CN108543653A - The arm structure of spray robot - Google Patents
The arm structure of spray robot Download PDFInfo
- Publication number
- CN108543653A CN108543653A CN201810348366.6A CN201810348366A CN108543653A CN 108543653 A CN108543653 A CN 108543653A CN 201810348366 A CN201810348366 A CN 201810348366A CN 108543653 A CN108543653 A CN 108543653A
- Authority
- CN
- China
- Prior art keywords
- arm
- fixed
- mixing chamber
- body frame
- arm support
- 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.)
- Withdrawn
Links
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
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/20—Arrangements for agitating the material to be sprayed, e.g. for stirring, mixing or homogenising
- B05B15/25—Arrangements for agitating the material to be sprayed, e.g. for stirring, mixing or homogenising using moving elements, e.g. rotating blades
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B7/00—Spraying apparatus for discharge of liquids or other fluent materials from two or more sources, e.g. of liquid and air, of powder and gas
- B05B7/16—Spraying apparatus for discharge of liquids or other fluent materials from two or more sources, e.g. of liquid and air, of powder and gas incorporating means for heating or cooling the material to be sprayed
-
- 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
Abstract
The invention discloses a kind of arm structures of spray robot, arm structure includes the arm body frame and arm support being sequentially arranged, in arm body frame electric rotating machine is fixed on one end of arm support, in arm support axle sleeve is fixed on one end of arm body frame, the rotary head of electric rotating machine is at least partly fixed in axle sleeve, arm support is hollow-core construction, mixing chamber and charging lumen are respectively fixed with inside it, charging lumen one end is connected with mixing chamber, the other end is communicated with feed hose, feed hose extends at least partially into the outside of arm support, one end far from arm body frame in arm support is fixed with transfer tube, the inlet tube of transfer tube is connected with mixing chamber, it is communicated with nozzle on the outlet tube of transfer tube.Not only the flexibility of arm is high, but also different coating or auxiliary material can be pre-mixed by the arm structure, be sprayed later, saves the time being pre-mixed before spraying, greatly improves work efficiency.
Description
Technical field
The present invention relates to robot fields, and in particular, to a kind of arm structure of spray robot.
Background technology
Robot is the automatic installations for executing work, it can not only receive mankind commander, but also can run advance volume
The program of row, can also be according to principle program action formulated with artificial intelligence technology.Its task is to assist or replace the mankind
The work of work, such as production industry, construction industry, or dangerous work.In spraying field, taken using spray robot
For traditional hand spray, working efficiency can not only be improved, and spraying effect is good, will not endanger worker's in spraying process
Health.
Invention content
The object of the present invention is to provide a kind of arm structures of spray robot, and not only the flexibility of arm is high, but also should
Different coating or auxiliary material can be pre-mixed by arm structure, be sprayed later, and the preceding premixing of spraying is saved
Time greatly improves work efficiency.
To achieve the goals above, the present invention provides a kind of arm structure of spray robot, the arm structure packets
The arm body frame and arm support being sequentially arranged are included, rotation is fixed on one end of the arm support in the arm body frame
Rotating motor is fixed with axle sleeve in the arm support on one end of the arm body frame, and the rotary head of the electric rotating machine is extremely
Small part is fixed in the axle sleeve so that the electric rotating machine can drive the arm support to rotate in the horizontal direction, institute
State arm support be hollow-core construction, inside be respectively fixed with mixing chamber and charging lumen, described charging lumen one end with it is described
Mixing chamber is connected, and the other end is communicated with feed hose, and the feed hose extends at least partially into the outer of the arm support
Portion, one end far from the arm body frame is fixed with transfer tube in the arm support, the inlet tube of the transfer tube with it is described
Mixing chamber is connected, and nozzle is communicated on the outlet tube of the transfer tube；
One end far from the arm support is also formed with slot in the arm body frame, is fixed with and stretches on arm expansion bracket
The telescopic rod of contracting cylinder, the telescopic cylinder is at least partly fixed in the slot so that the telescopic cylinder can drive
The arm body frame is close or far from the arm expansion bracket；
The outer wall of the mixing chamber is fixed with stirring motor, and stirring rod is coaxially fixed on the rotor of the stirring motor,
The stirring rod extends at least partially into the mixing chamber, baffle is further fixed in the mixing chamber, the baffle is close to institute
The connectivity part for stating charging lumen and the mixing chamber, to prevent the coating in the mixing chamber from flowing back, the mixing chamber
Outer bottom is further fixed on heating chamber, and heating element is fixed in the heating chamber.
