CN109732560A - A kind of air brushing robot - Google Patents
A kind of air brushing robot Download PDFInfo
- Publication number
- CN109732560A CN109732560A CN201910193825.2A CN201910193825A CN109732560A CN 109732560 A CN109732560 A CN 109732560A CN 201910193825 A CN201910193825 A CN 201910193825A CN 109732560 A CN109732560 A CN 109732560A
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- China
- Prior art keywords
- support arm
- elbow
- bend pipe
- fixedly connected
- arm
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Abstract
The invention discloses a kind of air brushing robots, including print member, active supporting arm, pedestal, the upper end of the active supporting arm is arranged in the print member, the pedestal is connect with the upper end of the active supporting arm, connection is transmitted between the print member and controller, and connection is transmitted between the controller and electronics domain source.The print member includes substrate.The shape of the substrate is elongated.The same face of the substrate is provided with positioning detector, print head, drier.The positioning detector is positioning shooting head.The print head is black and white print head or color print head.The print head is inkjet print head or spray paint print head or spray painting print head.The air brushing robot can directly on the ground, on metope or on ceiling and various can hang on the object of color prints, eliminate the use of wallpaper, the process for eliminating fixed wallpaper and replacing wallpaper greatly reduces printing cost.
Description
Technical field
The present invention relates to a kind of printing device more particularly to a kind of air brushing robots.
Background technique
Outdoor advertising spray-painting image in the prior art is first to be sprayed onto image on wallpaper by large-scale spray drawing machine, then,
There is the wallpaper of image to be fixed on advertising wall air brushing again, on the one hand may require that a large amount of wallpapers in this way, moreover, when advertisement crosses one section
Between after need replacing, cause a large amount of wallpaper to waste.In addition, the fixed installation of large-scale outdoor wallpaper is also time-consuming, cost is very big.
In addition for the mark dial gauge of present traffic, use manual type brush now, half had is robotic more
Only realize that fixed shape mark prints road surface.
Wallpaper is mostly used to carry out beautifying household environment in another present indoor decoration, and ceiling has no idea to realize coloured silk
Color picture decoration.If on the one hand having environmental pollution using wallpaper, still further aspect is not easily accomplished the splicing of perspective view,
Have for wallpaper to be attached on metope again and need working hour, is also not easy to replace.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of air brushing robot, which can be directly on ground
On upper, metope or on ceiling and various can hang on the object of color prints, and eliminates the use of wallpaper, eliminates fixed wall
The process of paper and replacement wallpaper, greatly reduces printing cost.
In order to solve the above-mentioned technical problems, the present invention provides a kind of air brushing robots, including print member, movable supporting
The upper end of the active supporting arm, the upper end of the pedestal and the active supporting arm is arranged in arm, pedestal, the print member
Connection is transmitted in connection between the print member and controller, connection is transmitted between the controller and electronics domain source.
The print member includes substrate.
The shape of the substrate is elongated.
The same face of the substrate is provided with positioning detector, print head, drier.
The positioning detector is positioning shooting head.
The print head is black and white print head or color print head.
The print head is inkjet print head or spray paint print head or spray painting print head.
The detector is electrically connected with the controller.
The print head is electrically connected with the controller.
The drier is electrically connected with the controller.
The active supporting arm includes multiple straight tube support arms and multiple elbows.
It is fixedly connected between the straight tube support arm of adjacent two.Alternatively, two adjacent straight tube support arms it
Between pass through rotation driving part be rotatablely connected.
It is fixedly connected between two adjacent elbows.Alternatively, being driven between two adjacent elbows by rotation
Dynamic component rotation connection.
It is fixedly connected between the adjacent straight tube support arm and the elbow.Alternatively, the adjacent straight tube support arm
It is rotatablely connected between the elbow by rotation driving part.
Described be fixedly connected is welding or threaded connection or riveting or bonding.
Alternatively,
The active supporting arm includes multiple single bend pipe support arms, multiple elbows.Alternatively,
The active supporting arm includes multiple twin elbow support arms, multiple elbows.Alternatively,
The active supporting arm includes multiple single bend pipe support arms, multiple twin elbow support arms, multiple elbows.
One end of one of the list bend pipe support arm, the twin elbow support arm, the elbow and adjacent thereto described
One end of one of single bend pipe support arm, the twin elbow support arm, the elbow is fixedly connected, the list bend pipe support arm, institute
State the other end and single bend pipe support arm adjacent thereto, the twin elbow branch of one of twin elbow support arm, described elbow
The other end of one of brace, the elbow is rotatablely connected by rotation driving part.Alternatively, the list bend pipe support arm, described
One end of one of twin elbow support arm, the elbow and adjacent thereto single bend pipe support arm, the twin elbow support arm,
One end of one of the elbow is fixedly connected, one of the list bend pipe support arm, the twin elbow support arm, described elbow it is another
The other end of one of one end and adjacent thereto single bend pipe support arm, the twin elbow support arm, the elbow is fixed to be connected
It connects.Alternatively, one end of one of the list bend pipe support arm, the twin elbow support arm, described elbow and adjacent thereto described
One end of one of single bend pipe support arm, the twin elbow support arm, the elbow is rotatablely connected by rotation driving part, described
The other end of one of single bend pipe support arm, the twin elbow support arm, the elbow and single bend pipe support adjacent thereto
The other end of one of arm, the twin elbow support arm, the elbow is rotatablely connected by rotation driving part.
The integral piece that the list bend pipe support arm is made of a straight tube support arm and an elbow.Alternatively, the list is curved
Pipe support arm is fixedly connected and is constituted by a straight tube support arm and an elbow.
One elbow is located at one end of a straight tube support arm.
The integral piece that the twin elbow support arm is made of a straight tube support arm and two elbows.Alternatively, described double curved
Pipe support arm is fixedly connected and is constituted by a straight tube support arm and two elbows.
Two elbows are distributed in the both ends of a straight tube support arm.
Two bend pipe mouths of the twin elbow support arm are towards identical.
Described be fixedly connected is to weld or be threadedly coupled or rivet or be bonded or be connected together.
There are two the list bend pipe support arms.
There are two the twin elbow support arms.
There are two the elbows.
There are three the rotation driving parts.
The straight tube mouth of first single bend pipe support arm is connect by bottom rotation driving part with the base rotation.
The bend pipe mouth of first single bend pipe support arm passes through described in first rotation driving part and first
First bend pipe mouth of twin elbow support arm is rotatablely connected.
First bend pipe mouth of second bend pipe mouth of first twin elbow support arm and first elbow it
Between be fixedly connected.
Second bend pipe mouth of first elbow passes through second rotation driving part and second list
The bend pipe mouth of bend pipe support arm is rotatablely connected.
It is fixed between the straight tube mouth of second single bend pipe support arm and first bend pipe mouth of second elbow
Connection.
Second bend pipe mouth of second elbow is described double by the third rotation driving part and second
First bend pipe mouth of bend pipe support arm is rotatablely connected.
Second bend pipe mouth of second twin elbow support arm passes through top rotation driving part and the print member
Substrate rotating connection.
