CN110682300B

CN110682300B - Five-axis robot forearm and paint spraying robot for machining process of five-axis robot forearm

Info

Publication number: CN110682300B
Application number: CN201910946831.0A
Authority: CN
Inventors: 张奕
Original assignee: Nan Tech Taixing Intelligent Manufacturing Research Institute Co ltd
Current assignee: Nan Tech Taixing Intelligent Manufacturing Research Institute Co ltd
Priority date: 2019-10-07
Filing date: 2019-10-07
Publication date: 2023-04-14
Anticipated expiration: 2039-10-07
Also published as: CN110682300A

Abstract

The invention discloses a five-axis robot forearm, which comprises a robot forearm, wherein the robot forearm consists of a first forearm and a second forearm; the invention discloses a paint spraying robot with five-axis robot small arms, which comprises an arm I, an arm II and a mounting seat, wherein the arm I is connected with the arm II; the invention discloses a processing technology of a paint spraying robot with a five-axis robot forearm, which comprises the following steps: s1: in the paint spraying process, the first servo motor is started as required, so that the first servo motor starts to work, and the first servo motor works to drive the first rotating shaft to rotate. Has the advantages that: the small arm of the robot consists of a first small arm and a second small arm, and the first small arm and the second small arm are fixedly installed and operated conveniently, so that the first small arm and the second small arm can be detached from the second rotating shaft for maintenance or replacement at a later stage; meanwhile, the first pipe and the second small arm can move relatively, so that the first pipe can be moved out of the second small arm, and more accurate paint spraying operation can be performed on positions with smaller gaps conveniently.

Description

Five-axis robot forearm and paint spraying robot for machining process of five-axis robot forearm

Technical Field

The invention relates to a paint spraying robot, in particular to a five-axis robot forearm and a paint spraying robot for a machining process of the five-axis robot forearm.

Background

The five-axis robot is a robot with five-axis mechanical arms, has a five-degree-of-freedom joint type structure and comprises a five-axis robot forearm, but the existing five-axis robot forearm still has the following defects: relative motion cannot occur between the paint spraying pipe arranged on the robot arm and the robot arm, the robot arm is large in size, and paint spraying operation (such as holes with small hole diameters) cannot be well performed at positions with small gaps.

The paint spraying robot with the five-axis robot forearm is an industrial robot capable of performing automatic paint spraying operation, can receive instructions and accurately position points on a three-dimensional space for operation, and has the advantages of simplicity and convenience in operation, uniform paint spraying and the like;

above-mentioned five-axis robot forearm generally adopts the welded mode to fix in the axis of rotation, and the dismantlement of being not convenient for when going wrong overhauls, and five-axis robot forearm integrated into one piece still need wholly change when appearing damaging unable the use, and the cost is higher relatively.

Disclosure of Invention

The invention aims to solve the problems in the background art, and provides a five-axis robot forearm and a painting robot for a machining process of the five-axis robot forearm.

In order to achieve the purpose, the invention adopts the following technical scheme:

the utility model provides a five-axis robot forearm, includes the robot forearm, the robot forearm comprises forearm one, forearm two, and is equipped with fixed knot structure between forearm one, the forearm two, one side fixed mounting of forearm two has the cover body, be equipped with mobilizable installation piece between the cover body and the forearm two, fixed cover has connect pipe one on the installation piece, pipe two is installed through the coupling to the upper end of pipe one, and the tip is the hose under the pipe two.

In foretell five-axis robot forearm, fixed knot constructs by bar dead lever and bar fixed slot and constitutes, the one end fixed mounting that forearm two is close to forearm one has the bar dead lever, the one end that forearm one is close to forearm two is seted up the bar fixed slot with bar dead lever interference fit.

In foretell five-axis robot forearm, the inside fixed mounting of the cover body has servo motor one, servo motor one's drive end fixed mounting has pivot one, threaded connection has movable block two on the pivot one, and the both sides wall of movable block two and the inner wall contact of the cover body, fixed mounting has the dead lever on the movable block two, and the one end of dead lever and one side fixed contact of installation piece, and the upper end and the cover body top arm contact of dead lever, fixed mounting has the controller on the forearm two, and the controller is connected for being electric with servo motor one.

