the embodiment of the present invention is installed on the second sliding block 141, by adjusting the second sliding block 141 second
Distance on arm is, it can be achieved that adjustment working distal tip is equivalent to the length for adjusting the second arm to the distance at the second arm beginning；It is specific real
Shi Zhong, the extension elongation of 141 lower end of the second sliding block are designed according to the demand of the spray painting head of connection.
Fig. 8 shows axial sectional diagrammatical view illustration when the first arm uses sleeve type telescopic arm structure.Sleeve type telescopic arm is
Referring to the arm has multi-segment structure, is placed in front segment structure in rear section structure, overall length is adjusted by stretching.The present invention is implemented
Example is introduced with the first arm using sleeve type telescopic arm structure.
First arm includes the first outer arm 143 and the first inner arm 142；First inner arm 142 is provided in an axial direction on opposite two sides
Elongated slot, the first outer arm 143 correspond to and have screw hole on the long groove location；One Quick Release screw is cased with spring outside 145 head
146, tail portion is stretched into from the screw hole of 143 one end of the first outer arm, two elongated slots of the first inner arm 142 is sequentially passed through, from the first outer arm
The screw hole of 143 other ends is pierced by and is hinged with Quick Release spanner 144 in tail portion；When Quick Release spanner 144 is around the clockwise direction of diagram
When movement, compressible first outer arm 143 makes the caliber of the first outer arm 143 slightly reduce, and the first internal inner arm 142 is pressed
It is tight to complete fastening.
First inner arm 142 can be moved along elongated slot, after position is adjusted, be acted on by the locking of Quick Release spanner 144,
Quickly the first inner arm 142 and the first outer arm 143 can be fixed, realize the adjusting of length.
Similarly, second connecting rod also may be configured as the stretching structure such as the first arm configuration.
Four-bar mechanism tool passes through control first there are two dynamic connecting rod, respectively the first arm 102 and first connecting rod 105
Arm 102 and first connecting rod 105, it can be achieved that the second arm end movement.
In specific implementation, although the corresponding displacement control of the second arm end can be achieved in the four-bar mechanism of arbitrary structures,
But more convenient in order to make the control of the second arm end calculate, each length of side of the four-bar mechanism of the embodiment of the present invention may be configured as
Following parameter：First arm 102 is parallel with the second connecting rod 104 and equal length；The first connecting rod 105 is parallel to institute
State the second arm 103；At this point, the four-bar mechanism parallelogram of the embodiment of the present invention, the first arm and 102 second connecting rods 104
Posture it is identical, the second arm 103 is identical with the posture of first connecting rod 105, and the calculating of end can be based on first connecting rod length, first
Angle quickly obtains between arm lengths, the second arm lengths, first connecting rod and the first arm, keeps the control of software more simple.
It is the mechanical structure introduction of the embodiment of the present invention above, in embodiments of the present invention, which has two
A dynamic connecting rod, respectively the first arm and first connecting rod, by the first arm of control and first connecting rod, it can be achieved that the fortune of the second arm end
It is dynamic, the driving of the first arm and first connecting rod is introduced below.
It should be noted that the first arm beginning and first connecting rod beginning are hingedly connected in base shaft, jointly with base shaft
As revolution fulcrum, but when the two directly moves, is relatively independent, does not interfere each other.
Fig. 6 shows the partial enlarged view of the first connecting rod drive component of the embodiment of the present invention.The first connecting rod driving
Component includes first connecting rod driving pedestal 130, first connecting rod driving motor 131, the company of first connecting rod drive connection part 133, first
Bar drives lead screw 134 and first connecting rod to drive sliding block 135；
The first connecting rod driving pedestal 130 is hinged on the x negative senses of the platform, and first connecting rod driving motor 131 is fixed
In on first connecting rod driving pedestal 130；The shaft of first connecting rod driving motor 131 stretches into first connecting rod driving pedestal 130
It is interior；The first connecting rod driving lead screw 134 and first connecting rod driving lead screw sliding block 135 are installed on first connecting rod driving shell 136
Interior, the first connecting rod driving lead screw sliding block 135 is sleeved on the first connecting rod driving lead screw 134, the first connecting rod driving
Connector 133 is connected and fixed with first connecting rod driving lead screw sliding block 135；The first connecting rod drive connection part 133 and institute
It is coaxial to state first connecting rod driving lead screw 134, and is connected and fixed with 105 beginning of the first connecting rod；
The first connecting rod driving shell 136 is fixed in described first side by side with the first connecting rod driving motor 131 and connects
Bar drives on pedestal 130；One end of the shaft of the first connecting rod driving motor 131 and first connecting rod driving lead screw 134
Based on gear connection transmission in first connecting rod driving pedestal 130.
