CN205887318U - Arm paint finishing - Google Patents
Arm paint finishing Download PDFInfo
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- CN205887318U CN205887318U CN201620853084.8U CN201620853084U CN205887318U CN 205887318 U CN205887318 U CN 205887318U CN 201620853084 U CN201620853084 U CN 201620853084U CN 205887318 U CN205887318 U CN 205887318U
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- mechanical arm
- rotary shaft
- arm
- rotation
- turntable
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Abstract
The utility model relates to an arm paint finishing, including arm installation base, spraying machine arm and revolving stage, the spraying machine arm sets up on arm installation base. The revolving stage is including transposition revolving stage and rotation revolving stage, the transposition revolving stage is established in spraying machine arm the place ahead, and the transposition revolving stage includes the swinging boom that a drive arrangement and level straight line extend. Swinging boom length direction's a mid point and a drive arrangement are connected, and the swinging boom can be at horizontal rotation in surface under a drive arrangement's drive, two rotation revolving stages are about the well point symmetry setting of swinging boom at the swinging boom both ends, every rotation revolving stage all includes the 2nd drive arrangement and puts the support, puts that the support is connected with the 2nd drive arrangement and can be in the 2nd drive arrangement's drive down around self vertical axis rotation. The utility model discloses a little revolving stage at swinging boom both ends adopts the same modularized design of structure, and its inside motor adopts step motor, and low in manufacturing cost effectively prevents to lose the circle at rotatory in -process.
Description
Technical field
This utility model is related to mechanical arm used in paint industry, more particularly, to a kind of mechanical arm paint finishing.
Background technology
Since reform and opening-up, paint industry is to meet each department of national economy growth requirement, continuous self remolding, development,
Achieve huge advance, product, quality, kind, quantity, technical equipment are all greatly improved.Especially by skill
Art is introduced, and with approach such as foreign trader's cooperations, improves technical merit and the ability of industry.
" the paint industry market demand forecast of 2013-2017 China is reported with strategic investment planning application " display, at present,
Domestic paint industry, in terms of coating material, coating process technology and equipment, can meet household electrical appliances, lathe, machinery, family substantially
The demand of the industries such as tool, building, is that the national economic development is made that outstanding contributions.But domestic application techniques and advanced foreign technology
Compare that still there is a big difference, be mainly manifested in the industry higher to application techniques requirement, such as car coating, can't fully meet
Require.At present, domestic car coating technology and equipment, still with based on foreign technology and equipment.
Additionally, domestic application enterprise has done many effort in terms of technological innovation, also achieve very great achievement.But take off not yet
From the imitated stage, autonomous innovation work still needs to exert.The direction and goal of paint industry Future Development is to meet further
The demand that national economy constantly develops, mainly to reducing pollution, energy-saving and emission-reduction, improving technique, improves coating decoration, protection
Property, feature, and the generalization of coating equipment, seriation and automation direction development.
Existing spraying operation is mainly using solution below:
1st, streamline hand spray.Hand spray is very serious to the body harm of people, and paint has neurotoxicity in itself,
Such as toluene toxicity, even if carried mask regardless of with and also having various situations in spraying industry, and for example ceramic glaze spraying, greatly
All also using hand spray, workman carry an individual mask in hot environment for the medium-sized and small enterprises of amount, and streamline is by ceramic product
It is transported in face of workman, workman carries out glaze spraying to ceramic product, in the air particulate matter adrift trickle everywhere, even if with mouth
Cover also can suck a lot of particulate matters daily, causes a lot of people to obtain serious pneumoconiosis.
2nd, streamline automatic spraying.Which can only do simple targetedly spraying action it is impossible to do many curved surfaces
Spraying action.This occupation area of equipment is big, cost of investment is high, and is all special computer for special use, can only carry out for a kind of workpiece
Spraying, if middle any link goes wrong, can affect the operation of whole piece streamline, or even causes streamline to stop production.
3rd, production line machinery arm spraying.Spray coating mechanical arm passes through off-line programing pattern and mechanical arm spraying is programmed, will
Spray coating mechanical arm model and car model import in computer special-purpose software, and operator pass through computer special-purpose software to spraying
Mechanical arm carries out track and writes, track optimizing, ultimately produces spray coating mechanical arm operation program.The mode of this mechanical arm spraying is thrown
Money high cost, is not suitable for medium-sized and small enterprises.Robot is operated by off-line programing pattern, and off-line programing has higher to user
Requirement, need user to have higher basis of software knowledge and structure knowledge.
Thus, the present inventor relies on experience and the practice being engaged in relevant industries for many years, proposes a kind of mechanical arm paint finishing,
To overcome the defect of prior art.
Utility model content
The purpose of this utility model is to provide a kind of mechanical arm paint finishing, the low cost of manufacture of turntable, it is to avoid turntable
The phenomenon losing circle is produced in rotary course.
Another object of the present utility model is to provide a kind of mechanical arm paint finishing it is not necessary to off-line programing, to operation
Workman requires low, and can change different operation products at any time.
