CN208529104U - It is a kind of for spraying the spray robot of large-size workpiece - Google Patents
It is a kind of for spraying the spray robot of large-size workpiece Download PDFInfo
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- CN208529104U CN208529104U CN201820690808.0U CN201820690808U CN208529104U CN 208529104 U CN208529104 U CN 208529104U CN 201820690808 U CN201820690808 U CN 201820690808U CN 208529104 U CN208529104 U CN 208529104U
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- 238000005507 spraying Methods 0.000 title claims abstract description 39
- 239000007921 spray Substances 0.000 title claims abstract description 32
- 230000001105 regulatory effect Effects 0.000 claims abstract description 5
- 229910000831 Steel Inorganic materials 0.000 claims description 14
- 239000010959 steel Substances 0.000 claims description 14
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 10
- 210000000056 organ Anatomy 0.000 claims description 5
- 230000005611 electricity Effects 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims 1
- 230000036541 health Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 231100000614 poison Toxicity 0.000 description 1
- 230000007096 poisonous effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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Abstract
The utility model provides a kind of for spraying the spray robot of large-size workpiece, including apparatus for adjusting position and mechanical arm, the mechanical arm is mounted on apparatus for adjusting position, the position of mechanical arm is adjusted by adjusting position regulating device, the apparatus for adjusting position includes X-axis mobile platform, and the X-axis mobile platform includes moving guide rail and X-axis slide block；The first driving motor is equipped with above the X-axis slide block, first driving motor passes through shaft connection gear, the wheel and rack of the first driving motor connection is corresponding, and the width of the cuboid groove is greater than the width of U-rail, and the top of X-axis slide block is arranged in the mechanical arm.It is big that spray robot described in the utility model for spraying large-size workpiece is equipped with three-dimensional mobile platform Work Space Range, it can be abundant, completely cover entire subject surface, complete complete machine spraying operation, quick position adjusting can be carried out according to the size of workpiece, can satisfy the spraying operation of large-scale workpiece.
Description
Technical field
The utility model belongs to robotic technology field, more particularly, to a kind of for spraying the flush coater of large-size workpiece
Device people.
Background technique
Painting operation is inflammable and explosive, and coating cloud is poisonous and harmful, and the health and life to worker generate very big threat.It is existing
Spray coating operations not only influence the health of worker, spray efficiency is to for robot there is also hand spray is used
It is relatively low, and hand spray is also uneven, especially to large-scale workpiece, it is also necessary to use a variety of liftings or mobile device
The position of worker is moved, program is relatively complicated.And existing some robots are when carrying out spray coating operations, freedom degree is inadequate, needs
Movement repeatedly adjusts position.
Summary of the invention
In view of this, the utility model be directed to it is a kind of for spraying the spray robot of large-size workpiece, with solve
It is existing to use hand spray, influence worker's health, and low efficiency；And existing Control During Paint Spraying by Robot freedom degree is not
Enough, the case where needing adjusting position repeatedly.
In order to achieve the above objectives, the technical solution of the utility model is achieved in that
It is a kind of for spraying the spray robot of large-size workpiece, including apparatus for adjusting position and mechanical arm, the machinery
Arm is mounted on apparatus for adjusting position, and the position of mechanical arm is adjusted by adjusting position regulating device,
The apparatus for adjusting position includes X-axis mobile platform, and the X-axis mobile platform includes moving guide rail and X-axis slide block,
The moving guide rail includes U-rail, rack gear, limit track, and the limit track and rack gear are all mounted in U-rail, institute
It states rack gear to be parallel to each other with limit track, U-rail, and length is identical, the side of the rack gear, which is uniformly provided with, gnaws conjunction tooth；
Cuboid groove is equipped with below the X-axis slide block, the X-axis slide block is fastened on the U-rail, the X-axis
The first driving motor is equipped with above sliding block, first driving motor is connected by shaft connection gear, first driving motor
The wheel and rack connect is corresponding, and the width of the cuboid groove is greater than the width of U-rail, and the mechanical arm is arranged in X
The top of axis sliding block.