The utility model provides a paint spraying robot with five robot forearm, contains arm one, arm two, mount pad, the through-hole has been seted up on the mount pad, the inside fixed mounting of through-hole has servo motor two, and servo motor two is biax servo motor, the equal fixed mounting of two outputs of servo motor two has a pivot two, and two pivot two differ in size, the left side be equipped with mounting structure, right side between pivot two and the forearm one be equipped with fixed establishment between pivot two and the forearm two.

In foretell robot that sprays paint with five robot forearm, mounting structure comprises fixed block two, fixed disk one, is located the left one end fixed mounting of pivot two has fixed block two, and fixed block two is square, fixed disk one is gone up to forearm one fixed mounting, fixed disk one is gone up and is seted up the square mounting groove with fixed block two-phase fit.

In foretell robot that sprays paint with five robot forearm, fixed establishment comprises mounting hole, fixed disk two, turning block, the mounting hole has been seted up on the forearm two, and the one end threaded connection of right side pivot two has a turning block, install rotatable fixed disk two on the turning block, be equipped with connection structure between fixed disk two and the right side pivot two, and two fixed mounting of fixed disk are in the mounting hole.

In the painting robot with the five-axis robot forearm, the second fixed disk is annular, a limiting groove is formed in the inner wall of the second fixed disk and is annular, a plurality of limiting blocks are fixedly mounted on the rotating block, and the limiting blocks are located in the limiting groove.

In foretell robot that sprays paint with five robot forearm, connection structure comprises fixed block one, draw-in groove, kelly and positioning seat, fixed mounting has the positioning seat on the fixed disk two, the right side fixed mounting has fixed block one on the pivot two, a plurality of draw-in grooves have been seted up on the fixed block one, fixed mounting has a plurality of kellies on the positioning seat, and the kelly block respectively in corresponding draw-in groove.

A processing technology of a paint spraying robot with a five-axis robot small arm comprises the following steps:

s1: in the paint spraying process, the first servo motor is started according to the requirement, so that the first servo motor starts to work, and the first servo motor works to drive the first rotating shaft to rotate;

s2: the rotating shaft I rotates to drive the moving block II in threaded connection with the rotating shaft I to move, and the moving block II moves to drive the mounting block to move in a direction parallel to the cover body through the fixed rod;

s3: the installation piece removes and drives pipe one and remove along the direction that is on a parallel with the cover body to make the pipe move towards the direction of keeping away from the mount pad one by one, be used for adjusting a pipe position, be convenient for more accurate operation of spraying paint.

Compared with the prior art, the invention has the advantages that:

1: the forearm of robot comprises forearm one, forearm two, and the fixed mounting between the two is easy and simple to handle, through the cooperation of bar dead lever and bar fixed slot can, the part when the later stage of being convenient for damages is changed.

2: the first pipe and the second small arm can move relatively, so that the first pipe can move out of the second small arm for a certain distance, and more accurate paint spraying operation can be performed on positions with smaller gaps.

3: the first small arm and the second small arm are fixedly installed on the second rotating shaft and are easy and convenient to operate, and the first small arm and the second small arm can be conveniently detached from the second rotating shaft for maintenance or replacement in the later period.

4: the second fixed disk and the second rotating block realize relative rotation through the matching of the limiting groove and the limiting block, so that the second fixed disk can move along the direction parallel to the second rotating shaft while the second rotating block can rotate on the second rotating shaft, and the fixed mounting and the mounting of the second forearm on the second rotating shaft are convenient to operate and simple and convenient to realize

In conclusion, the small arm of the robot consists of the first small arm and the second small arm, and the first small arm and the second small arm are fixedly installed and operated conveniently, so that the first small arm and the second small arm can be conveniently detached from the second rotating shaft for maintenance or replacement in the later period; meanwhile, the first pipe and the second small arm can move relatively, so that the first pipe can be moved out of the second small arm, and more accurate paint spraying operation can be performed on positions with smaller gaps.