First bend pipe mouth Sidewall Height of first twin elbow support arm is greater than first twin elbow support
Second bend pipe mouth Sidewall Height of arm.
Less than the second twin elbow support of first bend pipe mouth Sidewall Height of second twin elbow support arm
Second bend pipe mouth Sidewall Height of arm.
The orifice configuration of the list bend pipe support arm is rounded or oval or square or rectangular.
The orifice configuration of the twin elbow support arm is rounded or oval or square or rectangular.
The orifice configuration of the elbow is rounded or oval or square or rectangular.
The shape of the active supporting arm is in curved column.Alternatively,
The shape of the active supporting arm is in the bending cone cell of lower thick upper thin.
The rotation driving part includes fixed disc assembly, driving motor, gear reducer, end cap, axial sleeve assembly, shaft coupling
Device, bearing, connecting shaft.
The driving motor is fixedly connected with the fixed disc assembly.
The shape of the fixed disc assembly is rounded or oval or square or rectangular.
The edge of the fixed disc assembly is circumferentially distributed multiple fixed ears.
Multiple fixed ears are respectively arranged with threaded securing bores.
The fixed disc assembly is fixedly connected with the inner wall of the active supporting arm.
The rotation axis of the input shaft of the speed reducer and the driving motor is sequentially connected.
The shell of the speed reducer is fixedly connected with the shell of the driving motor.
One end of the connecting shaft is fixedly and coaxially connected by the output shaft of the shaft coupling and the speed reducer.
The end cap is rotatablely connected by the middle part of the bearing and the connecting shaft.
The shape of the end cap is rounded or oval or square or rectangular.
Multiple fixation holes are distributed in the plate face of the end cap along week.
The end cap is fixedly connected with the end face of the active supporting arm.
The axial sleeve assembly is fixedly connected with the other end of the connecting shaft.
The axial sleeve assembly includes end cap and two support plates.
The end cap and two support plates are coaxially linked together.
Transition fit between two support plates and the inner wall of the active supporting arm.
Multiple fixation holes are distributed in the plate face of the end cap along week.
The plate face of the end cap is provided with reinforcing rib.
The end cap is fixedly connected with the end face of the active supporting arm.
The pedestal includes seat board and flap.
The shape of the seat board is in equilateral triangle.
The shape of the flap is in equilateral triangle.
The flap is fixedly connected with seat board.
The center of the seat board is connect with the bottom rotation driving part.
The bottom rotation driving part includes bottom driving motor and bottom connecting component.
The shell of the bottom driving motor is fixedly connected with the top surface center of the seat board.
The center that the rotation axis of the bottom driving motor passes through the flap is connect with the bottom connecting component coaxial transmission.
The bottom connecting component is fixedly connected with the bottom end of the active supporting arm.
There are three wheel assemblies of walking for the pedestal configuration.
Three traveling wheel components distributions are on three angles of the pedestal.
The walking wheel assembly includes Mike's nurse wheel, connector, wheel drive motor.
The wheel drive motor is fixed on the seat board.
The axis of the wheel drive motor is directed toward on the center line of the seat board.
The rotation axis of the wheel drive motor is connect by the connector with Mike's nurse wheel.
The controller is arranged on the top surface of the seat board.
The top surface of the seat board is provided with battery, ink supply transfer tube, black case.
Black case is connected to by the ink supply transfer tube with the print head.
The top rotation driving part includes top driving motor and top connecting component.
The shell of the top driving motor is fixedly connected with the top of the active supporting arm.
The rotation axis of the top driving motor is connect by the top connecting component with the substrate.
The battery is electrically connected with the controller.
The ink supply transfer tube is electrically connected with the controller.
The driving motor is electrically connected with the controller.
The top driving motor is electrically connected with the controller.
The bottom driving motor is electrically connected with the controller.
The wheel drive motor is electrically connected with the controller.
The top surface of the flap is provided with binocular camera.
The binocular camera is electrically connected with the controller.
Air brushing robot of the invention has the advantages that compared with prior art.
1, the upper end that the active supporting arm is arranged in due to using the print member in the technical program, the pedestal
It is connect with the upper end of the active supporting arm, connection, the controller and electronics is transmitted between the print member and controller
The technological means of connection is transmitted between domain source, so, the air brushing robot can directly on the ground, on metope or ceiling
Upper and various can hang on the object of color prints, and eliminates the use of wallpaper, eliminates fixed wallpaper and replaces the work of wallpaper
Sequence greatly reduces printing cost.
2, the technical program includes substrate due to using the print member；The shape of the substrate is elongated；?
The same face of the substrate is provided with positioning detector, print head, drier；The positioning detector is positioning shooting head；Institute
Stating print head is black and white print head or color print head；The print head is that inkjet print head or spray paint print head or spray painting are beaten
Print head；The detector is electrically connected with the controller；The print head is electrically connected with the controller；The drier and institute
The technological means of controller electrical connection is stated, so, be conducive to the correct printing to drawing, can prevent drop from flowing down.
3, the technical program includes multiple straight tube support arms and multiple elbows due to using the active supporting arm；It is adjacent
Two straight tube support arms between be fixedly connected.Alternatively, being driven between two adjacent straight tube support arms by rotation
Dynamic component rotation connection；It is fixedly connected between two adjacent elbows.Alternatively, passing through between two adjacent elbows
Rotation driving part rotation connection；It is fixedly connected between the adjacent straight tube support arm and the elbow.Alternatively, adjacent institute
It states and is rotatablely connected between straight tube support arm and the elbow by rotation driving part；Described be fixedly connected is that welding or screw thread connect
The technological means for connecing or riveting or be bonded, so, be conducive to design and manufacture.
4, the technical program includes multiple single bend pipe support arms, multiple elbows due to using the active supporting arm；Or
Person, the active supporting arm include multiple twin elbow support arms, multiple elbows；Alternatively, the active supporting arm includes multiple lists
The technological means of bend pipe support arm, multiple twin elbow support arms, multiple elbows, so, be conducive to install.
5, the technical program is due to using one of single bend pipe support arm, the twin elbow support arm, described elbow
One end and one end of one of adjacent thereto single bend pipe support arm, the twin elbow support arm, the elbow fixed connect
It connects, the other end and the list adjacent thereto of one of the list bend pipe support arm, the twin elbow support arm, described elbow are curved
The other end of one of pipe support arm, the twin elbow support arm, the elbow is rotatablely connected by rotation driving part.Alternatively,
One end of one of the list bend pipe support arm, the twin elbow support arm, the elbow and single bend pipe branch adjacent thereto
One end of one of brace, the twin elbow support arm, the elbow is fixedly connected, the list bend pipe support arm, the twin elbow
It is the other end of one of support arm, the elbow and adjacent thereto single bend pipe support arm, the twin elbow support arm, described
The other end of one of elbow is fixedly connected.Alternatively, one of the list bend pipe support arm, the twin elbow support arm, described elbow
One end and one of adjacent thereto single bend pipe support arm, the twin elbow support arm, the elbow one end by turning
Dynamic driving part rotation connection, the other end of one of the list bend pipe support arm, the twin elbow support arm, described elbow and with
The other end of one of its adjacent single bend pipe support arm, the twin elbow support arm, the elbow passes through rotate driving portion
Part rotation connection；The integral piece that the list bend pipe support arm is made of a straight tube support arm and an elbow.Alternatively, the list
Bend pipe support arm is fixedly connected and is constituted by a straight tube support arm and an elbow；One elbow is located at a straight tube
One end of support arm；The integral piece that the twin elbow support arm is made of a straight tube support arm and two elbows.Alternatively, described
Twin elbow support arm is fixedly connected and is constituted by a straight tube support arm and two elbows；Two elbows are distributed in described in one
The both ends of straight tube support arm；Two bend pipe mouths of the twin elbow support arm are towards identical；Described be fixedly connected is welding or spiral shell
Line connection or riveting or bonding or the technological means being connected together, so, a variety of sprays can be produced according to the demand of different clients
Draw robot.