Further, the X-axis mobile platform includes two moving guide rails, and each moving guide rail is correspondingly provided with one
X-axis slide block, limiting slot corresponding with limit track is additionally provided in the cuboid groove, and the limiting slot is groove slot directed downwardly
Body structure, the limit track are arranged in the groove of limiting slot, are moved along the x-axis by limiting slot limitation X-axis slide block flat
The moving guide rail of platform is mobile.
Further, the end of the moving guide rail is additionally provided with organ shield；
The bottom of the moving guide rail is additionally provided with firm banking, the movement by the firm banking to X-axis mobile platform
Guide rail is supported, fixes.
Further, the upper surface mounting plate of two X-axis slide blocks, two X-axis slide blocks share one piece of fixed plate,
Attachment beam is equipped with above the fixed plate, the upper horizontal of the attachment beam is equipped with support beam, and perpendicular to X-axis mobile platform
Moving guide rail, Y-axis mobile platform is installed in the top of the support beam；
The Y-axis mobile platform includes two moving guide rails and Y-axis sliding block, and it is horizontal that two moving guide rails are arranged in parallel in support
The structure of beam upper surface, the Y-axis sliding block is identical as the structure of X-axis slide block；
It is respectively provided with a Y-axis sliding block above two moving guide rails of Y-axis mobile platform, the is equipped with above the Y-axis sliding block
Two driving motors drive Y-axis sliding block to move along the moving guide rail of Y-axis mobile platform by the second driving motor.
Further, the fixed plate, attachment beam, support beam are integrally formed；
Connection frame is additionally provided between two moving guide rails above the support beam, the connection frame is for being connected and fixed
Two moving guide rails；
90-degree bent forms limit plate inwardly for the X-axis slide block and the down either side of Y-axis sliding block, the U-rail
Two sides upper end is equipped with corresponding limit steel bar, and the limit steel bar is mounted between limit plate and cuboid groove upper surface.
Further, Z axis mobile platform is equipped between two Y-axis sliding blocks, the Z axis mobile platform includes vertically setting
The Z axis mounting rack set and the Z axis moving guide rail being mounted on Z axis mounting rack, the Z axis moving guide rail are two, two Z axis
Moving guide rail is arranged in parallel, and the Z axis moving guide rail is correspondingly provided with Z axis coaster, and the Z axis coaster is correspondingly provided with driving motor,
Ball-screw is equipped between two moving guide rails, the ball-screw is equipped with driving motor, drives Z by driving motor
Axis coaster is slided along Z axis moving guide rail, and the mechanical arm is transversely mounted on Z axis coaster.
Further, Z axis coaster two sides are equipped with postive stop baffle, and the postive stop baffle is fastened on Z axis mounting rack, and
It is slidably connected with Z axis mounting rack；
The top of two Z axis sliding blocks is mounted below the Z axis mounting rack by Z axis pedestal；The Z axis pedestal includes
Two blocks of L-type steel plates, the L-type steel plate a line are fixed on above Y-axis sliding block, and another a line is fixed on Z axis mounting rack.
Further, spraying cabinet mounting rack is also equipped with above the Y-axis sliding block, the spraying cabinet is mounted on spraying cabinet peace
It shelves, cable box is also equipped with above the Y-axis sliding block, the cable box is for holding cable；
Drag chain, hauling-chain frame, drag chain box and the second driving motor, the second driving electricity are additionally provided with above the Y-axis sliding block
Motor cover is designed on the outside of machine and the first driving motor, drag chain is used for fixed cable.
Further, the mechanical arm include the joint being arranged between mounting seat, linking arm and linking arm and
The spray gun of mechanical arm front end is set, and the mounting seat is used to mechanical arm being fixed on apparatus for adjusting position；
The linking arm be it is multiple, between two linking arms be equipped with joint；Each joint includes two servo motors,
One is horizontal servo motor, and one is vertical servo motor, and the traffic direction of two servo motors is vertical, two servo motors
Between by connecting plate connect, by driving servo motor drive joint front end mechanical arm horizontally or vertically rotate.
Further, telescopic rod is additionally provided between the mounting seat and the linking arm of first segment, the telescopic rod includes
Outer loop bar and inner rod, by connection axis connection between the housing rod rear end and mounting seat, the connecting shaft is correspondingly provided with
Servo motor；
The end of the inner rod connects first segment linking arm by joint.