The purpose of this utility model is achieved in that a kind of mechanical arm paint finishing, described mechanical arm paint finishing bag
Include mechanical arm mounting seat, spray coating mechanical arm and turntable；Described spray coating mechanical arm is arranged in described mechanical arm mounting seat；
Described turntable includes the rotation turntable for the transposition turntable of conversion station with for placing operation workpiece；Described change
Position turntable is arranged in front of described spray coating mechanical arm, and described transposition turntable includes the rotation that first driving means and horizontal linear extend
Pivoted arm；The midpoint of described turning arm length direction is connected with described first driving means, and described turning arm can be in the described first drive
Rotate in the horizontal plane under the driving of dynamic device；Described rotation turntable is provided with two, and two rotation turntables are with regard to described turning arm
Midpoint be symmetricly set on the two ends of described turning arm；Each rotation turntable all includes the second driving means and holding support, institute
State holding support to be connected with described second driving means and can be around itself vertical axis under the driving of described second driving means
Rotate.
In a better embodiment of the present utility model, described first driving means include servomotor and the first worm gear
Worm reducer；Described servomotor is connected with described first worm type of reduction gearing, described first worm type of reduction gearing tool
There is the first output shaft straight up；Described turning arm is rustless steel cylinder section bar, described first output shaft and described turning arm
The midpoint of length direction is fixedly connected；
Described second driving means include motor and the second worm type of reduction gearing；Described motor and described the
Two worm type of reduction gearings connect；Described second worm type of reduction gearing has the second output shaft straight up, described puts
Support is fixed on described second output shaft upper end.
In a better embodiment of the present utility model, described mechanical arm paint finishing also includes fixing on the ground
Spraying cabinet；Described spraying cabinet has top surface and side, and the side of described spraying cabinet is provided with opening wide for Job Operations
Mouthful, described open ports extend into described spraying towards described mechanical arm mounting seat, described spray coating mechanical arm from described open ports
In cabinet；A part for described turntable from described spraying cabinet side extend into described spraying cabinet in, described turntable another
A part is located at outside described spraying cabinet.
In a better embodiment of the present utility model, the midpoint of described turning arm length direction is fixed with it together
The revolving door that step rotates, described revolving door is the door panel structure extending straight up, and described revolving door constitutes described spraying cabinet
Side；The described rotation turntable of described turning arm one end be located at described spraying cabinet in, the described turning arm other end described
Rotation turntable is located at outside described spraying cabinet.
In a better embodiment of the present utility model, the side of described spraying cabinet is additionally provided with to enter for operator
The workman going out imports and exports and the dedusting shutter for dedusting；The top surface of described spraying cabinet installs tracking cross fixed beam, institute
The one end stating tracking cross fixed beam is stretched out to positioned at the described direction spraying the described rotation turntable outside cabinet, described cross
The external part of cursor fixed beam is provided with for projecting the tracking cross that anchor point positions for operation workpiece.
In a better embodiment of the present utility model, described mechanical arm paint finishing also includes teaching bar and control
Cabinet；Being provided with described mechanical arm mounting seat can described mechanical arm mounting seat level is slided relatively sliding platform；Described
Spray coating mechanical arm and described teaching bar are fixedly installed on described sliding platform side by side；It is provided with described switch board:
For gathering the data acquisition card of described teaching bar actuating signal, described data acquisition card is electrically connected with described teaching bar
Connect；
For controlling the motion control card of described spray coating mechanical arm action, described motion control card and described spray coating mechanical arm
Electrical connection；
Control device, described data acquisition card is all electrically connected with described control device with described motion control card.
In a better embodiment of the present utility model, described teaching bar includes:
First rotary shaft, described first rotary shaft is vertically arranged on described sliding platform, described first rotary shaft upper
The first connecting lever is fixed at end, and described first connecting lever protrudes horizontally up to the side of described first rotary shaft；
Large arm, the first end of described large arm is passed through the second rotary shaft and is rotated described first connecting lever of connection, described second rotation
The axis of axle and described first connecting lever to stretch out direction consistent；Second end of described large arm is passed through the 3rd rotary shaft and is rotated connection the
Two connecting levers, described second connecting lever protrudes horizontally up to the side of described large arm, the axis of described 3rd rotary shaft with described second turn
The diameter parallel of moving axis；
Forearm, described forearm is perpendicular to described second connecting lever；The first end of described forearm is fixing with described second connecting lever even
Connect, the second end of described forearm connects carpal joint.
In a better embodiment of the present utility model, described carpal joint includes:
3rd connecting lever, described 3rd connecting lever is fixed on the second end of described forearm；Described 3rd connecting lever is to described forearm
Side protrudes horizontally up；
First bracket, one end of described first bracket is passed through the 4th rotary shaft and is connected with described 3rd connecting lever rotation；Described
The axis of the 4th rotary shaft and the diameter parallel of described 3rd rotary shaft；
Second bracket, one end of described second bracket is passed through the 5th rotary shaft and is connected with described first bracket rotation；Described
The axis of the 5th rotary shaft is intersected vertically with the axis of described 4th rotary shaft；
End fixture, described end fixture is passed through the 6th rotary shaft and is connected with described second bracket rotation；Described
The axis of six rotary shafts is intersected vertically with the axis of described 5th rotary shaft；
The axis of described first rotary shaft, the perpendicular at described large arm place, the perpendicular at described forearm place, institute
The perpendicular stating the first bracket place is all misaligned.
In a better embodiment of the present utility model, each rotary shaft is all coaxially connected with for recording this rotary shaft
The potentiometer of turned position, described data acquisition card is electrically connected with described potentiometer.
In a better embodiment of the present utility model, described control device be industrial computer, described data acquisition card and
Described motion control card is arranged in described industrial computer.
In a better embodiment of the present utility model, it is also equipped with described industrial computer for detecting that described teaching bar opens
The io Control card of off status, described io Control card is electrically connected with described industrial computer and described teaching bar respectively.
