CN201543544U - Master-slave mode plastic spraying robot - Google Patents
Master-slave mode plastic spraying robot Download PDFInfo
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- CN201543544U CN201543544U CN2009202187873U CN200920218787U CN201543544U CN 201543544 U CN201543544 U CN 201543544U CN 2009202187873 U CN2009202187873 U CN 2009202187873U CN 200920218787 U CN200920218787 U CN 200920218787U CN 201543544 U CN201543544 U CN 201543544U
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Abstract
The utility model discloses a master-slave mode plastic spraying robot, which comprises an X-direction transverse rail assembly, a DC machine, a Z-direction lifting rail assembly, a cross arm, a stepping motor, a wrist part and a holding part. The master-slave mode plastic spraying robot consists of a master unit and a slave unit, wherein the master unit acquires the signal of the operator and then sends the signal to the slave unit, and the slave unit performs the corresponding action according to the command of the master unit. The mechanical part of the slave unit adopts a rectangular coordinate-type mechanical arm, the machine body adopts a screw rod nut to transfer motion, and the wrist part adopts the stepping motor to drive, has precise position, can freely rotate up and down within 180 degrees, and can finish the spray of multiple angles. The core of a control part adopts a singlechip computer to realize communication between two computers, and the machine body and the wrist part are respectively provided with an angular sensor for feeding back the motion information of the slave unit to the master unit.
Description
Technical field
The utility model relates to a kind of robot, particularly a kind of master-slave mode plastic-blasting robot that finishes the plastic-blasting task with Single-chip Controlling stepper motor drive arm motion.
Background technology
Generally by manually finishing, the plastic-blasting environment is extremely abominable for current workmanship of spraying plastics, and the operator sucks chemical powder easily, has influenced workman's life security greatly.The automatic plastic-blasting of robot not only accurately but also safety non-toxic, the good and steady quality of plastic-blasting quality, the acute or slow poisoning that has caused when having avoided artificial plastic-blasting, thereby more and more be subjected to the favor of enterprise.But existing spray robot is primarily aimed at the design of spraying paint, and ignored different with plastic-blasting of spraying paint, and price is higher, complex structure, and complicated operation, versatility is relatively poor, mostly is the robot of tailored version.
Summary of the invention
Contaminated serious at present plastic-blasting industry workman, ineffective characteristics, the utility model provides a master-slave mode plastic-blasting robot.
For achieving the above object, the utility model has adopted following technical scheme:
A kind of master-slave mode plastic-blasting robot is by the traversing rail assembly of directions X, direct current generator, Z direction lift rail assembly, transverse arm, stepper motor, the wrist part, retained part is formed, and mechanical part adopts rectangular coordinate manipulative, transverse arm partly is connected with axle with wrist, gear cooperates the transmission motion, and the wrist part all is connected with axle with retained part, and gear cooperates the transmission motion, guide assembly partly adopts feed screw nut transmission campaign, and wrist partly adopts stepper motor to drive.
Wrist part is by transverse arm, stepper motor, and stepper motor, wrist, retained part, spray gun, finger, electromagnet, holding screw is formed; Is connected with axle, bearing between transverse arm and wrist, is fixed with gear on the wrist, stepper motor passes through meshed transmission gear, and rotation is passed to wrist; Be connected by axle, bearing between wrist and retained part, stepper motor passes to retained part by gear drive with rotation; Electromagnet is fixed on the retained part by screw.
