CN210098005U

CN210098005U - Spraying robot

Info

Publication number: CN210098005U
Application number: CN201920619472.3U
Authority: CN
Inventors: 刘召; 李叶; 张炜; 陈洪安
Original assignee: Qingyan Co Creation Robot (tianjin) Co Ltd
Current assignee: Qingyan Co Creation Robot (tianjin) Co Ltd
Priority date: 2019-04-30
Filing date: 2019-04-30
Publication date: 2020-02-21
Anticipated expiration: 2029-04-30

Abstract

The utility model provides a spraying robot, which comprises a spray gun and a robot body; the robot body comprises a first component, a second component, a third component, a fourth component, a fifth component, a sixth component and a seventh component which are sequentially connected, the seventh component is connected with a spray gun, and the first component is connected with an external device; the second assembly is rotatably connected with the first assembly through the first rotating portion, the third assembly is rotatably connected with the second assembly through the second rotating portion, the fourth assembly is rotatably connected with the third assembly through the third rotating portion, the fifth assembly is rotatably connected with the fourth assembly through the fourth rotating portion, the sixth assembly is rotatably connected with the fifth assembly through the fifth rotating portion, and the seventh assembly is rotatably connected with the sixth assembly through the sixth rotating portion. A spraying robot, adopt modularization, lightweight design, make the structure cooperation compacter reasonable, improve the working range of robot, the range of application is wider, more nimble.

Description

Spraying robot

Technical Field

The utility model belongs to the robot field especially relates to a spraying robot.

Background

With the development of industrial technology, the spraying technology has been deeply applied to various fields of national economy, and is widely applied to the fields of automobiles, rail transit, ships, aerospace, engineering machinery, 3C electronic products, furniture and home furnishing and the like. The spraying operation in the domestic manufacturing industry is mostly finished manually, the manual spraying easily causes uneven surface spraying, the utilization rate of the coating is low, the working efficiency of the manual operation is low, and the damage to the human health is great. Compared with the traditional manual spraying operation, the automatic spraying of the industrial robot has the advantages of large working range, high efficiency, good spraying quality, small harm to human bodies and the like.

The traditional spraying mode is generally manual spraying operation, namely, an operator holds a spray gun by hand to perform spraying operation on the surface of a product. The method has the defects of low efficiency, difficult control of spraying quality, poor insulation effect and the like, and meanwhile, the coating has certain toxicity and is harmful to the body health of operators. Therefore, the intelligent coating equipment gradually replaces manual coating operation. Most of the existing spraying robots are single in structural form, small in working range and not suitable for spraying large-scale equipment; the external structure size is large, and particularly, the shoulder joint part is not suitable for operation in a narrow space environment; the robot is heavy, and the mounting mode of hanging and hoist and mount has higher requirement on the rigidity of the mounting mechanism, and is not beneficial to control.

At present, the domestic spraying robot mainly adopts products of manufacturers such as ABB, FANUC, KAWASAKI, YASKAWA and the like, and the import rate is up to more than 90%. Foreign spraying equipment is expensive and high in maintenance cost.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model aims at providing a spraying robot adopts modularization, lightweight design, makes the structure cooperation compacter reasonable, improves the working range of robot, and the range of application is wider, and is more nimble.

In order to achieve the above purpose, the technical scheme of the utility model is realized like this:

a spraying robot comprises a spray gun and a robot body;

the robot body comprises a first assembly, a second assembly, a third assembly, a fourth assembly, a fifth assembly, a sixth assembly and a seventh assembly which are sequentially connected, the seventh assembly is connected with the spray gun, and the first assembly is connected with an external device;

the second assembly is connected with the first assembly in a rotating mode through the first rotating portion, the third assembly is connected with the second assembly in a rotating mode through the second rotating portion, the fourth assembly is connected with the third assembly in a rotating mode through the third rotating portion, the fifth assembly is connected with the fourth assembly in a rotating mode through the fourth rotating portion, the sixth assembly is connected with the fifth assembly in a rotating mode through the fifth rotating portion, and the seventh assembly is connected with the sixth assembly in a rotating mode through the sixth rotating portion.

Further, the first assembly comprises a mounting seat, and the second assembly comprises a support;

first rotation portion is including arranging in first reduction gear on the mount pad with arrange in connecting portion on the branch section of thick bamboo, the output of first reduction gear is connected connecting portion, the axis of first reduction gear does the pivot of first rotation portion, in order to drive second subassembly is followed the axis of first reduction gear rotates, first reduction gear is through the first motor drive of connection.

