CN115591708A - Multi-shaft rotating arm robot intelligent spraying system - Google Patents
Multi-shaft rotating arm robot intelligent spraying system Download PDFInfo
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- CN115591708A CN115591708A CN202211159523.1A CN202211159523A CN115591708A CN 115591708 A CN115591708 A CN 115591708A CN 202211159523 A CN202211159523 A CN 202211159523A CN 115591708 A CN115591708 A CN 115591708A
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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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention discloses an intelligent spraying system of a multi-shaft rotating arm robot, which comprises X-axis trusses symmetrically distributed in the left and right directions, Y-axis trusses which are perpendicular to the two X-axis trusses and are in sliding connection, and a cantilever type external shaft mechanism which is in sliding connection with the Y-axis trusses in the length direction; the cantilever type external shaft mechanism comprises an R shaft rotating mechanism, a spraying explosion-proof box, a spraying six-shaft robot and a spray gun, the spraying six-shaft robot is connected with the output end of the R shaft rotating mechanism, the spray gun is connected with the output end of the spraying six-shaft robot, and the rotational freedom degree range of the R shaft rotating mechanism is between-90 degrees and 0 degree.
Description
Technical Field
The invention belongs to the technical field of spraying devices, and particularly relates to an intelligent spraying system of a multi-shaft rotating arm robot.
Background
The robot spraying technology is quite mature, and for the condition that the spraying area of a robot body does not meet the covering requirement, the current visible products are all carried out in a linear additional axis mode, namely the traditional external axis is in a linear walking mode in the X direction, the Y direction and the Z direction. The vertical Z-axis walking mechanism has high requirements on the size of a paint spraying room, particularly on the Z-axis (height), greatly wastes space, obviously improves project cost, cannot be used for the working condition of old paint spraying room transformation or limited paint spraying room size, and particularly cannot be used for the situation of limited paint spraying room height.
Therefore, the intelligent spraying system of the multi-axis rotary arm robot is provided, and the problem that the Z-axis dimension cannot be matched with a spray booth is solved.
Disclosure of Invention
In view of the problems raised by the above background art, the present invention is directed to: aims to provide an intelligent spraying system of a multi-axis rotating arm robot.
In order to achieve the technical purpose, the technical scheme adopted by the invention is as follows:
a multi-shaft rotary arm robot intelligent spraying system comprises X-axis trusses symmetrically distributed in the left and right directions, Y-axis trusses which are perpendicular to the two X-axis trusses and connected with the two X-axis trusses in a sliding mode, and cantilever type external shaft mechanisms which are connected with the Y-axis trusses in a sliding mode in the length direction;
the cantilever type external shaft mechanism comprises an R shaft rotating mechanism, a spraying explosion-proof box, a spraying six-shaft robot and a spray gun, the spraying six-shaft robot is connected with the output end of the R shaft rotating mechanism, the spray gun is connected with the output end of the spraying six-shaft robot, and the rotational freedom degree range of the R shaft rotating mechanism is between-90 degrees and 0 degree.
The lower surface of the X-axis truss is connected with support columns for height adjustment and fixation, and the structure is designed in such a way that the support columns are used for supporting and fixing the X-axis truss, so that the height of the X-axis truss is positioned at the height required by the working state, and the X-axis truss is kept horizontal by adjusting each support column.
Further inject, the upper and lower end of support column is equipped with connecting plate I, be connected with a plurality of triangle-shaped's reinforcing plate I between the main part of connecting plate I and support column, connecting plate I is equipped with a plurality of screws I, under connecting plate I passes through screw I and ground built-in fitting fixed connection, under connecting plate I still fixedly connected with nut, the bolt of position can be adjusted from top to bottom to nut threaded connection, such structural design, through the bolted connection of screw I and ground built-in fitting, accomplish the location and the fixing of support column self, through the adjustment of the upper and lower position of bolt in the nut, change the terrain clearance of support column to make the X axle truss overcome the original condition of bottom surface unevenness, realize the leveling.
Further inject, the main part of X axle truss is formed by the square steel that a plurality of length are the same in the width direction concatenation, X axle truss lower surface length direction's front and back end respectively is equipped with a connecting plate II, shape adaptation connecting plate I of connecting plate II is equipped with screw II in the position that corresponds screw I, a plurality of right angled triangle's of upper surface connection reinforcing plate II of connecting plate II, the hypotenuse of reinforcing plate II is outside, and vertical limit is relative, interval between the reinforcing plate II equals the width sum of a plurality of square steels, and such structural design realizes the bolted connection of connecting plate I and connecting plate II through the coincidence of screw II and screw I, and through the placing position of II standard square steels of reinforcing plate of right angled triangle and tentatively press from both sides tight fixed square steel.