Compared with the existing technology, the spray robot described in the utility model for spraying large-size workpiece has following
Advantage:
(1) spray robot described in the utility model for spraying large-size workpiece works equipped with three-dimensional mobile platform
Spatial dimension is big, can be abundant, completely covers entire subject surface, completes complete machine spraying operation, can according to the size of workpiece into
The quick position of row is adjusted, and can satisfy the spraying operation of large-scale workpiece.
(2) the X-axis mobile platform and Y-axis described in the utility model for spraying the spray robot of large-size workpiece moves
Moving platform stable structure is rigidly connected therebetween by fixed plate, attachment beam, support beam, not only increases difference
Whole stability when mobile platform is adjusted adjusts position more flexible.
(3) it is described in the utility model for spray large-size workpiece spray robot mechanical arm be equipped with telescopic arm and
Multiple linking arms, joint are capable of the direction of multiple degrees of freedom adjusting spray gun.
Detailed description of the invention
The attached drawing for constituting a part of the utility model is used to provide a further understanding of the present invention, this is practical new
The illustrative embodiments and their description of type are not constituteed improper limits to the present invention for explaining the utility model.?
In attached drawing:
Fig. 1 is described in the utility model embodiment for spraying the spray robot overall structure signal of large-size workpiece
Figure；
Fig. 2 is X-axis mobile platform structure chart described in the utility model embodiment；
Fig. 3 is Y-axis mobile platform structure chart described in the utility model embodiment；
Fig. 4 is Z axis mobile platform structure chart described in the utility model embodiment；
Fig. 5 is mechanical arm structure chart described in the utility model embodiment.
Description of symbols:
1-X axis mobile platform；11- firm banking；12- organ shield；13-X axis sliding block；14-U type track；15- limit
Position track；16- rack gear；17- limits steel bar；2- attachment beam；3- support beam；4-Y axis mobile platform；41- connection frame；42-Y
Axis sliding block；5- mechanical arm；51- mounting seat；52- connecting shaft；The outer loop bar of 53-；54- inner rod；The joint 55-；56- linking arm；
57- spray gun；6-Z axis mobile platform；61-Z axis mounting rack；62-Z axis coaster；63-Z axis pedestal；7- drag chain；8- spraying cabinet； 9-
Drag chain box.
Specific embodiment
It should be noted that in the absence of conflict, the feature in the embodiments of the present invention and embodiment can
To be combined with each other.
In the description of the present invention, it should be understood that term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of describing the present invention and simplifying the description, rather than indicate
Or imply that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore cannot understand
For limitations of the present invention.In addition, term " first ", " second " etc. are used for description purposes only, and should not be understood as indicating
Or it implies relative importance or implicitly indicates the quantity of indicated technical characteristic." first ", " second " etc. are defined as a result,
Feature can explicitly or implicitly include one or more of the features.It is in the description of the present invention, unless another
It is described, the meaning of " plurality " is two or more.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, on being understood by concrete condition
State the concrete meaning of term in the present invention.
The utility model will be described in detail below with reference to the accompanying drawings and embodiments.
As shown in Fig.1 and Fig.2, a kind of for spraying the spray robot of large-size workpiece, including apparatus for adjusting position and machine
Tool arm 5, the mechanical arm 5 are mounted on apparatus for adjusting position, and the position of mechanical arm 5 is adjusted by adjusting position regulating device,
The apparatus for adjusting position includes X-axis mobile platform 1, and the X-axis mobile platform 1 includes that moving guide rail and X-axis are sliding
Block 13, the moving guide rail include U-rail 14, rack gear 16, limit track 15, and the limit track 15 and rack gear 16 are all installed
In U-rail 14, the rack gear 16 is parallel to each other with limit track 15, U-rail 14, and length is identical, the rack gear 16
Side be uniformly provided with and gnaw conjunction tooth；
Cuboid groove is equipped with below the X-axis slide block 13, the X-axis slide block 13 is fastened on the U type track 14,
The first driving motor is equipped with above the X-axis slide block 13, first driving motor is driven by shaft connection gear, described first
The wheel and rack 16 of dynamic motor connection is corresponding, and the width of the cuboid groove is greater than the width of U-rail 14, the machine
The top of X-axis slide block 13 is arranged in tool arm 5.The rotation of first driving motor sliding tooth wheel, wheel and rack 16 cooperate, and make X
Axis sliding block 13 is slided along moving guide rail；
The X-axis mobile platform 1 includes two moving guide rails, and each moving guide rail is correspondingly provided with an X-axis slide block
13, limiting slot corresponding with limit track 15 is additionally provided in the cuboid groove, the limiting slot is groove groove body directed downwardly
Structure, the limit track 15 are arranged in the groove of limiting slot, limit X-axis slide block 13 by the limiting slot and move along the x-axis
The moving guide rail of platform 1 is mobile.