Further, the second assembly further comprises a rotating base, and the third assembly comprises a first cantilever end;

the second rotation portion is including arranging in two relative linking arm structures that set up on the roating seat, the second reduction gear is arranged in second cantilever end, and pass two of symmetry the linking arm rather than fixed connection, the rotation of second reduction gear can drive the rotation of second subassembly, the pivot of second reduction gear does the pivot of second rotation portion, the second motor drive of second reduction gear through the connection.

Further, the third assembly further comprises a first boom rod and a second boom end, the first boom rod connects the first boom end with the second boom end, and the fourth assembly comprises a rotating yoke;

the third rotation portion includes the third reduction gear, the output shaft of third reduction gear passes rotatory yoke connects the second cantilever end, the rotation of third reduction gear can drive the third subassembly and rotate, the pivot of third reduction gear is the pivot of third rotation portion, the third reduction gear is through the third motor drive of connection.

Further, the fourth assembly further comprises a fourth motor mounting base, and the fifth assembly comprises an output end flange;

the fourth rotation portion is including arranging in fourth reduction gear on the output end flange with arrange in fixed part on the fourth motor mount pad, the output of fourth reduction gear is connected the fixed part, the axis of fourth reduction gear does the pivot of fourth rotation portion is in order to drive the fourth subassembly is followed the axis of fourth reduction gear rotates, the fourth reduction gear is through the fourth motor drive of connection.

Further, the fifth assembly further comprises an arm fork rod, and the sixth assembly comprises a sixth motor mounting seat;

the fifth rotating part comprises a fifth speed reducer arranged on the sixth motor mounting seat, an output shaft of the fifth speed reducer penetrates through the arm fork rod and is fixedly connected with the arm fork rod, the fifth speed reducer can rotate to drive the fifth component to rotate, a rotating shaft of the fifth speed reducer is a rotating shaft of the fifth rotating part, and the fifth speed reducer is driven by a connected fifth motor.

Further, the sixth assembly further comprises a mating end, and the seventh assembly comprises a second arm lever;

the sixth rotating part comprises a sixth speed reducer arranged at the matching end, the output end of the sixth speed reducer is connected with the end part of the second arm rod, the sixth speed reducer can rotate to drive the sixth assembly to rotate, the rotating shaft of the sixth speed reducer is the rotating shaft of the sixth rotating part, and the sixth speed reducer is driven by a connected sixth motor.

Furthermore, the seventh component also comprises a seventh connecting flange and a spray gun connecting bent plate, and the seventh connecting flange and the spray gun connecting bent plate are connected by the second arm lever;

and the spray gun is connected with the outlet of the flow control valve.

Further, the axis of the first rotating portion, the axis of the fourth rotating portion and the axis of the sixth rotating portion are all overlapped, the axis of the second rotating portion is perpendicular to the axis of the first rotating portion, and the axis of the second rotating portion is parallel to the axis of the third rotating portion and the axis of the fifth rotating portion.

Further, the first assembly, the second assembly, the third assembly, the fourth assembly, the fifth assembly, the sixth assembly and the seventh assembly are all provided with air pipe connectors, and the air pipe connectors correspond to the corresponding speed reducers.

Compared with the prior art, a spraying robot have following advantage:

(1) a spraying robot, adopt modularization, lightweight design, make the structure cooperation compacter reasonable, improve the scope of action of robot, the range of application is wider, more nimble.

(2) A spraying robot, this robot radial dimension is little, inside motor, sensor and cable all were located the robot, especially were suitable for the operation in narrow space.

(3) A spraying robot, this six degree of freedom robots adopt long arm structural style, this robot adopts modular design, can freely form the robot of different arm lengths according to the demand, the structural style flexibility ratio is high.

(4) This robot has adopted good explosion-proof design and dustproof construction design, and security and reliability are higher, and are convenient for maintain.