Further inject, the upper surface of X axle truss is equipped with the rack along length direction, X axle truss is equipped with the X that matches with rack power to power unit, X includes X to the motor, connects at X to the gear of motor output and be used for fixed X to the mounting panel of motor to power unit, realize sliding connection through slide rail slider structure between mounting panel and the X axle truss main part, such structural design, through X in X to power unit provides power to the motor, drive gear is rotatory to with rack toothing cooperation, turn into rotary motion linear motion, slide rail slider structure is used for the direction and alleviates the friction.
Further inject, X axle truss is equipped with the baffle at length direction's foremost and rearmost end, such structural design to the baffle is spacing, avoids X to power unit surpass maximum stroke.
Further inject, Y axle truss and mounting panel fixed connection are located the mounting panel upper surface, the Y axle truss includes the parent tube and connects the connecting plate III at parent tube lower surface length direction front and back end, connecting plate III is equipped with the through-hole of coaxial distribution with the mounting panel to through bolted connection, such structural design for X to power unit realization X to the motion can be followed to X to the Y axle truss, and Y axle truss and X are also comparatively simple effective to the location connection structure between the power unit.
Further limited, the cantilever type external shaft mechanism further comprises a bottom plate and a Y-direction power mechanism, the cantilever type external shaft mechanism is in sliding connection with the Y-axis truss through a sliding rail and sliding block structure, the R-axis rotating mechanism is installed on one side, away from the Y-axis truss, of the bottom plate, the Y-direction power mechanism comprises a Y-direction motor, and through the structural design, power is provided for the power mechanism through the Y-direction in the cantilever type external shaft mechanism, and Y-direction movement is achieved.
Further inject, X adopts servo motor to motor and Y to the motor, X adopts planetary reducer to power unit, Y to power unit, R axle rotary mechanism adopts the RV reduction gear, such structural design has utilized servo motor high accuracy, closed-loop control's characteristics, has utilized planetary reducer light in weight, small, the drive ratio scope is big, efficient, operate steadily, the noise is low, strong adaptability's characteristics, has utilized RV reduction gear compact structure, the drive ratio is big, has the self-locking function's characteristics.
The invention has the beneficial effects that: compared with the traditional external shaft, the invention utilizes the R-axis rotating mechanism, expands the coverage range of the vertical surface and weakens the limit on the height of the spray booth on the premise of not increasing the height of the Z direction, and in addition, controls the spraying posture of the spray gun by the six-axis spraying robot, enlarges the spraying range and improves the spraying freedom degree and the flexibility.
Drawings
The invention is further illustrated by the non-limiting examples given in the accompanying drawings;
FIG. 1 is an isometric view of an embodiment of a multi-axis rotary arm robotic intelligent spray system of the present invention;
FIG. 2 is a top view of an embodiment of the multi-axis rotary arm robotic intelligent spray system of the present invention;
FIG. 3 is a schematic structural diagram of a cantilever-type external shaft mechanism in an embodiment of the intelligent spraying system of the multi-shaft rotary arm robot of the invention;
FIG. 4 is a schematic structural diagram of an X-axis truss in an embodiment of the intelligent spraying system of the multi-axis rotary arm robot of the invention;
FIG. 5 is a schematic structural diagram of an X-direction power mechanism in an embodiment of an intelligent spraying system of a multi-axis rotary arm robot according to the present invention;
FIG. 6 is a schematic structural diagram of a Y-axis truss in an embodiment of the intelligent spray system of a multi-axis rotary arm robot of the present invention;
FIG. 7 is a schematic structural diagram of a support column in an embodiment of the intelligent spray system of the multi-axis rotary arm robot of the present invention;
the main component symbols are as follows:
1. an X-axis truss; 11. a connecting plate II; 12. a reinforcing plate II; 13. square steel; 14. a baffle plate; 15. a rack; 16. an X-direction power mechanism; 161. mounting a plate; 162. an X-direction motor; 163. a gear;
2. a Y-axis truss; 21. a connecting plate III; 22. a base pipe;
3. an R-axis rotating mechanism;
4. spraying an explosion-proof box;
5. spraying a six-axis robot;
6. a spray gun;
7. a support column; 71. connecting plate I.