Drawings

Fig. 1 is a schematic structural diagram of a five-axis robot forearm and a painting robot of a machining process thereof according to the invention;

FIG. 2 is a side view of the structure of the second portion of the forearm of FIG. 1;

FIG. 3 is an enlarged view of the structure of portion A in FIG. 2;

FIG. 4 is a cross-sectional view of the mounting socket portion of FIG. 1;

FIG. 5 is an enlarged view of the structure of part B in FIG. 2;

fig. 6 is an enlarged view of the structure of the portion C in fig. 4.

In the figure: the device comprises a first arm, a second arm, a 3 mounting seat, a first 4 small arm, a second 5 small arm, a 6 mounting block, a first 7 pipe, a 8 pipe joint, a second 9 pipe, a 10 cover body, a first 11 servo motor, a first 12 rotating shaft, a second 13 moving block, a 14 fixing rod, a 15 through hole, a second 16 servo motor, a second 17 rotating shaft, a first 18 fixing block, a 19 clamping groove, a 20 clamping rod, a 21 positioning seat, a second 22 fixing disc, a second 23 rotating block, a 24 limiting groove, a 25 limiting block, a second 26 fixing block, a first 27 fixing disc and a 28 controller.

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 "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

Referring to fig. 1, 2 and 3, the five-axis robot forearm comprises a robot forearm, the robot forearm is composed of a first forearm 4 and a second forearm 5, a fixing structure is arranged between the first forearm 4 and the second forearm 5, and the first forearm 4 and the second forearm 5 can be conveniently fixed for use due to the arrangement of the fixing structure.

The fixing structure is composed of a bar-shaped fixing rod and a bar-shaped fixing groove, the bar-shaped fixing rod is fixedly mounted at one end, close to the first forearm 4, of the second forearm 5, the bar-shaped fixing groove in interference fit with the bar-shaped fixing rod is formed at one end, close to the second forearm 5, of the first forearm 4, and the fixing mode of the first forearm 4 and the second forearm 5 in interference fit enables the fixing operation of the first forearm and the second forearm to be simple and convenient to conduct and is fixed and firm.

A cover body 10 is fixedly installed on one side of the second small arm 5, a movable installation block 6 is arranged between the cover body 10 and the second small arm 5, a first pipe 7 is fixedly sleeved on the installation block 6, a second pipe 9 is installed at the upper end of the first pipe 7 through a pipe joint 8, and the lower end of the second pipe 9 is a hose.

A servo motor 11 is fixedly installed inside the cover body 10, and it is worth mentioning that the servo motor 11 is the same as a servo motor used in the grinding fluid stirring device disclosed in the patent No. CN 207155573U.

The driving end fixed mounting of servo motor 11 has pivot one 12, threaded connection has movable block two 13 on pivot one 12, and the both sides wall of movable block two 13 and the inner wall contact of the cover body 10, fixed mounting has dead lever 14 on movable block two 13, and the one end of dead lever 14 and one side fixed contact of installation piece 6, and the upper end of dead lever 14 and the contact of cover body 10 top arm, fixed mounting has controller 28 on forearm two 5, and controller 28 is the electricity with servo motor 11 and is connected, it is worth mentioning that controller 28 can adopt the PLC controller, the PLC controller is current ripe product, its specific structure and theory of operation do not specifically expound here.

Open servo motor 11 when pipe 7 needs to remove, utilize servo motor 11 work drive pivot 12 to rotate, pivot 12 rotates and drives two 13 of movable block of threaded connection with it and removes (the cover body 10 all has a limiting displacement to two 13 of movable block and dead lever 14 to two 13 of movable block, make two 13 of movable block can only be on a parallel with the cover body 10 and remove), two 13 of movable block remove and drive installation piece 6 through dead lever 14 and remove, installation piece 6 removes and drives pipe 7 and remove, thereby make and to take place certain translation for forearm two 5, be convenient for more accurate the operation of spraying paint.

Referring to fig. 1, 2, 4, 5 and 6, a paint spraying robot with five-axis robot forearm includes a first arm 1, a second arm 2 and a mounting base 3, the mounting base 3 is provided with a through hole 15, a second servo motor 16 is fixedly mounted inside the through hole 15, the second servo motor 16 is a dual-axis servo motor, two output ends of the second servo motor 16 are both fixedly mounted with a second rotating shaft 17, and the two rotating shafts 17 are different in length, it is worth mentioning that the second servo motor 16 is the same as the "dual-output-axis servo motor" used in the patent document CN 206325778U.