Master-slave mode plastic-blasting robot is made up of main frame and slave two parts, and main frame acquisition operations personnel's signal sends to slave, and slave mainly is to finish actions such as extracting, lifting, rotation and plastic-blasting to workpiece according to the control instruction that main frame is sent.The slave mechanical part adopts rectangular coordinate manipulative, and X, Y, Z coordinate direction respectively can all arounds, move up and down, and motion is directly perceived.Wrist joint has a plurality of frees degree, can realize the rotation on X, Y, Z plane.The motion of this manipulator on X, Y, Z axle is independently, but equation of motion independent process, and equation is linear, therefore is easy to realize by computer control.Fuselage partly adopts feed screw nut transmission campaign, and ball-screw can guarantee high-precision requirement, has to realize obviously advantage such as high speed feed, good rigidity.Wrist partly adopts stepper motor to drive, and accurate positioning can be faced upward arbitrarily in 180 degree scopes and be bowed, and can finish the spraying of a plurality of angles, and stepper motor is connected with single-chip microcomputer easily, can holding torque when stopping.Because stepper motor is used to drive the rotation of spray gun and wrist herein, spray gun weight is generally several hectograms, and wrist is also very thin, and spray gun is 200mm only apart from the distance of stepper motor, so moment of torsion is very little, chooses 57BYG060-05 type stepper motor and gets final product.The control section core adopts two MCS-51 single-chip microcomputer dual-machine communications to realize the signal transmission of principal and subordinate's machine.Wrist partly adopts angular displacement sensor WYT250T that the angle of wrist rotation is fed back, and forms closed-loop control system.
The beneficial effect of this utility model is: fuselage partly adopts feed screw nut transmission campaign, and ball-screw can guarantee high-precision requirement, has to realize obviously advantage such as high speed feed, good rigidity.Wrist partly adopts stepper motor to drive, and accurate positioning can be faced upward arbitrarily in 180 degree scopes and be bowed, and can finish the spraying of a plurality of angles, and stepper motor is connected with single-chip microcomputer easily, can holding torque when stopping.
Description of drawings
Fig. 1 is a structural representation of the present utility model;
Fig. 2 is the structural representation of wrist part of the present utility model;
Fig. 3 is a control system fundamental diagram of the present utility model;
Fig. 4 is a host control program block diagram of the present utility model;
Fig. 5 is a host control program block diagram of the present utility model.
Wherein, 1, the traversing rail assembly of directions X, 2, direct current generator, 3, Z direction lift rail assembly, 4, transverse arm, 5, stepper motor, 6, stepper motor, 7, the wrist part, 8, retained part, 9, spray gun, 10, finger, 11, electromagnet, 12, holding screw.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the utility model is described further.
As shown in Figure 1, the traversing rail assembly 1 of directions X, direct current generator 2, Z direction lift rail assembly 3, transverse arm 4, stepper motor 5, stepper motor 6, wrist part 7, retained part 8.This robot can be fixed on the travelling car, and travelling car can be realized the horizontal movement of robot body along the metope direction.Because by the plastic-blasting workpiece is to hang on active line to travel forward, manipulator can omit in the free degree that this side up, there is the clamping hand to assist plastic-blasting at position, workpiece dead angle, so manipulator only needs four frees degree just can realize plastic-blasting to the optional position of workpiece.Traversing rail assembly 1 of directions X and Z direction lift rail assembly 3 by direct current generator 2 drive can realize transverse arm 4 before and after X, Z direction, move up and down.Wrist part 6 and transverse arm 4 are driven by stepper motor 5 and can realize swinging, and wrist part 7 and retained part 8 are driven by stepper motor 6, can realize the pitching swing.
As shown in Figure 2, transverse arm 4, stepper motor 5, stepper motor 6, wrist 7, retained part 8, spray gun 9, finger 10, electromagnet 11, holding screw 12.7 of transverse arm 4 and wrists are connected with axle, bearing, are fixed with gear on the wrist 7, and stepper motor 5 passes to wrist by meshed transmission gear with rotation, and wrist is rotated around connecting axle, thereby realizes the pitching action of wrist, and the pitching scope is 180 °.8 of wrist 7 and retained parts are connected with axle, bearing, and stepper motor 6 passes to retained part 8 by gear drive with rotation, and retained part is rotated around connecting axle, and slewing area is 180 °.The effect of electromagnet 11 and finger 10 is switches of control spray gun 9, reduces the waste of material.When the electromagnet energising was closed, electromagnet drove finger 10 to pulling back, and pin Switch of spray pistol and carry out plastic-blasting, when stopping plastic-blasting, the electromagnet outage, finger stretches out switch key and rebounds, and closes spray gun.Electromagnet 11 fixes 12 on retained part 8 by screw, and the fixed position is adjustable, to adapt to the spray gun of different model.Holding screw also plays the effect of fastening spray gun, and when holding screw was inwardly tightened, the tightening sheet was followed the screw motion and clamped spray gun.
