CN110538748A

CN110538748A - industrial paint spraying robot with adjusting function

Info

Publication number: CN110538748A
Application number: CN201910807925.XA
Authority: CN
Inventors: 张娟娟; 吕军海; 张军玲
Original assignee: Nanjing Yuzhi Intelligent Technology Co Ltd
Current assignee: Meichuang United Electronics (Huizhou) Co.,Ltd.
Priority date: 2019-08-29
Filing date: 2019-08-29
Publication date: 2019-12-06
Anticipated expiration: 2039-08-29
Also published as: CN110538748B

Abstract

The invention discloses an industrial paint spraying robot with an adjusting function, and relates to the technical field of industrial robots. The invention comprises a base and a mechanical arm, wherein a rotating frame is arranged at the end part of the mechanical arm; four spraying claws are arranged on the rotating frame through two groups of adjusting mechanisms; the spraying claw is provided with a spray head; the spraying claw is hinged with an auxiliary spraying claw through a first telescopic rod; the auxiliary spray claw is provided with a spray head. The robot arm is driven by the second telescopic rod to control and adjust the motion of the parallelogram connecting rod mechanism, so that the opening and closing degree of the four spraying claws is adjusted, and multi-angle spraying is simultaneously carried out on a special-shaped workpiece to be processed through a plurality of spray heads, so that joint abrasion caused by the fact that the wrist part of the robot rotates all the time is avoided, the processing efficiency is effectively improved, and the service life of the robot is prolonged; the relative position between supplementary spout claw and the spraying claw is adjusted through first telescopic link, can treat the processing demand of machined part according to the dysmorphism, selects to assist the shower nozzle of spouting on the claw to carry out the spraying, improves the nimble degree of this robot.

Description

Industrial paint spraying robot with adjusting function

Technical Field

The invention belongs to the technical field of industrial robots, and particularly relates to an industrial paint spraying robot with an adjusting function.

Background

the painting robot is an industrial robot that can perform automatic painting or other paint spraying. The wrist joint type structure with 5 or 6 degrees of freedom is adopted, the arm has a larger motion space and can do complex track motion, and the wrist part of the wrist joint type structure generally has 2 to 3 degrees of freedom and can flexibly move. The paint spraying robot is generally driven by hydraulic pressure and has the characteristics of high action speed, good explosion-proof performance and the like.

The painting robot can replace the manual work to carry out the spraying to the work piece, let people keep away from the spraying scene, prevent that people from suffering from occupational disease, current painting robot is when carrying out the spraying to special-shaped part, relatively is difficult to realize that the multi-angle sprays paint comprehensively, and painting industrial robot can not be independent completion sprays paint to the multi-angle of a product, needs a plurality of industrial robot cooperations or to the multi-angle removal of robot to spray paint, has reduced the efficiency of spraying paint.

an industrial painting robot with an adjustment function is provided to solve the above problems.

disclosure of Invention

the invention aims to provide an industrial paint spraying robot with an adjusting function, which can adjust the opening and closing degree of a spraying claw through an adjusting mechanism to spray special-shaped parts in multiple positions and improve the spraying efficiency.

In order to solve the technical problems, the invention is realized by the following technical scheme:

The invention relates to an industrial paint spraying robot with an adjusting function, which comprises a base, wherein a plurality of mechanical arms which are mutually hinged are arranged on the base, the base is arranged on a supporting frame, and the supporting frame is arranged on a plurality of tripods in a sliding manner; a support is rotatably arranged on the support frame, and a rotating arm is arranged on the support; both ends of the rotating arm are rotatably provided with a rotating disc; a plurality of channels are arranged on the rotary table in a criss-cross manner; a rotating frame is arranged at the end part of the mechanical arm; four spraying claws are arranged on the rotating frame through two groups of adjusting mechanisms; each spraying claw is provided with a plurality of spray heads; the spraying claw is an arc-shaped plate, and an auxiliary spraying claw is hinged to the spraying claw through a first telescopic rod; the auxiliary spraying claw is provided with the spray heads which are arranged in multiple directions, so that the auxiliary spraying claw can be used for conveniently using the shape selectivity of the workpiece to be processed according to the difference, the opening and closing degree of the spraying claw is adjustable, and the special-shaped parts are sprayed in multiple positions, so that the spraying efficiency is improved.

