CN202169229U - Industrial spraying robot - Google Patents

Industrial spraying robot Download PDF

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Publication number
CN202169229U
CN202169229U CN2011201888553U CN201120188855U CN202169229U CN 202169229 U CN202169229 U CN 202169229U CN 2011201888553 U CN2011201888553 U CN 2011201888553U CN 201120188855 U CN201120188855 U CN 201120188855U CN 202169229 U CN202169229 U CN 202169229U
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CN
China
Prior art keywords
arm
servomotor
wrist
output shaft
hinged
Prior art date
Application number
CN2011201888553U
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Chinese (zh)
Inventor
罗云兵
Original Assignee
罗云兵
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Priority to CN2011201888553U priority Critical patent/CN202169229U/en
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Publication of CN202169229U publication Critical patent/CN202169229U/en

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Abstract

The utility model discloses an industrial spraying robot, which comprises a fixed plate (1), left arm and right arm servo motors (2, 4), an arm four-rod parallel mechanism and a wrist two-shaft serial mechanism, wherein the arm four-rod parallel mechanism includes left and right upper arms (6, 7), left and right lower arms (8, 9), and a wrist stand (10); the left upper arm (6) is hinged with the left lower arm (8); the right upper arm (7) is hinged with the right lower arm (9); the other end of the right upper arm (7) is connected with an output shaft of the right arm servo motor (4); the other end of the right lower arm (9) is fixedly connected with the wrist stand (10); the other end of the left upper arm (6) is connected with an output shaft of the left arm servo motor (3); and the other end of the left lower arm (8) is hinged on the wrist stand (10). The industrial spraying robot employing such a structure is simple and reasonable in structure, flexible and convenient in operation, firm and reliable in connection, good in spraying quality, high in work efficiency, and the like.

Description

The industry spray robot

Technical field

The utility model relates to a kind of spraying equipment, the spray robot that uses in particularly a kind of industry.

Background technology

Along with the develop rapidly of machinery manufacturing industry, the spraying technology supporting with it is also progressively developed, progressively carries out the transition to the full-automatic spray robot from hand spray, the spraying of semi-automatic spray gun; In the spraying operation process, adopt Robotics, not only can improve working environment, reduce labor intensity; But also can increase work efficiency; The spraying homogeneous quality is good, and the paint loss is little, so receive liking of manufacturing enterprise and numerous workers deeply.

At present common spray robot mainly contains two kinds of serial machine robot mechanism and parallel robot mechanisms.The serial machine robot mechanism is the motion open chain, thereby shortcomings such as little, bearing capacity difference are arranged such as rigidity, has big working space and action comparatively flexibly.And parallel robot mechanism is because of adopting the mechanical closed loop structure, and low, the good rigidity of the inertia of motion parts is compared advantage such as have the positioning accuracy height, bearing capacity is strong with the serial machine robot mechanism, but have shortcomings such as working range is little, underaction.

For this reason, many manufacturers and knowledgeable people have carried out research to the problems referred to above and have sent out and open, but do not have rational product to emerge so far as yet.

Summary of the invention

In order to overcome the problems referred to above that existing spray robot exists, the purpose of the utility model provides that a kind of simple and reasonable, flexible and convenient operation, firm and reliable connection, coating quality are good, the industrial spray robot of high efficiency.

The utility model solves the technical scheme that its technical problem adopted; It comprises fixed head, left and right arms servomotor, arm four bar parallel institutions, wrist diaxon serial mechanism, and left and right arms servomotor correspondence is installed on the fixed head, and described arm four bar parallel institutions comprise left and right sides upper arm, left and right sides underarm, wrist seat; Left upper arm and left underarm are hinged; Right upper arm and bottom right arm are hinged, and the other end of right upper arm is connected with right arm servomotor output shaft, and the other end of bottom right arm is fixedly connected with the wrist seat; The other end of left upper arm is connected with left arm servomotor output shaft, and the other end of left underarm is hinged on the wrist seat.

Described wrist diaxon serial mechanism comprises radial servo motor, axial servomotor, Connection Block, spray gun holder; The radial servo motor is installed on the wrist seat; Its output shaft is fixedly connected with Connection Block; Axially the output shaft of servomotor is fixedly connected with Connection Block, and the spray gun holder is fixed on the axial servomotor, and spray gun holder and axial servomotor Connection Block relatively rotate up and down.

The output shaft of said radial servo motor is vertical each other with the output shaft of axial servomotor.

After adopting said structure; With prior art following advantage and effect are arranged relatively: the one, because arm segment adopts plane four rod parallel connection structures, wrist partly adopts the diaxon cascaded structure, cooperates the control system again; Make the utility model possess the advantage of serial machine people and parallel robot simultaneously; Positioning accuracy is high, bearing capacity is strong, flexible operation, and control is convenient.The 2nd, can change the optional position that attitude arrives five planes, thus be fit to very much only require the industrial products spraying on five planes, easy for installation, economical and practical.