In a better embodiment of the present utility model, the top of described mechanical arm mounting seat is equipped with horizontally disposed
Rail plate, described sliding platform is slidably arranged on described rail plate；Described sliding platform is provided with puts down described slip
The set lever of platform pinning relative with described rail plate；Described rail plate is provided with the described sliding platform sliding stroke of restriction
The first limited block and the second limited block；The top of described mechanical arm mounting seat is additionally provided with for dust-proof organ cover.
From the above mentioned, mechanical arm paint finishing of the present utility model has the advantage that
1st, the little turntable at turning arm two ends adopts structure identical modularized design, and its motor internal adopts motor,
Manufacturing cost can effectively be reduced, motor is directly connected to decelerator, effectively prevents from losing circle in rotary course.
2 in addition, operative's teaching bar can generate track, and spray coating mechanical arm repeats operation according to generating track.Only need
Workman is wanted to go to operate teaching bar with action when working at ordinary times, switch board can constantly gather potentiometer by data acquisition card
Numerical value, calculate the real-time coordinates of teaching bar by industrial computer, and generate robot executable code, workman only need to grasp
After the completion of making teaching bar, generate track, and spray coating mechanical arm only needs to repeat playing the process just now dragging, be i.e. letter
Single can complete quickly to operate again, change product at any time, increase product at any time it is not necessary to professional programmer.Solve middle-size and small-size
Enterprise product is not fixing, amount is little, replacing frequently and cannot cultivate the technical problem of robot operator.
Brief description
The following drawings is only intended to, in this utility model is done with schematic illustration and explanation, not limit model of the present utility model
Enclose.Wherein:
Fig. 1: for the structural representation of this utility model mechanical arm paint finishing.
Fig. 2: for the structural representation of this utility model intermediate station.
Fig. 3: for the structural representation of teaching bar in this utility model.
Fig. 4: for the module connection figure of control system in this utility model.
Specific embodiment
In order to be more clearly understood to technical characteristic of the present utility model, purpose and effect, now compare brief description
Specific embodiment of the present utility model.
As shown in figure 1, the side of setting spraying cabinet 8 and turntable is set as the front of mechanical arm mounting seat 13, figure
In the left and right sides be and spray the left side of cabinet 8 and right side.This utility model provides a kind of mechanical arm paint finishing, this machine
Tool arm paint finishing is mainly used in spraying operation, and described mechanical arm paint finishing includes mechanical arm mounting seat 13, spray coating mechanical
Arm 10, teaching bar 12, spraying cabinet 8, turntable and switch board 11.Described mechanical arm mounting seat 13 is the pedestal of rectangle, its bottom
Four, portion angle is fastened on the ground by expansion bolt 18, the ground in mechanical arm mounting seat 13 front is provided with turntable with
And spraying cabinet 8, spray cabinet 8 and the half of turntable is covered, second half of turntable is located at the outside spraying cabinet 8.Mechanical arm
The rear of mounting seat 13 is additionally provided with the auxiliary ceiling suspension 16 supporting teaching bar 12 for auxiliary lifting.Described turntable is used for placing and makees
Industry workpiece, operation workpiece can be rotated on turntable, and cooperation teaching bar 12 or spray coating mechanical arm 10 carry out spraying operation.As figure
Shown in 2, described turntable includes replace turntable 1 and rotation turntable 3,19.Before described transposition turntable 1 is arranged on spray coating mechanical arm 10
Side, described transposition turntable 1 includes a framework being welded by shaped steel 101, setting transposition driving device for rotary desk in framework 101
(first driving means) and turning arm 2.Described turning arm 2 is a crossbeam extending along horizontal linear, turning arm 2 length direction
Midpoint be fixedly connected with transposition driving device for rotary desk, under the driving of described transposition driving device for rotary desk, turning arm 2 can be around
Its midpoint rotates in the horizontal plane.The two ends of described turning arm 2 are separately installed with rotation turntable 3 and rotation turntable 19, and two certainly
Platform of walking around is symmetricly set on the two ends of turning arm 2, the operation workpiece 20 on a rotation turntable 19 with regard to the midpoint of turning arm 2
After completing spraying, the turning arm 2 rotation 180 degree of transposition turntable 1, the rotation turntable 3 of the other end just goes to original rotation turntable
19 position carries out next work flow.The structure of two rotation turntables is identical, using modularized design, is conveniently replaceable.
