CN211937552U - Spraying manipulator capable of being adjusted in multiple directions - Google Patents
Spraying manipulator capable of being adjusted in multiple directions Download PDFInfo
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- CN211937552U CN211937552U CN201922391759.8U CN201922391759U CN211937552U CN 211937552 U CN211937552 U CN 211937552U CN 201922391759 U CN201922391759 U CN 201922391759U CN 211937552 U CN211937552 U CN 211937552U
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Abstract
The invention provides a spraying manipulator capable of being adjusted in multiple directions, which comprises a plurality of spraying arms arranged on a frame; the first spraying arm comprises a Y-direction adjusting device and a Z-direction adjusting device which drive the arm body of the first spraying arm; the second spraying arm comprises a Y-direction adjusting device and a Z-direction adjusting device which drive the arm body of the second spraying arm; the third spray arm includes an X-direction adjustment device, a Y-direction adjustment device, and a Z-direction adjustment device that drive its arm body. Compared with the traditional manipulator, the manipulator has higher integration level, compact structure and less occupied space, reserves more space for the whole structure arrangement of the paint spraying production line equipment, can independently adjust the spray guns arranged on each spraying arm of the manipulator in the using process, can adjust X, Y, Z in multiple directions according to the requirements, can be furthest suitable for the spraying operation of various products with complex structures, has high production efficiency and better guarantees the spraying operation quality.
Description
Technical Field
The invention belongs to the technical field of spraying equipment, and particularly relates to a spraying manipulator capable of being adjusted in multiple directions.
Background
The existing platform device for the spraying manipulator is generally used for fixing the manipulator, the whole manipulator device needs to be installed on a working site to realize mechanical spraying of products, and the spraying operation efficiency of the traditional manipulator is low because the production line of the product spraying needs to perform spraying operation on a plurality of surfaces of the products, particularly for the surfaces of complex products needing to be sprayed on the plurality of surfaces, the spraying operation efficiency even influences the production cycle of the whole product, and correspondingly, the production cost is increased. Accordingly, there is a need for improvements to conventional robots.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a spraying manipulator capable of being adjusted in multiple directions, which can be adjusted in multiple directions and can be matched according to design and use requirements.
In order to solve the technical problems, the technical scheme created by the invention is realized as follows:
a spraying manipulator capable of being adjusted in multiple directions comprises a first spraying arm, a second spraying arm and a third spraying arm which are arranged on a frame, wherein each spraying arm comprises an arm body;
the first spraying arm comprises a Y-direction adjusting device and a Z-direction adjusting device which drive the arm body of the first spraying arm; the second spraying arm comprises a Y-direction adjusting device and a Z-direction adjusting device which drive the arm body of the second spraying arm; the third spraying arm comprises an X-direction adjusting device, a Y-direction adjusting device and a Z-direction adjusting device which drive the arm body of the third spraying arm;
the arm body comprises a base body, a spraying tool seat arranged on the lower side of the base body and a Z-direction guide rail arranged on the base body, the base body is driven to adjust along the Y direction of the rack through a Y-direction adjusting device on a corresponding spraying arm, and the base body is driven to move along the Z-direction guide rail through a Z-direction adjusting device on the corresponding spraying arm, so that the Z-direction adjustment of the base body is realized;
the base body of the rack corresponding to the third spraying arm is provided with an X-direction guide rail, and the base body is driven to move along the X-direction guide rail through an X-direction adjusting device arranged on the rack, so that the X-direction adjustment of the base body is realized.
Furthermore, a plurality of groups of drag chains are arranged on the machine frame, and cables and/or pipelines for connecting the adjusting devices are uniformly distributed on the drag chains moving in the corresponding direction.
Furthermore, each Y-direction adjusting device comprises a Y-direction driving belt driven by a Y-direction driving mechanism, a Y-direction sliding seat is fixedly arranged on a base body of the arm body of the corresponding spraying arm, and the Y-direction driving belt is clamped and fixed on the Y-direction sliding seat through a clamping plate, so that the corresponding spraying arm is driven to move when the Y-direction driving belt acts.
Furthermore, a Y-direction guide rail for sliding the Y-direction sliding seat is arranged on the machine frame.
Further, each Z-direction adjusting device comprises a Z-direction driving mechanism and a Z-direction sliding block, and the Z-direction sliding block is driven by the corresponding Z-direction driving mechanism and moves along the Z-direction guide rail.
Furthermore, Z to actuating mechanism includes Z to motor and Z to lead screw, Z is equipped with the lead screw nut with Z to lead screw complex to the slider middle part, through Z to motor drive Z to lead screw rotation, realizes that Z moves to the slider.