The end of the moving guide rail is additionally provided with organ shield 12；Organ shield 12 is for fixing moving track and limit
Position steel bar 17.
The bottom of the moving guide rail is additionally provided with firm banking 11, by the firm banking 11 to X-axis mobile platform 1
Moving guide rail is supported, fixes.
As shown in figure 3, the upper surface mounting plate of two X-axis slide blocks 13, two X-axis slide blocks 13 share one piece admittedly
Fixed board, the fixed plate top are equipped with attachment beam 2, and the upper horizontal of the attachment beam 2 is equipped with support beam 3, and perpendicular to X-axis
The top of the moving guide rail of mobile platform 1, the support beam 3 is installed by Y-axis mobile platform 4；
The Y-axis mobile platform 4 includes two moving guide rails and Y-axis sliding block 42, and two moving guide rails are arranged in parallel in branch
3 upper surface of crossbeam is supportted, the structure of the Y-axis sliding block 42 is identical as the structure of X-axis slide block 13；
It is respectively provided with a Y-axis sliding block 42 above two moving guide rails of Y-axis mobile platform 4, is set above the Y-axis sliding block 42
There is the second driving motor, drives Y-axis sliding block 42 to move along the moving guide rail of Y-axis mobile platform 4 by the second driving motor.
The fixed plate, attachment beam 2, support beam 3 are integrally formed；
It is additionally provided with connection frame 41 between two moving guide rails of 3 top of support beam, the connection frame 41 is for connecting
It connects and fixes two moving guide rails；Connection frame 41 also acts as the effect of limit for width, is easily installed, and it is mobile flat to effectively raise Y-axis
The stability of platform 4.
90-degree bent forms limit plate, the U-rail inwardly for the X-axis slide block 13 and the down either side of Y-axis sliding block 42
14 two sides upper end is equipped with corresponding limit steel bar 17, and the limit steel bar 17 is mounted on limit plate and cuboid groove
Between surface.
Z axis mobile platform 6 is equipped between two Y-axis sliding blocks 42 as shown in Figure 4, the Z axis mobile platform 6 includes perpendicular
Z axis mounting rack 61 to setting and the Z axis moving guide rail being mounted on Z axis mounting rack 61, the Z axis moving guide rail is two,
Two Z axis moving guide rails are arranged in parallel, and the Z axis moving guide rail is correspondingly provided with Z axis coaster 62, and the correspondence of Z axis coaster 62 is set
There is driving motor, be equipped with ball-screw between two moving guide rails, the ball-screw is equipped with driving motor, passes through drive
Dynamic motor driven Z axis coaster 62 is slided along Z axis moving guide rail, and the mechanical arm 5 is transversely mounted on Z axis coaster 62.
62 two sides of Z axis coaster are equipped with postive stop baffle, and the postive stop baffle is fastened on Z axis mounting rack 61, and and Z
Axis mounting rack 61 is slidably connected；
The top of two Z axis sliding blocks is mounted below the Z axis mounting rack 61 by Z axis pedestal 63；The Z axis pedestal 63
Including two blocks of L-type steel plates, the L-type steel plate a line is fixed on 42 top of Y-axis sliding block, and another a line is fixed on Z axis mounting rack
On 61.