As shown in Figure 3, the operation principle of this master-slave mode plastic-blasting robot is: the operator is by observing workpiece a long way off, controls plastic-blasting robot slave flexibly by distance host and realizes rotation, pitching and action such as flexible, finishes the plastic-blasting to workpiece.Link together by cable and control system separately between principal and subordinate's machine.The structure of main frame is light and handy, can be held in the hand operation, and the major function of main frame provides signal, operating personnel apply control command by main frame, experience the motion conditions of slave simultaneously, and slave is then under the operational order of main frame, follow host motion, finish corresponding task.
Shown in accompanying drawing 4,5, to press after the beginning power supply, master and slave control module at first carries out system initialization process, and the main program of principal and subordinate's machine enters circulation after finishing initialization.Master machine control unit constantly detects its single-chip processor i/o port, if the operator provides action command, then master machine control unit carries out the A/D data acquisition by data acquisition module, sends the data to the slave control module by the serial communication programmer module then.The slave control module constantly detects its single-chip processor i/o port, finds to have the signal input then to receive data, and signal is handled, and finishes specific action according to the signal command drive motors then.Sensor can feed back to signal processing module with the performance of each action, forms a closed-loop control, continuous trimming movement, thus make action more accurate.
Claims (2)
1. a master-slave mode plastic-blasting robot is characterized in that: by the traversing rail assembly of directions X, direct current generator, Z direction lift rail assembly, transverse arm, stepper motor, the wrist part, retained part is formed, and mechanical part adopts rectangular coordinate manipulative, transverse arm partly is connected with axle with wrist, gear cooperates the transmission motion, and the wrist part all is connected with axle with retained part, and gear cooperates the transmission motion, guide assembly partly adopts feed screw nut transmission campaign, and wrist partly adopts stepper motor to drive.
2. a kind of master-slave mode plastic-blasting according to claim 1 robot is characterized in that: the wrist part is by transverse arm, stepper motor, and stepper motor, wrist, retained part, spray gun, finger, electromagnet, holding screw is formed; Is connected with axle, bearing between transverse arm and wrist, is fixed with gear on the wrist, stepper motor passes through meshed transmission gear, and rotation is passed to wrist; Be connected by axle, bearing between wrist and retained part, stepper motor passes to retained part by gear drive with rotation; Electromagnet is fixed on the retained part by screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202187873U CN201543544U (en) | 2009-11-17 | 2009-11-17 | Master-slave mode plastic spraying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202187873U CN201543544U (en) | 2009-11-17 | 2009-11-17 | Master-slave mode plastic spraying robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201543544U true CN201543544U (en) | 2010-08-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN2009202187873U Expired - Fee Related CN201543544U (en) | 2009-11-17 | 2009-11-17 | Master-slave mode plastic spraying robot |
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| CN (1) | CN201543544U (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101961700A (en) * | 2010-10-13 | 2011-02-02 | 刘宝龙 | Spraying robot |