Drawings

The accompanying drawings, which form a part hereof, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without undue limitation. In the drawings:

fig. 1 is an exploded view of a painting robot according to an embodiment of the present invention;

fig. 2 is a right side view of a first assembly of a painting robot according to an embodiment of the present invention;

FIG. 3 is a sectional view taken along line A in FIG. 2;

FIG. 4 is a sectional view taken along line B of FIG. 3;

fig. 5 is a schematic structural view of a second assembly of a painting robot according to an embodiment of the present invention;

fig. 6 is a cross-sectional view of a second assembly of a painting robot according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of a third assembly of a painting robot according to an embodiment of the present invention;

fig. 8 is a cross-sectional view of a third assembly of a painting robot according to an embodiment of the present invention;

fig. 9 is a schematic structural view of a fourth component of a painting robot according to an embodiment of the present invention;

fig. 10 is a cross-sectional view of a fourth component of a painting robot according to an embodiment of the present invention;

fig. 11 is a schematic structural view of a fifth component of a painting robot according to an embodiment of the present invention;

fig. 12 is a cross-sectional view of a fifth component of a painting robot according to an embodiment of the present invention;

fig. 13 is a schematic structural diagram of a sixth assembly of a painting robot according to an embodiment of the present invention;

fig. 14 is a sectional view of a sixth assembly of a painting robot according to an embodiment of the present invention;

fig. 15 is a schematic structural diagram of a seventh component of a spraying robot according to an embodiment of the present invention.

Description of reference numerals:

1-a first component; 2-a second component; 3-a third component; 4-a fourth component; 5-a fifth component; 6-a sixth component; 7-a seventh component; 8-a spray gun; 9-a first motor rear cover; 10-a first connecting flange; 11-a first electric machine; 12-a first bearing; 13-a mounting seat; 14-a first reducer; 15-a first rotation limiting pressure plate; 16-a first swing stopper; 17-a first tension spring bracket; 18-a first limit switch mounting bracket; 19-limit switch; 20-a first gas pipe connection; 21-a first cable joint; 22-first anchoring; 23-branch cylinder; 24-a rotating base; 25-second bearing end cap; 26-a second shield; 27-a second bumper guard; 28-a second cable mount; 29-a first limiting baffle; 30-a second induction sheet; 31-a first cantilever tip; 32-a second reducer; 33-a second motor; 34-a second rotating shaft; 35-a second bearing; 36-a second sensor; 37-a second cable joint; 38-a first arm lever; 39-a first three-way joint; 40-a second cantilever tip; 41-third reducer; 42-a third motor; 43-third motor rear cover; 44-a third bearing; 45-a third limit sensor; 46-a third cable joint; 47-third air line connection; 48-rotating yoke; 49-a second three-way joint; 50-a fourth motor; 51-a fourth reducer; 52-fourth dust ring; 53-fourth limit slip ring; 54-fourth joint sealing cap; 55-a fourth gas tube connection; 56-a fourth cable joint; 57-a third limit stop; 58-a third induction sheet; 59-a third prevention cover; 60-a third bearing end cap; 61-output end flange; 62-arm yoke; 63-a fifth limit stop; 64-a fourth zero position locating block; 65-a sixth motor mount; 66-a fifth motor end cover; 67-a fifth motor; 68-fifth axis; 69-a fifth bearing; 70-a sixth motor; 71-a sixth motor end cap; 72-sixth gas line connection; 73-a second tee; 74-a sixth lock nut; 75-a sixth gasket; 76-sixth limit retainer ring; 77-sixth limiting sliding ring; 78-a sixth connecting flange; 79-second arm lever; 80-the spray gun is connected with the bent plate; 81-a third tee; 82-flow control valve.

Detailed Description

It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.

The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

A painting robot as shown in fig. 1, comprising a spray gun 8 and a robot body; the robot body comprises a first component 1, a second component 2, a third component 3, a fourth component 4, a fifth component 5, a sixth component 6 and a seventh component 7 which are sequentially connected, the seventh component 7 is connected with a spray gun 8, and the first component 1 is connected with an external device; wherein, second subassembly 2 rotates through first rotation portion with first subassembly 1 to be connected, third subassembly 3 rotates through second rotation portion with second subassembly 2 to be connected, fourth subassembly 4 rotates through the third rotation portion with third subassembly 3 to be connected, fifth subassembly 5 rotates through the fourth rotation portion with fourth subassembly 4 to be connected, sixth subassembly 6 rotates through the fifth rotation portion with fifth subassembly 5 to be connected, seventh subassembly 7 rotates through the sixth rotation portion with sixth subassembly 6 to be connected. The axis of the first rotating part, the axis of the fourth rotating part and the axis of the sixth rotating part are overlapped, the axis of the second rotating part is perpendicular to the axis of the first rotating part, and the axis of the second rotating part is parallel to the axis of the third rotating part and the axis of the fifth rotating part.

