CN207344612U - A kind of automatic telescopic spary coating type industrial robot - Google Patents
A kind of automatic telescopic spary coating type industrial robot Download PDFInfo
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- CN207344612U CN207344612U CN201721353711.2U CN201721353711U CN207344612U CN 207344612 U CN207344612 U CN 207344612U CN 201721353711 U CN201721353711 U CN 201721353711U CN 207344612 U CN207344612 U CN 207344612U
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Abstract
The utility model discloses a kind of automatic telescopic spary coating type industrial robot, it includes robot body, the robot body includes base and movement axis mechanism, be set forth in kinematic axis mechanism includes first axle, the second axis, the 3rd axis, the 4th axis, the 5th axis and the 6th axis, the first axle, the second axis, the 3rd axis, the 4th axis, the 5th axis and the 6th axis are designed with synchronous turbin generator and hollow reducer, the movement axis mechanism is equipped with telescoping mechanism, the base is equipped with radiating subassembly, and the radiating subassembly includes radiator structure and buffer structure.The utility model is by using hollow reducer; realize the inside cabling of cable; and thermal insulation layer and anti-interference magnet ring are set in spool to protect cable and signal stabilization to transmit; the arm of robot can be extended or be shortened by telescoping mechanism; so as to extend or shorten the movement locus of robot; the practicality of robot is improved, and saves production cost.
Description
Technical field
It the utility model is related to the technical field of industrial robot, and in particular to a kind of automatic telescopic spary coating type industrial machine
People.
Background technology
With the development of mechanical industry, automatic metaplasia is realized in more and more process using industrial robot
Production.Existing robot end's transmission coordinates driving for precision auger helical teeth, and processing and assembling requirement is complicated, and fraction defective pole
Height, can not adapt to the demand in market；, can not be by robot overall appearance for the frame mode of each axis of existing spray robot
The coordination one of design, and can not accomplish that the convenient sealing of total arrangement of line is crossed by robot in the prior art.
In robot, power is transmitted usually through motor and cable, so as to fulfill movement.In order to compact-sized, usually
Cable is directly passed through from robot interior, is generally fixed on cable on inner wall by fixing buckle, this, which crosses line mode, needs
Using longer cable, increase cost of manufacture.And inner wall crosses line mode also there is robot during exercise, axis athletic meeting is pullled
Cable, causes to damage to cable, and servomotor can produce a certain amount of electromagnetic interference in the running, and cable is impacted,
Cause signal transmission unstable, influence the precision of robot.The arm of existing robot is mostly certain length, so as to limit machine
The movement locus scope of people, the mode solved at present be mostly mobile base is set or using cylinder by way of carry out robot
The extension of movement locus, uses the weight and cost of manufacture of mobile base increase robot, it has not been convenient to carry and take up a large area；
The movement locus of robot is adjusted by setting cylinder, which shortcoming is it cannot be guaranteed that precision, and can not be into
The micro-adjustment of row length, using effect are poor.
Utility model content
This item utility model is to be directed to present technical deficiency, there is provided a kind of automatic telescopic spary coating type industrial robot.
Used technical solution is the utility model to achieve the above object：
A kind of automatic telescopic spary coating type industrial robot, the robot include robot body, the robot body
Including base and movement axis mechanism, the movement axis mechanism is arranged on base, and being set forth in kinematic axis mechanism includes first axle, the
Two axis, the 3rd axis, the 4th axis, the 5th axis and the 6th axis, the movement axis mechanism are equipped with telescoping mechanism；
The base is equipped with radiating subassembly, and the radiating subassembly includes radiator structure and buffer structure, the telescoping mechanism
Including control assembly, tube body and connector, the connector is arranged on one end of tube body, and the control assembly is arranged on telescopic machine
Inside structure.
It is further improved, the telescoping mechanism is separately positioned between the second axis and the 3rd axis, the 4th axis and the 5th axis,
The first axle is arranged on base, and the first axle is equipped with rotating seat, and second axis is arranged on rotating seat, and described second
Axis one end and one end of telescoping mechanism connect, and the other end of the telescoping mechanism is connected with one end of the 3rd axis, the 3rd axis
The other end and the 4th axis connection, the 4th axis other end are fixed on by telescoping mechanism and the 5th axis connection, the 6th axis
On 5th axis.