In specific implementation, the lead screw for driving first connecting rod to drive lead screw slide block mechanism by first connecting rod driving motor turns
It is dynamic, and drive sliding sleeve along the axial movement of first connecting rod driving lead screw slide block mechanism；Lead screw slide block mechanism is driven with first connecting rod
The first connecting rod connector that is integrally connected of sliding block receive driving and rotated around base shaft, first connecting rod is driven by lever principle
It is rotated around base shaft.
Similarly, the first arm drive component structure is identical as first connecting rod drive component structure, is not repeated to introduce.
Fig. 9 shows that the three dimensional structure diagram of spray painting head of the embodiment of the present invention, Figure 10 show that the embodiment of the present invention is sprayed
Patent drier feed opening orientation full sectional view, Figure 11 show the embodiment of the present invention spray painting head air admission hole orientation full section
Figure, Figure 12 show the embodiment of the present invention spray painting head pressurize hole orientation full sectional view.
Module of painting includes spray painting head 1300, and the spray painting head of the embodiment of the present invention is internally provided with paint vehicle chamber 1308 and gas
The spray painting head center is arranged in chamber 1309, wherein paint vehicle chamber 1308；The air chamber 1309 is cylindrical, is located at the paint vehicle chamber
Periphery；It is not connected to mutually between air chamber and paint vehicle cabin.
1308 top of paint vehicle chamber, is respectively arranged with feed opening 1301 and pressurize hole 1303, wherein pressurize hole 1303 passes through one
Long tube is connected to paint vehicle chamber 1308, and hydraulic piston 1311 is provided on long tube.In actual work, feed opening 1301 connects useful
In the feeding device of conveying high-pressure paint vehicle, such as plunger pump；Pressurize hole 1303 is connected with the pressurizer for conveying high-pressure liquid,
If hydraulic pump can access a check valve to save cost between hydraulic pump and pressurize hole 1303, highly pressurised liquid is avoided to return
Stream；Similarly, in order to avoid paint vehicle flows back, a check valve is also can access between feed opening and plunger pump.Due to the above parts
And the invention content of non-present invention, it does not show that in the accompanying drawings, specific structure can refer to the prior art.
It should be noted that in order to while accommodating the high pressure paint vehicle of enough volumes, the long tube in pressurize hole 1303 is avoided
Length is long, and more than one pressurize hole 1303 can be arranged.
In 1308 periphery of paint vehicle cabin, it is provided with heating ring 1307, heating ring 1307 can actually be wound by resistance wire and be formed
Or it is formed by the resistance metal nesting of arc shaped.Heating ring 1307 can be used for heating paint vehicle, be that paint vehicle temperature increases, when atomization has
There is the kinetic energy of bigger；When coating cloud sprays, a kinetic energy part is converted into the thermal energy in air, makes the temperature liter of paint vehicle attachment surface
Height, paint vehicle dry or drying rate is shorter.
1309 top of air chamber is provided with air admission hole 1302, and air admission hole 1302 is connected with air compressor machine, to provide high pressure
Air enhances paint vehicle atomizing effect.
The output of paint vehicle and the output of gas are typically to be controlled by nozzle 1306, by replacing different nozzles
1306, it can be achieved that different spray painting effect and spray painting area.By it is described above it is found that nozzle 1306 and paint head 1300 contact
Face consists of two parts, and is respectively used to connect with paint vehicle chamber 1308 and air chamber 1309.On 1300 central axes of spray painting head, setting
There are a thimble 1310,1310 top of thimble to stretch out spray painting head 1300, middle part is spirally connected with spray painting head 1300, and bottom withstands on nozzle 1306
Orifice on.The embodiment of the present invention is only described in detail to designing improved concrete structure, remaining more structure can refer to
The prior art.
Figure 13 shows the connection structure diagram of the feed pipe and pressurize pipeline of the embodiment of the present invention.In normal work,
Pressurizer and feeding device operate simultaneously, and high pressure paint vehicle is input in paint vehicle chamber by feeding device, and pressurizer lives hydraulic pressure
Plug resists, in hydraulic piston towards being filled with high pressure paint vehicle in the pipeline of paint vehicle chamber side, it is contemplated that the limit of hydraulic piston, it can
To add limit of the step for hydraulic piston in the duct.At this point, high pressure paint vehicle is sprayed through nozzle atomization；It is based in air chamber
Air delivery device sprays high pressure gas through nozzle, can further enhance the atomizing effect of high pressure paint vehicle.