As shown in fig. 2, 3 and 4, the first assembly 1 comprises a mounting base 13, and the second assembly 2 comprises a support tube 23; the first rotating portion comprises a first speed reducer 14 arranged on the mounting base 13 and a connecting portion arranged on the supporting cylinder 23, the output end of the first speed reducer 14 is connected with the connecting portion, the axis of the first speed reducer 14 is a rotating shaft of the first rotating portion so as to drive the second assembly 2 to rotate along the axis of the first speed reducer 14, and the first speed reducer 14 is driven by a connected first motor 11. Specifically, the first assembly 1 further includes a first motor rear cover 9, a first connecting flange 10, a first motor 11, a first bearing 12, a mounting seat 13, and a first speed reducer 14. The first connecting flange 10 is fixedly connected to the first motor rear cover 9 by screws, and is used for connecting with the outside. The mounting base 13 is in screw connection with the first motor rear cover 9 and is used for mounting the first speed reducer 14. The input end of the first speed reducer 14 is connected with the first motor 11, and the output end is connected with the support 23, and the first speed reducer is used as a first joint drive to realize the rotary motion around the axis of the first joint (namely, the axis of the first speed reducer). The first bearing 12 is arranged between the first motor rear cover 9 and the support barrel 23 and serves as a radial support of the first joint, the structural form enhances the rigidity of the first joint, and the radial load and bending moment load borne by the first speed reducer 14 are reduced. The first limit switch mounting bracket 18 is fixedly mounted on the first connecting flange 10, on which two limit switches 19 are mounted as electrical limits for the first joint. The first rotation limiting block 16 slides in the groove of the first connecting flange 10, and the first rotation limiting pressure plate 15 prevents the first rotation limiting block 16 from falling from the groove; the first tension spring bracket 17 is arranged on the first rotation limiting block 16, and a tension spring is connected between the first tension spring bracket and the first rivet 22; when the first joint is at the zero position, the first rotation limiting block 16 is located in the middle of the sliding groove, and when the first joint rotates in different directions, the first rotation limiting block 16 can be located on two sides of the sliding groove due to the effect of the tension spring and collides with the first limiting blocking piece 29, so that the limiting effect in different rotating directions is achieved. The first air pipe joint 20 and the first cable joint 21 are installed on the first motor rear cover 9 and are respectively used for the inlet and outlet of the first joint positive pressure gas and the cable outlet.

As shown in fig. 5 and 6, the second assembly 2 further comprises a rotating base 24, and the third assembly 3 comprises a first cantilever end 31; the second rotation portion is including arranging two connecting arm structures of relative setting on the roating seat 24 in, and first cantilever end 31 is arranged in to second reduction gear 32, and passes two of symmetry the connecting arm can drive second subassembly 2 and rotate rather than fixed connection, second reduction gear 32's rotation, and second reduction gear 32's pivot is the pivot of second rotation portion, and second reduction gear 32 drives through the second motor 33 of connecting. Specifically, the connection end of the second component 2 and the first component 1 is a connection yoke structure, and the main structure includes a support 23, a rotary seat 24, a second bearing end cap 25 and a second protection cover 26. The support tube 23 is in screw connection with the rotary seat 24, the second bearing end cover 25 is in screw connection with the rotary seat 24, and the second protective cover 26 is mounted on the second bearing end cover 25 and used for protecting the second motor 33. The first limiting blocking piece 29 is installed on the supporting tube 23, and the second sensing piece 30 is installed on the second protective cover 26.