It is further improved, the first axle, the second axis, the 3rd axis, the 4th axis, the 5th axis and the 6th axis are designed with synchronization
Turbin generator and hollow reducer, the first axle are additionally provided with synchronous turbin generator eccentric structure, the hollow reducer with the second axis
Centre is equipped with through hole, and the through hole is equipped with spool, thermal insulation layer and anti-interference magnet ring are equipped with the spool.
It is further improved, the automatic telescopic spary coating type industrial robot is internally provided with control module and circuit, described
Circuit is connected by spool with the synchronous turbin generator of the first axle, the second axis, the 3rd axis, the 4th axis, the 5th axis and the 6th axis.
It is further improved, the control assembly includes servomotor and driving member, the servomotor and control module
Connection, the servomotor are arranged on inside connector.
It is further improved, the driving member is leading screw and belt, and the leading screw is designed with synchronizing wheel with servomotor, institute
The synchronizing wheel for stating leading screw and servomotor is connected by belt, and fixed block is equipped with the tube body, and the fixed block is equipped with through hole,
The screw end is equipped with connection fixing block, and the connection fixing block is connected with fixed block, the leading screw control contiguous block and pipe
Elongation and shortening between body.
It is further improved, the tube body is equipped with sliding slot, and the sliding slot is equipped with multiple mounting holes, and the contiguous block is equipped with more
A convex block, multiple convex blocks are equipped with multiple grooves, be designed with the groove band spring jacking block, the band spring jacking block with
The contiguous block is designed with magnechuck, and the magnechuck includes the first magnechuck and the second magnechuck, the convex block
Both ends are equipped with sensor.
It is further improved, first magnechuck is arranged on band spring jacking block, and first magnechuck is equipped with
Multiple placement through holes, the band spring jacking block, which is arranged on, to be placed in through hole, and the band spring jacking block is equipped with screens fixed structure, institute
State placement through hole and be equipped with fixing port, screens fixed structure is arranged in fixing port, and second magnechuck is arranged under convex block
In the contiguous block of side, two magnechucks are connected with control module.
The beneficial effects of the utility model：The utility model design structure is simple, and installation and line mode excessively are simple, shorten line
The length of cable, reduces cost of manufacture, and cable can pass through in hollow reducer, protect cable not to be worn, solve traditional inner wall
The problems such as cable is pullled, causes cable damage when crossing the existing running of line mode, is equipped with thermal insulation layer and anti-interference in spool
Magnet ring, thermal insulation layer protect cable to be influenced from the temperature that gear reducer produces in the running, the service life of cable are improved, by setting
The electromagnetic interference for putting anti-interference magnet ring to prevent servomotor from operationally producing, ensures the running precision of robot；By setting
Telescoping mechanism is put, realizes the extension or shortening of arm, so as to extend or shorten the movement locus of robot, improves practicality, and
It is controlled by the servomotor in control module and telescoping mechanism, improves Adjustment precision, passes through band spring jacking block and electromagnetism
Sucker realizes that the fast positioning of contiguous block and tube body is fixed, and passes through and radiator structure and buffer structure are set in base, protection
Its internal circuit component ensures the normal use of robot from vibrations and the influence of high temperature；The utility model passes through inside
The coordination one that cabling mode designs robot overall appearance, the convenient sealing of total arrangement that line will be crossed, and this practicality is new
Type realizes the extension or shortening of movement locus by way of improving arm, and cost is low and practicality is high, so as to improve production
Efficiency.
Below in conjunction with the accompanying drawings with embodiment, the utility model is further illustrated.
