CN109605392B - Multi-joint parallel spraying robot - Google Patents
Multi-joint parallel spraying robot Download PDFInfo
- Publication number
- CN109605392B CN109605392B CN201910007397.XA CN201910007397A CN109605392B CN 109605392 B CN109605392 B CN 109605392B CN 201910007397 A CN201910007397 A CN 201910007397A CN 109605392 B CN109605392 B CN 109605392B
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- China
- Prior art keywords
- spraying
- joint
- horizontal installation
- spraying robot
- fixedly connected
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Classifications
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
- B25J19/0083—Means for protecting the manipulator from its environment or vice versa using gaiters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Spray Control Apparatus (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a multi-joint parallel spraying robot which comprises a spraying robot body, wherein a horizontal installation shell is arranged at the top of the right surface of the spraying robot body, the spraying robot body is of an integrated structure of a spraying robot and a spraying cabinet, the occupied space is small, an internal installation groove is used for placing a powder spraying pipe and electric wiring, the electric wiring and the powder spraying pipe penetrate through the inside, the outside is good in integrity, the whole layout is reasonable, clean and tidy, the multi-joint spraying mechanism is completely isolated from dust through an integrated flexible dust cover wrapped on the outside of the multi-joint spraying mechanism, the dust prevention effect is good, in addition, the angle deflection, the axial expansion and the radial small-angle rotation of each joint unit can be realized through adjusting the position of a nut on a screw rod, the axial expansion height is 24mm, the radial small-angle rotation is 35 degrees, the multi-azimuth spraying operation is realized, the flexibility is high, and the adaptability is strong.
Description
Technical Field
The invention relates to the technical field of spraying robots, in particular to a multi-joint parallel spraying robot.
Background
The spraying robot is an industrial robot capable of automatically spraying paint or spraying other paint, and mainly comprises a robot body, a computer and a corresponding control system, wherein the existing spraying equipment mainly comprises a manual spraying device, a multi-joint robot and an automatic spraying device, however, the existing spraying robot has some problems, the existing spraying robot occupies a larger space, a spraying cloth pipe and an electric wire are arranged outside the spraying robot and are exposed in an external dust environment for a long time, the layout is messy, the equipment cleaning is not easy, the dustproof effect is poor, in addition, the flexibility of adjusting the spraying angle of the spraying robot is poor, and the spraying effect is influenced.
Disclosure of Invention
The invention aims to provide a multi-joint parallel spraying robot which aims to solve the problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides a parallelly connected spraying robot of many joints, includes the spraying robot body, the right surface top of spraying robot body is equipped with horizontal installation casing, the lower surface mounting of horizontal installation casing has many joints spraying mechanism, many joints spraying mechanism includes six joint units, the upper end the up end of joint unit pass through the bolt with horizontal installation casing is connected, the lower extreme the shower nozzle is installed to the lower terminal surface of joint unit, the feed end intercommunication of shower nozzle has the one end of powder pipe, the other end of powder pipe runs through six joint units with horizontal installation casing is connected, the lateral wall parcel of many joints spraying structure has flexible dust cover, the up end of flexible dust cover with horizontal installation casing fixed connection, the lower terminal surface of flexible dust cover with shower nozzle fixed connection;
six the joint unit all includes circular mounting panel, the even integrated into one piece of lateral wall of circular mounting panel has three rectangle mounting panel, the lower surface middle part of circular mounting panel runs through there is the internally mounted groove, the lower surface of rectangle mounting panel all has first fixed block through bolted connection, the lower surface middle part of first fixed block runs through there is spherical groove, the rotation is connected with first universal bulb in the spherical groove, the lower terminal surface integrated into one piece of first universal bulb has the one end of head rod, the other end of head rod extends first fixed block fixed mounting has driving motor, driving motor's output fixedly connected with lead screw's one end, threaded connection has the nut on the lead screw, the outside wall fixedly connected with telescopic one end of nut, telescopic other end fixedly connected with second connecting rod's one end, the other end integrated into one piece of second connecting rod has the second universal bulb, the upper surface of rectangle mounting panel just is located the below of second universal bulb is connected with the second fixed block through bolted connection, the upper surface middle part of second fixed block has the spherical groove, the rotation has the spherical groove.
Preferably, the driving motor is a servo motor.
Preferably, the diameters of the circular mounting plate and the inner mounting groove are sequentially reduced from top to bottom.