Furthermore, a connecting plate is arranged at the center of the tripod, and a vertical sliding groove is formed in the connecting plate; an adjusting knob extending to the sliding groove is mounted on the connecting plate, the supporting frame is of a rectangular frame structure, and supporting legs are arranged below the rectangular frame; the landing leg runs through the spout on the tripod to it is fixed through adjust knob, be convenient for adjust the height of support frame, be applicable to the cooperation and use not co-altitude last unloading mechanism.

furthermore, the turntable is of a disc structure, the turntable is mounted on a rotating table, and the rotating table is rotatably arranged on the support frame; an annular liquid storage tank is arranged on the rotary table, and a liquid discharge pipe communicated with the liquid storage tank is arranged on one side of the rotary table; the liquid storage tank is communicated with the channel, so that the turntable can be cleaned and maintained conveniently, and the channel plays a role in skid resistance, so that the risk of sliding down parts is reduced.

Further, the number of the mechanical arms is six, four or eight, and the mechanical arms are driven by hydraulic control or pneumatic control; the maximum working length of the mechanical arm determines the farthest distance which can be reached by the tail end of the mechanical arm, and the telescopic mechanical arm can be directly driven by a hydraulic cylinder.

furthermore, the rotating frame is a rectangular frame, three lugs are arranged on two opposite sides of the rotating frame in an array mode, the wrist has independent degrees of freedom due to the arrangement of the rotating frame, and the wrist can be designed to rotate, swing up and down and swing left and right.

Furthermore, one end of the spraying claw is provided with a connecting rod, and the side wall of the connecting rod is provided with a first connecting lug; a second connecting lug is arranged on the outer side wall of the other end of the spraying claw; the spray heads on the spraying claw are arranged in an array along the arc-shaped inner side wall of the spraying claw, one side of the auxiliary spraying claw is arranged on the spraying claw through a connecting shaft, and the other side of the auxiliary spraying claw is rotatably connected with the spraying claw in a mode that a first telescopic rod is matched with a second connecting lug; the adjusting mechanisms are divided into two groups, and each group of adjusting mechanism comprises a second telescopic rod, four first connecting rods and two second connecting rods; the four first connecting rods are hinged to form a parallelogram connecting rod mechanism; one end of the second connecting rod is rotatably connected with the rotating frame through a butt lug, and the other end of the second connecting rod is rotatably connected with the spraying claw through a first connecting lug; one end of the second telescopic rod is fixed on the rotating frame, the other end of the second telescopic rod is connected with a hinge point of the parallelogram link mechanism, the motion of the parallelogram link mechanism is controlled by the extension and contraction of the second telescopic rod, and two hinge points on a diagonal line of the parallelogram link mechanism are respectively hinged with a connecting rod on a spraying claw; the other hinge point of the parallelogram link mechanism is rotatably arranged on the rotating frame through a rotating shaft, the opening and closing degrees between the four spraying claws are adjusted through the adjusting mechanism, and the relative positions of the auxiliary spraying claws and the spraying claws are adjusted through the first telescopic rod, so that the device is suitable for spraying different parts.

the invention has the following beneficial effects:

1. The robot arm is driven by the second telescopic rod to control and adjust the motion of the parallelogram link mechanism, so that the opening and closing degree of the four spraying claws is adjusted, a plurality of nozzles arranged on the inner sides of the arc spraying claws can be used for simultaneously spraying special-shaped workpieces to be processed in multiple angles, the joint abrasion caused by the fact that the wrist part of the robot rotates all the time is avoided, the processing efficiency is effectively improved, and the service life of the robot is prolonged;

2. According to the robot, the auxiliary spraying claw is hinged to the spraying claw, the relative position between the auxiliary spraying claw and the spraying claw is adjusted through the first telescopic rod, a spray head on the auxiliary spraying claw can be selected for spraying according to the processing requirement of a special-shaped workpiece to be processed, and the flexibility of the robot is improved.

of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.

drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic view showing the construction of an industrial painting robot having an adjustment function according to the present invention;

FIG. 2 is a front view of the structure of FIG. 1;

FIG. 3 is a top view of the structure of FIG. 1;

FIG. 4 is a partial structural view of an industrial painting robot having an adjustment function according to the present invention;