Preferably, one end far from the arm body frame is further fixed on support plate, the driving in the arm support
Pump and the nozzle are at least partly fixed on the support plate.
Preferably, the charging lumen and the feed hose form feeding mechanism, and the quantity of the feeding mechanism is many
In three groups.
Preferably, the junction of the arm body frame and the arm support is provided with cover body mechanism.
Preferably, the cover body mechanism includes the first fixed ring being fixed on the arm body frame, is fixed on the hand
The sealing shroud of the second fixed ring and connection first fixed ring and second fixed ring on arm support.
Preferably, the outer surface of the sealing shroud is coated with anti-decaying paint.
According to above-mentioned technical proposal, the present invention provides a kind of arm structure of spray robot, the arm structure packet
The arm body frame and arm support being sequentially arranged are included, rotation is fixed on one end of the arm support in the arm body frame
Rotating motor is fixed with axle sleeve in the arm support on one end of the arm body frame, and the rotary head of the electric rotating machine is extremely
Small part is fixed in the axle sleeve so that the electric rotating machine can drive the arm support to rotate in the horizontal direction, institute
State arm support be hollow-core construction, inside be respectively fixed with mixing chamber and charging lumen, described charging lumen one end with it is described
Mixing chamber is connected, and the other end is communicated with feed hose, and the feed hose extends at least partially into the outer of the arm support
Portion, one end far from the arm body frame is fixed with transfer tube in the arm support, the inlet tube of the transfer tube with it is described
Mixing chamber is connected, and is communicated with nozzle on the outlet tube of the transfer tube, far from the arm support in the arm body frame
One end is also formed with slot, and telescopic cylinder is fixed on arm expansion bracket, and the telescopic rod of the telescopic cylinder is at least partly fixed
In the slot so that the telescopic cylinder can drive the arm body frame close or far from the arm expansion bracket；
The arm structure not only has higher flexibility, meanwhile, which can carry out different coating or auxiliary material pre-
Mixing, is sprayed later, is saved the time being pre-mixed before spraying, is greatly improved work efficiency；In order to enable mixing chamber
Interior coating, solvent and auxiliary material can be preferably uniformly mixed, and the outer wall of the mixing chamber is fixed with stirring motor, the stirring
Stirring rod is coaxially fixed on the rotor of motor, the stirring rod extends at least partially into the mixing chamber, the mixing chamber
It is inside further fixed on baffle, the baffle is close to the connectivity part for feeding lumen and the mixing chamber, to prevent the mixing chamber
Interior coating flows back, and the outer bottom of the mixing chamber is further fixed on heating chamber, and heating element is fixed in the heating chamber.
Other features and advantages of the present invention will be described in detail in subsequent specific embodiment part.
Description of the drawings
Attached drawing is to be used to provide further understanding of the present invention, an and part for constitution instruction, with following tool
Body embodiment is used to explain the present invention together, but is not construed as limiting the invention.In the accompanying drawings：
Fig. 1 is the structure chart of the arm structure of spray robot provided by the invention；
Fig. 2 be spray robot provided by the invention arm structure in mixing chamber structure chart.
Reference sign
1- arm body frame 2- electric rotating machines
3- rotary head 4- axle sleeves
5- arm supports 6- feeds lumen
7- feed hose 8- mixing chambers
9- support plate 10- transfer tubes
11- nozzles the first fixed rings of 12-
13- the second fixed ring 14- sealing shrouds
101- arm expansion bracket 102- slots
103- telescopic cylinder 801- stirring motors
802- stirring rod 803- baffles
804- heating chamber 805- heating elements
Specific implementation mode
The specific implementation mode of the present invention is described in detail below in conjunction with attached drawing.It should be understood that this place is retouched
The specific implementation mode stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
In the present invention, in the absence of explanation to the contrary, the noun of locality that " horizontal direction " etc. is included in the term is only
Represent orientation of the term under normal service condition, or be those skilled in the art understand that be commonly called as, and be not construed as to this
The limitation of term.