8 mounting rack of spraying cabinet is also equipped with above the Y-axis sliding block 42, the spraying cabinet 8 is mounted on 8 mounting rack of spraying cabinet
On, cable box is also equipped with above the Y-axis sliding block 42, the cable box is for holding cable；
Drag chain 7, hauling-chain frame, drag chain box 9 and the second driving motor are additionally provided with above the Y-axis sliding block 42, described second drives
Motor cover is designed on the outside of dynamic motor and the first driving motor.Drag chain 7 is used for the fixed cable in moving process.
As shown in figure 5, the mechanical arm 5 includes being arranged between mounting seat 51, linking arm 56 and linking arm 56
Joint 55 and the spray gun 57 that 5 front end of mechanical arm is arranged in, the mounting seat 51 are used to mechanical arm 5 being fixed on position tune
On regulating device；
The linking arm 56 be it is multiple, between two linking arms 56 be equipped with joint 55；Each joint 55 includes two
Servo motor, one is horizontal servo motor, and one is vertical servo motor, and the traffic direction of two servo motors is vertical, two
Connected between a servo motor by connecting plate, drive the mechanical arm 5 of 55 front end of joint horizontal by driving servo motor or
Vertical rotation.
Telescopic rod is additionally provided between the mounting seat 51 and the linking arm 56 of first segment, the telescopic rod includes outer loop bar
53 and inner rod 54, it is connected between outer 53 rear end of loop bar and mounting seat 51 by connecting shaft 52, the connecting shaft 52 is right
Servo motor should be equipped with；
The end of the inner rod 54 connects first segment linking arm 56 by joint 55.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Within the spirit and principle of utility model, any modification, equivalent replacement, improvement and so on should be included in the utility model
Protection scope within.
Claims (10)
1. a kind of for spraying the spray robot of large-size workpiece, it is characterised in that: including apparatus for adjusting position and mechanical arm
(5), the mechanical arm (5) is mounted on apparatus for adjusting position, passes through the position of adjusting position regulating device adjustment mechanical arm (5)
It sets,
The apparatus for adjusting position includes X-axis mobile platform (1), and the X-axis mobile platform (1) includes that moving guide rail and X-axis are sliding
Block (13), the moving guide rail include U-rail (14), rack gear (16), limit track (15), the limit track (15) and tooth
Item (16) is all mounted in U-rail (14), and the rack gear (16) is parallel to each other with limit track (15), U-rail (14), and
Length is identical, and the side of the rack gear (16), which is uniformly provided with, gnaws conjunction tooth；
Cuboid groove is equipped with below the X-axis slide block (13), the X-axis slide block (13) is fastened on the U-rail (14),
It is equipped with the first driving motor above the X-axis slide block (13), first driving motor is by shaft connection gear, and described first
The wheel and rack (16) of driving motor connection matches, and the width of the cuboid groove is greater than the width of U-rail (14),
Top of mechanical arm (5) setting in X-axis slide block (13).
2. according to claim 1 for spraying the spray robot of large-size workpiece, it is characterised in that: the X-axis is moved
Moving platform (1) includes two moving guide rails, and each moving guide rail is correspondingly provided with an X-axis slide block (13), the cuboid
Limiting slot corresponding with limit track (15) is additionally provided in groove, the limiting slot is groove trough body structure directed downwardly, the limit
Position track (15) is arranged in the groove of limiting slot, moves along the x-axis platform (1) by limiting slot limitation X-axis slide block (13)
Moving guide rail it is mobile.
3. according to claim 1 for spraying the spray robot of large-size workpiece, it is characterised in that: the movement is led
The end of rail is additionally provided with organ shield (12)；
The bottom of the moving guide rail is additionally provided with firm banking (11), by the firm banking (11) to X-axis mobile platform (1)
Moving guide rail be supported, fix.
4. according to claim 2 for spraying the spray robot of large-size workpiece, it is characterised in that: two X
The upper surface mounting plate of axis sliding block (13), two X-axis slide blocks (13) share one piece of fixed plate, are equipped with above the fixed plate
The upper horizontal of attachment beam (2), the attachment beam (2) is equipped with support beam (3), and perpendicular to the movement of X-axis mobile platform (1)
The top of guide rail, the support beam (3) is installed by Y-axis mobile platform (4)；
The Y-axis mobile platform (4) includes two moving guide rails and Y-axis sliding block (42), and two moving guide rails are arranged in parallel in branch
Crossbeam (3) upper surface is supportted, the structure of the Y-axis sliding block (42) is identical as the structure of X-axis slide block (13)；
A Y-axis sliding block (42), Y-axis sliding block (42) top are respectively provided with above two moving guide rails of Y-axis mobile platform (4)
Equipped with the second driving motor, the moving guide rail by the second driving motor driving Y-axis sliding block (42) along Y-axis mobile platform (4) is moved
It is dynamic.
