CN207448511U - A kind of forearm and paint-spray robot containing rotating arm - Google Patents

Abstract

A kind of forearm and paint-spray robot containing rotating arm, including the first side wall, second sidewall, 3rd side wall, 4th side wall, first connecting shaft portion and the second connecting shaft portion, the first side wall, second sidewall, 3rd side wall and the 4th side wall are in turn connected to form the cuboid tubular construction of forearm, the first connecting shaft portion is arranged on the 3rd side wall, and it is recessed to the 4th sidewall direction, the second connecting shaft portion is arranged on the 3rd side wall and the 4th side wall, the first side wall and second sidewall extend to form protrusion to the second connecting shaft portion, the forearm containing rotating arm and paint-spray robot further include the rotating arm and motor being arranged between two protrusions, the motor is arranged on rotating arm.The rotating arm of the utility model design adds the flexibility of forearm；A kind of forearm and paint-spray robot containing rotating arm, including pedestal, large arm and forearm, the large arm is arranged on pedestal, and the large arm is connected with forearm, and complex part can be sprayed, and adds the flexibility of operation.

Description

A kind of forearm and paint-spray robot containing rotating arm

Technical field

The utility model belongs to robotic technology field, and in particular, to a kind of forearm and paint spraying machine containing rotating arm Device people.

Background technology

Paint-spray robot is can to carry out auto spray painting or spray the industrial robot of other coating.Paint-spray robot mainly by Robot body, computer and corresponding control system composition, mostly have larger using 5 or 6DOF articulated structure, arm Space, and complicated track movement can be done, wrist generally has 2~3 degree of freedom, can flexible motion.More advanced spray Robot wrist is painted using flexible waist, can not only be bent to all directions, but also rotatably, act the wrist of similar people, energy side Just inside workpiece is stretched by smaller hole, sprays its inner surface.It is many highly difficult that paint-spray robot can replace worker to complete Action, it is slight to mitigate work, improves working environment, in addition spray robot can be in operation under rugged environment, and sprays It is good to apply effect.

Utility model content

Purpose of utility model：The purpose of this utility model is to provide a kind of forearm and paint-spray robot containing rotating arm, In order to meet the spray painting operation of complex part, paint spray nozzle multi-angle rotary can be driven equipped with rotating arm on forearm, is adopted Forearm structure can play the role of support and loss of weight.

Technical solution：The utility model provides a kind of forearm containing rotating arm, including the first side wall, second sidewall, 3rd side wall, the 4th side wall, the first connecting shaft portion and the second connecting shaft portion, the first side wall, second sidewall, the 3rd side wall and the 4th Side wall is in turn connected to form the cuboid tubular construction of forearm, and the first connecting shaft portion is arranged on the 3rd side wall, and to the 4th side Wall direction is recessed, and the second connecting shaft portion is arranged on the 3rd side wall and the 4th side wall, and the first side wall and second sidewall are to the Two connecting shaft portions extend to form protrusion, and the forearm containing rotating arm and paint-spray robot, which further include, to be arranged between two protrusions Rotating arm and motor, the motor be arranged on rotating arm on.The forearm and paint-spray robot containing rotating arm of the utility model Rational in infrastructure, load-bearing capacity is strong, and cabling is regular, and inside greatly reduces the own wt of robot using hollow-core construction, simultaneously The load capacity of robot is improved, rotating arm is added in forearm front end, similar to wrist, substantially increases robot Flexibility, therefore comprehensive spraying can be carried out during the spray robot operation.

Further, the above-mentioned forearm containing rotating arm, the 3rd side wall and the 4th side wall are equipped with rectangular First lightening hole.Minimum position is accepted in side wall, the first lightening hole is set, can reduce forearm own wt, the length of lightening hole Direction is consistent with forearm direction, reduces the destruction to forearm mechanical performance.

Further, the above-mentioned forearm containing rotating arm, the first side wall and second sidewall are equipped with the second loss of weight Hole.It is to reach the requirement that robot itself reduces weight further to set the second lightening hole.

