CN112008741A - High-precision industrial spraying robot - Google Patents
High-precision industrial spraying robot Download PDFInfo
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- CN112008741A CN112008741A CN202010955684.6A CN202010955684A CN112008741A CN 112008741 A CN112008741 A CN 112008741A CN 202010955684 A CN202010955684 A CN 202010955684A CN 112008741 A CN112008741 A CN 112008741A
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- joint
- waist
- mounting surface
- arm
- shell
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- 238000005507 spraying Methods 0.000 title claims abstract description 47
- 210000000707 wrist Anatomy 0.000 claims abstract description 66
- 210000000245 forearm Anatomy 0.000 claims abstract description 22
- 239000003638 chemical reducing agent Substances 0.000 claims description 53
- 241000309551 Arthraxon hispidus Species 0.000 claims description 13
- 230000005540 biological transmission Effects 0.000 claims description 8
- 238000010422 painting Methods 0.000 claims description 5
- 239000002360 explosive Substances 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 2
- 230000008878 coupling Effects 0.000 claims 2
- 238000010168 coupling process Methods 0.000 claims 2
- 238000005859 coupling reaction Methods 0.000 claims 2
- 230000000149 penetrating effect Effects 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 12
- 238000010276 construction Methods 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000007789 sealing Methods 0.000 description 3
- 239000007921 spray Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A high-precision industrial spraying robot, a base component and a waist joint component which are connected in sequence, big arm joint subassembly and forearm joint subassembly are hollow structure and form the sealed chamber of robot jointly, sealed intracavity is provided with the inside wire tube of walking that is used for providing power and control signal, the inside power line of walking in the wire tube and the head end connection external control cabinet of signal line, the base subassembly passes through screw fixed connection subaerial, the rotatory last port of connection at the base subassembly of head port of waist joint subassembly, the rotatory head port of connection at big arm joint subassembly of tail port of waist joint subassembly, the rotatory head port of connection at forearm joint subassembly of tail port of big arm joint subassembly, the head port of three degree of freedom cavity wrists of tail port fixed connection of forearm joint subassembly, the tail port of three degree of freedom cavity wrists is used for connecting terminal instrument. The invention has good movement flexibility and flexibility, high movement precision, wide range of executable spraying tasks and high working safety and reliability.
Description
Technical Field
The present invention relates to a robot. In particular to a high-precision industrial spraying robot.
Background
The spraying robot has the characteristics of stable spraying quality, high efficiency, safety, environmental protection and the like, is widely applied to various industries such as engineering machinery, aerospace, furniture light industry and the like, and particularly becomes indispensable automatic equipment for the automobile manufacturing industry.
In the prior art, an industrial spraying robot generally has six degrees of freedom and certain motion flexibility; the hollow sealing structure and the positive pressure explosion-proof technology are adopted, and the explosion-proof structure has certain explosion-proof performance. However, the existing spraying robot is single in structural form, and the spraying robot disclosed in patent CN 202684913U adopts three hollow RV speed reducers, which results in higher manufacturing cost; in order to ensure reasonable arrangement of the motor wires, the spraying robot disclosed in patent CN 108115696a designs additional internal motor wire routing cavities in the second and third joints, which results in an excessively complex structure. In addition, the spraying robot wrist relates to a large number of transmission gears, and a special transmission clearance adjusting mechanism is not arranged, so that high joint movement precision is difficult to guarantee, and the positioning precision of the whole machine is influenced. Finally, considering that a spraying workshop belongs to a flammable and explosive dangerous place specified by national standards, how to reasonably design a sealing structure, ensure the reasonable arrangement of various power lines and signal lines, and the safe and reliable connection to a joint motor, and the reasonable design of a joint limiting mechanism are the key points for ensuring the safety of equipment and personnel, and are also important problems in the design of a high-performance spraying robot.
Disclosure of Invention
The invention aims to solve the technical problem of providing a high-precision industrial spraying robot which has good motion flexibility and flexibility, high motion precision and wide range of executable spraying tasks.