| CN102059691A (en) * | 2009-11-17 | 2011-05-18 | 王雪 | Master-slave type plastic spraying robot |
| CN103990570A (en) * | 2013-02-19 | 2014-08-20 | 北京机械工业自动化研究所 | Manipulator for inner surface spraying of irregular barrel-shaped workpiece |
| CN104259036A (en) * | 2014-09-18 | 2015-01-07 | 中山市东升镇今明自动化机械设备厂 | Spraying manipulator |
| CN104998788A (en) * | 2015-07-03 | 2015-10-28 | 安庆联泰电子科技有限公司 | Special mobile positioning device for steel pipe surface spraying equipment |
| CN105058379A (en) * | 2015-09-11 | 2015-11-18 | 国网福建省电力有限公司 | Rectangular coordinate mechanical arm control system |
| CN106142101A (en) * | 2016-08-15 | 2016-11-23 | 江苏鑫涂机械有限公司 | A kind of pipe inner-wall spraying robot |
| CN106423668A (en) * | 2016-11-06 | 2017-02-22 | 合肥齐飞信息技术有限公司 | Intelligent automobile paint spraying and baking integrated robot |
| CN106552737A (en) * | 2015-09-24 | 2017-04-05 | 震旦（中国）有限公司 | A kind of automatic powder spray equipment |
| CN106925455A (en) * | 2017-04-06 | 2017-07-07 | 天长市金陵电子有限责任公司 | A kind of lift electrostatic powder coating machine |
| CN107313582A (en) * | 2017-05-11 | 2017-11-03 | 河北中燕科技服务有限公司 | A kind of intelligent building flush coater |
| CN107336241A (en) * | 2017-08-08 | 2017-11-10 | 智造未来（北京）机器人系统技术有限公司 | Control device and its control method, the robot device of manipulator |
| CN108246547A (en) * | 2018-03-22 | 2018-07-06 | 广东海洋大学 | A kind of inner container of electric cooker does not glue spray equipment |
-
2009
- 2009-11-17 CN CN2009202187873U patent/CN201543544U/en not_active Expired - Fee Related
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102059691A (en) * | 2009-11-17 | 2011-05-18 | 王雪 | Master-slave type plastic spraying robot |
| CN101961700A (en) * | 2010-10-13 | 2011-02-02 | 刘宝龙 | Spraying robot |
| CN103990570A (en) * | 2013-02-19 | 2014-08-20 | 北京机械工业自动化研究所 | Manipulator for inner surface spraying of irregular barrel-shaped workpiece |
| CN104259036A (en) * | 2014-09-18 | 2015-01-07 | 中山市东升镇今明自动化机械设备厂 | Spraying manipulator |
| CN104998788A (en) * | 2015-07-03 | 2015-10-28 | 安庆联泰电子科技有限公司 | Special mobile positioning device for steel pipe surface spraying equipment |
| CN105058379A (en) * | 2015-09-11 | 2015-11-18 | 国网福建省电力有限公司 | Rectangular coordinate mechanical arm control system |
| CN106552737A (en) * | 2015-09-24 | 2017-04-05 | 震旦（中国）有限公司 | A kind of automatic powder spray equipment |
| CN106552737B (en) * | 2015-09-24 | 2020-03-31 | 震旦（中国）有限公司 | Automatic powder spraying device |
| CN106142101A (en) * | 2016-08-15 | 2016-11-23 | 江苏鑫涂机械有限公司 | A kind of pipe inner-wall spraying robot |
| CN106142101B (en) * | 2016-08-15 | 2018-05-18 | 江苏鑫涂机械有限公司 | A kind of pipe inner-wall spraying robot |
| CN106423668A (en) * | 2016-11-06 | 2017-02-22 | 合肥齐飞信息技术有限公司 | Intelligent automobile paint spraying and baking integrated robot |
| CN106925455A (en) * | 2017-04-06 | 2017-07-07 | 天长市金陵电子有限责任公司 | A kind of lift electrostatic powder coating machine |
| CN106925455B (en) * | 2017-04-06 | 2020-06-26 | 天长市金陵电子有限责任公司 | Lifting type electrostatic powder spraying machine |
| CN107313582A (en) * | 2017-05-11 | 2017-11-03 | 河北中燕科技服务有限公司 | A kind of intelligent building flush coater |
| CN107313582B (en) * | 2017-05-11 | 2019-12-10 | 河北中燕科技服务有限公司 | Intelligent building spraying machine |
| CN107336241A (en) * | 2017-08-08 | 2017-11-10 | 智造未来（北京）机器人系统技术有限公司 | Control device and its control method, the robot device of manipulator |
| CN108246547A (en) * | 2018-03-22 | 2018-07-06 | 广东海洋大学 | A kind of inner container of electric cooker does not glue spray equipment |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100811 Termination date: 20101117 |