Further, the above-mentioned forearm containing rotating arm, the first side wall are equipped with wire casing.The wire casing of setting can incite somebody to action Robot harness prevents and in wire casing, avoids harness mixed and disorderly, influences overall beautiful.

Further, the above-mentioned forearm containing rotating arm, the diameter in the first connecting shaft portion are straight more than the second connecting shaft portion Footpath forms the structure gradually tapered up to the second connecting shaft portion from the first connecting shaft portion.The endurance of robot forearm is oily along approaching The direction of paint nozzle is gradually reduced, therefore the section of forearm is designed to gradually smaller structure, can reduce forearm overall weight.

Further, the above-mentioned forearm containing rotating arm, the first connecting shaft portion are equipped with big end cap, the second connecting shaft portion Equipped with small end cover, and big end cap and small end cover are connected by bolt with the 4th side wall.End cap is set in axis connection portion, convenient for electricity The disassembly and installation of pole, while motor can be formed and protected.

Further, above-mentioned forearm and paint-spray robot containing rotating arm, the paint-spray robot include pedestal, big Arm and forearm, the large arm are arranged on pedestal, and the large arm is connected with forearm.The artificial five-axle linkage robot of this machine uses This robot can be sprayed flexibly, and pedestal is equipped with pivoting support, is driven by motor, large arm can be along pedestal in 360 ° of models Interior rotation is enclosed, while large arm can be rotated along with pedestal connecting shaft, forearm can be rotated along the axis being connected with large arm, be additionally provided on forearm Paint spray nozzle component, which can rotate along the axis being connected with forearm, while nozzle can rotate on nozzle assembly.

Further, above-mentioned forearm and paint-spray robot containing rotating arm, the pedestal include the first motor, spiral shell Bar, sliding block, the first bearing and first axle support base, the screw rod are connected with the first motor, and the slide block set is arranged on screw rod, institute The first bearing is stated on sliding block, the first axle support base is arranged on the first bearing.This pedestal can be along screw rod in screw rod direction On move left and right, robot can so be made to reach the area of bigger, while the support base with revolute function set, the oil for being It is rotatable in the range of 360 ° to paint nozzle.

Further, above-mentioned forearm and paint-spray robot containing rotating arm, the large arm include the first rotation section, ellipse Circular lightening hole, reinforcing rib and the second rotation section.This large arm can rotate simultaneously on pedestal and play what support forearm rotated Effect, itself is provided with lightening hole, and reinforcing rib has been added in force part, and whole load-bearing capacity is strong.

Above-mentioned technical proposal can be seen that the utility model and have the advantages that：It is described in the utility model containing The forearm and paint-spray robot of rotating arm have five-shaft interlock function, can carry out the spray painting of complex part, while use small Arm can load bearing support, itself design is also with weight loss effect, with reference to forearm forepart rotating arm so that paint spray nozzle can carry out The rotation spray painting of greater angle.

Description of the drawings

Fig. 1 is the structure diagram of forearm the 3rd side wall described in the utility model containing rotating arm；

Fig. 2 is the structure diagram of the forearm the first side wall described in the utility model containing rotating arm；

Fig. 3 is the structure diagram of forearm the 4th side wall described in the utility model containing rotating arm；

Fig. 4 is the structure diagram of the forearm described in the utility model containing rotating arm and paint-spray robot.

In figure：1 the first side wall, 2 second sidewalls, 3 the 3rd side walls, 4 the 4th side walls, 5 first connecting shaft portions, 6 protrusions, 7 second Connecting shaft portion, 8 spray painting components, 9 first lightening holes, 110 pedestals, 101 first motors, 102 screw rods, 103 sliding blocks, 104 first bearings, 105 first axle support bases, 11 second lightening holes, 12 wire casings, 13 big end caps, 14 small end covers, 15 bolts, 16 rotating arms, 17 motors, 20 large arm, 201 first rotation sections, 202 oval lightening holes, 203 reinforcing ribs, 204 second rotation sections.