Preferably, a powder supply cylinder is arranged in the spraying robot body, a storage cavity is arranged in the horizontal installation shell, and a pipeline is communicated between the powder supply cylinder and the storage cavity.
Preferably, a sleeve cover is fixedly connected to the upper end face of the sleeve and located above the nut.
Compared with the prior art, the invention has the beneficial effects that: the spraying robot body is the integrated integral structure of spraying robot and spraying cabinet, occupation space is less, the internally mounted groove is used for placing powder spraying pipe and electric wiring, make electric wiring and powder spraying pipe pass from inside, outside wholeness is good, whole overall arrangement is reasonable, clean and tidy, and through the flexible dust cover of the integral type of the outside parcel of multi-joint spraying mechanism, make multi-joint spraying mechanism and dust keep apart completely, it is dustproof effectual, in addition, every joint unit is individual control then parallelly connected in the multi-joint spraying mechanism, thereby realize the angle deflection of each joint unit through adjusting nut position on the lead screw, axial flexible and radial little angle rotation, wherein every joint unit can realize that the angle deflection is 24, axial flexible height is 24mm, radial little angle rotation is 35, realize diversified spraying operation, the flexibility is high, and adaptability is strong.
Drawings
FIG. 1 is a schematic diagram of a front view of the present invention;
FIG. 2 is a schematic view of a multi-joint spray mechanism according to the present invention;
FIG. 3 is a schematic view of the enlarged partial structure of FIG. 2A;
FIG. 4 is a schematic top view of a circular mounting plate and three rectangular mounting plates of the present invention;
fig. 5 is a schematic diagram of the front view of the internal structure of the screw and sleeve of the present invention.
In the figure: the spraying robot comprises a 1-spraying robot body, a 2-horizontal mounting shell, a 3-multi-joint spraying mechanism, a 302-spray head, a 303-powder spraying pipe, a 4-flexible dust cover, a 5-round mounting plate, 6-three rectangular mounting plates, 7-internal mounting grooves, 8-first fixing blocks, 9-ball grooves, 10-first universal ball heads, 11-first connecting rods, 12-driving motors, 13-lead screws, 14-nuts, 15-sleeves, 16-second connecting rods, 17-second universal ball heads, 18-second fixing blocks, 19-powder supply cylinders, 20-storage cavities and 21-sleeve covers.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-5, the present invention provides a technical solution: the utility model provides a parallelly connected spraying robot of many joints, includes spraying robot body 1, spraying robot body is there is a spraying robot and a spraying cabinet integrated overall structure, spraying robot body's right surface top is equipped with horizontal installation casing 2, the lower surface mounting of horizontal installation casing has many joints spraying mechanism 3, many joints spraying mechanism includes six joint units, this structure is similar to the trunk structure, and the flexibility is high, and the adaptability is strong, the upper end the up end of joint unit passes through the bolt and is connected with horizontal installation casing, the lower extreme the shower nozzle 302 is installed to the lower terminal surface of joint unit, the feed end intercommunication of shower nozzle has the one end of powder pipe 303, the other end of powder pipe runs through six joint unit with horizontal installation casing is connected, the lateral wall parcel of many joints spraying structure has flexible dust cover 4, adopts the flexible dust cover of integral type, makes many joints spraying mechanism and dust completely keep apart, the dust proof effect is good, the up end of flexible dust cover and horizontal installation casing are fixed connection, the lower terminal surface of flexible dust cover with the shower nozzle is fixed connection.