The technical scheme adopted by the invention is as follows: a high-precision industrial spraying robot comprises a base component, a waist joint component, a big arm joint component, a small arm joint component and a three-degree-of-freedom hollow wrist which are connected in sequence, and is characterized in that the base component, the waist joint component, the big arm joint component and the small arm joint component are of a hollow structure and jointly form a sealed cavity of the robot, an internal wiring pipe used for providing a power supply and a control signal is arranged in the sealed cavity, the head ends of a power line and a signal line in the internal wiring pipe are connected with an external control cabinet, the base component is fixedly connected on the ground through screws and serves as the foundation of the robot, the head end opening of the waist joint component is rotatably connected with the upper end opening of the base component, the connection part forms a first rotary joint, the tail end opening of the waist joint component is rotatably connected with the head end opening of the big arm joint component, the joint forms a second rotary joint, the tail end port of the large arm joint component is rotatably connected to the head end port of the small arm joint component, the joint forms a third rotary joint, the tail end port of the small arm joint component is fixedly connected with the head end port of the three-degree-of-freedom hollow wrist, and the tail end port of the three-degree-of-freedom hollow wrist is used for being connected with a tail end tool.
The high-precision industrial spraying robot has the advantages of good movement flexibility and flexibility, high movement precision, wide range of executable spraying tasks and high working safety and reliability. Has the advantages and positive effects that:
the robot has six degrees of freedom, and good motion flexibility and flexibility.
Secondly, each joint adopts a high-precision RV reducer and a planetary reducer and is combined with a high-precision three-degree-of-freedom hollow wrist, so that the complete robot has better motion precision.
And thirdly, a hollow sealing structure is adopted, power lines and signal lines of the joint servo motor are reasonably arranged, the robot is provided with a joint limiting mechanism, and the safety and the reliability under the spraying environment are high.
Drawings
FIG. 1 is a schematic structural diagram of a high precision industrial spray coating robot of the present invention;
FIG. 2 is a rear view of FIG. 1;
FIG. 3 is a schematic view of the construction of the base assembly of the present invention;
FIG. 4 is a schematic view of the construction of the base body of the present invention;
FIG. 5 is a schematic view of the construction of the waist joint assembly of the present invention;
FIG. 6 is a schematic view of the construction of the waist shell of the present invention;
FIG. 7 is a schematic view of the internal structure of the waist shell of the present invention;
FIG. 8 is a schematic view of the construction of the large arm joint assembly of the present invention;
FIG. 9 is a rear view of FIG. 8;
FIG. 10 is a schematic view showing the internal structure of the forearm joint assembly of the invention;
FIG. 11 is a schematic view of the construction of the forearm housing of the invention;
FIG. 12 is a schematic view showing the internal structure of the forearm housing of the invention;
FIG. 13 is a schematic structural diagram of a high-precision three-degree-of-freedom hollow wrist in the present invention.
In the drawings
1: base component 1-1: base shell
1-1-1: base upper end face 1-1-2: input port
1-1-3: base fixed stop 1-2: input end cap
1-3: the pipeline protection cover 2: waist joint assembly
2-1: waist shell 2-1-1: waist joint head end mounting surface
2-1-2: waist joint tail end mounting surface 2-1-3: first motor mounting surface
2-1-4: 2-1-5 of second motor mounting surface: waist joint auxiliary arm mounting hole
2-1-6: a waist joint fixing block 2-2: waist joint auxiliary arm piece
2-3: first joint RV reducer 2-4: second joint RV speed reducer
2-5: first electric machine 2-6: second electric machine
2-7: first joint stopper 3: big arm joint assembly
3-1: large arm housing 3-1-1: big arm head end mounting surface
3-1-2: 3-1-3 of large arm tail end mounting surface: auxiliary arm mounting hole
3-1-4: the large arm fixed stop 3-2: second joint stop block
4: forearm joint component 4-1: forearm tail casing
4-1-1: forearm head end mounting surface 4-1-2: small arm tail end mounting surface
4-1-3: third motor mounting surface 4-1-4: wrist motor mounting surface
4-1-5: gear pump motor installation face 4-2: third electric machine
4-3: a third joint RV reducer 4-4: wrist motor
4-5: gear pump motor 4-6: first planetary gear reducer
4-7: wrist transmission shaft 4-8: third joint block
4-9: 4-10 of small arm head shell: second planetary gear reducer
5: three-degree-of-freedom hollow wrist 5-1: wrist base piece
5-2: wrist first joint element 5-3: second joint of wrist
5-4: 5-5 parts of wrist flange: wrist input shaft
6: internal wiring pipe
Detailed Description
The following describes a high-precision industrial painting robot according to the present invention in detail with reference to the accompanying drawings.