Brief description of the drawings
Fig. 1 is the automatic telescopic spary coating type industrial robot overall structure diagram of the present embodiment；
Fig. 2 is the automatic telescopic spary coating type industrial robot cabling schematic diagram of the present embodiment；
Fig. 3 is the automatic telescopic spary coating type industrial robot explosive view of the present embodiment；
Fig. 4 is the telescoping mechanism structural representation of the present embodiment；
Fig. 5 is the telescoping mechanism explosive view of the present embodiment；
Fig. 6 is the telescoping mechanism schematic cross-sectional view of the present embodiment；
Fig. 7 is the enlarged diagram of the present embodiment A；
Fig. 8 is the enlarged diagram of the present embodiment B；
Fig. 9 is the spool schematic cross-sectional view of the present embodiment.
In figure：1. automatic telescopic spary coating type industrial robot, 2. robot bodies, 3. bases, 4. movement axis mechanisms, 5. stretch
Contracting mechanism, 7. hollow reducers, 9. circuits, 10. magnechucks, 11. sensors, 340. first axles, 41. second axis, 42. the 3rd
Axis, 43. the 4th axis, 44. the 5th axis, 45. the 6th axis, 50. control assemblies, 51. tube bodies, 52. connectors, 70. spools, 100.
One magnechuck, 101. second magnechucks, 102. placement through holes, 103. fixing ports, 501. servomotors, 502. driving members,
510 fixed blocks, 503. connection fixing blocks, 511. sliding slots, 520. convex blocks, 521. band spring jacking blocks, 522. screens fixed structures,
700. thermal insulation layers, 701. anti-interference magnet rings.
Embodiment
As described below is only the preferred embodiment of the utility model, does not therefore limit the new protection model of this entity
Enclose.
Referring to 1~Fig. 9 of attached drawing, a kind of automatic telescopic spary coating type industrial robot 1 includes robot body 2, the machine
Human body 2 includes base 3 and movement axis mechanism 4, and the movement axis mechanism 4 is set on the base 3, is set forth in kinematic axis mechanism 4
Including first axle 40, the second axis 41, the 3rd axis 42, the 4th axis 43, the 5th axis 44 and the 6th axis 45, the movement axis mechanism 4 is set
There is telescoping mechanism 5；
The base 3 is equipped with radiating subassembly, and the radiating subassembly includes radiator structure and buffer structure, the telescoping mechanism
5 include control assembly 50, tube body 51 and connector 52, and the connector 5 is arranged on one end of tube body 51, the control assembly 50
It is arranged on inside telescoping mechanism 5.
The telescoping mechanism 5 is separately positioned between the second axis 41 and the 3rd axis 42, the 4th axis 43 and the 5th axis 44, described
First axle 40 is set on the base 3, and the first axle 40 is equipped with rotating seat, and second axis 41 is arranged on rotating seat, described
Second axis, 41 one end is connected with one end of telescoping mechanism 5, and the other end of the telescoping mechanism 5 is connected with one end of the 3rd axis 42,
3rd axis, 42 other end is connected with the 4th axis 43, and 43 other end of the 4th axis is connected by telescoping mechanism 5 and the 5th axis 44
Connect, the 6th axis 45 is fixed on the 5th axis 44.
The first axle 40, the second axis 41, the 3rd axis 42, the 4th axis 43, the 5th axis 44 and the 6th axis 45 are designed with synchronization
Turbin generator and hollow reducer 7, the first axle 40 and the second axis 41 are additionally provided with synchronous turbin generator eccentric structure, described hollow to subtract
Through hole is equipped among fast machine 7, the through hole is equipped with spool 70, thermal insulation layer 700 and anti-interference magnet ring are equipped with the spool 70
701, the thermal insulation layer 700 is isolated for operating caused heat to hollow reducer 7, the anti-interference magnet ring 701
For being eliminated to electromagnetic interference caused by the running of synchronous turbin generator, ensure the stable biography for stablizing use and signal of cable
It is defeated.
The automatic telescopic spary coating type industrial robot 1 is internally provided with control module and circuit 9, and the circuit 9 passes through line
The synchronous turbin generator of pipe 70 and the first axle 40, the second axis 41, the 3rd axis 42, the 4th axis 43, the 5th axis 44 and the 6th axis 45
Connection, the circuit 9 walk formula in and cross line, solve cable when traditional inner wall crosses running existing for line mode and are pullled, are caused
The problems such as cable damage.