Six the joint units all include circular mounting panel 5, the even integrated into one piece of lateral wall of circular mounting panel has three rectangle mounting panel 6, the lower surface middle part of circular mounting panel runs through has internal mounting groove 7, and internal mounting groove is used for placing powder spraying pipe and electric wiring, makes electric wiring pass from inside, and overall layout is reasonable, clean and tidy, the lower surface of rectangle mounting panel all has first fixed block 8 through bolted connection, the lower surface middle part of first fixed block runs through has spherical groove 9, the rotation is connected with first universal bulb 10 in the spherical groove, carries out the multi-angle deflection along with lead screw and telescopic positional relationship through spherical groove and first universal bulb, the lower terminal surface integrated into one end of first universal bulb has the one end of first connecting rod 11, the other end of first connecting rod extends first fixed block fixed mounting has driving motor 12, the driving motor is a motor with smaller power, and can lighten dead weight load, in addition, the multi-joint spraying mechanism mainly adopts aluminum magnesium alloy, is of light weight design, reduces motor load, the output end of the driving motor is fixedly connected with one end of a screw rod 13, a nut 14 is connected to the screw rod in a threaded manner, one end of a sleeve 15 is fixedly connected to the outer side wall of the nut, the position of the nut on the screw rod is adjusted by controlling the screw rod to rotate forwards and backwards through the driving motor, so that the position of the sleeve fixedly connected with the nut and the position of the screw rod are adjusted, one end of a second connecting rod 16 is fixedly connected to the other end of the sleeve, a second universal ball head 17 is integrally formed at the other end of the second connecting rod, a second fixing block 18 is connected to the upper surface of the rectangular mounting plate and positioned below the second universal ball head through a bolt, a spherical groove is formed in the middle of the upper surface of the second fixing block, the spherical groove is rotationally connected with a second universal ball head, and the spherical groove and the second universal ball head deflect at multiple angles along with the position relation of the screw rod and the sleeve.
Specifically, the driving motor is a servo motor, and the servo motor has good precision.
Specifically, the diameters of the circular mounting plate and the internal mounting groove are sequentially reduced from top to bottom.
Specifically, the inside of spraying robot body is equipped with a powder supply section of thick bamboo 19, the inside of horizontal installation casing is equipped with storage chamber 20, the intercommunication has the pipeline between powder supply section of thick bamboo and the storage chamber.
Specifically, a sleeve cover 21 is fixedly connected to the upper end face of the sleeve and located above the nut, and the nut is completely wrapped in the sleeve through the sleeve cover.
Working principle: the invention provides a multi-joint parallel spraying robot, which is characterized in that spraying powder is injected into a powder supply cylinder in a spraying robot body, the spraying powder in the powder supply cylinder is conveyed into a storage cavity in a horizontal installation shell through a feed pump, a powder spraying pipe is communicated with the storage cavity, the spraying powder can enter a spray head along the powder spraying pipe and is sprayed out along the spray head to realize spraying, a multi-joint spraying mechanism is controlled by a control system of the spraying robot body to work, each joint unit is independently controlled and then connected in parallel, each joint unit comprises three driving motors, the corresponding screw is driven to rotate through each driving motor, and the position of a nut on the screw is adjusted so as to realize the angular deflection, axial expansion and radial small-angle rotation of each joint unit, wherein the angular deflection of each joint unit is 24 degrees, the axial expansion height of each joint unit is 24mm, and the radial small-angle rotation of each joint unit is 35 degrees, so that multidirectional spraying operation is realized.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. The multi-joint parallel spraying robot comprises a spraying robot body (1) and is characterized in that a horizontal installation shell (2) is arranged at the top of the right surface of the spraying robot body (1), a multi-joint spraying mechanism (3) is installed on the lower surface of the horizontal installation shell (2), the multi-joint spraying mechanism (3) comprises six joint units, the upper end faces of the joint units are connected with the horizontal installation shell (2) through bolts, a spray head (302) is installed on the lower end faces of the joint units, the feeding end of the spray head (302) is communicated with one end of a powder spraying pipe (303), the other end of the powder spraying pipe (303) penetrates through the six joint units to be connected with the horizontal installation shell (2), a flexible dust cover (4) is wrapped on the outer side wall of the multi-joint spraying structure (3), the upper end faces of the flexible dust cover (4) are fixedly connected with the horizontal installation shell (2), and the lower end faces of the flexible dust cover (4) are fixedly connected with the spray head (302);
six joint units all include circular mounting panel (5), the even integrated into one piece of lateral wall of circular mounting panel (5) has three rectangle mounting panel (6), the lower surface middle part of circular mounting panel (5) runs through there is internally mounted groove (7), the lower surface of rectangle mounting panel (6) all has first fixed block (8) through the bolted connection, the lower surface middle part of first fixed block (8) runs through there is spherical groove (9), spherical groove (9) rotation is connected with first universal bulb (10), the lower terminal surface integrated into one piece of first universal bulb (10) has the one end of head rod (11), the other end of head rod (11) extends first fixed block (8) fixed mounting has driving motor (12), the one end of driving motor (12) output fixedly connected with lead screw (13), threaded connection has ball head (14) on lead screw (13), the one end of outer lateral wall fixedly connected with sleeve (15) of nut (14), the other end fixedly connected with second connecting rod (16) of sleeve (15) has the one end of head rod (16), the other end of head rod (16) is located like the second square (17) is located on the second fixed plate (17) of connecting rod (17), the middle part of the upper surface of the second fixed block (18) is penetrated with a spherical groove (9), and the spherical groove (9) is rotationally connected with a second universal ball head (17).