As shown in fig. 1 and fig. 2, the high-precision industrial spraying robot of the invention comprises a base component 1, a waist joint component 2, a big arm joint component 3, a small arm joint component 4 and a three-degree-of-freedom hollow wrist 5 which are connected in sequence, and is characterized in that the base component 1, the waist joint component 2, the big arm joint component 3 and the small arm joint component 4 are all hollow structures and jointly form a sealed cavity of the robot, an internal wiring pipe 6 for providing power supply and control signals is arranged in the sealed cavity, the head ends of a power line and a signal line in the internal wiring pipe 6 are connected with an external control cabinet, the base component 1 is fixedly connected on the ground through screws and used as a foundation of the robot, the head end port of the waist joint component 2 is rotatably connected with the upper end port of the base component 1, and the connection part forms a first rotary joint, the tail port of the waist joint component 2 is rotationally connected with the head port of the large arm joint component 3, the joint part forms a second rotary joint, the tail port of the large arm joint component 3 is rotationally connected with the head port of the small arm joint component 4, the joint part forms a third rotary joint, the tail port of the small arm joint component 4 is fixedly connected with the head port of the three-degree-of-freedom hollow wrist 5, the tail port of the three-degree-of-freedom hollow wrist 5 is used for connecting terminal tools such as a spray gun and the like,
as shown in fig. 1, 2, 3 and 4, the base assembly 1 includes: a base shell 1-1, an input end cover 1-2 which is fixedly connected with an input port 1-1-2 of the base shell 1-1 through a screw and is used for connecting an external control cabinet through a power line and a signal line, the upper end of the base shell 1-1 is provided with a base upper end surface 1-1-1 communicated with the inside and used for connecting the waist joint component 2, the inner wiring pipe 6 extends out of the upper end surface 1-1-1 of the base and enters the waist joint component 2, the head ends of the power line and the signal line in the internal wiring pipe 6 are connected with an external control cabinet through the input end cover 1-2, and a base fixed stop block 1-1-3 used for limiting the forward and reverse rotation angle ranges of the first rotary joint is arranged on the outer periphery of the upper end surface 1-1-1 of the base. And a pipeline protective cover 1-3 used for ensuring that a joint of a pipeline is isolated from explosive air is arranged on the outer side of the input end cover 1-2.
As shown in fig. 1, 2, 5, 6 and 7, the waist joint assembly 2 includes a waist housing 2-1, a waist joint head end mounting surface 2-1-1 which is communicated with the middle is formed at the bottom of the waist shell 2-1, the waist joint head end mounting surface 2-1-1 is fixedly connected with one end of a first joint RV reducer 2-3 with a hollow structure through a screw, the other end of the first joint RV reducer 2-3 is fixedly connected to the upper end surface 1-1-1 of the base component 1 through a screw to form a first rotary joint, a first motor 2-5 connected with the first joint RV reducer 2-3 is arranged in the waist shell 2-1 through a first motor mounting surface 2-1-3 and used for driving a first rotary joint to rotate; a waist joint auxiliary arm mounting hole 2-1-5 connected with the head end port of the waist joint auxiliary arm piece 2-2 with a hollow structure is formed at a position close to the waist joint head end mounting surface 2-1-1 on one side surface of the waist shell 2-1, a waist joint tail end mounting surface 2-1-2 communicated with the middle is formed at a position far away from the waist joint head end mounting surface 2-1-1, the waist joint tail end mounting surface 2-1-2 is fixedly connected with a second joint RV reducer 2-4 with a non-hollow structure through a screw, one end of the second joint RV reducer 2-4 positioned at the outer side of the waist shell 2-1 and the tail end port of the waist joint auxiliary arm piece 2-2 are fixedly connected with the head end port of the large arm joint component 3 through a screw to form a second rotary joint, and a position corresponding to the second joint RV reducer 2-4 in the waist shell 2-1 is fixedly connected with the The mounting surface 2-1-4 is provided with a second motor 2-6 connected with the second joint RV reducer 2-4 and used for driving a second rotary joint to rotate; two first joint stop blocks 2-7 are arranged on the outer periphery of the waist joint head end mounting surface 2-1-1, and the first joint stop blocks 2-7 can be adjusted in position along the outer periphery of the waist joint head end mounting surface 2-1-1 and are used for being matched with base fixing stop blocks 1-1-3 on the periphery of the base upper end surface 1-1-1 of the base assembly 1 to limit the forward and reverse rotation angle ranges of a first rotary joint; the waist joint fixing stop 2-1-6 used for limiting the forward and reverse rotation angle range of the second rotary joint is arranged on the outer periphery of the waist joint tail end mounting surface 2-1-2. The inner wiring pipe 6 penetrates through an inner channel formed by the first joint RV reducer 2-3, the waist shell 2-1 and the waist joint auxiliary arm piece 2-2 to provide a power line and a signal line for the first motor 2-5 and the second motor 2-6 and enters the large arm joint assembly 3.