FIG. 5 is a schematic structural view of the tripod of the present invention;

FIG. 6 is a schematic structural view of a turntable according to the present invention;

FIG. 7 is a schematic view of the construction of the paint spraying assembly of the present invention;

FIG. 8 is a front view of the structure of FIG. 7;

FIG. 9 is a schematic view of the construction of the paint spraying assembly of the present invention;

FIG. 10 is a front view of the structure of FIG. 9;

FIG. 11 is a schematic view of a rotating frame according to the present invention;

FIG. 12 is a schematic structural view of a spraying claw, an auxiliary spraying claw and a nozzle in the present invention;

FIG. 13 is a schematic structural view of a spraying claw, an auxiliary spraying claw and a nozzle in the present invention;

FIG. 14 is a schematic structural view of a spraying claw, an auxiliary spraying claw and a nozzle in the present invention;

in the drawings, the components represented by the respective reference numerals are listed below:

1-a tripod, 2-a support frame, 3-a turntable, 4-a mechanical arm, 5-a rotating frame, 6-an adjusting mechanism, 7-a spraying claw, 8-a rotating arm, 9-a support, 10-a base, 11-a rotating table, 12-a first telescopic rod, 13-an auxiliary spraying claw, 14-a spray head, 101-an adjusting knob, 102-a sliding chute, 301-a liquid storage tank, 302-a liquid discharge pipe, 303-a channel, 501-an ear, 601-a second telescopic rod, 602-a first connecting rod and 603-a second connecting rod.

Detailed Description

the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "opening," "upper," "lower," "diagonal," "top," "center," "length," "inner," "peripheral," "side," "end," "hinge," and the like are used in an orientation or positional relationship indicated for convenience in describing the present invention and to simplify description, but do not indicate or imply that the referenced components or elements must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered as limiting the present invention.

Referring to fig. 1-14, the present invention is an industrial painting robot with adjustment function, comprising a base 10, five articulated mechanical arms 4 are arranged on the base 10, six or four or eight mechanical arms 4 are provided, the mechanical arms 4 are driven by hydraulic control or pneumatic control; the maximum working length of the mechanical arm 4 determines the farthest distance which can be reached by the tail end of the mechanical arm, the telescopic mechanical arm 4 can be directly driven by a hydraulic cylinder, the base 10 is installed on a support frame 2, and the support frame 2 is arranged on the four tripods 1 in a sliding mode; the four tripods 1 are positioned at four corners of the supporting frame 2; wherein, the center of the tripod 1 is provided with a connecting plate which is in a triangular structure and is provided with a vertical chute 102; an adjusting knob 101 extending to the sliding groove 102 is mounted on the connecting plate, the supporting frame 2 is of a rectangular frame structure, and four corners below the rectangular frame are respectively provided with a supporting leg; the four supporting legs respectively penetrate through the sliding grooves 102 in the four triangular supports 1 and are fixed through the adjusting knobs 101, the height of the supporting frame 2 can be conveniently adjusted, and the supporting frame is suitable for being matched with feeding and discharging mechanisms with different heights.

As shown in fig. 1-4, a support 9 is rotatably arranged on the support frame 2, and a rotating arm 8 is arranged on the support 9; both ends of the rotating arm 8 are rotatably provided with a rotating disc 3; a plurality of channels 303 are arranged on the rotary table 3 in a criss-cross manner; the rotary table 3 is of a disc structure, the rotary table 3 is mounted on a rotary table 11, the rotary table 11 is rotatably arranged on the support frame 2, a plurality of workpieces can be placed on the rotary table 3, the rotary table 3 sequentially processes the plurality of workpieces, and after the plurality of workpieces are processed, the rotary arm 8 is rotated to process the workpiece on the other rotary table 3; wherein, the rotation of the rotating arm 8 and the rotating disc 3 can be driven by a motor, an annular liquid storage tank 301 is arranged on the rotating disc 3, and a liquid discharge pipe 302 communicated with the liquid storage tank 301 is arranged at one side of the rotating disc 3; the liquid storage tank 301 is communicated with the channel 303, the channel 303 plays a role in skid prevention, the risk of sliding of parts is reduced, after spraying is finished, the turntable 3 can be scrubbed through cleaning liquid, and scrubbing waste liquid flows into the liquid storage tank 301 and the liquid discharge pipe 302 through the channel 303, so that the turntable 3 is convenient to clean and maintain.