When the unexpected fracture of paint vehicle, this information is grabbed in order to catch, hydrostatic sensor can be installed on feed opening, pass through liquid
Pressure sensor catches the pressure information for catching paint vehicle feed, and when fracture, hydrostatic sensor catches the pressure decline for catching feed pipe
Then message sends a signal to hydraulic pump, prexxure of the hydraulic pump increases, and pushes the hydraulic piston movement in pressurize hole, in the head that paints
The high pressure paint vehicle of paint vehicle intracavitary continues to be atomized under pressure, completes spray painting work.
It should be noted that the Design of length of pressurize hole pipeline should meet the spraying needs of single-piece workpiece as far as possible, make hair
When raw fracture, by the paint vehicle in the pipeline of pressurize hole, the spray painting work of at least one workpiece can be completed.
An embodiment of the present invention provides a kind of adjustable robotic arm apparatus in working region, the adjustable machines in the working region
The driving element of mechanical arm module is set on the platform of bottom by tool arm equipment, the first arm and the second arm in addition to own wt with
And outside mating connecting rod weight, not additional weight；First arm and the second arm are adjustable in length, for different workspaces
Domain size has good adaptability；The spray painting head of paint spraying apparatus has pressurize measure, situations such as being directed to unexpected fracture, continues
Spray painting a period of time avoids spray painting stopping etc. caused by fracture unexpected；The head that paints has heating function, can be added paint vehicle
Heat makes paint vehicle have higher power and pressure, while increasing the atomizing effect of paint vehicle, temperature can be made to increase, and accelerates
Paint vehicle dries speed.
It is provided for the embodiments of the invention a kind of adjustable robotic arm apparatus in working region above and has carried out detailed Jie
It continues, principle and implementation of the present invention are described for specific case used herein, and the explanation of above example is only
It is the method and its core concept for being used to help understand the present invention；Meanwhile for those of ordinary skill in the art, according to this hair
Bright thought, there will be changes in the specific implementation manner and application range, in conclusion the content of the present specification should not manage
Solution is limitation of the present invention.
Claims (9)
1. a kind of adjustable robotic arm apparatus in working region, which is characterized in that the adjustable mechanical arm in working region is set
Standby includes mechanical arm module and spray painting module；
The mechanical arm module includes platform, the first arm, the second arm, first connecting rod, second connecting rod, the first arm drive component,
One connecting rod drive component, wherein first arm and/or the second arm are telescopic arms；
The platform is parallel with x/y plane, and a base shaft is fixed on the top of the platform x forward directions based on base shaft connector；
First arm beginning is articulated in the base shaft, and end is hinged with second arm beginning；
The first connecting rod beginning is articulated in the base shaft, and end is hinged with the second connecting rod beginning；
The second connecting rod end is hingedly and in the middle part of second arm or on end；
First arm, the second arm, first connecting rod and second connecting rod constitute a four-bar mechanism；
The first arm drive component is installed on the platform, for driving first arm to be rotated around the base shaft；
The first connecting rod drive component is installed on the platform, for driving the first connecting rod to turn around the base shaft
It is dynamic；
The spray painting module includes spray painting head, and the spray painting head is installed on second arm end.
2. the adjustable robotic arm apparatus in working region as described in claim 1, which is characterized in that the first arm driving group
Part includes the first arm driving pedestal, the first arm driving motor, the first arm driving lead screw, the first arm driving lead screw sliding block and the first arm
Drive connection part；
The first arm driving pedestal is hinged on the x negative senses of the platform；
The first arm driving lead screw and the first arm driving lead screw sliding block are installed in the first arm driving shell, and first arm drives
Dynamic lead screw slide block set on first arm driving lead screw, with first arm driving lead screw slide by the first arm drive connection part
Block is connected and fixed；The first arm drive connection part and the lead screw are coaxial, and are connected and fixed with first arm beginning；
The first arm driving shell is fixed in side by side with the first arm driving motor on the first arm driving pedestal；It is described
One end of the shaft of first arm driving motor and first arm driving lead screw is based on gear in first arm driving pedestal
Connection transmission；
The first arm drive connection part is connected and fixed with first arm beginning and drives first arm around the base shaft
Rotation.