As shown in fig. 1, 2, 8 and 9, the big arm joint assembly 3 includes a big arm housing 3-1, a big arm head end mounting surface 3-1-1 which is not through with the inside is formed on one side of the head end of the big arm housing 3-1, an assistant arm mounting hole 3-1-3 which is through with the inside is formed on the other side, the big arm head end mounting surface 3-1-1 is fixedly connected with a second joint RV reducer 2-4 in the waist joint assembly 2 through a screw, and the assistant arm mounting hole 3-1-3 is rotatably connected with a tail port of the waist joint assistant arm 2-2 in the waist joint assembly 2 to jointly form a second rotary joint; a big arm tail end mounting surface 3-1-2 which is communicated with the inside and is used for connecting the head end of a small arm joint component 4 to form a third rotary joint is formed at the tail end of the big arm shell 3-1, two second joint stop blocks 3-2 are arranged on the outer periphery of the big arm head end mounting surface 3-1-1, the position of the second joint stop blocks 3-2 can be adjusted along the outer periphery of the big arm head end mounting surface 3-1-1, and the second joint stop blocks are used for being matched with waist joint fixing stop blocks 2-1-6 on the periphery of the waist joint tail end mounting surface 2-1-2 of the waist joint component 2 to limit the forward and reverse rotation angle ranges of the second rotary joint; the outer periphery of the big arm tail end mounting surface 3-1-2 is provided with a big arm fixing stop 3-1-4 for limiting the forward and reverse rotation angle range of the third rotary joint, and an internal wiring pipe 6 sequentially penetrates through the auxiliary arm mounting hole 3-1-3, the big arm shell 3-1 and the big arm tail end mounting surface 3-1-2 to enter the small arm joint assembly 4.
As shown in fig. 1, 2, 10, 11 and 12, the forearm joint assembly 4 includes: the small arm joint assembly comprises a small arm tail shell 4-1 and a small arm head shell 4-9 which are connected, wherein a small arm head end mounting surface 4-1-1 communicated with the inside is formed on one side of the small arm head shell 4-9, a small arm tail end mounting surface 4-1-2 is arranged on the tail end surface of the small arm tail shell 4-1, a third joint RV reducer 4-3 with a hollow structure is mounted on the small arm head end mounting surface 4-1-1, and one end, located on the outer side of the small arm head shell 4-9, of the third joint RV reducer 4-3 is fixedly connected with a large arm tail end mounting surface 3-1-2 of a large arm shell 3-1 in the large arm joint assembly 3 through screws to form a third rotary joint; a third motor 4-2 connected with the third joint RV reducer 4-3 is arranged in the small arm head shell 4-9 corresponding to the third joint RV reducer 4-3 through a third motor mounting surface 4-1-3 and is used for driving a third joint to rotate; the mounting surface 4-1-2 at the tail end of the small arm is fixedly connected with the three-degree-of-freedom hollow wrist 5 through a screw; three wrist motor mounting surfaces 4-1-4 communicated with the small arm tail shell 4-1 are arranged on the surface connected with the small arm tail shell 4-1 in the small arm head shell 4-9, each wrist motor mounting surface 4-1-4 is provided with a first planetary gear reducer 4-6, the input end of each first planetary gear reducer 4-6 is connected with the output shaft of a wrist motor 4-4, the output shafts of the three first planetary gear reducers 4-6 are respectively connected with a wrist transmission shaft 4-7 positioned in the forearm tail shell 4-1 through a coupler, and the other ends of the three wrist transmission shafts 4-7 are connected with the three-degree-of-freedom hollow wrist 5 through couplers and drive the three-degree-of-freedom hollow wrist 5 to operate; two third joint stop blocks 4-8 are arranged on the periphery of the small arm head end mounting surface 4-1-1, and the third joint stop blocks 4-8 can be adjusted in position along the periphery of the small arm head end mounting surface 4-1-1 and are used for being matched with the large arm fixed stop blocks 3-1-4 on the periphery of the large arm tail end mounting surface 3-1-2 in the large arm joint assembly 3 to limit the forward and reverse rotation angle ranges of a third rotary joint; the inner wiring pipe 6 penetrates through a third joint RV speed reducer 4-3 and a forearm head shell 4-9 in sequence and provides a power line and a signal line for the third motor 4-2 and the wrist motor 4-4.