Wherein, the end of arm 4 installs a rotatory frame 5, and rotatory frame 5 is a rectangle frame, and the equal array in a relative both sides of rotatory frame 5 is equipped with three ears 501, and the setting of rotatory frame 5 makes the wrist have independent degree of freedom, can design into rotary motion, luffing motion, horizontal hunting, as shown in fig. 1, 2, the angularly adjustable of rotatory frame 5.

As shown in fig. 7-10, four spraying claws 7 are mounted on the rotating frame 5 through two groups of adjusting mechanisms 6; each spraying claw 7 is provided with three spray heads 14; the spraying claw 7 is an arc-shaped plate, and an auxiliary spraying claw 13 is hinged to the spraying claw 7 through a first telescopic rod 12; the auxiliary spraying claw 13 is provided with the spraying heads 14, the plurality of spraying heads 14 are arranged in multiple directions, so that the auxiliary spraying claw can be selectively used according to different shapes of workpieces to be processed, the opening and closing degree of the spraying claw 7 can be adjusted, as shown in fig. 8, multi-position spraying is performed on special-shaped parts (the special-shaped parts are indicated by dotted lines in fig. 8), so that the spraying efficiency is improved, one end of the spraying claw 7 is provided with a connecting rod, and the side wall of the connecting rod is provided with a first connecting lug; a second connecting lug is arranged on the outer side wall of the other end of the spraying claw 7; the spray heads 14 on the spraying claw 7 are arranged along the arc-shaped inner side wall in an array mode, one side of the auxiliary spraying claw 13 is installed on the spraying claw 7 through a connecting shaft, and the other side of the auxiliary spraying claw 13 is rotatably connected with the spraying claw 7 in a mode that the first telescopic rod 12 is matched with the second connecting lug; the adjusting mechanisms 6 are two groups, and each group of adjusting mechanisms 6 comprises a second telescopic rod 601, four first connecting rods 602 and two second connecting rods 603; wherein, the four first connecting rods 602 are hinged to form a parallelogram linkage mechanism; one end of a second connecting rod 603 is rotationally connected with the rotating frame 5 through a butt-lug 501, and the other end of the second connecting rod 603 is rotationally connected with the spraying claw 7 through a first connecting lug; one end of the second telescopic rod 601 is fixed on the rotating frame 5, the other end of the second telescopic rod is connected with a hinge point of the parallelogram linkage mechanism, the motion of the parallelogram linkage mechanism is controlled by the extension and contraction of the second telescopic rod 601, and two hinge points on a diagonal line of the parallelogram linkage mechanism are respectively hinged with a connecting rod on one spraying claw 7; another pin joint of parallelogram link mechanism rotates through the pivot and sets up on rotatory frame 5, adjust the degree of opening and shutting between four spraying claws 7 through adjustment mechanism 6 (as the degree of opening and shutting between four spraying claws 7 in fig. 8, 10 is different), and adjust the relative position between assisting spraying claw 13 and the spraying claw 7 through first telescopic link 12, be applicable to the spraying of different spare parts, as shown in fig. 10, adopt and assist the shower nozzle 14 on the spraying claw 13 to carry out the spraying to special-shaped part (the dotted line part shows special-shaped part in fig. 10), angle regulation convenience, convenient operation.

According to the industrial paint spraying robot with the adjusting function, the second telescopic rod 601 is used for driving and controlling the parallelogram link mechanism to move, so that the opening and closing degree among the four spraying claws 7 is adjusted, a plurality of spray heads 14 arranged on the inner sides of the arc spraying claws 7 can be used for simultaneously spraying special-shaped workpieces to be processed in multiple angles, joint abrasion caused by the fact that the wrist part of the robot rotates all the time is avoided, the processing efficiency is effectively improved, and the service life of the robot is prolonged; through the articulated supplementary claw 13 that spouts on spraying claw 7, adjust through first telescopic link 12 and assist the relative position between spouting claw 13 and the spraying claw 7, can treat the processing demand of machined part according to the dysmorphism, select to assist and spout 14 on the claw 13 and carry out the spraying, improve the nimble degree of this robot.