6, the technical program is due to using there are two single bend pipe support arms；There are two the twin elbow support arms；
There are two the elbows；There are three the rotation driving parts；The straight tube mouth of first single bend pipe support arm is turned the bottom of by
Dynamic driving part is connect with the base rotation；The bend pipe mouth of first single bend pipe support arm passes through first rotation
First bend pipe mouth of driving part and first twin elbow support arm is rotatablely connected；First twin elbow support arm
Second bend pipe mouth and first bend pipe mouth of first elbow between be fixedly connected；The second of first elbow
A bend pipe mouth is rotatablely connected by the bend pipe mouth of the single bend pipe support arm of second rotation driving part and second；The
It is fixedly connected between the straight tube mouth and first bend pipe mouth of second elbow of two single bend pipe support arms；Second
Second bend pipe mouth of the elbow pass through the third rotation driving part and second twin elbow support arm the
One bend pipe mouth rotation connection；Second bend pipe mouth of second twin elbow support arm passes through top rotation driving part and institute
The technological means for stating the substrate rotating connection of print member, so, it can be achieved that optimization design to active supporting arm.
7, the technical program is due to big using first bend pipe mouth Sidewall Height of first twin elbow support arm
In second bend pipe mouth Sidewall Height of first twin elbow support arm；First of second twin elbow support arm
Technological means of the bend pipe mouth Sidewall Height less than second bend pipe mouth Sidewall Height of second twin elbow support arm, institute
To be conducive to active supporting arm and curve to the maximum extent, be conducive to reduce space occupied.
8, the technical program due to the orifice configuration for using single bend pipe support arm it is rounded oval or square
Shape or rectangle；The orifice configuration of the twin elbow support arm is rounded or oval or square or rectangular；The elbow
Orifice configuration is rounded or oval or technological means of square or rectangular, so, can produce according to the actual situation
A variety of air brushing robots.
9, the technical program due to use the active supporting arm shape in curved column (active supporting arm it is strong
It spends more uniform)；Alternatively, the shape of the active supporting arm in lower thick upper thin bending cone cell (stability of active supporting arm compared with
Technological means well), so, a variety of air brushing robots can be produced according to different customer demand and actual conditions.
10, the technical program includes fixed disc assembly, driving motor, deceleration due to using the rotation driving part
Machine, end cap, axial sleeve assembly, shaft coupling, bearing, connecting shaft；The driving motor is fixedly connected with the fixed disc assembly；
The shape of the fixed disc assembly is rounded or oval or square or rectangular；The edge of the fixed disc assembly is circumferentially
Multiple fixed ears are distributed with；Multiple fixed ears are respectively arranged with threaded securing bores；The fixed disc assembly and the activity
The inner wall of support arm is fixedly connected；The rotation axis of the input shaft of the speed reducer and the driving motor is sequentially connected；It is described to subtract
The shell of fast machine is fixedly connected with the shell of the driving motor；One end of the connecting shaft is subtracted by the shaft coupling with described
The output shaft of fast machine is fixedly and coaxially connected；The end cap is rotatablely connected by the middle part of the bearing and the connecting shaft；It is described
The shape of end cap is rounded or oval or square or rectangular；Multiple fixations are distributed in the plate face of the end cap along week
Hole；The end cap is fixedly connected with the end face of the active supporting arm；The axial sleeve assembly is another with the connecting shaft
End is fixedly connected；The axial sleeve assembly includes end cap and two support plates；The end cap and two support plates are coaxial
Ground is linked together；Transition fit between two support plates and the inner wall of the active supporting arm；In the plate face of the end cap
Multiple fixation holes are distributed with along week；The plate face of the end cap is provided with reinforcing rib；The end cap and the active supporting arm
The technological means that end face is fixedly connected, so, the installation accuracy of active supporting arm can be improved.
10, the technical program includes seat board and flap due to using the pedestal；The shape of the seat board is in equilateral three
It is angular；The shape of the flap is in equilateral triangle；The technological means that the flap is fixedly connected with seat board, so, be conducive to
Reduce the occupied space of pedestal.
11, the technical program is connect due to using the center of the seat board with the bottom rotation driving part；The bottom
Rotation driving part includes bottom driving motor and bottom connecting component；In the shell of the bottom driving motor and the top surface of the seat board
Centre is fixedly connected；The rotation axis of the bottom driving motor passes through the center of the flap and the bottom connecting component coaxial transmission connects
It connects；The technological means that the bottom connecting component is fixedly connected with the bottom end of the active supporting arm, so, be conducive to movable supporting
Arm balances and stablizes.
12, there are three the technological means of walking wheel assembly due to using pedestal configuration for the technical program, so, have
Conducive to the figure of printing wide format.
13, the technical program is due to using three traveling wheel components distributions on three angles of the pedestal；Institute
Stating walking wheel assembly includes Mike's nurse wheel, connector, wheel drive motor；The wheel drive motor is fixed on the seat board；Institute
The axis for stating wheel drive motor is directed toward on the center line of the seat board；The rotation axis of the wheel drive motor passes through the connector
The technological means being connect with Mike's nurse wheel, so, it is advantageously implemented the displacement movement of degree of precision.
14, the technical program is arranged on the top surface of the seat board due to using the controller；The top of the seat board
Face is provided with battery, ink supply transfer tube, black case；Black case is connected to by the ink supply transfer tube with the print head；The top turns
Dynamic driving part includes top driving motor and top connecting component；The shell of the top driving motor and the top of the active supporting arm
End is fixedly connected；The rotation axis of the top driving motor is connect by the top connecting component with the substrate；The battery with
The controller electrical connection；The ink supply transfer tube is electrically connected with the controller；The driving motor and controller electricity
Connection；The top driving motor is electrically connected with the controller；The bottom driving motor is electrically connected with the controller；The wheel
Driving motor is electrically connected with the controller；The top surface of the flap is provided with binocular camera；The binocular camera and institute
The technological means of controller electrical connection is stated, so, advantageously reduce the whole center of gravity of air brushing robot.
Detailed description of the invention
Air brushing robot of the invention is described in further detail with reference to the accompanying drawings and detailed description.
Fig. 1 is the schematic perspective view after air brushing robot expansion of the invention.
Fig. 2 is the folded schematic perspective view of air brushing robot of the invention.