As shown in fig. 10 and 12, two gear pump motor mounting surfaces 4-1-5 are further arranged on the surface connected with the small arm tail housing 4-1 in the small arm head housing 4-9, each gear pump motor mounting surface 4-1-5 is provided with a second planetary gear reducer 4-10, the input end of each second planetary gear reducer 4-10 is connected with the output end of one gear pump motor 4-5, the gear pump motor 4-5 is arranged for mounting a gear pump in an external spraying system on the small arm tail shell 4-1, and provides power for the operation of a gear pump in an external spraying system through the second planetary gear speed reducer 4-10 and a coupler so as to improve the response speed of the spraying system, and the internal wiring pipe 6 provides a power line and a signal line for the gear pump motors 4-5.
As shown in fig. 1, 2 and 13, the three-degree-of-freedom hollow wrist 5 adopts the technology disclosed in patent application No. 201910875113.9, and comprises a wrist base element 5-1, a wrist first joint element 5-2, a wrist second joint element 5-3, a wrist flange 5-4 and a wrist input shaft 5-5. The head end face of the wrist base piece 5-1 is fixedly connected to the forearm tail end mounting face 4-1-2 of the forearm tail shell 4-1 in the forearm joint assembly 4 through screws, the tail end face of the wrist base piece 5-1 is rotatably connected to the head end face of the wrist first joint piece 5-2, the tail end face of the wrist first joint piece 5-2 is rotatably connected to the head end face of the wrist second joint piece 5-3, the tail end face of the wrist second joint piece 5-3 is rotatably connected to the head end face of the wrist flange 5-4, and the tail end face of the wrist flange 5-4 can be fixedly connected with an end tool such as a spray gun through screws. The wrist input shaft 5-5 is rotatably connected to the head end face of the wrist base piece 5-1, and the other end of the wrist input shaft 5-5 is connected to the wrist transmission shaft 4-7 through a coupler and drives three rotary joints of a wrist to move; a gear pair meshing clearance adjusting mechanism is arranged in the three-degree-of-freedom hollow wrist 5, so that the meshing clearance between a cylindrical gear pair and a bevel gear pair in the wrist mechanism can be adjusted and eliminated, and the high movement precision of the wrist is ensured; the three-degree-of-freedom hollow wrist 5 has a hollow channel structure, and various pipelines can conveniently pass through the hollow channel structure and be connected to end tools such as a spray gun.
The invention relates to a high-precision industrial spraying robot which has the following characteristics:
(1) the high-precision RV speed reducer and the planetary speed reducer are respectively adopted on the driving chains of all the rotary joints of the spraying robot, and the high-precision three-degree-of-freedom hollow wrist is combined, so that the complete machine of the spraying robot is ensured to have better motion precision; particularly, the second joint RV speed reducer 2-4 in the second rotary joint driving chain of the spraying robot is an RV speed reducer without a hollow structure, so that the manufacturing cost of the whole spraying robot can be effectively reduced, meanwhile, the structural complexity and the structural strength of the second rotary joint of the spraying robot are higher than those of the third rotary joint, and compared with the existing design, the principle that the closer to the base in the structural design of the spraying robot is, the higher the structural strength is can be better met.