in the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

the preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. The utility model provides an industry paint spraying robot with regulatory function, includes a base (10), be provided with a plurality of mutual articulated arms (4) on base (10), its characterized in that:

The base (10) is arranged on a supporting frame (2), and the supporting frame (2) is arranged on the tripod (1) in a sliding manner;

a support (9) is rotatably arranged on the support frame (2), and a rotating arm (8) is arranged on the support (9);

Both ends of the rotating arm (8) are rotatably provided with a rotating disc (3);

A plurality of channels (303) are arranged on the turntable (3) in a criss-cross manner;

a rotating frame (5) is arranged at the end part of the mechanical arm (4);

four spraying claws (7) are arranged on the rotating frame (5) through two groups of adjusting mechanisms (6);

each spraying claw (7) is provided with a plurality of spray heads (14);

The spraying claw (7) is an arc-shaped plate, and an auxiliary spraying claw (13) is hinged to the spraying claw (7) through a first telescopic rod (12);

and a spray head (14) is arranged on the auxiliary spray claw (13).

2. industrial painting robot with adjustment function according to claim 1, characterized in that:

a connecting plate is arranged at the center of the tripod (1), and a vertical sliding groove (102) is formed in the connecting plate;

an adjusting knob (101) extending to the sliding groove (102) is arranged on the connecting plate.

3. Industrial painting robot with adjustment function according to claim 1, characterized in that:

the support frame (2) is of a rectangular frame structure, and support legs are arranged below the rectangular frame;

The supporting legs penetrate through sliding grooves (102) in the tripod (1) and are fixed through adjusting knobs (101).

4. industrial painting robot with adjustment function according to claim 1, characterized in that:

the rotary table (3) is of a disc structure, the rotary table (3) is arranged on a rotary table (11), and the rotary table (11) is rotatably arranged on the support frame (2);

an annular liquid storage tank (301) is formed in the rotary disc (3), and a liquid discharge pipe (302) communicated with the liquid storage tank (301) is mounted on one side of the rotary disc (3);

the reservoir (301) is communicated with the channel (303).

5. Industrial painting robot with adjustment function according to claim 1, characterised by the fact that the robot arms (4) are six or four or eight, the robot arms (4) being driven by hydraulic or pneumatic control.

6. the industrial painting robot with adjustment function according to claim 1, characterized in that the rotating frame (5) is a rectangular frame, and three lugs (501) are arranged on two opposite sides of the rotating frame (5) in an array.

7. Industrial painting robot with adjustment function according to claim 1, characterized in that:

one end of the spraying claw (7) is provided with a connecting rod, and the side wall of the connecting rod is provided with a first connecting lug;

A second connecting lug is arranged on the outer side wall of the other end of the spraying claw (7);

and the spray heads (14) on the spraying claw (7) are arranged along the arc-shaped inner side wall in an array manner.

8. The industrial painting robot with the adjusting function according to claim 1, characterized in that one side of the auxiliary spraying claw (13) is mounted on the spraying claw (7) through a connecting shaft, and the other side of the auxiliary spraying claw (13) is rotatably connected with the spraying claw (7) through a first telescopic rod (12) and a second connecting lug in a matching manner.

9. industrial painting robot with adjustment function according to claim 1, characterized in that:

The number of the adjusting mechanisms (6) is two, and each group of adjusting mechanisms (6) comprises a second telescopic rod (601), four first connecting rods (602) and two second connecting rods (603);

Wherein, the four first connecting rods (602) are hinged into a parallelogram connecting rod mechanism;

One end of the second connecting rod (603) is rotatably connected with the rotating frame (5) through an opposite lug (501), and the other end of the second connecting rod (603) is rotatably connected with the spraying claw (7) through a first connecting lug;

One end of the second telescopic rod (601) is fixed on the rotating frame (5), the other end of the second telescopic rod is connected with a hinged point of the parallelogram linkage mechanism, and the motion of the parallelogram linkage mechanism is controlled by the extension and contraction of the second telescopic rod (601).

10. Industrial painting robot with adjustment function according to claim 9, characterized in that:

two hinge points on a diagonal line of the parallelogram link mechanism are respectively hinged with a connecting rod on a spraying claw (7);

the other hinge point of the parallelogram linkage mechanism is rotationally arranged on the rotating frame (5) through a rotating shaft.