Specific embodiment

The embodiment of the utility model is described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning Same or similar element is represented to same or similar label eventually or there is same or like element.Below by ginseng The embodiment for examining attached drawing description is exemplary, it is intended to for explaining the utility model, and it is not intended that the utility model Limitation.

In the description of the utility model, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width Degree ", " thickness ", " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " up time The orientation or position relationship of the instructions such as pin ", " counterclockwise " are based on orientation shown in the drawings or position relationship, are for only for ease of The utility model is described and simplify description rather than instruction or imply signified device or element must have specific orientation, With specific azimuth configuration and operation, therefore it is not intended that limitation to the utility model.

In addition, term " first ", " second " are only used for description purpose, and it is not intended that instruction or hint relative importance Or the implicit quantity for indicating indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or Implicitly include one or more this feature.In the description of the utility model, unless otherwise indicated, the meaning of " multiple " It is two or more, unless otherwise restricted clearly.

In the utility model, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " Gu It is fixed " etc. terms should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or be integrally connected；It can To be mechanical connection or be electrically connected；It can be directly connected, can also be indirectly connected by intermediary, Ke Yishi Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood as the case may be Concrete meaning in the utility model.

In the utility model, unless otherwise clearly defined and limited, fisrt feature second feature it " on " or it " under " can be contacted directly including the first and second features, it is not to contact directly but lead to that can also include the first and second features Cross the other characterisation contact between them.Moreover, fisrt feature second feature " on ", " top " and " above " include the One feature is directly over second feature and oblique upper or is merely representative of fisrt feature level height higher than second feature.First is special Sign second feature " under ", " lower section " and " below " including fisrt feature immediately below second feature and obliquely downward or only Represent that fisrt feature level height is less than second feature.

Embodiment

The forearm containing rotating arm as shown in Figs. 1-3, including the first side wall 1, second sidewall 2, the 3rd side wall the 3, the 4th Side wall 4, the first connecting shaft portion 5 and the second connecting shaft portion 7, the first side wall 1, second sidewall 2, the 3rd side wall 3 and the 4th side wall 4 according to Secondary connect forms the cuboid tubular construction of forearm, and the first connecting shaft portion 5 is arranged on the 3rd side wall 3, and to 4 side of the 4th side wall To recess, the second connecting shaft portion 7 is arranged on the 3rd side wall 3 and the 4th side wall 4, and the 3rd side wall 3 and the 4th side wall 4 are equipped with Rectangular first lightening hole 9；The first side wall 1 and second sidewall 2 extend to form protrusion 6, and first to the second connecting shaft portion 7 Side wall 1 and second sidewall 2 are equipped with the second lightening hole 11, and the first side wall 1 is equipped with wire casing 12；It is described to contain the small of rotating arm Arm and paint-spray robot further include the rotating arm 16 being arranged between two protrusions 6 and motor 17, and the motor 17 is arranged on rotation On arm 16, and rotating arm 16 is equipped with spray painting component 8.Further, the diameter in the first connecting shaft portion 5 is more than the second connecting shaft portion 7 diameters form the structure gradually tapered up to the second connecting shaft portion 7 from the first connecting shaft portion 5, can both reach required bearing capacity, The requirement of loss of weight can be played again.Further, the first connecting shaft portion 5 is equipped with big end cap 13, and the second connecting shaft portion 7 is equipped with small End cap 14, and big end cap 13 and small end cover 14 are connected by bolt 15 with the 4th side wall 4, end cap can be opened, electricity easy to disassemble It machine and carries out maintenance, during normal use, end cap is covered, protects internal structure.

A kind of forearm containing rotating arm and paint-spray robot as shown in Figure 4 include pedestal 10, large arm 20 and forearm 30, institute Large arm 20 is stated on pedestal 10, the large arm 20 and forearm 30 connect.Further, the pedestal 10 includes the first motor 101st, screw rod 102, sliding block 103, the first bearing 104 and first axle support base 105, the screw rod 102 connect with the first motor 101 It connects, the sliding block 103 is sheathed on screw rod 102, and first bearing 104 is arranged on sliding block 103, the first axle support base 105 are arranged on the first bearing 104.Further, the large arm 20 includes the first rotation section 201, oval lightening hole 202, adds 203 and second rotation section 204 of strengthening tendons, large arm 20 can on pedestal 10 360 ° rotation, have wide spray angle.