Fig. 3 is the schematic perspective view in air brushing robot of the invention after rotation driving part assembling.
Fig. 4 is the schematic perspective view in air brushing robot of the invention after rotation driving part decomposition.
Fig. 5 is the schematic perspective view of pedestal in air brushing robot of the invention.
Fig. 6 is the overlooking structure diagram of seat board in air brushing robot of the invention.
Fig. 7 is the attachment structure schematic diagram in air brushing robot of the invention between controller and each component.
The reference numerals are as follows.
1~print member；
1-1~substrate；
1-2~print head；
1-3~drier；
1-4~positioning detector；
2~active supporting arm；
2-0~straight tube support arm；
2-1~mono- bend pipe support arm；
2-2~twin elbow support arm；
2-3~elbow；
2-4~rotation driving part；
2-4-1~fixation disc assembly；
2-4-2~driving motor；
2-4-3~speed reducer；
2-4-4~end cap；
2-4-5~axial sleeve assembly；
2-4-6~shaft coupling；
2-4-7~bearing；
2-4-8~connecting shaft；
2-5~top rotation driving part；
2-5-1~top driving motor；
2-5-2~top connecting component；
2-6~bottom rotation driving part；
2-6-1~bottom driving motor；
2-6-2~bottom connecting component；
3~pedestal；
3-1~seat board；
3-2~flap；
4~walking wheel assembly；
4-1~Mike's nurse wheel；
4-2~connector；
4-3~wheel drive motor；
5~controller；
6~battery；
7~ink supply transfer tube；
8~ink case；
9~binocular camera.
Specific embodiment
As shown in Figures 1 to 7, the present invention provides a kind of air brushing robot, including print member 1, active supporting arm 2, bottom
The upper end of the active supporting arm 2, the upper end of the pedestal 3 and the active supporting arm 2 is arranged in seat 3, the print member 1
Connection is transmitted in connection between the print member 1 and controller 5, connection is transmitted between the controller 5 and electronics domain source.
The upper end of the active supporting arm is arranged in due to using the print member in present embodiment, the pedestal with
The upper end of the active supporting arm connects, and connection, the controller and electronic edition are transmitted between the print member and controller
The technological means of connection is transmitted between figure source, so, the air brushing robot can directly on the ground, on metope or on ceiling
And various can hang on the object of color prints, and eliminates the use of wallpaper, the process for eliminating fixed wallpaper and replacing wallpaper,
Greatly reduce printing cost.
As shown in Figures 1 to 7, the print member 1 includes substrate 1-1.
The shape of the substrate 1-1 is elongated.
The same face of the substrate 1-1 is provided with positioning detector 1-4, print head 1-2, drier 1-3.
The positioning detector 1-4 is positioning shooting head.
The print head 1-2 is black and white print head or color print head.
The print head 1-2 is inkjet print head or spray paint print head or spray painting print head.
The detector 1-4 is electrically connected with the controller 5.
The print head 1-2 is electrically connected with the controller 5.
The drier 1-3 is electrically connected with the controller 5.
Present embodiment includes substrate due to using the print member；The shape of the substrate is elongated；Institute
The same face for stating substrate is provided with positioning detector, print head, drier；The positioning detector is positioning shooting head；It is described
Print head is black and white print head or color print head；The print head is inkjet print head or spray paint print head or spray painting printing
Head；The detector is electrically connected with the controller；The print head is electrically connected with the controller；The drier with it is described
The technological means of controller electrical connection, so, be conducive to the correct printing to drawing, can prevent drop from flowing down.
As shown in Figures 1 to 7, the active supporting arm 2 includes multiple straight tube support arm 2-0 and multiple elbow 2-3.
It is fixedly connected between the straight tube support arm 2-0 of adjacent two.Alternatively, two adjacent straight tube support arms
It is rotatablely connected between 2-0 by rotation driving part 2-4.
It is fixedly connected between the elbow 2-3 of adjacent two.Alternatively, passing through between two adjacent elbow 2-3
Rotation driving part 2-4 rotation connection.
It is fixedly connected between the adjacent straight tube support arm 2-0 and the elbow 2-3.Alternatively, the adjacent straight tube
It is rotatablely connected between support arm 2-0 and the elbow 2-3 by rotation driving part 2-4.
Described be fixedly connected is welding or threaded connection or riveting or bonding.
Present embodiment includes multiple straight tube support arms and multiple elbows due to using the active supporting arm；Adjacent
It is fixedly connected between two straight tube support arms.Alternatively, passing through rotate driving between two adjacent straight tube support arms
Component rotation connection；It is fixedly connected between two adjacent elbows.Alternatively, by turning between two adjacent elbows
Dynamic driving part rotation connection；It is fixedly connected between the adjacent straight tube support arm and the elbow.Alternatively, adjacent is described
It is rotatablely connected between straight tube support arm and the elbow by rotation driving part；Described be fixedly connected is welding or threaded connection
Or the technological means for riveting or being bonded, so, be conducive to design and manufacture.
As shown in Figures 1 to 7, the active supporting arm 2 includes multiple single bend pipe support arm 2-1, multiple elbow 2-3.Or
Person,
The active supporting arm 2 includes multiple twin elbow support arm 2-2, multiple elbow 2-3.Alternatively,
The active supporting arm 2 includes multiple single bend pipe support arm 2-1, multiple twin elbow support arm 2-2, multiple elbow 2-
3。
Present embodiment includes multiple single bend pipe support arms, multiple elbows due to using the active supporting arm；Alternatively,
The active supporting arm includes multiple twin elbow support arms, multiple elbows；Alternatively, the active supporting arm includes multiple single bend pipes
The technological means of support arm, multiple twin elbow support arms, multiple elbows, so, be conducive to install.
As shown in Figures 1 to 7, single bend pipe support arm 2-1, the twin elbow support arm 2-2, the elbow 2-3 it
One of one one end and adjacent thereto single bend pipe support arm 2-1, the twin elbow support arm 2-2, the elbow 2-3's
One end is fixedly connected, the other end of one of the list bend pipe support arm 2-1, the twin elbow support arm 2-2, described elbow 2-3
It is logical with the other end of one of single bend pipe support arm 2-1 adjacent thereto, the twin elbow support arm 2-2, the elbow 2-3
Cross rotation driving part 2-4 rotation connection.Alternatively, the list bend pipe support arm 2-1, the twin elbow support arm 2-2, described curved
One end of one of head 2-3 and single bend pipe support arm 2-1 adjacent thereto, the twin elbow support arm 2-2, the elbow 2-
One of 3 one end is fixedly connected, one of the list bend pipe support arm 2-1, the twin elbow support arm 2-2, described elbow 2-3's
One of the other end and adjacent thereto single bend pipe support arm 2-1, the twin elbow support arm 2-2, the elbow 2-3's is another
One end is fixedly connected.Alternatively, the one of one of the list bend pipe support arm 2-1, the twin elbow support arm 2-2, described elbow 2-3
End and one end of one of single bend pipe support arm 2-1 adjacent thereto, the twin elbow support arm 2-2, the elbow 2-3 are logical
Cross rotation driving part 2-4 rotation connection, the list bend pipe support arm 2-1, the twin elbow support arm 2-2, the elbow 2-3
One of the other end and adjacent thereto single bend pipe support arm 2-1, the twin elbow support arm 2-2, the elbow 2-3 it
One other end is rotatablely connected by rotation driving part 2-4.