Detailed Description
In order that those skilled in the art can better understand the present invention, the following technical solutions are further described with reference to the accompanying drawings and examples.
As shown in fig. 1-7, the intelligent spraying system of the multi-axis rotary arm robot of the present invention comprises X-axis trusses 1 symmetrically distributed in the left-right direction, Y-axis trusses 2 in a perpendicular relationship and slidably connected to the two X-axis trusses 1, and cantilevered external axis mechanisms slidably connected to the Y-axis trusses 2 in the length direction;
the cantilever type external shaft mechanism comprises an R shaft rotating mechanism 3, a spraying explosion-proof box 4, a spraying six-shaft robot 5 and a spray gun 6, the spraying six-shaft robot 5 is connected with the output end of the R shaft rotating mechanism 3, the spray gun 6 is connected with the output end of the spraying six-shaft robot 5, and the rotating freedom range of the R shaft rotating mechanism 3 is between-90 degrees and 0 degree.
In the embodiment, the Y-axis truss 2 makes translational motion on the X-axis truss 1 along the X direction, the cantilever type external axis mechanism makes translational motion on the Y-axis truss 2 along the Y direction, when the height of a spraying room is limited, the R-axis rotating mechanism 3 expands the motion range of the six-axis robot 5 through rotation, the spraying posture of the spray gun 6 is adjusted by the spraying of the six-axis robot 5 in six degrees of freedom, compared with the traditional three-degree-of-freedom action shaft, the rotation degree range of the R-axis rotating mechanism 3 is between-90 degrees and 0 degree, so that the robot can rotate to a negative angle action, compared with the traditional action range which is vertical to the Z axis and vertical to the down direction, the R-axis rotating mechanism 3 does not need a drag chain which travels linearly, pipelines are arranged from the rotation center, the pipelines are saved, and residual paint of the pipelines is reduced;
when the intelligent spraying system works, the R-axis rotating mechanism 3 rotates to a horizontal position, the R-axis rotating mechanism 3 is parallel to the Y-axis truss 2, the position is an initial position, a sprayed workpiece is sent to a designated spraying position in a spraying chamber, the surface of the workpiece is sprayed under the control of a teaching or off-line programming program, when the paint is sprayed, the Y-axis truss 2 moves in a translation mode in the X direction on the X-axis truss 1, the cantilever type external axis mechanism moves in a translation mode in the Y direction on the Y-axis truss 2, the two motions are summarized into two-dimensional motions on a plane, the initial state of the R-axis rotating mechanism 3 can be stored in the height direction, the traditional vertical Z axis cannot achieve the purpose, the size of the spraying chamber must adapt to the height of the traditional vertical Z axis due to the limitation of the height of the traditional vertical Z axis, the space is greatly wasted, the project cost is increased, the movable range of a vertical plane is expanded through the R-axis rotating mechanism 3, the degree of freedom in the Z direction is achieved, and the limitation on the height of the spraying chamber is weakened.
Preferably, the supporting columns 7 for height adjustment and fixation are connected to the lower surface of the X-axis truss 1, and the structure is designed such that the X-axis truss 1 is supported and fixed by the supporting columns 7, the height of the X-axis truss 1 is set to a height required by an operating state, and the X-axis truss 1 is kept horizontal by adjusting each supporting column 7. In fact, other structures for supporting and fixing the X-axis truss 1 may be specifically considered according to the specific situation.
Preferably, the upper end and the lower end of support column 7 are provided with connecting plate I71, a plurality of triangular reinforcing plates I are connected between connecting plate I71 and the main body of support column 7, connecting plate I71 is provided with a plurality of screw holes I, connecting plate I71 under is fixedly connected with a foundation embedded part through screw holes I, connecting plate I71 under is also fixedly connected with nuts, the position of the bolts can be adjusted up and down through nut threaded connection, the self positioning and fixing of support column 7 are completed through the bolt connection of screw holes I and foundation embedded part, the ground clearance of support column 7 is changed through the adjustment of the upper position and the lower position of the bolts in the nuts, and therefore the original condition that the bottom surface is uneven is overcome for X-axis truss 1, and leveling is achieved. In fact, other structural shapes of the support posts 7 may be specifically considered as the case may be.