This paint sprayer man-hour according to the setting of controller, can drive the first motor 101 to rotate screw rod 102, sliding Block 103 can move left and right on screw rod 102, while can carry out the rotation of large arm 20, be driven by the first spindle motor 200, greatly Arm 20 can be rotated upwardly and downwardly along first axle, start the second spindle motor 100, and forearm 30 can be rotated along the second axis, and needs of playing a game are accurate Position is sprayed, driving spray painting component 302 can carry out locally sprayed.

The above is only the preferred embodiment of the utility model, it is noted that for the common skill of the art For art personnel, on the premise of the utility model principle is not departed from, several improvement can also be made, these improvement also should be regarded as The scope of protection of the utility model.

Claims (9)

1. a kind of forearm containing rotating arm, it is characterised in that：Including the first side wall（1）, second sidewall（2）, the 3rd side wall （3）, the 4th side wall（4）, the first connecting shaft portion（5）With the second connecting shaft portion（7）, the first side wall（1）, second sidewall（2）, the 3rd Side wall（3）With the 4th side wall（4）It is in turn connected to form the cuboid tubular construction of forearm, the first connecting shaft portion（5）Arranged on Three side walls（3）On, and to the 4th side wall（4）Direction is recessed, the second connecting shaft portion（7）Arranged on the 3rd side wall（3）With the 4th side Wall（4）On, the first side wall（1）And second sidewall（2）To the second connecting shaft portion（7）Extend to form protrusion（6）, it is described to contain rotation The forearm and paint-spray robot of pivoted arm, which further include, is arranged at two protrusions（6）Between rotating arm（16）And motor（17）, it is described Motor（17）Arranged on rotating arm（16）On.

2. the forearm according to claim 1 containing rotating arm, it is characterised in that：3rd side wall（3）With the 4th side Wall（4）It is equipped with rectangular first lightening hole（9）.

3. forearm and paint-spray robot according to claim 2 containing rotating arm, it is characterised in that：The first side wall （1）And second sidewall（2）It is equipped with the second lightening hole（11）.

4. the forearm according to claim 2 containing rotating arm, it is characterised in that：The first side wall（1）It is equipped with line Slot（12）.

5. the forearm according to claim 4 containing rotating arm, it is characterised in that：The first connecting shaft portion（5）Diameter More than the second connecting shaft portion（7）Diameter is formed from the first connecting shaft portion（5）To the second connecting shaft portion（7）The structure gradually tapered up.

6. the forearm according to claim 5 containing rotating arm, it is characterised in that：The first connecting shaft portion（5）It is equipped with Big end cap（13）, the second connecting shaft portion（7）Equipped with small end cover（14）, and big end cap（13）And small end cover（14）Pass through bolt（15）With 4th side wall（4）Connection.

7. a kind of paint-spray robot, comprising the forearm for containing rotating arm according to claim 1-6 any one of them, feature exists In：The paint-spray robot includes pedestal（10）, large arm（20）And forearm（30）, the large arm（20）Arranged on pedestal（10）On, The large arm（20）And forearm（30）Connection.

8. paint-spray robot according to claim 7, it is characterised in that：The pedestal（10）Including the first motor（101）、 Screw rod（102）, sliding block（103）, the first bearing（104）With first axle support base（105）, the screw rod（102）With the first motor （101）Connection, the sliding block（103）It is sheathed on screw rod（102）On, first bearing（104）Arranged on sliding block（103）On, institute State first axle support base（105）Arranged on the first bearing（104）On.

9. paint-spray robot according to claim 8, it is characterised in that：The large arm（20）Including the first rotation section （201）, oval lightening hole（202）, reinforcing rib（203）With the second rotation section（204）.