The integral piece that the list bend pipe support arm 2-1 is made of a straight tube support arm 2-0 and an elbow.Alternatively, institute
Single bend pipe support arm 2-1 is stated to be fixedly connected and constituted by a straight tube support arm 2-0 and an elbow.
One elbow is located at one end of a straight tube support arm 2-0.
The integral piece that the twin elbow support arm 2-2 is made of a straight tube support arm 2-0 and two elbows.Alternatively, institute
Twin elbow support arm 2-2 is stated to be fixedly connected and constituted by a straight tube support arm 2-0 and two elbows.
Two elbows are distributed in the both ends of a straight tube support arm 2-0.
Two bend pipe mouths of the twin elbow support arm 2-2 are towards identical.
Described be fixedly connected is to weld or be threadedly coupled or rivet or be bonded or be connected together.
Present embodiment is due to using one of single bend pipe support arm, the twin elbow support arm, described elbow
One end is fixedly connected with one end of one of single bend pipe support arm adjacent thereto, the twin elbow support arm, the elbow,
The other end of one of the list bend pipe support arm, the twin elbow support arm, the elbow and single bend pipe adjacent thereto
The other end of one of support arm, the twin elbow support arm, the elbow is rotatablely connected by rotation driving part.Alternatively, institute
The one end and single bend pipe adjacent thereto for stating one of single bend pipe support arm, the twin elbow support arm, described elbow support
One end of one of arm, the twin elbow support arm, the elbow is fixedly connected, the list bend pipe support arm, the twin elbow branch
It is the other end of one of brace, the elbow and adjacent thereto single bend pipe support arm, the twin elbow support arm, described curved
The other end of one of head is fixedly connected.Alternatively, one of the list bend pipe support arm, the twin elbow support arm, described elbow
One end of one of one end and adjacent thereto single bend pipe support arm, the twin elbow support arm, the elbow passes through rotation
Driving part rotation connection, the other end of one of the list bend pipe support arm, the twin elbow support arm, described elbow and and its
The other end of one of adjacent single bend pipe support arm, the twin elbow support arm, the elbow passes through rotation driving part
Rotation connection；The integral piece that the list bend pipe support arm is made of a straight tube support arm and an elbow.Alternatively, the list is curved
Pipe support arm is fixedly connected and is constituted by a straight tube support arm and an elbow；One elbow is located at a straight tube branch
One end of brace；The integral piece that the twin elbow support arm is made of a straight tube support arm and two elbows.Alternatively, described double
Bend pipe support arm is fixedly connected and is constituted by a straight tube support arm and two elbows；Two elbows be distributed in one it is described straight
The both ends of pipe support arm；Two bend pipe mouths of the twin elbow support arm are towards identical；Described be fixedly connected is welding or screw thread
Connection or riveting or bonding or the technological means being connected together, so, a variety of air brushing can be produced according to the demand of different clients
Robot.
As shown in Figures 1 to 7, there are two single bend pipe support arm 2-1.
There are two the twin elbow support arm 2-2.
There are two the elbow 2-3.
There are three the rotation driving part 2-4.
The straight tube mouth of first single bend pipe support arm 2-1 is rotated by bottom rotation driving part 2-6 and the pedestal 3
Connection.
The bend pipe mouth of first single bend pipe support arm 2-1 passes through first rotation driving part 2-4 and first
First bend pipe mouth of a twin elbow support arm 2-2 is rotatablely connected.
First of second bend pipe mouth of first twin elbow support arm 2-2 and first elbow 2-3 is curved
It is fixedly connected between nozzle.
Second bend pipe mouth of first elbow 2-3 passes through second rotation driving part 2-4 and second
The bend pipe mouth rotation connection of the list bend pipe support arm 2-1.
First bend pipe mouth of the straight tube mouth of second single bend pipe support arm 2-1 and second elbow 2-3 it
Between be fixedly connected.
Second bend pipe mouth of second elbow 2-3 passes through the third rotation driving part 2-4 and second
First bend pipe mouth of the twin elbow support arm 2-2 is rotatablely connected.
Second bend pipe mouth of second twin elbow support arm 2-2 is beaten by top rotation driving part 2-5 with described
Print the substrate 1-1 rotation connection of component 1.
Present embodiment is due to using there are two single bend pipe support arms；There are two the twin elbow support arms；Institute
It states there are two elbows；There are three the rotation driving parts；The straight tube mouth of first single bend pipe support arm is rotated the bottom of by
Driving part is connect with the base rotation；The bend pipe mouth of first single bend pipe support arm is driven by first rotation
First bend pipe mouth of dynamic component and first twin elbow support arm is rotatablely connected；First twin elbow support arm
It is fixedly connected between second bend pipe mouth and first bend pipe mouth of first elbow；Second of first elbow
Bend pipe mouth is rotatablely connected by the bend pipe mouth of the single bend pipe support arm of second rotation driving part and second；Second
It is fixedly connected between the straight tube mouth and first bend pipe mouth of second elbow of a single bend pipe support arm；Second institute
Second bend pipe mouth for stating elbow passes through the first of the third rotation driving part and second twin elbow support arm
A bend pipe mouth rotation connection；Second bend pipe mouth of second twin elbow support arm by top rotation driving part with it is described
The technological means of the substrate rotating connection of print member, so, it can be achieved that optimization design to active supporting arm.
As shown in Figures 1 to 7,
First bend pipe mouth Sidewall Height of first twin elbow support arm 2-2 is greater than first twin elbow branch
Second bend pipe mouth Sidewall Height of brace 2-2.
Less than second twin elbow branch of first bend pipe mouth Sidewall Height of second twin elbow support arm 2-2
Second bend pipe mouth Sidewall Height of brace 2-2.
Present embodiment is greater than due to using first bend pipe mouth Sidewall Height of first twin elbow support arm
Second bend pipe mouth Sidewall Height of first twin elbow support arm；First of second twin elbow support arm is curved
Nozzle Sidewall Height less than second bend pipe mouth Sidewall Height of second twin elbow support arm technological means, so,
Be conducive to active supporting arm to curve to the maximum extent, be conducive to reduce space occupied.
As shown in Figures 1 to 7, the orifice configuration of single bend pipe support arm 2-1 it is rounded oval or square or
Rectangle.
The orifice configuration of the twin elbow support arm 2-2 is rounded or oval or square or rectangular.
The orifice configuration of the elbow 2-3 is rounded or oval or square or rectangular.
Present embodiment is rounded oval or square due to the orifice configuration for using single bend pipe support arm
Or rectangle；The orifice configuration of the twin elbow support arm is rounded or oval or square or rectangular；The elbow
Orifice configuration is rounded or oval or technological means of square or rectangular, so, it can produce according to the actual situation more
Kind air brushing robot.
As shown in Figures 1 to 7, the shape of the active supporting arm 2 is in curved column.Alternatively,
The shape of the active supporting arm 2 is in the bending cone cell of lower thick upper thin.