5. according to claim 4 for spraying the spray robot of large-size workpiece, it is characterised in that: the fixation
Plate, attachment beam (2), support beam (3) are integrally formed；
It is additionally provided with connection frame (41) between two moving guide rails above the support beam (3), the connection frame (41) is used for
It is connected and fixed two moving guide rails；
90-degree bent forms limit plate, the U-rail to the down either side of the X-axis slide block (13) and Y-axis sliding block (42) inwardly
(14) two sides upper end is equipped with corresponding limit steel bar (17), and the limit steel bar (17) is mounted on limit plate and cuboid is recessed
Between slot upper surface.
6. according to claim 4 for spraying the spray robot of large-size workpiece, it is characterised in that: two Y
Z axis mobile platform (6) are equipped between axis sliding block (42), the Z axis mobile platform (6) includes vertically arranged Z axis mounting rack
(61) and the Z axis moving guide rail that is mounted on Z axis mounting rack (61), the Z axis moving guide rail are two, and two Z axis movements are led
Rail is arranged in parallel, and the Z axis moving guide rail is correspondingly provided with Z axis coaster (62), and the Z axis coaster (62) is correspondingly provided with driving electricity
Machine, ball-screw is equipped between two moving guide rails, and the ball-screw is equipped with driving motor, is driven by driving motor
Dynamic Z axis coaster (62) are slided along Z axis moving guide rail, and the mechanical arm (5) is transversely mounted on Z axis coaster (62).
7. according to claim 6 for spraying the spray robot of large-size workpiece, it is characterised in that: the Z axis is sliding
Vehicle (62) two sides are equipped with postive stop baffle, and the postive stop baffle is fastened on Z axis mounting rack (61), and sliding with Z axis mounting rack (61)
Dynamic connection；
The top of two Z axis sliding blocks is mounted below the Z axis mounting rack (61) by Z axis pedestal (63)；The Z axis pedestal
It (63) include two blocks of L-type steel plates, the L-type steel plate a line is fixed on above Y-axis sliding block (42), and another a line is fixed on Z axis
On mounting rack (61).
8. according to claim 4 for spraying the spray robot of large-size workpiece, it is characterised in that: the Y-axis is sliding
It is also equipped with spraying cabinet (8) mounting rack above block (42), the spraying cabinet (8) is mounted on spraying cabinet (8) mounting rack, the Y
Cable box is also equipped with above axis sliding block (42), the cable box is for holding cable；
It is additionally provided with drag chain (7), hauling-chain frame, drag chain box (9) and the second driving motor above the Y-axis sliding block (42), described second
Motor cover is designed on the outside of driving motor and the first driving motor, drag chain (7) is used for fixed cable.
9. according to claim 1 for spraying the spray robot of large-size workpiece, it is characterised in that: the mechanical arm
It (5) include the joint (55) being arranged between mounting seat (51), linking arm (56) and linking arm (56) and setting in machine
The spray gun (57) of tool arm (5) front end, the mounting seat (51) are used to mechanical arm (5) being fixed on apparatus for adjusting position；
The linking arm (56) be it is multiple, between two linking arms (56) be equipped with joint (55)；Each joint (55) includes
Two servo motors, one is horizontal servo motor, and one is vertical servo motor, and the traffic direction of two servo motors hangs down
Directly, it is connected between two servo motors by connecting plate, the mechanical arm (5) of joint (55) front end is driven by driving servo motor
Horizontally or vertically rotate.