3. the adjustable robotic arm apparatus in working region as described in claim 1, which is characterized in that the first connecting rod driving
Component includes first connecting rod driving pedestal, first connecting rod driving motor, first connecting rod driving lead screw, first connecting rod driving lead screw cunning
Block and first connecting rod drive connection part；
The first connecting rod driving pedestal is hinged on the x negative senses of the platform；
First connecting rod driving lead screw and first connecting rod driving lead screw sliding block are installed in first connecting rod driving shell, and described the
One connecting rod drives lead screw slide block set on first connecting rod driving lead screw, the first connecting rod drive connection part and described first
Connecting rod driving lead screw sliding block is connected and fixed；The first connecting rod drive connection part and the lead screw are coaxial, and connect with described first
Bar beginning is connected and fixed；
The first connecting rod driving shell is fixed in the first connecting rod driving pedestal side by side with the first connecting rod driving motor
On；One end of the shaft of the first connecting rod driving motor and first connecting rod driving lead screw drives bottom in the first connecting rod
Based on gear connection transmission in seat；
The first connecting rod drive connection part is connected and fixed with the first connecting rod beginning and drives the first connecting rod around described
Base shaft rotates.
4. the adjustable robotic arm apparatus in working region as described in claim 1, which is characterized in that first arm includes the
One outer arm and the first inner arm, shown first inner arm can be passed through in the first outer wall internal slide, and based on one outside described first
The lock of arm and the first inner arm is locked on first outer arm.
5. the adjustable robotic arm apparatus in working region as described in claim 1, which is characterized in that second arm includes two
The second sub- arm of block and the second sliding block；Two piece of second sub- arm is fixed each other by the second arm connector, and the second sliding block is stuck in
Between two piece of second sub- arm, and based on screw locking on two piece of second sub- arm；
Pulley is installed on the second sliding block, is unclamped in the screw, second sliding block can be existed based on the pulley
It slides axially on described two second sub- arms.
6. the adjustable robotic arm apparatus in any one working region as described in claim 1 to 5, which is characterized in that described
Painting, there are one paint vehicle chamber and air chambers for head setting；
There are one the feed opening entered for high pressure paint vehicle, at least one guarantors entered for highly pressurised liquid for the paint vehicle chamber connection
Hole and the discharge hole for being atomized high pressure paint vehicle are pressed, the hydraulic piston for completely cutting off paint vehicle is provided in the pressurize hole；
There are one the air admission hole entered for high pressure gas and a ventholes for the air chamber connection.
7. the adjustable robotic arm apparatus in working region as claimed in claim 6, which is characterized in that the paint vehicle chamber is located at institute
State spray painting head center；The air chamber is cylindrical, is located at paint vehicle chamber periphery.
8. the adjustable robotic arm apparatus in working region as claimed in claim 6, which is characterized in that be arranged outside the paint vehicle chamber
It is useful for the heating ring of high pressure paint vehicle heating.
9. the adjustable robotic arm apparatus in working region as claimed in claim 6, which is characterized in that the spray painting module is also wrapped
Include the feeding device for conveying high-pressure paint vehicle, the air delivery device for conveying high-pressure gas and the guarantor for conveying high-pressure liquid
Pressure device；
The feeding device is connect with the feed opening, and the air delivery device is connect with the air admission hole, the pressurizer with
The pressurize hole connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810222474.9A CN108421668B (en) | 2018-03-19 | 2018-03-19 | Mechanical arm equipment with adjustable work area |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810222474.9A CN108421668B (en) | 2018-03-19 | 2018-03-19 | Mechanical arm equipment with adjustable work area |
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| Publication Number | Publication Date |
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| CN108421668A true CN108421668A (en) | 2018-08-21 |
| CN108421668B CN108421668B (en) | 2020-07-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810222474.9A Active CN108421668B (en) | 2018-03-19 | 2018-03-19 | Mechanical arm equipment with adjustable work area |
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| Country | Link |
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| CN110841839A (en) * | 2019-11-08 | 2020-02-28 | 江苏科技大学 | Scalable arm of application robot for boats and ships |
| CN110841840A (en) * | 2019-11-08 | 2020-02-28 | 江苏科技大学 | Telescopic spraying robot for ship outer plate coating |
| WO2020237397A1 (en) * | 2019-05-31 | 2020-12-03 | Amir Khajepour | Method and system for mobile reconfigurable robot for a large workspace |
| CN112517285A (en) * | 2020-12-14 | 2021-03-19 | 吴国平 | Automatic control spraying mechanical arm for automobile spraying |
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|---|---|
| CN108421668B (en) | 2020-07-03 |
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