Each rotation turntable all includes rotation driving device for rotary desk (the second driving means) and holding support 303.Described holding support 303
It is connected with rotation driving device for rotary desk, rotate around the vertical axis of itself under the driving of described rotation driving device for rotary desk,
It is used on holding support 303 placing operation workpiece, and drives operation workpiece to be rotated, coordinate spray coating mechanical arm 10 or teaching bar
12 spraying operations.Specifically, described transposition driving device for rotary desk includes servomotor 103, the first worm type of reduction gearing 102；
Servomotor 103 and the first worm type of reduction gearing 102 are arranged in framework 101, described servomotor 103 and described first snail
Worm and gear decelerator 102 connects, and described first worm type of reduction gearing 102 has the first output shaft stretching out straight up, institute
The midpoint stating the first output shaft with described turning arm 2 length direction is fixedly connected, and the rotation of the first output shaft drives turning arm 2 to enclose
Vertical axis rotation around its midpoint.In the present embodiment, described turning arm 2 adopts rustless steel cylinder section bar, can prevent from getting rusty
The impact causing, again can on coating falls when reclaimed well, coating on falling during turning arm 2 because being circular design,
Coating can flow to following, the cleaning of the more conducively recovery of coating and turning arm 2 along the circular gradient.Described first output shaft leads to
Cross fixture 104 to be fixedly connected with described turning arm 2, described fixture 104 is connected to the end of described first output shaft, described
Circular arc Access Division is had on fixture 104, described turning arm 2 is clamped on by Access Division outside and solid with described turning arm 2
Fixed.Described rotation driving device for rotary desk includes motor 301 and the second worm type of reduction gearing 302；Motor 301 and
Two worm type of reduction gearings 302 are arranged on turning arm 2；Designed using motor 301, can effectively reduce and be manufactured into
This, motor is directly connected to decelerator, effectively prevents from losing circle in rotary course, and entirety adopts rustless steel to make, and prevents its life
Rust produces impact to being sprayed-on product.Described motor 301 is connected with described second worm type of reduction gearing 302；Described
Two worm type of reduction gearings 302 have the second output shaft stretching out straight up, and described holding support 303 is fixed on described second
Output shaft upper end.Described holding support 303 is I-shaped structure, and described holding support 303 is stainless steel.Transposition turntable 1,
Rotation turntable 3,19, turning arm 2 all designed using stainless steel material, the surfaces of all contact coating all adopt rustless steel, prevent
Its impact product sprayed surface result of getting rusty.
Further, described spraying cabinet 8 bottom is fixed on ground by expansion bolt, and spraying cabinet 8 has for one
Top surface and the cover body of side, can adopt various shapes, and spraying cabinet 8 described in the present embodiment uses a cuboid
Cover body, there is top surface and four sides, respectively left surface, right flank and leading flank, described spraying cabinet 8 is towards described machine
One side of tool arm mounting seat 13 is leading flank, and this leading flank has open ports, teaching bar 12 and spray coating mechanical arm 10 from
This open ports stretches in spraying cabinet 8 and carries out operation.Described turntable is arranged on right side (the i.e. right side in Fig. 1 of described spraying cabinet 8
Side) position；The half length thereof of described turning arm 2 is located at the inside of described spraying cabinet 8 together with corresponding rotation turntable 19
To carry out spraying operation, second half length thereof reaches the outside of described spraying cabinet 8 together with corresponding rotation turntable 3,
For being prepared operation.Spraying cabinet 8 is overall to adopt stainless steel material, prevents it from getting rusty to being sprayed-on part surface and causes dirt
Dye.Spraying is all that common steel easily get rusty under the larger environment of humidity ratio, and can gradually come off after getting rusty, and having can
Can fall to and be sprayed-on part surface, make to be sprayed-on part surface to cause speckle, or even produce substandard products.Spraying cabinet 8 small volume, accounts for
Ground area is little, is fixed on fabrication facility floor by common expansion bolt, easily installs, for medium-sized and small enterprises, without arduously rising
Go out superhuge space to go to place spraying equipment.The right side of described spraying cabinet 8 is additionally provided with revolving door 5, and revolving door 5 is one piece of door
Plate, also for stainless steel material, this revolving door 5 defines the right flank of spraying cabinet 8 for blocking the coating of spraying, described rotation
Door 5 is fixedly connected on described turning arm 2, and is located at midpoint (i.e. pivot center) position of described turning arm 2 length direction, institute
State revolving door 5 again to close the right side of spraying cabinet 8 after rotating 180 degree with described turning arm 2 synchronous axial system.This reality
Apply in example, at the pivot center position of described turning arm 2, that is, the upper surface at the point midway of length direction is provided with door-plate and fixes
Part 201, the bottom of described revolving door 5 is fixed on described door plate fixed part 201.The left side of described spraying cabinet 8 is provided with workman
Import and export 23, facilitate workman to enter in this spraying cabinet 8 and teaching bar 12 is operated.Auxiliary ceiling suspension 16 can by suspension hook and
Scalable rope hooks the motion arm of teaching bar 12, mitigates the operating burden of workman.The leading flank of described spraying cabinet 8 is installed
There is dedusting shutter 9, dedusting and the effect reclaimed can be played.The top surface of described spraying cabinet 8 installs tracking cross fixed beam 7,
One end of described tracking cross fixed beam 7 is stretched out to positioned at the described direction spraying the rotation turntable 3 outside cabinet 8, and described ten
The external part of word cursor fixed beam 7 is provided with tracking cross 6, and described tracking cross 6 is laser projection device, using laser projections
Anchor point, is that operation workpiece is positioned.