10. according to claim 9 for spraying the spray robot of large-size workpiece, it is characterised in that: the installation
Telescopic rod is additionally provided between pedestal (51) and the linking arm (56) of first segment, the telescopic rod includes outer loop bar (53) and inner rod
(54), it is connect between outer loop bar (53) rear end and mounting seat (51) by connecting shaft (52), the connecting shaft (52) is right
Servo motor should be equipped with；
The end of the inner rod (54) passes through joint (55) connection first segment linking arm (56).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820690808.0U CN208529104U (en) | 2018-05-09 | 2018-05-09 | It is a kind of for spraying the spray robot of large-size workpiece |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820690808.0U CN208529104U (en) | 2018-05-09 | 2018-05-09 | It is a kind of for spraying the spray robot of large-size workpiece |
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| CN108406806A (en) * | 2018-05-09 | 2018-08-17 | 清研同创机器人（天津）有限公司 | A kind of spray robot for spraying large-size workpiece |
| CN109821687A (en) * | 2019-03-04 | 2019-05-31 | 清研同创机器人（天津）有限公司 | Large complicated workpiece surface multirobot automatic spraying system |
| CN110961285A (en) * | 2019-11-12 | 2020-04-07 | 江苏中矿大正表面工程技术有限公司 | Automatic spraying equipment for outer surface of bridge steel box girder |
| CN111215277A (en) * | 2020-01-15 | 2020-06-02 | 四川久享实业有限公司 | Automatic furniture paint spraying room |
| CN111774214A (en) * | 2020-06-18 | 2020-10-16 | 深圳市行知行机器人技术有限公司 | Spraying robot and operation method thereof |
| CN112588521A (en) * | 2020-12-24 | 2021-04-02 | 上海建为历保科技股份有限公司 | Glue solution injection device for repairing mural |
| CN112916260A (en) * | 2021-01-20 | 2021-06-08 | 合肥工业大学 | Series-parallel robot for linkage spraying of large-scale surface structure |
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| CN115424496A (en) * | 2022-08-31 | 2022-12-02 | 北京蓝天航空科技股份有限公司 | Air refueling training simulation system |
| CN115634791A (en) * | 2022-11-22 | 2023-01-24 | 成都飞机工业（集团）有限责任公司 | Large-span continuous spraying system and spraying method |
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| CN108406806A (en) * | 2018-05-09 | 2018-08-17 | 清研同创机器人（天津）有限公司 | A kind of spray robot for spraying large-size workpiece |
| CN109821687A (en) * | 2019-03-04 | 2019-05-31 | 清研同创机器人（天津）有限公司 | Large complicated workpiece surface multirobot automatic spraying system |
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| CN111774214A (en) * | 2020-06-18 | 2020-10-16 | 深圳市行知行机器人技术有限公司 | Spraying robot and operation method thereof |
| CN112588521A (en) * | 2020-12-24 | 2021-04-02 | 上海建为历保科技股份有限公司 | Glue solution injection device for repairing mural |
| CN112588521B (en) * | 2020-12-24 | 2021-11-16 | 上海建为历保科技股份有限公司 | Glue solution injection device for repairing mural |
| CN112916260A (en) * | 2021-01-20 | 2021-06-08 | 合肥工业大学 | Series-parallel robot for linkage spraying of large-scale surface structure |
| CN114700201A (en) * | 2022-03-22 | 2022-07-05 | 佛山市科莱机器人有限公司 | Yacht robot spraying device |
| CN115424496A (en) * | 2022-08-31 | 2022-12-02 | 北京蓝天航空科技股份有限公司 | Air refueling training simulation system |
| CN115424496B (en) * | 2022-08-31 | 2023-09-26 | 北京蓝天航空科技股份有限公司 | Aerial refueling training simulation system |
| CN115634791A (en) * | 2022-11-22 | 2023-01-24 | 成都飞机工业（集团）有限责任公司 | Large-span continuous spraying system and spraying method |
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Denomination of utility model: A spraying robot for spraying large-sized workpieces Effective date of registration: 20220901 Granted publication date: 20190222 Pledgee: Tianjin SME Credit Financing Guarantee Center Pledgor: TSINGHUA TONGCHUANG ROBOT Co.,Ltd. Registration number: Y2022120000051 |
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Granted publication date: 20190222 Pledgee: Tianjin SME Credit Financing Guarantee Center Pledgor: TSINGHUA TONGCHUANG ROBOT Co.,Ltd. Registration number: Y2022120000051 |