As shown in Figs. 1-2：The present invention provides a kind of arm structure of spray robot, the arm structure includes sequentially
The arm body frame 1 and arm support 5 of setting are fixed with rotation in the arm body frame 1 on one end of the arm support 5
Motor 2 is fixed with axle sleeve 4, the rotary head of the electric rotating machine 2 in the arm support 5 on one end of the arm body frame 1
3 are at least partly fixed in the axle sleeve 4 so that the electric rotating machine 2 can drive the arm support 5 to turn in the horizontal direction
Dynamic, the arm support 5 is hollow-core construction, inside be respectively fixed with mixing chamber 8 and charging lumen 6, the charging lumen 6 one
End is connected with the mixing chamber 8, and the other end is communicated with feed hose 7, and the feed hose 7 extends at least partially into the hand
The outside of arm support 5, one end far from the arm body frame 1 in the arm support 5 are fixed with transfer tube 10, the transfer tube
10 inlet tube is connected with the mixing chamber 8, and nozzle 11, the arm body frame are communicated on the outlet tube of the transfer tube 10
One end far from the arm support 5 in 1 is also formed with slot 102, and telescopic cylinder 103, institute are fixed on arm expansion bracket 101
The telescopic rod for stating telescopic cylinder 103 is at least partly fixed in the slot 102 so that the telescopic cylinder 103 can drive
The arm body frame 1 is close or far from the arm expansion bracket 101.The arm structure not only has higher flexibility, together
When, which can be pre-mixed different coating or auxiliary material, be sprayed later, and premix before spraying is saved
It the time of conjunction, greatly improves work efficiency；In order to enable the coating, solvent and auxiliary material in mixing chamber can be mixed preferably
Even, the outer wall of the mixing chamber 8 is fixed with stirring motor 801, and stirring rod is coaxially fixed on the rotor of the stirring motor 801
802, the stirring rod 802 extends at least partially into the mixing chamber 8, and baffle 803, institute are further fixed in the mixing chamber 8
Connectivity part of the baffle 803 close to the charging lumen 6 and the mixing chamber 8 is stated, to prevent the coating in the mixing chamber 8 from occurring
Reflux, the outer bottom of the mixing chamber 8 are further fixed on heating chamber 804, heating element 805 are fixed in the heating chamber 804.
In a kind of preferred embodiment of the present invention, in order to preferably fix transfer tube 10 and nozzle 11, the institute
State one end far from the arm body frame 1 in arm support 5 be further fixed on support plate 9, the transfer tube 10 and the nozzle 11 to
Small part is fixed on the support plate 9.
In a kind of preferred embodiment of the present invention, the mixing of different pigment or solvent auxiliary material for convenience,
The charging lumen 6 and the feed hose 7 form feeding mechanism, and the quantity of the feeding mechanism is no less than three groups.
The present invention a kind of preferred embodiment in, in order to prevent electric rotating machine 2, rotary head 3 and axle sleeve 4 for a long time by
Corrosion, influences its mechanical strength, and the junction of the arm body frame 1 and the arm support 5 is provided with cover body mechanism.
The present invention a kind of preferred embodiment in, in order to prevent electric rotating machine 2, rotary head 3 and axle sleeve 4 for a long time by
Corrosion, influences its mechanical strength, and the cover body mechanism includes the first fixed ring 12 being fixed on the arm body frame 1, fixes
The sealing of the second fixed ring 13 and connection first fixed ring 12 and second fixed ring 13 on the arm support 5
Set 14.
In a kind of preferred embodiment of the present invention, in order to increase the anti-corrosion capability of sealing shroud 14, the sealing
The outer surface of set 14 is coated with anti-decaying paint.
The preferred embodiment of the present invention is described in detail above in association with attached drawing, still, the present invention is not limited to above-mentioned realities
The detail in mode is applied, within the scope of the technical concept of the present invention, a variety of letters can be carried out to technical scheme of the present invention
Monotropic type, these simple variants all belong to the scope of protection of the present invention.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case of shield, can be combined by any suitable means, in order to avoid unnecessary repetition, the present invention to it is various can
The combination of energy no longer separately illustrates.