2. A multi-joint parallel painting robot according to claim 1, characterized in that: the driving motor (12) is a servo motor.
3. A multi-joint parallel painting robot according to claim 1, characterized in that: the diameters of the circular mounting plate (5) and the inner mounting groove (7) are sequentially reduced from top to bottom.
4. A multi-joint parallel painting robot according to claim 1, characterized in that: the spraying robot is characterized in that a powder supply cylinder (19) is arranged in the spraying robot body (1), a storage cavity (20) is arranged in the horizontal installation shell (2), and a pipeline is communicated between the powder supply cylinder (19) and the storage cavity (20).
5. A multi-joint parallel painting robot according to claim 1, characterized in that: and a sleeve cover (21) is fixedly connected to the upper end surface of the sleeve (15) and positioned above the nut (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910007397.XA CN109605392B (en) | 2019-01-04 | 2019-01-04 | Multi-joint parallel spraying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910007397.XA CN109605392B (en) | 2019-01-04 | 2019-01-04 | Multi-joint parallel spraying robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109605392A CN109605392A (en) | 2019-04-12 |
| CN109605392B true CN109605392B (en) | 2023-09-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910007397.XA Active CN109605392B (en) | 2019-01-04 | 2019-01-04 | Multi-joint parallel spraying robot |
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| CN (1) | CN109605392B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112959303B (en) * | 2021-02-07 | 2023-08-01 | 曲阜师范大学 | 5G-based shell structure of service robot |
| CN114851180A (en) * | 2022-04-08 | 2022-08-05 | 江苏科技大学 | Modularized robot for paint spraying and rust removing of ship and control method thereof |
| CN115213032B (en) * | 2022-07-15 | 2023-10-27 | 江苏科技大学 | Bionic image spraying robot and spraying control method |
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| JP2000046140A (en) * | 1998-07-31 | 2000-02-18 | Yaskawa Electric Corp | Motor-operated cylinder and parallel link robot |
| CN1647890A (en) * | 2005-02-06 | 2005-08-03 | 燕山大学 | Adjustable three freedom shunt robot mechanism with passive constrain branch |
| CN202765090U (en) * | 2012-09-12 | 2013-03-06 | 上海大学 | Automatic steering device of searching and rescuing robot |
| CN102990645A (en) * | 2012-12-04 | 2013-03-27 | 汕头大学 | Bionic proboscis robot |
| CN108098784A (en) * | 2017-12-15 | 2018-06-01 | 长沙志唯电子科技有限公司 | Aircraft wing drilling and milling robot |
| CN108214474A (en) * | 2018-03-08 | 2018-06-29 | 南京航空航天大学 | A kind of Bionic flexible mechanical arm towards narrow operating in limited space |
| CN209408502U (en) * | 2019-01-04 | 2019-09-20 | 杭州龙盛工贸有限公司 | A kind of multi-joint parallel connection spray robot |
-
2019
- 2019-01-04 CN CN201910007397.XA patent/CN109605392B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000046140A (en) * | 1998-07-31 | 2000-02-18 | Yaskawa Electric Corp | Motor-operated cylinder and parallel link robot |
| CN1647890A (en) * | 2005-02-06 | 2005-08-03 | 燕山大学 | Adjustable three freedom shunt robot mechanism with passive constrain branch |
| CN202765090U (en) * | 2012-09-12 | 2013-03-06 | 上海大学 | Automatic steering device of searching and rescuing robot |
| CN102990645A (en) * | 2012-12-04 | 2013-03-27 | 汕头大学 | Bionic proboscis robot |
| CN108098784A (en) * | 2017-12-15 | 2018-06-01 | 长沙志唯电子科技有限公司 | Aircraft wing drilling and milling robot |
| CN108214474A (en) * | 2018-03-08 | 2018-06-29 | 南京航空航天大学 | A kind of Bionic flexible mechanical arm towards narrow operating in limited space |
| CN209408502U (en) * | 2019-01-04 | 2019-09-20 | 杭州龙盛工贸有限公司 | A kind of multi-joint parallel connection spray robot |
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| CN109605392A (en) | 2019-04-12 |
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