Description of drawings

Fig. 1 is the utility model structural representation.

1 fixed head wherein, 2 left arm servomotors, 3 left arm motor cabinets, 4 right arm servomotors, 5 right arm motor cabinets, 6 left upper arm, 7 right upper arm, 8 left underarms, 9 bottom right arms, 10 wrist seats, 11 radial servo motors, 12 axial servomotors, 13 Connection Blocks, 14 spray gun holders.

The specific embodiment

Shown in Figure 1; Specific embodiments for the utility model industry spray robot; It comprises fixed head 1, left and right arms motor cabinet 3,5, left and right arms servomotor 2,4, arm four bar parallel institutions, wrist diaxon serial mechanism; Left and right arms motor cabinet 3,5 is separately fixed on the fixed head 1, and left and right arms servomotor 2,4 is installed on the fixed head 1 through left and right arms motor cabinet 3,5 correspondences, and described arm four bar parallel institutions comprise left and right sides upper arm 6,7, left and right sides underarm 8,9, wrist seat 10; Left upper arm 6 is hinged with left underarm 8; Right upper arm 7 is hinged with bottom right arm 9, and the other end of right upper arm 7 is fixedly connected with right arm servomotor 4 output shafts, and the other end of bottom right arm 9 is fixedly connected with wrist seat 10; The other end of left upper arm 6 is fixedly connected with left arm servomotor 3 output shafts, and the other end of left underarm 8 is hinged on the wrist seat 10.Left and right sides upper arm 6,7 and left and right sides underarm 8,9 are formed four rod parallel connection structures, can control the optional position that wrist seat 10 arrives this plane through the rotation of control left and right arms servomotor 2,4.

Described wrist diaxon serial mechanism comprises radial servo motor 11, axial servomotor 12, Connection Block 13, spray gun holder 14; The work spray gun is fixed on spray gun holder 14; Radial servo motor 11 is installed on the wrist seat 10; Its output shaft is fixedly connected with Connection Block 13, and Connection Block 13 drives down wrist seat 10 left-right rotation relatively at radial servo motor 11 during work, and the output shaft of axial servomotor 12 is fixedly connected with Connection Block 13; Radial servo motor 11 is vertical each other with the output shaft of axial servomotor 12; Spray gun holder 14 is fixed on the axial servomotor 12, during work axial servomotor 12 drive down spray gun holder 14 and axial servomotor 12 relatively Connection Block 13 rotate up and down, thereby drive work spray gun overturns.

Claims (3)

1. industrial spray robot; Comprise fixed head (1), left and right arms servomotor (2,4), arm four bar parallel institutions, wrist diaxon serial mechanism; Left and right arms servomotor (2,4) correspondence is installed on the fixed head (1); It is characterized in that: described arm four bar parallel institutions comprise left and right sides upper arm (6,7), left and right sides underarm (8,9), wrist seat (10), and left upper arm (6) and left underarm (8) are hinged, and right upper arm (7) and bottom right arm (9) are hinged; The other end of right upper arm (7) is connected with right arm servomotor (4) output shaft; The other end of bottom right arm (9) is fixedly connected with wrist seat (10), and the other end of left upper arm (6) is connected with left arm servomotor (3) output shaft, and the other end of left underarm (8) is hinged on the wrist seat (10).
2. industrial spray robot according to claim 1; It is characterized in that: described wrist diaxon serial mechanism comprises radial servo motor (11), axial servomotor (12), Connection Block (13), spray gun holder (14); Radial servo motor (11) is installed on the wrist seat (10); Its output shaft is fixedly connected with Connection Block (13); Axially the output shaft of servomotor (12) is fixedly connected with Connection Block (13), and spray gun holder (14) is fixed on the axial servomotor (12), and spray gun holder (14) and axial servomotor (12) Connection Block (13) relatively rotate up and down.
3. industrial spray robot according to claim 2 is characterized in that: the output shaft of said radial servo motor (11) is vertical each other with the output shaft of axial servomotor (12).
CN2011201888553U 2011-06-04 2011-06-04 Industrial spraying robot CN202169229U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2011201888553U CN202169229U (en) 2011-06-04 2011-06-04 Industrial spraying robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2011201888553U CN202169229U (en) 2011-06-04 2011-06-04 Industrial spraying robot

Publications (1)

Publication Number Publication Date
CN202169229U true CN202169229U (en) 2012-03-21

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN2011201888553U CN202169229U (en) 2011-06-04 2011-06-04 Industrial spraying robot

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Country Link
CN (1) CN202169229U (en)