Preferably, X axle truss 1's main part is formed by the concatenation of the same square steel 13 of a plurality of length in width direction, X axle truss 1 lower surface length direction's front and back end respectively is equipped with a connecting plate II 11, shape adaptation connecting plate I71 of connecting plate II 11 and be equipped with screw II in the position that corresponds screw I, a plurality of right angled triangle's of upper surface connection reinforcing plate II 12 of connecting plate II 11, the hypotenuse of reinforcing plate II 12 is outside, vertical limit is relative, interval between reinforcing plate II 12 equals the width sum of a plurality of square steel 13, such structural design, through the coincidence of screw II and screw I, realize the bolted connection of connecting plate I71 and connecting plate II 11, through the placing position of the II 12 standard square steel 13 of reinforcing plate of right angled triangle and preliminary clamp fixed square steel 13. In fact, other structural shapes of the X-axis truss 1 may be specifically considered according to the specific situation.
Preferably, the rack 15 is arranged on the upper surface of the X-axis truss 1 along the length direction, the X-axis truss 1 is provided with an X-direction power mechanism 16 dynamically matched with the rack 15, the X-direction power mechanism 16 comprises an X-direction motor 162, a gear 163 connected to the output end of the X-direction motor 162 and an installation plate 161 used for fixing the X-direction motor 162, the installation plate 161 is in sliding connection with the main body of the X-axis truss 1 through a sliding rail and slider structure, the X-direction motor 162 in the X-direction power mechanism 16 provides power, the drive gear 163 rotates and is meshed and matched with the rack 15 to convert the rotating motion into linear motion, and the sliding rail and slider structure is used for guiding and reducing friction. In fact, other configurations for achieving X-direction motion are specifically contemplated as the case may be.
Preferably, the baffle plates 14 are arranged at the foremost end and the rearmost end of the X-axis truss 1 in the length direction, and the baffle plates 14 are used for limiting in the structural design, so that the X-direction power mechanism 16 is prevented from exceeding the maximum stroke. In fact, other limiting structures may be specifically contemplated depending on the particular circumstances.
Preferably, Y axle truss 2 and mounting panel 161 fixed connection and lie in the mounting panel 161 upper surface, Y axle truss 2 includes parent tube 22 and connects the connecting plate III 21 at parent tube 22 lower surface length direction front and back end, connecting plate III 21 and mounting panel 161 are equipped with coaxial distribution's through-hole to through bolted connection, such structural design for Y axle truss 2 can follow X to power unit 16 and realize the motion of X to, and the location connection structure between Y axle truss 2 and the X to power unit 16 is also comparatively simple effective. In fact, other structural shapes and installation positions of the Y-axis truss 2 may be specifically considered according to the specific situation.
Preferably, the cantilever type external shaft mechanism further comprises a bottom plate and a Y-direction power mechanism, the cantilever type external shaft mechanism is in sliding connection with the Y-axis truss 2 through a sliding rail and sliding block structure, the R-axis rotating mechanism 3 is installed on one side, away from the Y-axis truss 2, of the bottom plate, and the Y-direction power mechanism comprises a Y-direction motor. In fact, other sliding connection structures between the cantilevered external shaft mechanism and the Y-axis truss 2, and other structural shapes to achieve Y-direction motion, may also be specifically considered as the case may be.
Preferably, the X-direction motor 162 and the Y-direction motor adopt servo motors, the X-direction power mechanism 16 and the Y-direction power mechanism adopt planetary reducers, and the R-axis rotating mechanism 3 adopts an RV reducer, so that the structural design utilizes the characteristics of high precision and closed-loop control of the servo motors, the characteristics of light weight, small volume, large transmission ratio range, high efficiency, stable operation, low noise and strong adaptability of the planetary reducers, and the characteristics of compact structure, large transmission ratio and self-locking function of the RV reducer. In fact, other types of X-direction motors 162, Y-direction motors, and reducers are specifically contemplated as appropriate.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (9)
1. The utility model provides a multiaxis swing arm robot intelligence paint finishing which characterized in that: the X-axis truss type cantilever crane comprises X-axis trusses (1) symmetrically distributed in the left and right direction, Y-axis trusses (2) which are perpendicular to the two X-axis trusses (1) and are in sliding connection with the two X-axis trusses, and a cantilever type external axis mechanism which is in sliding connection with the Y-axis trusses (2) in the length direction;
the cantilever type external shaft mechanism comprises an R shaft rotating mechanism (3), a spraying explosion-proof box (4), a spraying six-shaft robot (5) and a spray gun (6), the spraying six-shaft robot (5) is connected with the output end of the R shaft rotating mechanism (3), the spray gun (6) is connected with the output end of the spraying six-shaft robot (5), and the rotational freedom range of the R shaft rotating mechanism (3) is between-90 degrees and 0 degree.