As shown in fig. 7 and 8, the third assembly 3 further comprises a first boom stem 38 and a second boom tip 40, said first boom stem 38 connecting the first boom tip 31 and the second boom tip 40, and the fourth assembly 4 comprises a swivel yoke 48; the third rotating part comprises a third speed reducer 41, an output shaft of the third speed reducer 41 passes through a rotating yoke 48 and is connected with the end 40 of the second cantilever, the third assembly 3 can be driven to rotate by the rotation of the third speed reducer 41, a rotating shaft of the third speed reducer 41 is a rotating shaft of the third rotating part, and the third speed reducer 41 is driven by a connected third motor 42. Specifically, the second assembly 2 and the third assembly 3 respectively include a second cantilever end 31, a second speed reducer 32, a second motor 33, a second rotating shaft 34, a second bearing 35, a first cantilever bar 38, a second cantilever end 40, a third speed reducer 41, a third motor 42, a third motor rear cover 43, and a third bearing 44. The second boom tip 31, the first boom lever 38, and the second boom tip 40 are connected in sequence by screws. The second speed reducer 32 is installed on the first cantilever end 31, the input end of the second speed reducer is connected with the second motor 33, the output end of the second speed reducer is connected with one end of the fork arm of the second assembly 2, and the second motor 33 drives the second joint to rotate around the axis through the second speed reducer 32. The second joint rotates, and the mechanical limit is realized by the direct collision of the first cantilever end 31 and the second anti-collision sheet 27 on the second component 2. The second shaft 34 is screwed to the first arm end 31. A second bearing 35 is mounted between the second shaft 34 and the second bearing end cap 25 as a radial support for the second joint, and this type of joint structure with bilateral connection increases the rigidity of the joint. The second sensor 36 is installed on the second rotating shaft 34, and the second sensing piece 30 is used as a trigger and is used as an electrical limit for the second joint. And a second cable connector 37 is mounted on the first cantilever end 31 and used for leading out a second joint cable. The third joint structure is the same as the second joint structure and will not be described here. The cables of the second cable connector 37 and the third cable connector 46 are routed from the inside of the first arm lever 38, and the cables are collected by the first three-way connector 39 attached to the first arm lever 38. The motors and speed reducers of the second joint and the third joint are all positioned in a sealed space, and positive pressure gas is introduced from a third gas pipe joint 47 for explosion-proof treatment.

As shown in fig. 9, 10, 11 and 12, the fourth assembly 4 further comprises a fourth motor mount, and the fifth assembly 5 comprises an output end flange 61; the fourth rotating portion includes a fourth speed reducer 51 and an output end flange 61 which are arranged on the fourth motor mounting seat, the output end of the fourth speed reducer 51 is connected with the output end flange 61, the axis of the fourth speed reducer 51 is the rotating shaft of the fourth rotating portion so as to drive the fourth component 4 to rotate along the axis of the fourth speed reducer 51, and the fourth speed reducer 51 is driven by the connected fourth motor 50. The fifth assembly 5 further comprises an arm yoke 62 and the sixth assembly 6 comprises a sixth motor mount 65; the fifth rotating part comprises a fifth speed reducer arranged on the sixth motor mounting seat 65, an output shaft of the fifth speed reducer penetrates through the arm fork rod 62 to be fixedly connected with the arm fork rod 62, the fifth component 5 can be driven to rotate by rotation of the fifth speed reducer 62, a rotating shaft of the fifth speed reducer is a rotating shaft of the fifth rotating part, and the fifth speed reducer 5 is driven by a connected fifth motor 67. Specifically, the output end flange 61 and the arm fork 62 are connected by screws to serve as a connecting arm between the fourth joint and the fifth joint. And the fourth zero positioning block 64 is arranged on the output end flange 61 of the J4 speed reducer and is used for zero positioning of the fourth joint. The fifth limit stop 63 is mounted on the fifth arm yoke 62 for mechanical limit of the fifth joint.

Additionally, as further shown in fig. 13 and 14, the sixth assembly 6 further includes a mating end, and the seventh assembly 7 includes a second arm bar 79; the sixth rotating part comprises a sixth speed reducer arranged at the matching end, the output end of the sixth speed reducer is connected with the end part of the second arm lever 79, the sixth speed reducer can rotate to drive the sixth assembly 6 to rotate, the rotating shaft of the sixth speed reducer is the rotating shaft of the sixth rotating part, and the sixth speed reducer is driven by a connected sixth motor 70. The fifth motor end cover 66 is fixedly connected with the sixth motor mounting seat 65 through screws. The fifth motor 67 is a hollow integrated machine, is mounted on the sixth motor mounting seat 65, and has an output end connected to one side of the arm yoke 62 of the fifth assembly 5, and is driven by a fifth joint to rotate around the fifth joint. The fifth shaft 68 penetrates through the fifth motor 67, one end of the fifth shaft is fixedly connected with one side of the arm fork 62, and the other end of the fifth shaft is fixed with the other side of the arm fork 62 through a sixth lock nut 74 and a sixth gasket 75. A fifth bearing 69 is mounted between fifth shaft 68 and fifth motor end cap 66 as a radial support for the fifth joint. The sixth motor end cover 71 is fixedly connected with the sixth motor mounting seat 65. The sixth motor 70 is mounted on the sixth motor mount 65, and is driven as a sixth joint to perform a rotational motion about a sixth joint axis. The second three-way joint 73 is fixedly mounted on the sixth motor mounting seat 65 and used for cable outgoing of the fifth joint and the sixth joint. Motors and speed reducers of the fifth joint and the sixth joint are all located in a sealed space, and positive pressure gas is introduced through a sixth gas pipe joint 72 to perform explosion-proof treatment. The sixth limiting retainer ring 76 is fixedly mounted on the sixth motor end cover 71, and the sixth limiting sliding ring is sleeved 77 at the output end of the sixth motor 70 and mechanically limited by colliding with the sixth limiting retainer ring 76.