Present embodiment is in the curved column (intensity of active supporting arm due to the shape for using the active supporting arm
It is more uniform)；Alternatively, the shape of the active supporting arm is in the bending cone cell of lower thick upper thin (stability of active supporting arm is preferable)
Technological means, so, a variety of air brushing robots can be produced according to different customer demand and actual conditions.
As shown in Figures 1 to 7, the rotation driving part 2-4 include fixed disc assembly 2-4-1, driving motor 2-4-2,
Speed reducer 2-4-3, end cap 2-4-4, axial sleeve assembly 2-4-5, shaft coupling 2-4-6, bearing 2-4-7, connecting shaft 2-4-8.
The driving motor 2-4-2 is fixedly connected with the fixed disc assembly 2-4-1.
The shape of the fixed disc assembly 2-4-1 is rounded or oval or square or rectangular.
The edge of the fixed disc assembly 2-4-1 is circumferentially distributed multiple fixed ears.
Multiple fixed ears are respectively arranged with threaded securing bores.
The fixed disc assembly 2-4-1 is fixedly connected with the inner wall of the active supporting arm 2.
The rotation axis of the input shaft of the speed reducer 2-4-3 and the driving motor 2-4-2 are sequentially connected.
The shell of the speed reducer 2-4-3 is fixedly connected with the shell of the driving motor 2-4-2.
One end of the connecting shaft 2-4-8 is coaxial by the output shaft of the shaft coupling 2-4-6 and the speed reducer 2-4-3
It is fixedly connected.
The end cap 2-4-4 is rotatablely connected by the middle part of the bearing 2-4-7 and connecting shaft 2-4-8.
The shape of the end cap 2-4-4 is rounded or oval or square or rectangular.
Multiple fixation holes are distributed with along week in the plate face of the end cap 2-4-4.
The end cap 2-4-4 is fixedly connected with the end face of the active supporting arm 2.
The axial sleeve assembly 2-4-5 is fixedly connected with the other end of the connecting shaft 2-4-8.
The axial sleeve assembly 2-4-5 includes end cap and two support plates.
The end cap and two support plates are coaxially linked together.
Transition fit between two support plates and the inner wall of the active supporting arm 2.
Multiple fixation holes are distributed in the plate face of the end cap along week.
The plate face of the end cap is provided with reinforcing rib.
The end cap is fixedly connected with the end face of the active supporting arm 2.
Present embodiment includes fixed disc assembly, driving motor, gear reducer, end due to using the rotation driving part
Lid, axial sleeve assembly, shaft coupling, bearing, connecting shaft；The driving motor is fixedly connected with the fixed disc assembly；It is described
The shape of fixed disc assembly is rounded or oval or square or rectangular；The edge of the fixed disc assembly is circumferentially distributed
There are multiple fixed ears；Multiple fixed ears are respectively arranged with threaded securing bores；The fixed disc assembly and the movable supporting
The inner wall of arm is fixedly connected；The rotation axis of the input shaft of the speed reducer and the driving motor is sequentially connected；The speed reducer
Shell be fixedly connected with the shell of the driving motor；One end of the connecting shaft passes through the shaft coupling and the speed reducer
Output shaft be fixedly and coaxially connected；The end cap is rotatablely connected by the middle part of the bearing and the connecting shaft；The end cap
Shape is rounded or oval or square or rectangular；Multiple fixation holes are distributed in the plate face of the end cap along week；
The end cap is fixedly connected with the end face of the active supporting arm；The axial sleeve assembly and the other end of the connecting shaft are solid
Fixed connection；The axial sleeve assembly includes end cap and two support plates；The end cap and two support plates coaxially connect
It is integrated；Transition fit between two support plates and the inner wall of the active supporting arm；Along week in the plate face of the end cap
On multiple fixation holes are distributed with；The plate face of the end cap is provided with reinforcing rib；The end face of the end cap and the active supporting arm
The technological means being fixedly connected, so, the installation accuracy of active supporting arm can be improved.
As shown in Figures 1 to 7, the pedestal 3 includes seat board 3-1 and flap 3-2.
The shape of the seat board 3-1 is in equilateral triangle.
The shape of the flap 3-2 is in equilateral triangle.
The flap 3-2 is fixedly connected with seat board 3-1.
Present embodiment includes seat board and flap due to using the pedestal；The shape of the seat board is in equilateral triangle
Shape；The shape of the flap is in equilateral triangle；The technological means that the flap is fixedly connected with seat board, so, be conducive to subtract
The occupied space of small footprint.
The center of the seat board 3-1 is connect with the bottom rotation driving part 2-6.
The bottom rotation driving part 2-6 includes bottom driving motor 2-6-1 and bottom connecting component 2-6-2.
The shell of the bottom driving motor 2-6-1 is fixedly connected with the top surface center of the seat board 3-1.
Center and the bottom connecting component 2-6-2 of the rotation axis of the bottom driving motor 2-6-1 across the flap 3-2
Coaxial transmission connection.
The bottom connecting component 2-6-2 is fixedly connected with the bottom end of the active supporting arm 2.
Present embodiment is connect due to using the center of the seat board with the bottom rotation driving part；The bottom rotation
Driving part includes bottom driving motor and bottom connecting component；The shell of the bottom driving motor and the top surface center of the seat board are solid
Fixed connection；The center that the rotation axis of the bottom driving motor passes through the flap is connect with the bottom connecting component coaxial transmission；
The technological means that the bottom connecting component is fixedly connected with the bottom end of the active supporting arm, so, be conducive to active supporting arm
It balances and stablizes.
As shown in Figures 1 to 7, there are three wheel assemblies 4 of walking for the configuration of pedestal 3.
There are three the technological means of walking wheel assembly due to using pedestal configuration for present embodiment, so, favorably
In the figure of printing wide format.
As shown in Figures 1 to 7, three walking wheel assemblies 4 are distributed on three angles of the pedestal 3.
The walking wheel assembly 4 includes Mike's nurse wheel 4-1, connector 4-2, wheel drive motor 4-3.
The wheel drive motor 4-3 is fixed on the seat board 3-1.
The axis of the wheel drive motor 4-3 is directed toward on the center line of the seat board 3-1.
The rotation axis of the wheel drive motor 4-3 is connect by the connector 4-2 with Mike's nurse wheel 4-1.
Present embodiment is due to using three traveling wheel components distributions on three angles of the pedestal；The row
Walking wheel assembly includes Mike's nurse wheel, connector, wheel drive motor；The wheel drive motor is fixed on the seat board；The wheel
The axis of driving motor is directed toward on the center line of the seat board；The rotation axis of the wheel drive motor passes through the connector and institute
The technological means of Mike's nurse wheel connection is stated, so, it is advantageously implemented the displacement movement of degree of precision.
As shown in Figures 1 to 7, the controller 5 is arranged on the top surface of the seat board 3-1.
The top surface of the seat board 3-1 is provided with battery 6, ink supply transfer tube 7, black case 8.
Black case 8 is connected to by the ink supply transfer tube 7 with the print head 1-2.