(2) The base assembly 1, the waist joint assembly 2, the big arm joint assembly 3 and the small arm joint assembly 4 of the spraying robot are all of a hollow structure and jointly form an internal sealed cavity of the spraying robot, the internal wiring pipe 6 is located in the sealed cavity of the spraying robot and sequentially passes through the base assembly 1, the first joint RV reducer 2-3, the waist shell 2-1, the waist joint auxiliary arm 2-2, the big arm joint assembly 3 and the small arm joint assembly 4 and is respectively connected with the first motor 2-5, the second motor 2-6, the third motor 4-2, the gear pump motor 4-5, the wrist motor 4-4 and the like so as to provide a power line and a signal line for the spraying robot; the arrangement of the internal wiring pipe 6 can effectively separate pipelines such as a motor power line, a signal line and the like from an explosive environment in a spraying workshop, and the safety of the spraying robot is improved. The first rotary joint, the second rotary joint and the third rotary joint of the robot are provided with joint limiting mechanisms, so that the forward and reverse rotation angle ranges of the rotary joints can be limited, and the safety and the reliability of the spraying operation of the spraying robot are further improved.
Claims (8)
1. The utility model provides a high accuracy industrial spraying robot, includes base subassembly (1), waist joint subassembly (2), big arm joint subassembly (3), forearm joint subassembly (4) and three degree of freedom cavity wrists (5) that connect gradually, its characterized in that, base subassembly (1), waist joint subassembly (2), big arm joint subassembly (3) and forearm joint subassembly (4) are hollow structure and form the sealed chamber of robot jointly, be provided with inside line pipe (6) of walking that is used for providing power and control signal in the sealed chamber, the outside switch board is connected to the head end of power line and signal line in inside line pipe (6), base subassembly (1) is subaerial through screw fixed connection, as the basis of robot, the rotatory connection of head end mouth of waist joint subassembly (2) is in the last port of base subassembly (1), the joint comprises a first rotary joint, a tail end port of a waist joint component (2) is rotationally connected with a head end port of a large arm joint component (3), the joint comprises a second rotary joint, the tail end port of the large arm joint component (3) is rotationally connected with a head end port of a small arm joint component (4), the joint comprises a third rotary joint, the tail end port of the small arm joint component (4) is fixedly connected with the head end port of a three-degree-of-freedom hollow wrist (5), and the tail end port of the three-degree-of-freedom hollow wrist (5) is used for connecting a terminal tool.
2. A high precision industrial painting robot according to claim 1, characterized in that said base assembly (1) comprises: base casing (1-1), through screw fixed connection be used for on the input port (1-1-2) of base casing (1-1) through input end cover (1-2) of power line and signal line connection external control cabinet, base casing (1-1) upper end is formed with being used for being connected with inside intercommunication waist joint subassembly (2) base up end (1-1-1), inside wiring pipe (6) are followed base up end (1-1-1) stretches out the entering waist joint subassembly (2), power cord and signal line's head end in inside wiring pipe (6) are passed through input end cover (1-2) connect external control cabinet, be provided with on the outer periphery of base up end (1-1-1) and be used for the restriction the fixed dog of base (1) of first gyration joint forward and reverse corner scope -1-3).
3. A high precision industrial painting robot according to claim 2, characterized in that the outside of the input end cap (1-2) is provided with a line protection cover (1-3) for ensuring that the joint of the line is isolated from the explosive air.