The control assembly 50 includes servomotor 501 and driving member 502, and the servomotor 501 connects with control module
Connect, the servomotor 501 is arranged on inside connector 52.
The driving member 502 is leading screw and belt, and the leading screw 502 is designed with synchronizing wheel, the silk with servomotor 501
The synchronizing wheel of thick stick and servomotor 501 is connected by belt, is equipped with fixed block 510 in the tube body 51, the fixed block 510 is set
There is through hole, the screw end is equipped with connection fixing block 503, and the connection fixing block 503 is connected with fixed block 510, the silk
Thick stick controls the elongation and shortening between contiguous block 52 and tube body 51.
The tube body 51 is equipped with sliding slot 511, and the sliding slot 511 is equipped with multiple mounting holes, and the contiguous block 52 is equipped with multiple
Convex block 520, multiple convex blocks 520 are equipped with multiple grooves, and band spring jacking block 521, the band bullet are designed with the groove
Spring jacking block 521 and the contiguous block 52 are designed with magnechuck 10, and the magnechuck 10 includes the first magnechuck 100 and the
Two magnechucks 101,520 both ends of convex block are equipped with sensor 11, and the sensor 11 is used to detect with spring jacking block 521
Ejection and contraction detection, the magnechuck 10 is used to eject band spring jacking block 521 and contractive action.
First magnechuck 100 is arranged on band spring jacking block 521, and first magnechuck 100 is equipped with multiple
Through hole 102 is placed, the band spring jacking block 521, which is arranged on, to be placed in through hole 102, and the band spring jacking block 521 is consolidated equipped with screens
Determine structure 522, the placement through hole 102 is equipped with fixing port 103, and screens fixed structure 522 is arranged in fixing port 103, described
Second magnechuck 101 is arranged in the contiguous block 52 of the lower section of convex block 520, and two magnechucks 10 are connected with control module,
Pass through the connection of screens fixed structure 522 and fixing port 103 so that what can be stablized with spring jacking block 521 inhales with the first electromagnetism
Disk 100 is fixed as one.
The operation principle and step of the utility model are as follows, when carrying out movement locus over reach：(1) control module receives
Handled to length extension signal, control servomotor and magnechuck to be acted after processing；
(2) under the effect of the magnetic attraction of the first magnechuck and the second magnechuck, band spring jacking block is internally shunk, and is passed
Signal in place, and is fed back to control module by sensor detection band spring jacking block, and control module controls servomotor after being handled
Acted；
(3) Serve Motor Control leading screw carries out ejection action, drives tube body to be extended, and the servomotor operating number of turns reaches
When, tube body extends in place, and signal is fed back to control module by servomotor；
(4) control module receives tube body and extends signal in place and handle, and controls the first magnechuck and the second electromagnetism to inhale
Disk carry out de-energizing actions, with spring jacking block spring elastic force effect under outwards eject, sensor 11 detection band spring jacking block to
Upper ejection, feeds back to control module by signal, completes the movement locus over reach of application type industrial robot 1.
When carrying out movement locus shortening action：(5) shortening action is carried out to movement locus, control module receives shortening
Signal is simultaneously handled, and controls servomotor and magnechuck to be acted；
(6) under the effect of the magnetic attraction of the first magnechuck and the second magnechuck, band spring jacking block is internally shunk, and is passed
Signal in place, and is fed back to control module by sensor detection band spring jacking block, and control module controls servomotor after being handled
Acted；
(7) Serve Motor Control leading screw carries out ejection action, drives tube body to be shortened, and the servomotor operating number of turns reaches
When, tube body shortens in place, and signal is fed back to control module by servomotor；
(8) control module receives tube body and extends signal in place and handle, and controls the first magnechuck and the second electromagnetism to inhale
Disk carries out de-energizing actions, is outwards ejected under the elastic force effect of spring with spring jacking block, sensor detection band spring jacking block is upward
Ejection, control module is fed back to by signal, completes the movement locus shortening action of application type industrial robot.