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103481283A (en) * 2013-09-17 2014-01-01 江南大学 Three-axis five-bar parallel manipulator
CN104493831A (en) * 2014-12-23 2015-04-08 东莞市顺如电子科技有限公司 Full-range parallel four-joint controller
CN105413921A (en) * 2015-11-02 2016-03-23 清华大学 Five-degree-of-freedom series-parallel device applied to spraying of large-scale hook face
CN105479449A (en) * 2016-02-15 2016-04-13 苏州哈工海渡工业机器人有限公司 Modularized five-bar parallel robot practical training table
CN105741672A (en) * 2016-04-29 2016-07-06 杭州丰衡机电有限公司 Offline teaching device for spraying on workpiece with complicated shape
CN105269553B (en) * 2014-07-21 2017-02-15 中国科学院沈阳自动化研究所 Heavy-load conveying robot
WO2017097592A1 (en) * 2015-12-07 2017-06-15 Schneider Electric Industries Sas Robot
CN107020212A (en) * 2016-02-01 2017-08-08 易发精机股份有限公司 Five axle flush coaters
CN107138328A (en) * 2017-04-26 2017-09-08 成都福莫斯智能系统集成服务有限公司 A kind of glue spreading apparatus for improving robot architecture's performance
CN108176544A (en) * 2018-03-19 2018-06-19 华南智能机器人创新研究院 A kind of plane line tracking robot
CN108421668A (en) * 2018-03-19 2018-08-21 华南智能机器人创新研究院 A kind of adjustable robotic arm apparatus in working region
CN108421667A (en) * 2018-03-19 2018-08-21 华南智能机器人创新研究院 A kind of paint sprayer with pressurize spraying function
CN109129449A (en) * 2017-06-15 2019-01-04 鸿富锦精密工业(深圳)有限公司 robot
CN109129496A (en) * 2017-06-15 2019-01-04 鸿富锦精密工业(深圳)有限公司 Milling robot

Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103481283A (en) * 2013-09-17 2014-01-01 江南大学 Three-axis five-bar parallel manipulator
CN105269553B (en) * 2014-07-21 2017-02-15 中国科学院沈阳自动化研究所 Heavy-load conveying robot
CN104493831A (en) * 2014-12-23 2015-04-08 东莞市顺如电子科技有限公司 Full-range parallel four-joint controller
CN105413921A (en) * 2015-11-02 2016-03-23 清华大学 Five-degree-of-freedom series-parallel device applied to spraying of large-scale hook face
CN105413921B (en) * 2015-11-02 2017-11-14 清华大学 A kind of five degree of freedom synchronous hybrid device suitable for large-scale curved spraying
WO2017097592A1 (en) * 2015-12-07 2017-06-15 Schneider Electric Industries Sas Robot
CN107020212A (en) * 2016-02-01 2017-08-08 易发精机股份有限公司 Five axle flush coaters
CN105479449A (en) * 2016-02-15 2016-04-13 苏州哈工海渡工业机器人有限公司 Modularized five-bar parallel robot practical training table
CN105741672B (en) * 2016-04-29 2018-06-19 杭州丰衡机电有限公司 Teaching apparatus under a kind of line for complex appearance Workpiece painting
CN105741672A (en) * 2016-04-29 2016-07-06 杭州丰衡机电有限公司 Offline teaching device for spraying on workpiece with complicated shape
CN107138328B (en) * 2017-04-26 2019-08-20 成都福莫斯智能系统集成服务有限公司 A kind of glue stations improving robot architecture's performance
CN107138328A (en) * 2017-04-26 2017-09-08 成都福莫斯智能系统集成服务有限公司 A kind of glue spreading apparatus for improving robot architecture's performance
CN109129449A (en) * 2017-06-15 2019-01-04 鸿富锦精密工业(深圳)有限公司 robot
CN109129496A (en) * 2017-06-15 2019-01-04 鸿富锦精密工业(深圳)有限公司 Milling robot
CN108421668A (en) * 2018-03-19 2018-08-21 华南智能机器人创新研究院 A kind of adjustable robotic arm apparatus in working region
CN108421667A (en) * 2018-03-19 2018-08-21 华南智能机器人创新研究院 A kind of paint sprayer with pressurize spraying function
CN108176544A (en) * 2018-03-19 2018-06-19 华南智能机器人创新研究院 A kind of plane line tracking robot
CN108421667B (en) * 2018-03-19 2020-07-03 华南智能机器人创新研究院 Paint spraying machine with pressure maintaining spraying function
CN108421668B (en) * 2018-03-19 2020-07-03 华南智能机器人创新研究院 Mechanical arm equipment with adjustable work area

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C17 Cessation of patent right
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20120321

Termination date: 20130604