The top rotation driving part 2-5 includes top driving motor 2-5-1 and top connecting component 2-5-2.
The shell of the top driving motor 2-5-1 is fixedly connected with the top of the active supporting arm 2.
The rotation axis of the top driving motor 2-5-1 is connect by the top connecting component 2-5-2 with the substrate 1-1.
The battery 6 is electrically connected with the controller 5.
The ink supply transfer tube 7 is electrically connected with the controller 5.
The driving motor 2-4-2 is electrically connected with the controller 5.
The top driving motor 2-5-1 is electrically connected with the controller 5.
The bottom driving motor 2-6-1 is electrically connected with the controller 5.
The wheel drive motor 4-3 is electrically connected with the controller 5.
The top surface of the flap 3-2 is provided with binocular camera 9.
The binocular camera 9 is electrically connected with the controller 5.
Present embodiment is arranged on the top surface of the seat board due to using the controller；The top surface of the seat board is set
It is equipped with battery, ink supply transfer tube, black case；Black case is connected to by the ink supply transfer tube with the print head；The top rotation is driven
Dynamic component includes top driving motor and top connecting component；The shell of the top driving motor and the top of the active supporting arm are solid
Fixed connection；The rotation axis of the top driving motor is connect by the top connecting component with the substrate；The battery with it is described
Controller electrical connection；The ink supply transfer tube is electrically connected with the controller；The driving motor is electrically connected with the controller；
The top driving motor is electrically connected with the controller；The bottom driving motor is electrically connected with the controller；The wheel drive
Motor is electrically connected with the controller；The top surface of the flap is provided with binocular camera；The binocular camera and the control
The technological means of device electrical connection processed, so, advantageously reduce the whole center of gravity of air brushing robot.
Claims (10)
1. a kind of air brushing robot, it is characterised in that: described to beat including print member (1), active supporting arm (2), pedestal (3)
Component (1) setting is printed in the upper end of the active supporting arm (2), the upper end company of the pedestal (3) and the active supporting arm (2)
It connects, connection is transmitted between the print member (1) and controller (5), the company of transmission between the controller (5) and electronics domain source
It connects.
2. air brushing robot according to claim 1, it is characterised in that:
The print member (1) includes substrate (1-1)；
The shape of the substrate (1-1) is elongated；
It passes through in the same face of the substrate (1-1) and is disposed with positioning detector (1-4), print head (1-
2), drier (1-3)；
The positioning detector (1-4) is positioning shooting head；
The print head (1-2) is black and white print head or color print head；
The print head (1-2) is inkjet print head or spray paint print head or spray painting print head；
The detector (1-4) is electrically connected with the controller (5)；
The print head (1-2) is electrically connected with the controller (5)；
The drier (1-3) is electrically connected with the controller (5).
3. air brushing robot according to claim 2, it is characterised in that:
The active supporting arm (2) includes multiple straight tube support arms (2-0) and multiple elbows (2-3)；
It is fixedly connected between the straight tube support arm (2-0) of adjacent two；Alternatively, two adjacent straight tube support arms
It is rotatablely connected between (2-0) by rotation driving part (2-4)；
It is fixedly connected between the elbow (2-3) of adjacent two；Alternatively, passing through between two adjacent elbows (2-3)
Rotation driving part (2-4) rotation connection；
It is fixedly connected between the adjacent straight tube support arm (2-0) and the elbow (2-3)；Alternatively, the adjacent straight tube
It is rotatablely connected between support arm (2-0) and the elbow (2-3) by rotation driving part (2-4)；
Described be fixedly connected is welding or threaded connection or riveting or bonding；
Alternatively,
The active supporting arm (2) includes multiple single bend pipe support arms (2-1), multiple elbows (2-3)；Alternatively,
The active supporting arm (2) includes multiple twin elbow support arms (2-2), multiple elbows (2-3)；Alternatively,
The active supporting arm (2) includes multiple single bend pipe support arms (2-1), multiple twin elbow support arms (2-2), multiple elbows
(2-3)；
The list bend pipe support arm (2-1), the twin elbow support arm (2-2), one of the elbow (2-3) one end and and its
One end of one of adjacent single bend pipe support arm (2-1), the twin elbow support arm (2-2), the elbow (2-3) is fixed
Connection, the list bend pipe support arm (2-1), the twin elbow support arm (2-2), one of the elbow (2-3) the other end and
One of adjacent thereto single bend pipe support arm (2-1), the twin elbow support arm (2-2), the elbow (2-3) it is another
End is rotatablely connected by rotation driving part (2-4)；Alternatively, the list bend pipe support arm (2-1), the twin elbow support arm
One end of one of (2-2), the elbow (2-3) and single bend pipe support arm (2-1) adjacent thereto, twin elbow support
One end of one of arm (2-2), the elbow (2-3) is fixedly connected, the list bend pipe support arm (2-1), twin elbow support
The other end of one of arm (2-2), the elbow (2-3) and single bend pipe support arm (2-1) adjacent thereto, the twin elbow
The other end of one of support arm (2-2), the elbow (2-3) is fixedly connected；Alternatively, the list bend pipe support arm (2-1), described
One end of one of twin elbow support arm (2-2), the elbow (2-3) and single bend pipe support arm (2-1) adjacent thereto, institute
The one end for stating one of twin elbow support arm (2-2), described elbow (2-3) is rotatablely connected by rotation driving part (2-4), described
The other end of one of single bend pipe support arm (2-1), the twin elbow support arm (2-2), the elbow (2-3) and adjacent thereto
The other end of one of the list bend pipe support arm (2-1), the twin elbow support arm (2-2), the elbow (2-3) passes through rotation
Driving part (2-4) rotation connection；
The integral piece that the list bend pipe support arm (2-1) is made of a straight tube support arm (2-0) and an elbow；Alternatively, institute
It states single bend pipe support arm (2-1) and is fixedly connected by a straight tube support arm (2-0) with an elbow and constituted；
One elbow is located at one end of a straight tube support arm (2-0)；
The integral piece that the twin elbow support arm (2-2) is made of a straight tube support arm (2-0) and two elbows；Alternatively, institute
It states twin elbow support arm (2-2) and is fixedly connected by a straight tube support arm (2-0) with two elbows and constituted；
Two elbows are distributed in the both ends of a straight tube support arm (2-0)；
Two bend pipe mouths of the twin elbow support arm (2-2) are towards identical；
Described be fixedly connected is to weld or be threadedly coupled or rivet or be bonded or be connected together.
4. air brushing robot according to claim 3, it is characterised in that:
There are two the list bend pipe support arms (2-1)；
There are two the twin elbow support arms (2-2)；
There are two the elbows (2-3)；
There are three the rotation driving parts (2-4)；
The straight tube mouth of first single bend pipe support arm (2-1) is turned by bottom rotation driving part (2-6) and the pedestal (3)
Dynamic connection；
The bend pipe mouth of first single bend pipe support arm (2-1) passes through first rotation driving part (2-4) and first
First bend pipe mouth of a twin elbow support arm (2-2) is rotatablely connected；
First of second bend pipe mouth of first twin elbow support arm (2-2) and first elbow (2-3) is curved
It is fixedly connected between nozzle；
Second bend pipe mouth of first elbow (2-3) passes through second rotation driving part (2-4) and second
The bend pipe mouth rotation connection of the list bend pipe support arm (2-1)；
The straight tube mouth of second single bend pipe support arm (2-1) and first bend pipe mouth of second elbow (2-3) it
Between be fixedly connected；
Second bend pipe mouth of second elbow (2-3) passes through the third rotation driving part (2-4) and second
First bend pipe mouth of the twin elbow support arm (2-2) is rotatablely connected；
Second bend pipe mouth of second twin elbow support arm (2-2) is beaten by top rotation driving part (2-5) with described
Print substrate (1-1) rotation connection of component (1).