4. The high-precision industrial spraying robot as claimed in claim 1, wherein the waist joint assembly (2) comprises a waist shell (2-1), a waist joint head end mounting surface (2-1-1) penetrating through the middle is formed at the bottom of the waist shell (2-1), the waist joint head end mounting surface (2-1-1) is fixedly connected with one end of a first joint RV reducer (2-3) of a hollow structure through a screw, the other end of the first joint RV reducer (2-3) is fixedly connected onto a base upper end surface (1-1-1) of the base assembly (1) through a screw to form a first rotary joint, a first motor (2-5) connected with the first joint RV reducer (2-3) is mounted in the waist shell (2-1) through the first motor mounting surface (2-1-3) ) For driving the rotation of the first revolute joint; a waist joint auxiliary arm mounting hole (2-1-5) connected with the head end of the waist joint auxiliary arm piece (2-2) with a hollow structure is formed on one side surface of the waist shell (2-1) at a position close to the waist joint head end mounting surface (2-1-1), a waist joint tail end mounting surface (2-1-2) with a through middle is formed at a position far away from the waist joint head end mounting surface (2-1-1), a second joint RV reducer (2-4) with a non-hollow structure is fixedly connected on the waist joint tail end mounting surface (2-1-2) through a screw, the second joint RV reducer (2-4) is positioned at one end of the outer side of the waist shell (2-1) and the tail end of the waist joint auxiliary arm piece (2-2) and is fixedly connected with the head end of the big arm joint component (3) through a screw to form a second rotary joint, a second motor (2-6) connected with the second joint RV reducer (2-4) is installed in the waist shell (2-1) through a second motor installation surface (2-1-4) and corresponds to the second joint RV reducer (2-4) and is used for driving a second rotary joint to rotate; two first joint stop blocks (2-7) are arranged on the outer periphery of the waist joint head end mounting surface (2-1-1), and the first joint stop blocks (2-7) can be adjusted in position along the outer periphery of the waist joint head end mounting surface (2-1-1) and are used for being matched with base fixing stop blocks (1-1-3) on the periphery of the base upper end surface (1-1-1) of the base assembly (1) to limit the forward and reverse rotation angle ranges of a first rotary joint; the outer periphery of the waist joint tail end mounting surface (2-1-2) is provided with a waist joint fixing stop block (2-1-6) for limiting the forward and reverse rotation angle range of the second rotary joint.
5. A high precision industrial painting robot according to claim 4 characterized in that the inner wiring pipe (6) runs through the inner channel formed by the first joint RV reducer (2-3), the waist shell (2-1) and the waist joint sub arm (2-2) to provide power and signal lines for the first and second motors (2-5, 2-6) and into the big arm joint assembly (3).
6. A high precision industrial spraying robot according to claim 1, the big arm joint component (3) comprises a big arm shell (3-1), one side of the head end of the big arm shell (3-1) is provided with a big arm head end mounting surface (3-1-1) which is not communicated with the inside, the other side is provided with an auxiliary arm mounting hole (3-1-3) which is communicated with the inside, the big arm head end mounting surface (3-1-1) is fixedly connected with a second joint RV reducer (2-4) in the waist joint component (2) through a screw, the auxiliary arm mounting hole (3-1-3) is rotatably connected with the tail end port of the waist joint auxiliary arm piece (2-2) in the waist joint assembly (2) to jointly form a second rotary joint; a big arm tail end mounting surface (3-1-2) which is communicated with the inside and is used for connecting the head end of the small arm joint component (4) to form a third rotary joint is formed at the tail end of the big arm shell (3-1-1), two second joint stop blocks (3-2) are arranged on the outer periphery of the big arm head end mounting surface (3-1-1), the second joint stop blocks (3-2) can be adjusted in position along the outer periphery of the big arm head end mounting surface (3-1-1) and are used for being matched with waist joint fixing stop blocks (2-1-6) on the periphery of the waist joint tail end mounting surface (2-1-2) of the waist joint component (2) to limit the forward and reverse rotation angle ranges of the second rotary joint; the outer periphery of the large arm tail end mounting surface (3-1-2) is provided with a large arm fixing stop block (3-1-4) for limiting the forward and reverse rotation angle range of the third rotary joint, and an internal wiring pipe (6) sequentially penetrates through the auxiliary arm mounting hole (3-1-3), the large arm shell (3-1) and the large arm tail end mounting surface (3-1-2) to enter the small arm joint assembly (4).