Further, the top of described mechanical arm mounting seat 13 is provided with horizontally disposed rail plate, sliding platform 14
It is slidably arranged on rail plate, described sliding platform 14 is connected with described mechanical arm mounting seat 13 by rail plate, energy
Relatively described mechanical arm mounting seat 13 is slided between teaching bar operating position and mechanical arm operating position.Described sliding platform
Side on 14 is provided with the set lever 15 of relative with described rail plate for described sliding platform 14 pinning；Sliding platform 14 is sliding
After moving teaching bar operating position or mechanical arm operating position, by set lever 15, sliding platform 14 is carried out locked.Described
Rail plate is provided with the first limited block 21 limiting described sliding platform 14 sliding stroke and the second limited block 22, and described first
The teaching bar operating position of the corresponding described sliding platform 14 of limited block 21, described second limited block 22 corresponds to described sliding platform 14
Mechanical arm operating position.The surface of mechanical arm mounting seat 13 adopts stainless steel materials to design, dust-proof antirust.Described mechanical arm
The top of mounting seat 13 is additionally provided with organ cover 17 for dust-proof, and sliding platform 14 organ cover 17 when sliding also can be prevented
Dirt.Described spray coating mechanical arm 10 is fixedly connected on described sliding platform 14 side by side with described teaching bar 12, follows sliding platform
14 move left and right；Sliding platform 14 slides into teaching bar 12 described at teaching bar operating position and is operated, and sliding platform 14 is sliding
Move spray coating mechanical arm 10 described at mechanical arm operating position to be operated.In the present embodiment, described spray coating mechanical arm 10 and institute
State teaching bar 12 all using nonopiate formula six axle construction, spray coating mechanical arm 10 and teaching bar 12 can also adopt of the prior art
Structure.So-called nonopiate formula six axle construction refers to that this spray coating mechanical arm 10 is provided with six rotary shafts as fortune with teaching bar 12
Movable joint, each motion arm is not in same perpendicular.As shown in figure 3, teaching bar 12 can include large arm 121, forearm
122nd, the first connecting lever 126, the second connecting lever 129, the 3rd connecting lever 130, the first bracket 123, the second bracket 124 and the first rotary shaft
To the 6th rotary shaft.First rotary shaft 125 is vertically arranged on sliding platform 14, and the upper end of the first rotary shaft 125 fixes first
Connecting lever 126, the first connecting lever 126 protrudes horizontally up to the side of the first rotary shaft 125.The second rotary shaft 127 is passed through in large arm 121 one end
Rotate and connect the first connecting lever 126, the axis of the second rotary shaft 127 and the first connecting lever 126 to stretch out direction consistent；Large arm 121 is another
One end is passed through the 3rd rotary shaft 128 and is rotated connection the second connecting lever 129, and the second connecting lever 129 protrudes horizontally up to the side of large arm 121,
The axis of the 3rd rotary shaft 128 and the diameter parallel of the second rotary shaft 127.Forearm 122 one end is fixing with the second connecting lever 129 even
Connect, the second end of forearm 122 is fixed with the 3rd connecting lever 130；Described 3rd connecting lever 130 is stretched to the side level of described forearm 122
Go out；One end of first bracket 123 is passed through the 4th rotary shaft 131 and is connected with the rotation of described 3rd connecting lever 130；Described 4th rotary shaft
131 axis and the diameter parallel of described 3rd rotary shaft 128；The 5th rotary shaft 132 and institute are passed through in one end of second bracket 124
State the first bracket 123 and rotate and connect；The axis of described 5th rotary shaft 132 and the vertical phase of axis of described 4th rotary shaft 131
Hand over；End fixture 133 is passed through the 6th rotary shaft 134 and is connected with the rotation of described second bracket 124；Described 6th rotary shaft 134
Axis intersect vertically with the axis of described 5th rotary shaft 132.End fixture 133 is provided with spray gun connecting hole 135 and spray
Rifle connects.The axis of the first rotary shaft 125, the perpendicular at large arm 121 place, the perpendicular at forearm 122 place, the first wrist
The perpendicular that arm 123 is located is all misaligned, and this is non-orthogonal configuration, can meet more complicated job space using this structure
Track teaching, track optimizing is strong；And the shoulder of people can easily be avoided by teaching bar 12 very much, more arbitrarily, more flexible.Described teaching
Each rotary shaft (i.e. the first rotary shaft is to the 6th rotary shaft) of bar 12 is equipped with the potentiometer coaxial with this rotary shaft, potentiometer
It is used for recording the turned position of the rotary shaft of corresponding connection.Described spray coating mechanical arm 10 also has large arm, forearm, first turns
Arm, the second connecting lever, the 3rd connecting lever, the first bracket, the second bracket and the first rotary shaft to the 6th rotary shaft, its attachment structure with
The attachment structure of teaching bar 12 is identical, that is, the relative position between described each rotary shaft of teaching bar 12 and distance with described
Relative position between each rotary shaft of spray coating mechanical arm 10 and apart from identical, the dh value of teaching bar 12 and spray coating mechanical arm 10
(motion model) is identical, and length dimension is identical.It is provided with control system, described switch board 11 Real-time Collection institute in described switch board 11
State the angle of the potentiometer record of each rotary shaft of teaching bar 12, and by being calculated the running orbit of described teaching bar 12.
Described spray coating mechanical arm 10 repeats the action of described teaching bar 12 according to the running orbit that operative's teaching bar 12 generates, automatically
Carry out spraying operation.Eliminate off-line programing to arrange the operation of spray coating mechanical arm running orbit, reduce to operating personnel's
Require, meanwhile, if having changed new product, operator operate teaching bar to generate new operation rail according to new product
Mark, spray coating mechanical arm can carry out operation according to new running orbit so that the change of product line becomes flexible.