Be equipped with mounting structure between the second 17 of left side pivot and the forearm one 4, mounting structure comprises two fixed blocks 26, a fixed disk 27, the one end fixed mounting that is located the second 17 of left pivot has two fixed blocks 26, and two fixed blocks 26 are square, fixed mounting has a fixed disk 27 on the forearm one 4, set up the square mounting groove with two 26 matched with fixed blocks on the fixed disk 27, this mounting structure has the advantage easy and simple to handle, make forearm one 4 can rotate along with the rotation of the second 17 of left pivot together.

A fixing mechanism is arranged between the right rotating shaft II 17 and the small arm II 5 and consists of a mounting hole, a fixed disc II 22 and a rotating block 23, the small arm II 5 is provided with the mounting hole, one end of the right rotating shaft II 17 is in threaded connection with the rotating block 23, and the rotating block 23 is provided with the rotatable fixed disc II 22;

a connecting structure is arranged between the second fixed disk 22 and the second right rotating shaft 17 and consists of a first fixed block 18, clamping grooves 19, clamping rods 20 and a positioning seat 21, the positioning seat 21 is fixedly installed on the second fixed disk 22, the first fixed block 18 is fixedly installed on the second right rotating shaft 17, the first fixed block 18 is provided with a plurality of clamping grooves 19, the positioning seat 21 is fixedly provided with a plurality of clamping rods 20, the clamping rods 20 are clamped in the corresponding clamping grooves 19 respectively, and the size of the second fixed disk 22 is larger than that of the mounting hole.

The second fixed disk 22 is annular, a limiting groove 24 is formed in the inner wall of the second fixed disk 22, the limiting groove 24 is annular, a plurality of limiting blocks 25 are fixedly mounted on the rotating block 23, and the limiting blocks 25 are located in the limiting groove 24.

Firstly, install pipe 7 fixed mounting on mount pad 3, install mount pad 3 with forearm two 5 simultaneously again, on the forearm one 4, card pole 20 just enters into draw-in groove 19 when making the bar dead lever just enter into the bar fixed slot, then rotate turning block 23 with the hand while promoting, the whole blocks of bar dead lever are to the bar fixed slot when card pole 20 completely enters into draw-in groove 19, accomplish forearm two 5 at mount pad 3, the fixing between the forearm one 4, pivot two 17 on right side rotates and can drive card pole 20 through fixed block one 18 and rotate together, card pole 20 rotates and drives fixed disk two 22 through positioning seat 21 and rotate, because be threaded connection between turning block 23 and the pivot two 17, and turning block 23 does not receive spacingly, thereby make turning block 23 rotate together along with the rotation of pivot two 17, thereby realize forearm one 4, forearm two 5 synchronous rotations.

s1: in the paint spraying process, the servo motor I11 is opened according to needs, so that the servo motor I11 starts to work, and the servo motor I11 works to drive the rotating shaft I12 to rotate;

s2: the first rotating shaft 12 rotates to drive the second moving block 13 in threaded connection with the first rotating shaft to move, and the second moving block 13 moves to drive the mounting block 6 to move in a direction parallel to the cover body 10 through the fixed rod 14;

s3: the mounting block 6 moves to drive the first pipe 7 to move in a direction parallel to the cover 10, so that the first pipe 7 moves in a direction away from the mounting base 3, the position of the first pipe 7 is adjusted, and the painting operation is more accurately facilitated.

Further, unless otherwise specifically stated or limited, the above-described fixed connection is to be understood in a broad sense, and may be, for example, welded, glued, or integrally formed as is conventional in the art.

It should be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered as the technical solutions and the inventive concepts of the present invention within the technical scope of the present invention.