2. The multi-axis rotary arm robotic intelligent painting system of claim 1, wherein: and the lower surface of the X-axis truss (1) is connected with a supporting column (7) for adjusting the height and fixing.
3. The multi-axis rotary arm robotic intelligent painting system of claim 2, wherein: the utility model discloses a foundation structure, including support column (7), connecting plate I (71) and the main part of support column (7) are connected with a plurality of triangle-shaped's reinforcing plate I between the upper and lower end of support column (7), connecting plate I (71) and the main part of support column (7), connecting plate I (71) are equipped with a plurality of screw I, under connecting plate I (71) pass through screw I and ground built-in fitting fixed connection, under connecting plate I (71) still fixedly connected with nut, nut threaded connection can be from top to bottom the bolt of adjusting position.
4. The intelligent spraying system of a multi-axis rotary arm robot as claimed in claim 3, wherein: the main part of X axle truss (1) is formed by the concatenation of the same square steel (13) of a plurality of length in width direction, X axle truss (1) lower surface length direction's front and back end respectively is equipped with a connecting plate II (11), the shape adaptation connecting plate I (71) of connecting plate II (11) and be equipped with screw II in the position that corresponds screw I, a plurality of right angled triangle's of upper surface connection reinforcing plate II (12) of connecting plate II (11), the hypotenuse of reinforcing plate II (12) is outside, and vertical limit is relative, interval between reinforcing plate II (12) equals the width sum of a plurality of square steels (13).
5. The multi-axis rotary arm robotic intelligent painting system of claim 4, wherein: the upper surface of X axle truss (1) is equipped with rack (15) along length direction, X axle truss (1) is equipped with X to power unit (16) with rack (15) power matching, X includes X to motor (162), connects at X to gear (163) of motor (162) output and is used for fixed X to mounting panel (161) of motor (162) to power unit (16), realize sliding connection through slide rail slider structure between mounting panel (161) and X axle truss (1) main part.
6. The multi-axis rotary arm robotic intelligent painting system of claim 5, wherein: baffle plates (14) are arranged at the foremost end and the rearmost end of the X-axis truss (1) in the length direction.
7. The multi-axis rotary arm robotic intelligent painting system of claim 6, wherein: y axle truss (2) and mounting panel (161) fixed connection and lie in mounting panel (161) upper surface, Y axle truss (2) include parent tube (22) and connect connecting plate III (21) at parent tube (22) lower surface length direction front and back end, connecting plate III (21) are equipped with coaxial distribution's through-hole with mounting panel (161) to pass through bolted connection.
8. The multi-axis rotary arm robotic intelligent painting system of claim 7, wherein: the cantilever type external shaft mechanism further comprises a bottom plate and a Y-direction power mechanism, sliding connection is achieved between the cantilever type external shaft mechanism and the Y-axis truss (2) through a sliding rail and sliding block structure, the R-axis rotating mechanism (3) is installed on one side, deviating from the Y-axis truss (2), of the bottom plate, and the Y-direction power mechanism comprises a Y-direction motor.
9. The intelligent spraying system of multi-axis rotary arm robot as claimed in claim 8, wherein: the X-direction motor (162) and the Y-direction motor adopt servo motors, the X-direction power mechanism (16) and the Y-direction power mechanism adopt planetary reducers, and the R-axis rotating mechanism (3) adopts an RV reducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211159523.1A CN115591708A (en) | 2022-09-22 | 2022-09-22 | Multi-shaft rotating arm robot intelligent spraying system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211159523.1A CN115591708A (en) | 2022-09-22 | 2022-09-22 | Multi-shaft rotating arm robot intelligent spraying system |
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| Publication Number | Publication Date |
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| CN115591708A true CN115591708A (en) | 2023-01-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202211159523.1A Pending CN115591708A (en) | 2022-09-22 | 2022-09-22 | Multi-shaft rotating arm robot intelligent spraying system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118045726A (en) * | 2024-04-13 | 2024-05-17 | 山东永昌铝业有限公司 | Aluminum product spraying device |
-
2022
- 2022-09-22 CN CN202211159523.1A patent/CN115591708A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118045726A (en) * | 2024-04-13 | 2024-05-17 | 山东永昌铝业有限公司 | Aluminum product spraying device |
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