As shown in figure 4, the control system in the present embodiment includes rs232 capture card 1102 (i.e. data acquisition card), io control
Making sheet card 1103, industrial computer 1101 (i.e. control device), motion control card 1104, touch display 1105.These parts are
Part of the prior art.Wherein io Control card 1103, rs232 capture card 1102, motion control card 1104 are arranged at industry control
In machine 1101, industrial computer 1101 is placed in switch board 11.Wherein, rs232 capture card 1102, motion control card 1104 pass through
Pci-e interface and industrial computer 1101 connecting communication.Rs232 capture card 1102 is every with teaching bar 12 also by rs232 data wire
Potentiometer at individual rotary shaft connects, and the rotational angle for each potentiometer of Real-time Collection simultaneously feeds back to industrial computer 1101.Fortune
Dynamic control card 1104 is electrically connected with spray coating mechanical arm 10, controls spray coating mechanical according to the running orbit of storage in industrial computer 1101
The motion of arm 10.Described teaching bar 12 is provided with shift knob 136 for controlling the opening and closing of teaching bar, io Control card
1103 are connected with the shift knob 136 of industrial computer 1101 and teaching bar respectively, and the on off state of collection shift knob 136 feeds back to
Industrial computer 1101.Touch display 1105 is connected with industrial computer 1101, is operated by this touch display 1105 of touch operation
With the operation controlling industrial computer 1101.
During human users, press the shift knob of teaching bar 12 by operator, industrial computer 1101 passes through to adopt
The io condition adjudgement teaching bar of collection io Control card 1103 feedback is started working, and it is real-time to begin through rs232 capture card 1102
The parameter of potentiometer feedback at the collection each rotary shaft of teaching bar 12, and by the built-in real-time generating run of software of industrial computer 1101
Track (this software can adopt existing PATH GENERATION programming realization), calculates generation phase according to each data of collection
The process answering robot executable code is prior art, will not be described here.After operator press shift knob again,
Industrial computer 1101 stops rs232 capture card 1102 gathered data, and operator pass through touch display 1105 and click on preservation currently
The running orbit that collection generates, and generate spray coating mechanical arm 10 operation program, operation program sends instructions to motion control card
1104, motion control card 1104 receives spray coating mechanical arm 10 operating instruction, controls spray coating mechanical arm 10 to restore teaching bar 12 and operates
When running orbit, to reach track during repetitive operation human users.
Mechanical arm paint finishing is mainly used in ceramic glaze spraying, below sketches by toilet glaze spraying application example.Operator
Member slides into sliding platform 14 at corresponding first limited block 21 of teaching bar operating position of left side, and right by set lever 15
Sliding platform 14 carries out locked.From importing and exporting in 23 entrance spraying kitchen cabinets, operation teaching bar 12 is sprayed operator, presses
Teaching bar 12 end record button starts toilet 20 is carried out glaze spraying, and teaching bar 12 end is provided with gun controls button, pins
Button, teaching bar 12 end spray gun can go out glaze, can press teaching bar 12 end button to rotation turntable during glaze spraying simultaneously
Carry out rotation process, in rotation turntable rotary course, glaze spraying operation is carried out to toilet 20.In spraying process, switch board 11 meeting
Data acquisition carried out by the potentiometer of 6 axles to teaching bar 12 for the rs-232 connection, and by industrial computer to gathering back
Data is calculated, and calculates movement locus during operator's dragging teaching bar 12 and speed, and presses knot in operator
Spray coating mechanical arm 10 motor program is generated, operator to this program nomenclature and preserves during bundle operation button.Program preserves successfully
Afterwards, operator loosens set lever 15, and sliding platform 14 is slided at the second limited block 22 of right side.Operator start just
Spray coating mechanical arm 10 program preserving, transposition turntable 1 can rotate 180 degree, by rotation turntable 3 and toilet 4 and rotation turntable 19 and
Toilet 20 carries out position replacement, and after being replaced successfully, spray coating mechanical arm 10 starts to carry out glaze spraying to toilet 4, shows by operator's operation
Speed during teaching pole 12 and track are restored, and make spray coating mechanical arm 10 go to complete glaze spraying fully according to Operator action, simply
Again rapid.After the completion of program performing, transposition turntable 1 can rotate 180 degree, is interchangeable with the toilet position outside spraying cabinet 8,
And repeat spray coating mechanical arm 10 glaze spraying program, until operator shuts down procedure.
From the above mentioned, mechanical arm paint finishing of the present utility model has the advantages that
1st, solve the serious harm that artificial glaze spraying brings to human body, substitute hand spray, reduce spraying industry to personal
Injury.
2nd, solve the difficult point applied in medium-sized and small enterprises of mechanical arm, make the common spraying operation employee can be to mechanical arm
Operated, without off-line programing, without Professional knowledge it is thus only necessary to the time of the spraying to a workpiece for the operator can grasp
Complete.
3rd, reduce the threshold that medium-sized and small enterprises use automatic spraying, and effectively solving enterprise can frequently change product
Product, the little problem of product volume, purchase large automatic streamline spraying equipment need not be put into greatly.
4th, the little turntable at turning arm two ends adopts structure identical modularized design, and its motor internal adopts motor,
Manufacturing cost can effectively be reduced, motor is directly connected to decelerator, effectively prevents from losing circle in rotary course.
5th, reducing the disposable input cost of enterprise, realizing automatic spraying thus reaching minimizing cost of labor, improve
Productivity effect.
The foregoing is only the schematic specific embodiment of this utility model, be not limited to model of the present utility model
Enclose.Any those skilled in the art, done equivalent change on the premise of without departing from design of the present utility model and principle
Change and modification, the scope of this utility model protection all should be belonged to.