7. A high precision industrial painting robot according to claim 1, characterized in that said small arm joint assembly (4) comprises: a small arm tail shell (4-1) and a small arm head shell (4-9) which are connected, wherein a small arm head end mounting surface (4-1-1) communicated with the inside is formed at one side of the small arm head shell (4-9), a small arm tail end mounting surface (4-1-2) is arranged on the tail end surface of the small arm tail shell (4-1), a third joint RV reducer (4-3) with a hollow structure is arranged on the small arm head end mounting surface (4-1-1), one end of the third joint RV speed reducer (4-3) positioned at the outer side of the small arm head shell (4-9) is fixedly connected with a large arm tail end mounting surface (3-1-2) of a large arm shell (3-1) in the large arm joint assembly (3) through a screw, and a third rotary joint is formed; a third motor (4-2) connected with the third joint RV reducer (4-3) is arranged in the small arm head shell (4-9) corresponding to the third joint RV reducer (4-3) through a third motor mounting surface (4-1-3) and is used for driving a third joint to rotate; the small arm tail end mounting surface (4-1-2) is fixedly connected with the three-degree-of-freedom hollow wrist (5) through a screw; the inner surface of the forearm head shell (4-9) connected with the forearm tail shell (4-1) is provided with three wrist motor mounting surfaces (4-1-4) communicated with the forearm tail shell (4-1), each wrist motor mounting surface (4-1-4) is provided with a first planetary gear reducer (4-6), the input end of each first planetary gear reducer (4-6) is connected with the output shaft of a wrist motor (4-4), the output shafts of the three first planetary gear reducers (4-6) are respectively connected with a wrist transmission shaft (4-7) positioned in the forearm tail shell (4-1) through a coupling, and the other ends of the three wrist transmission shafts (4-7) are connected with the three-degree-of-freedom hollow wrist (5) through couplings, and drives the three-degree-of-freedom hollow wrist (5) to operate; two third joint stop blocks (4-8) are arranged on the periphery of the small arm head end mounting surface (4-1-1), and the third joint stop blocks (4-8) can be adjusted in position along the periphery of the small arm head end mounting surface (4-1-1) and are used for being matched with the large arm fixing stop blocks (3-1-4) on the periphery of the large arm tail end mounting surface (3-1-2) in the large arm joint assembly (3) to limit the forward and reverse rotation angle ranges of a third rotary joint; the inner wiring pipe (6) penetrates through a third joint RV speed reducer (4-3) and a forearm head shell (4-9) in sequence and provides a power line and a signal line for the third motor (4-2) and the wrist motor (4-4).
8. A high-precision industrial spraying robot as claimed in claim 7, characterized in that two gear pump motor mounting surfaces (4-1-5) are arranged on the surface of the small arm head shell (4-9) connected with the small arm tail shell (4-1), each gear pump motor mounting surface (4-1-5) is provided with a second planetary gear reducer (4-10), the input end of each second planetary gear reducer (4-10) is connected with the output end of one gear pump motor (4-5), the gear pump motors (4-5) are arranged for mounting a gear pump in an external spraying system on the small arm tail shell (4-1) and providing power for the operation of the gear pump in the external spraying system through the second planetary gear reducers (4-10) and a coupler, the response speed of the spraying system is improved, and the internal wiring pipe (6) provides a power line and a signal line for the gear pump motor (4-5).
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| CN202010955684.6A CN112008741A (en) | 2020-09-11 | 2020-09-11 | High-precision industrial spraying robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010955684.6A CN112008741A (en) | 2020-09-11 | 2020-09-11 | High-precision industrial spraying robot |
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| CN112008741A true CN112008741A (en) | 2020-12-01 |
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| CN202010955684.6A Pending CN112008741A (en) | 2020-09-11 | 2020-09-11 | High-precision industrial spraying robot |
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| CN113198650A (en) * | 2021-05-25 | 2021-08-03 | 伯朗特机器人股份有限公司 | Spraying robot and positive pressure explosion-proof method thereof |
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| CN113843783A (en) * | 2021-10-19 | 2021-12-28 | 洛阳千歌机器人科技有限公司 | Positive pressure type explosion-proof cooperative robot |
| CN114131589A (en) * | 2021-12-24 | 2022-03-04 | 上海果纳半导体技术有限公司 | Transfer robot |
| CN114248258A (en) * | 2022-01-13 | 2022-03-29 | 佛山华数机器人有限公司 | High-precision large-arm joint-unfolding robot |
| WO2022209984A1 (en) * | 2021-03-30 | 2022-10-06 | 株式会社ソニー・インタラクティブエンタテインメント | Joint mechanism and multi-joint device |
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