5. air brushing robot according to claim 4, it is characterised in that:
First bend pipe mouth Sidewall Height of first twin elbow support arm (2-2) is greater than first twin elbow support
Second bend pipe mouth Sidewall Height of arm (2-2)；
Less than the second twin elbow support of first bend pipe mouth Sidewall Height of second twin elbow support arm (2-2)
Second bend pipe mouth Sidewall Height of arm (2-2).
6. air brushing robot according to claim 5, it is characterised in that:
The list bend pipe support arm (2-1) orifice configuration is rounded or oval or square or rectangular；
The orifice configuration of the twin elbow support arm (2-2) is rounded or oval or square or rectangular；
The orifice configuration of the elbow (2-3) is rounded or oval or square or rectangular.
7. air brushing robot according to claim 6, it is characterised in that:
The shape of the active supporting arm (2) is in curved column；Alternatively,
The shape of the active supporting arm (2) is in the bending cone cell of lower thick upper thin.
8. air brushing robot according to claim 7, it is characterised in that:
The rotation driving part (2-4) include fixed disc assembly (2-4-1), driving motor (2-4-2), speed reducer (2-4-3),
End cap (2-4-4), axial sleeve assembly (2-4-5), shaft coupling (2-4-6), bearing (2-4-7), connecting shaft (2-4-8)；
The driving motor (2-4-2) is fixedly connected with the fixed disc assembly (2-4-1)；
The shape of the fixed disc assembly (2-4-1) is rounded or oval or square or rectangular；
The edge of the fixed disc assembly (2-4-1) is circumferentially distributed multiple fixed ears；
Multiple fixed ears are respectively arranged with threaded securing bores；
The fixed disc assembly (2-4-1) is fixedly connected with the inner wall of the active supporting arm (2)；
The input shaft of the speed reducer (2-4-3) and the rotation axis of the driving motor (2-4-2) are sequentially connected；
The shell of the speed reducer (2-4-3) is fixedly connected with the shell of the driving motor (2-4-2)；
One end of the connecting shaft (2-4-8) is same by the shaft coupling (2-4-6) and the output shaft of the speed reducer (2-4-3)
Axis is fixedly connected；
The end cap (2-4-4) is rotatablely connected by the middle part of the bearing (2-4-7) and the connecting shaft (2-4-8)；
The shape of the end cap (2-4-4) is rounded or oval or square or rectangular；
Multiple fixation holes are distributed with along week in the plate face of the end cap (2-4-4)；
The end cap (2-4-4) is fixedly connected with the end face of the active supporting arm (2)；
The axial sleeve assembly (2-4-5) is fixedly connected with the other end of the connecting shaft (2-4-8)；
The axial sleeve assembly (2-4-5) includes end cap and two support plates；
The end cap and two support plates are coaxially linked together；
Transition fit between two support plates and the inner wall of the active supporting arm (2)；
Multiple fixation holes are distributed in the plate face of the end cap along week；
The plate face of the end cap is provided with reinforcing rib；
The end cap is fixedly connected with the end face of the active supporting arm (2).
9. air brushing robot according to claim 8, it is characterised in that:
The pedestal (3) includes seat board (3-1) and flap (3-2)；
The shape of the seat board (3-1) is in equilateral triangle；
The shape of the flap (3-2) is in equilateral triangle；
The flap (3-2) is fixedly connected with seat board (3-1)；
The center of the seat board (3-1) is connect with the bottom rotation driving part (2-6)；
The bottom rotation driving part (2-6) includes bottom driving motor (2-6-1) and bottom connecting component (2-6-2)；
The shell of the bottom driving motor (2-6-1) is fixedly connected with the top surface center of the seat board (3-1)；
Center and the bottom connecting component (2-6- of the rotation axis of the bottom driving motor (2-6-1) across the flap (3-2)
2) coaxial transmission connects；
The bottom connecting component (2-6-2) is fixedly connected with the bottom end of the active supporting arm (2)；
There are three walk wheel assembly (4) for pedestal (3) configuration；
Three walkings wheel assembly (4) are distributed on three angles of the pedestal (3)；
The walking wheel assembly (4) includes Mike's nurse wheel (4-1), connector (4-2), wheel drive motor (4-3)；
The wheel drive motor (4-3) is fixed on the seat board (3-1)；
The axis of the wheel drive motor (4-3) is directed toward on the center line of the seat board (3-1)；
The rotation axis of the wheel drive motor (4-3) is connect by the connector (4-2) with Mike's nurse wheel (4-1).
10. air brushing robot according to claim 9, it is characterised in that:
The controller (5) is arranged on the top surface of the seat board (3-1)；
The top surface of the seat board (3-1) is provided with battery (6), ink supply transfer tube (7), black case (8)；
Black case (8) is connected to by the ink supply transfer tube (7) with the print head (1-2)；
The top rotation driving part (2-5) includes top driving motor (2-5-1) and top connecting component (2-5-2)；
The shell of top driving motor (2-5-1) is fixedly connected with the top of the active supporting arm (2)；
The rotation axis of top driving motor (2-5-1) is connected by the top connecting component (2-5-2) and the substrate (1-1)
It connects；
The battery (6) is electrically connected with the controller (5)；
The ink supply transfer tube (7) is electrically connected with the controller (5)；
The driving motor (2-4-2) is electrically connected with the controller (5)；
The top driving motor (2-5-1) is electrically connected with the controller (5)；
The bottom driving motor (2-6-1) is electrically connected with the controller (5)；
The wheel drive motor (4-3) is electrically connected with the controller (5)；
The top surface of the flap (3-2) is provided with binocular camera (9)；
The binocular camera (9) is electrically connected with the controller (5).
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| CN201910193825.2A CN109732560A (en) | 2019-03-14 | 2019-03-14 | A kind of air brushing robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910193825.2A CN109732560A (en) | 2019-03-14 | 2019-03-14 | A kind of air brushing robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110271363A (en) * | 2019-06-24 | 2019-09-24 | 河北科技大学 | Military wall camouflage color air brushing robot |
| IT201900021651A1 (en) * | 2019-11-19 | 2021-05-19 | Carlo Rovatti | ROBOTIC DEVICE FOR DECORATION OF COVERING ELEMENTS FOR FLOORS, WALLS AND / OR CEILINGS AND RELATIVE SYSTEM AND PROCEDURE |
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| CN110271363B (en) * | 2019-06-24 | 2021-06-04 | 河北科技大学 | Military wall camouflage painting robot |
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