Claims (12)
1. a kind of mechanical arm paint finishing is it is characterised in that described mechanical arm paint finishing includes mechanical arm mounting seat, spraying
Mechanical arm and turntable；Described spray coating mechanical arm is arranged in described mechanical arm mounting seat；
Described turntable includes the rotation turntable for the transposition turntable of conversion station with for placing operation workpiece；Described transposition turns
Platform is arranged in front of described spray coating mechanical arm, and described transposition turntable includes the rotation that first driving means and horizontal linear extend
Arm；The midpoint of described turning arm length direction is connected with described first driving means, and described turning arm can be in the described first driving
Rotate in the horizontal plane under the driving of device；Described rotation turntable is provided with two, and two rotation turntables are with regard to described turning arm
Midpoint is symmetricly set on the two ends of described turning arm；Each rotation turntable all includes the second driving means and holding support, described
Holding support is connected with described second driving means and can turn around itself vertical axis under the driving of described second driving means
Dynamic.
2. mechanical arm paint finishing as claimed in claim 1 is it is characterised in that described first driving means include servomotor
With the first worm type of reduction gearing；Described servomotor is connected with described first worm type of reduction gearing, described first worm gear snail
Bar decelerator has the first output shaft straight up；Described turning arm be rustless steel cylinder section bar, described first output shaft with
The midpoint of described turning arm length direction is fixedly connected；
Described second driving means include motor and the second worm type of reduction gearing；Described motor and described second snail
Worm and gear decelerator connects；Described second worm type of reduction gearing has the second output shaft straight up, described holding support
It is fixed on described second output shaft upper end.
3. mechanical arm paint finishing as claimed in claim 2 is it is characterised in that described mechanical arm paint finishing also includes fixing
Spraying cabinet on the ground；Described spraying cabinet has top surface and side, and the side of described spraying cabinet is provided with for operation
The open ports of operation, described open ports stretch into towards described mechanical arm mounting seat, described spray coating mechanical arm from described open ports
To in described spraying cabinet；A part for described turntable extend in described spraying cabinet from the side of described spraying cabinet, institute
The another part stating turntable is located at outside described spraying cabinet.
4. mechanical arm paint finishing as claimed in claim 3 is it is characterised in that the midpoint of described turning arm length direction is solid
Surely there is the revolving door of synchronous rotation, described revolving door is the door panel structure extending straight up, described revolving door constitutes institute
State the side of spraying cabinet；The described rotation turntable of described turning arm one end is located in described spraying cabinet, and described turning arm is another
The described rotation turntable of one end is located at outside described spraying cabinet.
5. mechanical arm paint finishing as claimed in claim 4 it is characterised in that the side of described spraying cabinet be additionally provided with for
The workman of operator's turnover imports and exports and the dedusting shutter for dedusting；The top surface of described spraying cabinet installs tracking cross
Fixed beam, one end of described tracking cross fixed beam is stretched to positioned at the described direction spraying the described rotation turntable outside cabinet
Go out, the external part of described tracking cross fixed beam is provided with for projecting the tracking cross that anchor point positions for operation workpiece.
6. mechanical arm paint finishing as claimed in claim 1 is it is characterised in that described mechanical arm paint finishing also includes teaching
Bar and switch board；It is provided with described mechanical arm mounting seat and can described mechanical arm mounting seat level is slided relatively slip put down
Platform；Described spray coating mechanical arm and described teaching bar are fixedly installed on described sliding platform side by side；It is provided with described switch board:
For gathering the data acquisition card of described teaching bar actuating signal, described data acquisition card is electrically connected with described teaching bar；
For controlling the motion control card of described spray coating mechanical arm action, described motion control card is electrically connected with described spray coating mechanical arm
Connect；
Control device, described data acquisition card is all electrically connected with described control device with described motion control card.
7. mechanical arm paint finishing as claimed in claim 6 is it is characterised in that described teaching bar includes:
First rotary shaft, described first rotary shaft is vertically arranged on described sliding platform, and the upper end of described first rotary shaft is solid
Fixed first connecting lever, described first connecting lever protrudes horizontally up to the side of described first rotary shaft；
Large arm, the first end of described large arm is passed through the second rotary shaft and is rotated described first connecting lever of connection, described second rotary shaft
Axis and described first connecting lever to stretch out direction consistent；Second end of described large arm is passed through the 3rd rotary shaft rotation connection second and is turned
Arm, described second connecting lever protrudes horizontally up to the side of described large arm, the axis of described 3rd rotary shaft and described second rotary shaft
Diameter parallel；
Forearm, described forearm is perpendicular to described second connecting lever；The first end of described forearm is fixedly connected with described second connecting lever, institute
The second end stating forearm connects carpal joint.
8. mechanical arm paint finishing as claimed in claim 7 is it is characterised in that described carpal joint includes:
3rd connecting lever, described 3rd connecting lever is fixed on the second end of described forearm；Described 3rd connecting lever is to the side of described forearm
Protrude horizontally up；
First bracket, one end of described first bracket is passed through the 4th rotary shaft and is connected with described 3rd connecting lever rotation；Described 4th
The axis of rotary shaft and the diameter parallel of described 3rd rotary shaft；
Second bracket, one end of described second bracket is passed through the 5th rotary shaft and is connected with described first bracket rotation；Described 5th
The axis of rotary shaft is intersected vertically with the axis of described 4th rotary shaft；
End fixture, described end fixture is passed through the 6th rotary shaft and is connected with described second bracket rotation；Described 6th turn
The axis of moving axis is intersected vertically with the axis of described 5th rotary shaft；
Perpendicular that perpendicular that the axis of described first rotary shaft, described large arm are located, described forearm are located, described the
The perpendicular that one bracket is located is all misaligned.