In addition, various embodiments of the present invention can be combined randomly, as long as it is without prejudice to originally
The thought of invention, it should also be regarded as the disclosure of the present invention.
Claims (6)
1. a kind of arm structure of spray robot, which is characterized in that the arm structure includes the arm body frame being sequentially arranged
(1) and arm support (5), electric rotating machine is fixed on one end of the arm support (5) in the arm body frame (1)
(2), axle sleeve (4), the electric rotating machine (2) are fixed on one end of the arm body frame (1) in the arm support (5)
Rotary head (3) be at least partly fixed in the axle sleeve (4) so that the electric rotating machine (2) can drive the arm support
(5) rotate in the horizontal direction, the arm support (5) be hollow-core construction, inside be respectively fixed with mixing chamber (8) and feed cavity
Manage (6), the charging lumen (6) one end is connected with the mixing chamber (8), and the other end is communicated with feed hose (7), it is described into
Material hose (7) extends at least partially into the outsides of the arm support (5), far from the arm master in the arm support (5)
One end of frame (1) is fixed with transfer tube (10), and the inlet tube of the transfer tube (10) is connected with the mixing chamber (8), described
Nozzle (11) is communicated on the outlet tube of transfer tube (10)；
One end far from the arm support (5) is also formed with slot (102), arm expansion bracket in the arm body frame (1)
(101) telescopic cylinder (103) is fixed on, the telescopic rod of the telescopic cylinder (103) is at least partly fixed on the slot
(102) in so that the telescopic cylinder (103) can drive the arm body frame (1) close or stretch far from the arm
Frame (101)；
The outer wall of the mixing chamber (8) is fixed with stirring motor (801), is coaxially fixed on the rotor of the stirring motor (801)
There are stirring rod (802), the stirring rod (802) to extend at least partially into the mixing chamber (8), in the mixing chamber (8) also
It is fixed with baffle (803), the baffle (803) is close to the connectivity part for feeding lumen (6) and the mixing chamber (8), with resistance
Only the coating in the mixing chamber (8) flows back, and the outer bottom of the mixing chamber (8) is further fixed on heating chamber (804), described
It is fixed with heating element (805) in heating chamber (804).
2. the arm structure of spray robot according to claim 1, which is characterized in that the arm support (5)
In far from one end of the arm body frame (1) be further fixed on support plate (9), the transfer tube (10) and the nozzle (11) at least portion
Divide and is fixed on the support plate (9).
3. the arm structure of spray robot according to claim 1, which is characterized in that the charging lumen (6) and institute
Feed hose (7) composition feeding mechanism is stated, the quantity of the feeding mechanism is no less than three groups.
4. the arm structure of spray robot according to claim 1, which is characterized in that the arm body frame (1) and institute
The junction for stating arm support (5) is provided with cover body mechanism.
5. the arm structure of spray robot according to claim 4, which is characterized in that the cover body mechanism includes fixing
The first fixed ring (12) on the arm body frame (1), the second fixed ring (13) being fixed on the arm support (5) and
Connect the sealing shroud (14) of first fixed ring (12) and second fixed ring (13).
6. the arm structure of spray robot according to claim 5, which is characterized in that the appearance of the sealing shroud (14)
Face is coated with anti-decaying paint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810348366.6A CN108543653A (en) | 2018-04-18 | 2018-04-18 | The arm structure of spray robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810348366.6A CN108543653A (en) | 2018-04-18 | 2018-04-18 | The arm structure of spray robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108543653A true CN108543653A (en) | 2018-09-18 |
Family
ID=63515329
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810348366.6A Withdrawn CN108543653A (en) | 2018-04-18 | 2018-04-18 | The arm structure of spray robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108543653A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2593497A (en) * | 2020-03-25 | 2021-09-29 | Q Bot Ltd | A spray unit for a remotely operable spray apparatus and apparatus for spraying thermally insulative material |
-
2018
- 2018-04-18 CN CN201810348366.6A patent/CN108543653A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2593497A (en) * | 2020-03-25 | 2021-09-29 | Q Bot Ltd | A spray unit for a remotely operable spray apparatus and apparatus for spraying thermally insulative material |
| GB2593497B (en) * | 2020-03-25 | 2022-06-15 | Q Bot Ltd | Robotic device for spraying a thermally insulating material |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180918 |