Claims

1. The five-axis robot forearm comprises a robot forearm and is characterized in that the robot forearm consists of a first forearm (4) and a second forearm (5), a fixing structure is arranged between the first forearm (4) and the second forearm (5), a cover body (10) is fixedly mounted on one side of the second forearm (5), a movable mounting block (6) is arranged between the cover body (10) and the second forearm (5), a first pipe (7) is fixedly sleeved on the mounting block (6), a second pipe (9) is mounted at the upper end of the first pipe (7) through a pipe joint (8), and the lower end of the second pipe (9) is a hose; still contain arm one (1), arm two (2), mount pad (3), through-hole (15) have been seted up on mount pad (3), the inside fixed mounting of through-hole (15) has servo motor two (16), and servo motor two (16) are biax servo motor, the equal fixed mounting of two outputs of servo motor two (16) has a pivot two (17), and two pivot two (17) are different in size, and the left side be equipped with mounting structure between pivot two (17) and forearm one (4), mounting structure comprises fixed block two (26), fixed disk one (27), is located the left one end fixed mounting of pivot two (17) has fixed block two (26), and fixed block two (26) are square, fixed mounting has fixed disk one (27) on forearm one (4), set up on fixed disk one (27) with fixed block two (26) matched with square mounting groove; a fixing mechanism is arranged between the second rotating shaft (17) and the second small arm (5) on the right side; fixed establishment comprises mounting hole, fixed disk two (22), turning block (23), the mounting hole has been seted up on forearm two (5), and the one end threaded connection of right side pivot two (17) has a turning block (23), install rotatable fixed disk two (22) on turning block (23), be equipped with connection structure between fixed disk two (22) and right side pivot two (17), and fixed disk two (22) fixed mounting is in the mounting hole.

2. The five-axis robot forearm according to claim 1, wherein the fixing structure is composed of a strip-shaped fixing rod and a strip-shaped fixing groove, the strip-shaped fixing rod is fixedly installed at one end of the second forearm (5) close to the first forearm (4), and the strip-shaped fixing groove in interference fit with the strip-shaped fixing rod is formed at one end of the first forearm (4) close to the second forearm (5).

3. The five-axis robot forearm according to claim 1, characterized in that a first servo motor (11) is fixedly mounted inside the housing (10), a first rotating shaft (12) is fixedly mounted at a driving end of the first servo motor (11), a second moving block (13) is connected to the first rotating shaft (12) in a threaded manner, two side walls of the second moving block (13) are in contact with the inner wall of the housing (10), a fixed rod (14) is fixedly mounted on the second moving block (13), one end of the fixed rod (14) is in fixed contact with one side of the mounting block (6), the upper end of the fixed rod (14) is in contact with the top arm of the housing (10), a controller (28) is fixedly mounted on the second forearm (5), and the controller (28) is electrically connected with the first servo motor (11).

4. A paint spraying robot comprises the five-axis robot forearm as claimed in any one of claims 1 to 3, and is characterized in that the second fixed disk (22) is annular, a limiting groove (24) is formed in the inner wall of the second fixed disk (22), the limiting groove (24) is annular, a plurality of limiting blocks (25) are fixedly mounted on the rotating block (23), and the limiting blocks (25) are located in the limiting groove (24).

5. The painting robot according to claim 4, wherein the connecting structure comprises a first fixing block (18), a clamping groove (19), a clamping rod (20) and a positioning seat (21), the positioning seat (21) is fixedly mounted on the second fixing disc (22), the first fixing block (18) is fixedly mounted on the second rotating shaft (17) on the right side, the clamping grooves (19) are formed in the first fixing block (18), the clamping rods (20) are fixedly mounted on the positioning seat (21), and the clamping rods (20) are respectively clamped in the corresponding clamping grooves (19).

6. Machining process of a painting robot with five-axis robot forearm according to any of claims 4-5, characterized by comprising the following steps:

s1: in the paint spraying process, the first servo motor (11) is opened according to the requirement, so that the first servo motor (11) starts to work, and the first servo motor (11) works to drive the first rotating shaft (12) to rotate;

s2: the rotating shaft I (12) rotates to drive the moving block II (13) in threaded connection with the rotating shaft I to move, and the moving block II (13) moves to drive the mounting block (6) to move in a direction parallel to the cover body (10) through the fixed rod (14);

s3: the first mounting block (6) is moved to drive the first pipe (7) to move along the direction parallel to the cover body (10), so that the first pipe (7) moves towards the direction away from the mounting base (3) and is used for adjusting the position of the first pipe (7), and more accurate paint spraying operation is facilitated.