9. mechanical arm paint finishing as claimed in claim 8 is it is characterised in that each rotary shaft is all coaxially connected with for remembering
Record the potentiometer of this rotary shaft turned position, described data acquisition card is electrically connected with described potentiometer.
10. mechanical arm paint finishing as claimed in claim 6 it is characterised in that described control device be industrial computer, described letter
Number capture card and described motion control card are arranged in described industrial computer.
11. mechanical arm paint finishings as claimed in claim 10 are it is characterised in that be also equipped with for detecting in described industrial computer
The io Control card of described teaching lever switch state, described io Control card is electrically connected with described industrial computer and described teaching bar respectively
Connect.
12. mechanical arm paint finishings as claimed in claim 6 are it is characterised in that the top of described mechanical arm mounting seat fills
There is horizontally disposed rail plate, described sliding platform is slidably arranged on described rail plate；Described sliding platform is provided with
Set lever by relative with described rail plate for described sliding platform pinning；Described rail plate is provided with the described slip of restriction
First limited block of platform sliding stroke and the second limited block；The top of described mechanical arm mounting seat is additionally provided with for dust-proof
Organ cover.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620853084.8U CN205887318U (en) | 2016-08-08 | 2016-08-08 | Arm paint finishing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620853084.8U CN205887318U (en) | 2016-08-08 | 2016-08-08 | Arm paint finishing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205887318U true CN205887318U (en) | 2017-01-18 |
Family
ID=57780364
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620853084.8U Active CN205887318U (en) | 2016-08-08 | 2016-08-08 | Arm paint finishing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205887318U (en) |
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| CN107051799A (en) * | 2017-05-26 | 2017-08-18 | 车急修汽车科技有限公司 | A kind of spray robot |
| CN107088891A (en) * | 2017-03-29 | 2017-08-25 | 山东开泰抛丸机械股份有限公司 | A kind of intelligent sand blasting machine people based on crown platform |
| CN109985755A (en) * | 2019-04-29 | 2019-07-09 | 昆山敬德科技工程有限公司 | Spraying operation device and its operational method |
| CN110422580A (en) * | 2019-09-03 | 2019-11-08 | 无锡市通达输送设备有限公司 | A kind of spraying pre-treatment conveying device |
| CN111871673A (en) * | 2020-04-27 | 2020-11-03 | 杭州国辰机器人科技有限公司 | Intelligent paint room based on teaching technology |
| CN111905951A (en) * | 2020-04-28 | 2020-11-10 | 杭州国辰机器人科技有限公司 | Intelligent powder room based on teaching technology |
| CN113560093A (en) * | 2021-09-24 | 2021-10-29 | 宁波市北仑旭阳模塑制造有限公司 | Spraying tool and spraying device for automotive interior storage box |
| CN114904689A (en) * | 2022-05-17 | 2022-08-16 | 华东交通大学 | Indoor spraying robot |
| CN115007359A (en) * | 2022-06-24 | 2022-09-06 | 深圳市华众远科技有限公司 | Automatic spraying robot |
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| CN107088891A (en) * | 2017-03-29 | 2017-08-25 | 山东开泰抛丸机械股份有限公司 | A kind of intelligent sand blasting machine people based on crown platform |
| CN107051799A (en) * | 2017-05-26 | 2017-08-18 | 车急修汽车科技有限公司 | A kind of spray robot |
| CN109985755A (en) * | 2019-04-29 | 2019-07-09 | 昆山敬德科技工程有限公司 | Spraying operation device and its operational method |
| CN110422580B (en) * | 2019-09-03 | 2024-04-30 | 无锡市通达输送设备有限公司 | Spraying pretreatment conveying device |
| CN110422580A (en) * | 2019-09-03 | 2019-11-08 | 无锡市通达输送设备有限公司 | A kind of spraying pre-treatment conveying device |
| CN111871673A (en) * | 2020-04-27 | 2020-11-03 | 杭州国辰机器人科技有限公司 | Intelligent paint room based on teaching technology |
| CN111905951A (en) * | 2020-04-28 | 2020-11-10 | 杭州国辰机器人科技有限公司 | Intelligent powder room based on teaching technology |
| CN113560093A (en) * | 2021-09-24 | 2021-10-29 | 宁波市北仑旭阳模塑制造有限公司 | Spraying tool and spraying device for automotive interior storage box |
| CN113560093B (en) * | 2021-09-24 | 2021-12-17 | 宁波市北仑旭阳模塑制造有限公司 | Spraying tool and spraying device for automotive interior storage box |
| CN114904689A (en) * | 2022-05-17 | 2022-08-16 | 华东交通大学 | Indoor spraying robot |
| CN115007359A (en) * | 2022-06-24 | 2022-09-06 | 深圳市华众远科技有限公司 | Automatic spraying robot |
| CN115155884A (en) * | 2022-06-24 | 2022-10-11 | 深圳市华众远科技有限公司 | Automatic spraying method and automatic spraying robot |
| CN115007359B (en) * | 2022-06-24 | 2024-01-16 | 深圳市华众远科技有限公司 | Automatic spraying robot |
| CN115155884B (en) * | 2022-06-24 | 2024-08-20 | 深圳市华众远科技有限公司 | Automatic spraying method and automatic spraying robot |
| CN115945324A (en) * | 2023-03-13 | 2023-04-11 | 汕头大学 | Toy model surface spraying system and method |
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