CN202621379U

CN202621379U - Four-degree-of-freedom paint spraying manipulator

Info

Publication number: CN202621379U
Application number: CN 201220154273
Authority: CN
Inventors: 俞亚峰; 张棉好; 章少奎; 樊琳茜
Original assignee: Zhejiang Normal University CJNU
Current assignee: Zhejiang Normal University CJNU
Priority date: 2012-04-05
Filing date: 2012-04-05
Publication date: 2012-12-26
Anticipated expiration: 2022-04-05

Abstract

The utility model discloses a four-degree-of-freedom paint spraying manipulator. The four-degree-of-freedom paint spraying manipulator comprises a manipulator base, a disk, a vertical arm, a horizontal arm and a wrist, wherein the disk is arranged in the center of the manipulator base and can rotate around the center; the vertical arm is mounted on the disk and can swing back and forth; the horizontal arm is movably connected with the other end of the vertical arm and can vertically swing along an X axis; and the wrist is fixed at one end of the horizontal arm and can simulate wrists of persons to swing vertically and horizontally. One mobile degree of freedom of the four-degree-of-freedom paint spraying manipulator is mainly used for meeting the longitudinal stretch and three rotating degrees of freedom of the four-degree-of-freedom paint spraying manipulator are mainly used for meeting the posture of any section, so that the for-degree-of-freedom paint spraying manipulator can carry out human-imitated operation and automatic control and finish various operations in three-dimensional space. According to the four-degree-of-freedom paint spraying manipulator, functions of hands, feet and brains of people are extended and enlarged and labor conditions are improved; the strain capacity of enterprises for the market competition change is improved; the establishment and the development of new enterprises are promoted; the manual operation can be completely replaced; the reduction of the labor intensity is facilitated; and the work efficiency is increased; and the four-degree-of-freedom paint spraying manipulator has the advantages of low power consumption, high positional repeatability and low manufacturing cost.

Description

A kind of four-degree-of-freedom manipulator that sprays paint

Technical field

The utility model relates to a kind of manipulator that sprays paint, particularly a kind of four-degree-of-freedom manipulator that sprays paint.

Background technology

In the industry, the mechanization of production process, automation have become outstanding theme in modern times, and engine has become the main flow equipment of society, and the automation that engine is made the equicontinuity production process is resolved basically.But in commercial industry, spray paint this process and be discontinuous of tube wall.Such as certain engine inlets is about 6m and for variable cross-section, and its inner wall section shape carries out the transition to the circle of diameter 900mm from the rectangle of 700 * 900mm, and each kernel of section is carrying out in the preservative treatment process its inwall not on same straight line; Need carry out priming paint, finish paint and middle japanning, and require coating layer thickness even, adhesive ability is strong; The no incomplete phenomenon in surface, at present, domestic spray treatment to this engine inlets inner surface; All adopt the manual technology of whitewashing, but, be difficult to reach above-mentioned specification requirement because of the restriction of air intake duct self objective condition; And artisan craftsmanship labour intensity is big, and efficient is low, works under poisonous, inflammable and explosive adverse circumstances for fear of the operator; Reduce the waste product that sprays paint, improve spray paint quality and labor productivity, an urgent demand realizes spraying paint automation.

Summary of the invention

The technical problem that the utility model will solve provides that a kind of to have a power consumption low, and positional repeatability is high, the four-degree-of-freedom that cost of manufacture the is low manipulator that sprays paint.

For solving the problems of the technologies described above; The utility model adopts following technical scheme: comprise support; And the disk that is arranged on the support center, can rotates around the center; But and be installed in the upright arm of swing on the disk, and the horizontal arm that flexibly connects with the upright arm other end, can swing up and down around the X axle, but and the wrist that is fixed on horizontal arm one end anthropomorphic dummy do the wrist of bobbing and weaving.

Further, said upright arm and disk junction are provided with bolt A, and said upright arm and horizontal arm junction are provided with bolt B.

Further, described wrist is the shower nozzle of manipulator of spraying paint.

Further, the swing of said upright arm is an one-movement-freedom-degree, and said disk rotates around the center, swing up and down and the bobbing and weaving of wrist of horizontal arm are three rotary freedoms.

The four-degree-of-freedom of the utility model manipulator that sprays paint: a manipulator one of which one-movement-freedom-degree mainly is to be used for satisfying longitudinal extension because four-degree-of-freedom sprays paint, and three rotational freedoms mainly are the poses that is used for satisfying arbitrary cross section, and it can carry out the apery operation, control automatically; Can accomplish various operations at three dimensions, it extends and has enlarged people's brothers and cerebral function, to improving working conditions; Improve enterprise to the adaptability to changes that market competition changes, promote the foundation and the development of new industry, instead of manual operation fully; Help alleviating working strength of workers, increase work efficiency, its power consumption is low; Positional repeatability is high, and cost of manufacture is low.

Description of drawings

Fig. 1 is the spray paint structural representation of manipulator of the utility model four-degree-of-freedom.

The specific embodiment

In the present embodiment, with reference to shown in Figure 1, this four-degree-of-freedom manipulator that sprays paint; Comprise support 7; And the disk 1 that is arranged on support 7 centers, can rotates around the center, but and be installed in the upright arm 5 of swing on the disk 1, and the horizontal arm 3 that flexibly connects with upright arm 5 other ends, can swing up and down around the X axle; And but the wrist that is fixed on horizontal arm 3 one end anthropomorphic dummies is done the wrist 2 of bobbing and weaving; This four-degree-of-freedom manipulator that sprays paint can avoid the operator under poisonous, inflammable and explosive adverse circumstances, to work, and reduces the waste product that sprays paint, but can carry out apery operation, control overprogram and accomplish various operations at three dimensions automatically; Improve spray paint quality and labor productivity, realize spraying paint automation.

Wherein, said upright arm 5 is provided with bolt A4 with disk 1 junction, and upright arm 5 can swing, and said upright arm 5 is provided with bolt B 6 with horizontal arm 3 junctions, and horizontal arm 3 can swing up and down.Described wrist 2 is the shower nozzle of the manipulator that sprays paint, and wrist 2 can be bobbed and woven, thus to the engine inlets inwall carry out rationally, uniform spray painting operation; The swing of said upright arm 5 is an one-movement-freedom-degree, and said disk 1 rotates around the center, swing up and down and the bobbing and weaving of wrist 2 of horizontal arm 3 are three rotary freedoms.

The foregoing description; It is an instance of the utility model; Be not enforcement and the interest field that is used for limiting the utility model, all or technical schemes of being equal to identical with the said content of the utility model claim all should be included in the utility model protection domain.

Claims

1. four-degree-of-freedom manipulator that sprays paint; It is characterized in that: comprise support; And the disk that is arranged on the support center, can rotates around the center; But and be installed in the upright arm of swing on the disk, and the horizontal arm that flexibly connects with the upright arm other end, can swing up and down around the X axle, but and the wrist that is fixed on horizontal arm one end anthropomorphic dummy do the wrist of bobbing and weaving.

2. the four-degree-of-freedom according to claim 1 manipulator that sprays paint, it is characterized in that: said upright arm and disk junction are provided with bolt A, and said upright arm and horizontal arm junction are provided with bolt B.

3. the four-degree-of-freedom according to claim 1 manipulator that sprays paint is characterized in that: described wrist is the shower nozzle of manipulator of spraying paint.

4. the four-degree-of-freedom according to claim 1 manipulator that sprays paint; It is characterized in that: the swing of said upright arm is an one-movement-freedom-degree, and said disk rotates around the center, swing up and down and the bobbing and weaving of wrist of horizontal arm are three rotary freedoms.