As shown in fig. 15, the seventh module 7 further includes a seventh connecting flange 78 and a lance connecting bent plate 80, and a second arm lever 79 connects the seventh connecting flange 78 and the lance connecting bent plate 80; the spray gun connection bent plate 80 is provided with a second three-way joint 81 and a flow control valve 82, and the spray gun 8 is connected to an outlet of the flow control valve 82. The three parts are sequentially connected by screws to form an extension rod structure of the spray gun 8. The second three-way joint 81 and the flow control valve 82 are installed on the spray gun connection bent plate 80 for controlling the flow. The spray gun 8 is installed at the end of the spray gun connection bent plate 80 for spraying operation.

Preferably, the first assembly 1, the second assembly 2, the third assembly 3, the fourth assembly 4, the fifth assembly 5, the sixth assembly 6 and the seventh assembly 7 are all provided with air pipe joints, and the air pipe joints correspond to the corresponding speed reducers. Considering the explosion-proof performance of the spraying robot, air pipe connectors are designed at the mounting seats of the motor reducers of all joints of the robot and are used for injecting positive pressure gas, and cables, air pipes and paint pipes are uniformly distributed in the robot for reducing the radial size.

The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A painting robot, characterized in that: comprises a spray gun and a robot body;

2. A painting robot as claimed in claim 1, characterized in that: the first assembly comprises a mounting seat, and the second assembly comprises a support tube;

3. A painting robot as claimed in claim 2, wherein: the second assembly further comprises a rotating base, and the third assembly comprises a first cantilever end;

the second rotation portion is including arranging in two relative linking arm structures that set up on the roating seat, the second reduction gear is arranged in first cantilever end, and pass two of symmetry the linking arm rather than fixed connection, the rotation of second reduction gear can drive the rotation of second subassembly, the pivot of second reduction gear does the pivot of second rotation portion, the second motor drive of second reduction gear through the connection.

4. A painting robot as claimed in claim 3, wherein: the third assembly further comprises a first boom lever and a second boom end, the first boom lever connects the first boom end with the second boom end, and the fourth assembly comprises a rotating yoke;

5. A painting robot as claimed in claim 4, characterized in that: the fourth assembly further comprises a fourth motor mount, and the fifth assembly comprises an output end flange;

6. A painting robot as claimed in claim 5, characterized in that: the fifth component further comprises an arm fork rod, and the sixth component comprises a sixth motor mounting seat;

7. A painting robot as claimed in claim 6, characterized in that: the sixth assembly further comprises a mating end and the seventh assembly comprises a second arm lever;

8. A painting robot as claimed in claim 7, characterized in that: the seventh component also comprises a seventh connecting flange and a spray gun connecting bent plate, and the seventh connecting flange and the spray gun connecting bent plate are connected by the second arm lever;

and the spray gun is connected with the outlet of the flow control valve.

9. A painting robot as claimed in claim 8, wherein: the axis of first rotation portion, the axis of fourth rotation portion with the axis of sixth rotation portion all coincides, the axis of second rotation portion with the axis mutually perpendicular of first rotation portion, just the axis of second rotation portion with the axis of third rotation portion reaches the axis of fifth rotation portion is all parallel.

10. A painting robot according to any one of claims 1 to 9, characterized in that: and air pipe joints are arranged on the first assembly, the second assembly, the third assembly, the fourth assembly, the fifth assembly, the sixth assembly and the seventh assembly and correspond to corresponding speed reducers.