The utility model design structure is simple, and installation and line mode excessively are simple, shorten the length of cable, reduction is fabricated to
This, cable can pass through in hollow reducer, protect cable not to be worn, when solving traditional inner wall and crossing that line mode is existing to be operated
The problems such as cable is pullled, causes cable damage, is equipped with thermal insulation layer and anti-interference magnet ring in spool, and thermal insulation layer protects cable not
The temperature produced in the running by gear reducer is influenced, and improves the service life of cable, prevents from watching by setting anti-interference magnet ring
The electromagnetic interference that motor operationally produces is taken, ensures the running precision of robot；By setting telescoping mechanism, arm is realized
Extend or shorten, so as to extend or shorten the movement locus of robot, improve practicality, and pass through control module and telescoping mechanism
Interior servomotor is controlled, and improves Adjustment precision, and contiguous block and tube body are realized by band spring jacking block and magnechuck
Fast positioning fix, by setting radiator structure and buffer structure in base, protection its internal circuit component is from shake
Dynamic and high temperature influence, ensures the normal use of robot；The utility model is overall outer by robot by internal cabling mode
See the coordination one of design, the total arrangement that will cross line is convenient to be sealed, and the utility model by way of improving arm come
Realize the extension or shortening of movement locus, cost is low and practicality is high, so as to improve the efficiency of production.
The utility model is not limited to the above embodiment, using identical with the utility model above-described embodiment or approximate knot
Structure, device or method, and other obtained are used for automatic telescopic spary coating type industrial robot, the protection model in the utility model
Within enclosing.
Claims (8)
- A kind of 1. automatic telescopic spary coating type industrial robot, it is characterised in that：The robot includes robot body, the machine Device human body includes base and movement axis mechanism, and the movement axis mechanism is arranged on base, and the movement axis mechanism includes the One axis, the second axis, the 3rd axis, the 4th axis, the 5th axis and the 6th axis, the movement axis mechanism are equipped with telescoping mechanism；The base is equipped with radiating subassembly, and the radiating subassembly includes radiator structure and buffer structure, and the telescoping mechanism includes Control assembly, tube body and connector, the connector are arranged on one end of tube body, and the control assembly is arranged in telescoping mechanism Portion.
- 2. automatic telescopic spary coating type industrial robot according to claim 1, it is characterised in that：The telescoping mechanism difference It is arranged between the second axis and the 3rd axis, the 4th axis and the 5th axis, the first axle is arranged on base, and the first axle is equipped with Rotating seat, second axis are arranged on rotating seat, one end connection of described second axis one end and telescoping mechanism, the telescopic machine The other end of structure is connected with one end of the 3rd axis, and the 3rd axis other end and the 4th axis connection, the 4th axis other end lead to Telescoping mechanism and the 5th axis connection are crossed, the 6th axis is fixed on the 5th axis.
- 3. automatic telescopic spary coating type industrial robot according to claim 2, it is characterised in that：The first axle, second Axis, the 3rd axis, the 4th axis, the 5th axis and the 6th axis are designed with synchronous turbin generator and hollow reducer, the first axle and second Axis is additionally provided with synchronous turbin generator eccentric structure, is equipped with through hole among the hollow reducer, the through hole is equipped with spool, the line Thermal insulation layer and anti-interference magnet ring are equipped with pipe.
- 4. automatic telescopic spary coating type industrial robot according to claim 3, it is characterised in that：The automatic telescopic spraying Type industrial robot is internally provided with control module and circuit, and the circuit passes through spool and the first axle, the second axis, the 3rd The synchronous turbin generator connection of axis, the 4th axis, the 5th axis and the 6th axis.
- 5. automatic telescopic spary coating type industrial robot according to claim 1, it is characterised in that：The control assembly includes Servomotor and driving member, the servomotor are connected with control module, and the servomotor is arranged on inside connector.
- 6. automatic telescopic spary coating type industrial robot according to claim 5, it is characterised in that：The driving member is silk Thick stick and belt, the leading screw are designed with synchronizing wheel with servomotor, and the synchronizing wheel of the leading screw and servomotor is connected by belt Connect, be equipped with fixed block in the tube body, the fixed block is equipped with through hole, and the leading screw end is equipped with connection fixing block, the company Connect fixed block to be connected with fixed block, elongation and shortening between the leading screw control contiguous block and tube body.
- 7. automatic telescopic spary coating type industrial robot according to claim 6, it is characterised in that：The tube body, which is equipped with, to be slided Groove, the sliding slot are equipped with multiple mounting holes, and the contiguous block is equipped with multiple convex blocks, and multiple convex blocks are equipped with multiple grooves, Band spring jacking block is designed with the groove, the band spring jacking block is designed with magnechuck, the electromagnetism with the contiguous block Sucker includes the first magnechuck and the second magnechuck, and the convex block both ends are equipped with sensor.
- 8. automatic telescopic spary coating type industrial robot according to claim 7, it is characterised in that：First magnechuck It is arranged on band spring jacking block, first magnechuck is equipped with multiple placement through holes, and the band spring jacking block is arranged on placement In through hole, the band spring jacking block is equipped with screens fixed structure, and the placement through hole is equipped with fixing port, and screens fixed structure is set In fixing port, second magnechuck is arranged in the contiguous block of underbump, two magnechucks and control module Connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721353711.2U CN207344612U (en) | 2017-10-20 | 2017-10-20 | A kind of automatic telescopic spary coating type industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721353711.2U CN207344612U (en) | 2017-10-20 | 2017-10-20 | A kind of automatic telescopic spary coating type industrial robot |
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| Publication Number | Publication Date |
|---|---|
| CN207344612U true CN207344612U (en) | 2018-05-11 |
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ID=62355721
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721353711.2U Active CN207344612U (en) | 2017-10-20 | 2017-10-20 | A kind of automatic telescopic spary coating type industrial robot |
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| Country | Link |
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| CN (1) | CN207344612U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107598942A (en) * | 2017-10-20 | 2018-01-19 | 广东伯朗特智能装备股份有限公司 | A kind of automatic telescopic spary coating type industrial robot and control method |
| CN108818498A (en) * | 2018-06-09 | 2018-11-16 | 埃夫特智能装备股份有限公司 | A kind of six degree of freedom hollow type heavy-load robot |
| CN110682300A (en) * | 2019-10-07 | 2020-01-14 | 南理工泰兴智能制造研究院有限公司 | Five-axis robot forearm and paint spraying robot for machining process of five-axis robot forearm |
| CN111026170A (en) * | 2019-12-31 | 2020-04-17 | 中南大学 | Spectrometer position adjusting and tracking device for welding process monitoring platform |
-
2017
- 2017-10-20 CN CN201721353711.2U patent/CN207344612U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107598942A (en) * | 2017-10-20 | 2018-01-19 | 广东伯朗特智能装备股份有限公司 | A kind of automatic telescopic spary coating type industrial robot and control method |
| CN108818498A (en) * | 2018-06-09 | 2018-11-16 | 埃夫特智能装备股份有限公司 | A kind of six degree of freedom hollow type heavy-load robot |
| CN110682300A (en) * | 2019-10-07 | 2020-01-14 | 南理工泰兴智能制造研究院有限公司 | Five-axis robot forearm and paint spraying robot for machining process of five-axis robot forearm |
| CN111026170A (en) * | 2019-12-31 | 2020-04-17 | 中南大学 | Spectrometer position adjusting and tracking device for welding process monitoring platform |
| CN111026170B (en) * | 2019-12-31 | 2020-11-17 | 中南大学 | Spectrometer position adjusting and tracking device for welding process monitoring platform |
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| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 523000 Guangdong city of Dongguan province Dalang Zhen Sha Bu Cun Sha Fu Road No. 83 Patentee after: Bronte robotics, Inc Address before: 523000 Guangdong city of Dongguan province Dalang Zhen Sha Bu Cun Sha Fu Road No. 83 Patentee before: GUANGDONG BOLANGTE INTELLIGENT EQUIPMENT Co.,Ltd. |
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| CP01 | Change in the name or title of a patent holder |