Further, the X-direction adjusting device comprises an X-direction guide rail between the Z-direction slider in the third spraying arm and the base body, and an X-direction driving mechanism for pushing the base body of the third spraying arm and the Y-direction adjusting device to move simultaneously.
Furthermore, a plurality of hoisting rings are symmetrically arranged at the upper end of the rack.
Furthermore, a rotary driving mechanism for driving the spraying tool seat to rotate is arranged on the base body.
Further, the rotary driving mechanism comprises a driving rod connected to the spraying tool seat and a driving motor driving the driving rod to rotate, and a servo motor or a stepping motor is preferred.
The invention has the advantages and positive effects that:
the invention has reasonable combination design, higher integration level compared with the traditional manipulator, compact structure and less occupied space, reserves more space for the whole structure arrangement of the paint spraying production line equipment, can independently adjust the spray guns arranged on each spraying arm of the manipulator in the using process, can adjust X, Y, Z in multiple directions according to the requirements, can be furthest suitable for the spraying operation of various products with complex structures, has high production efficiency and better guarantees the spraying operation quality.
Drawings
FIG. 1 is a schematic structural diagram of the present invention;
FIG. 2 is a schematic view of an embodiment of the present invention with the second and third spray arms removed;
FIG. 3 is a schematic view of the Y-direction adjustment device after operation;
FIG. 4 is a schematic side view of the present invention;
FIG. 5 is a schematic view of the Z-direction adjusting device according to the present invention after being actuated;
fig. 6 is a schematic view of the connection part of the third spray arm and the frame in the invention.
In the figure: 1-a first spray arm; 2-a second spray arm; 3-a third spray arm; 4-an arm body; 5-Y direction adjusting device; 6-Z direction adjusting device; 7-X direction adjusting device; 8-a substrate; 9-spraying a tool seat; a 10-Z-direction guide rail; 11-X direction guide rail; 12-a drag chain; a 13-Y direction driving mechanism; a 14-Y direction drive belt; a 15-Y direction sliding seat; 16-a splint; 17-an idler wheel; 18-Y guide rail; a 19-Z-direction slide block; a 20-Z direction motor; a 21-Z-direction lead screw; 22-lead screw nut; 23-a spray gun; 24-a frame; 25-hoisting rings; 26-a drive rod; 27-driving the motor.
Detailed Description
It should be noted that the embodiments and features of the embodiments of the present invention may be combined with each other without conflict.
The following detailed description of the embodiments of the invention is provided.
A multi-directional adjustable spraying manipulator, as shown in fig. 1 to 6, wherein fig. 3 is a schematic view of the Y-direction adjusting device shown in fig. 2 after being operated, and fig. 5 is a schematic view of the Z-direction adjusting device shown in fig. 4 after being operated; the spraying device comprises a first spraying arm 1, a second spraying arm 2 and a third spraying arm 3 which are arranged on a rack 29, wherein each spraying arm comprises an arm body 4, and the arm body structures of the spraying arms can be the same; in order to facilitate the integral hoisting of the manipulator, generally, a plurality of hoisting rings 25 are symmetrically arranged at the upper end of the rack.
The first spraying arm comprises a Y-direction adjusting device 5 and a Z-direction adjusting device 6 which drive the arm body of the first spraying arm; the second spraying arm comprises a Y-direction adjusting device and a Z-direction adjusting device which drive the arm body of the second spraying arm;
the third spraying arm comprises an X-direction adjusting device 7, a Y-direction adjusting device and a Z-direction adjusting device which drive the arm body of the third spraying arm; the structures of the Y-direction adjusting devices can be the same, and the structures of the Z-direction adjusting devices can also be the same;
specifically, the arm body comprises a base body 8, a spraying tool seat 9 on the lower side of the base body and a Z-direction guide rail 10 arranged on the base body, the base body is driven to be adjusted along the Y direction of the rack through a Y-direction adjusting device on a corresponding spraying arm, and the base body is driven to move along the Z-direction guide rail through a Z-direction adjusting device on the corresponding spraying arm, so that the Z-direction adjustment of the base body is realized; it should be noted that the spraying tool holder is usually installed at the bottom of the substrate, and as for the orientation of the spraying tool holder and the spray gun 23 installed on the tool holder, it can be selected according to the actual production needs, and is not limited herein. The spraying direction selectivity of the spray gun is more, so that the spraying manipulator has better universality and can be applied to the spraying operation of various complex workpieces to the maximum extent.
The base body of the rack corresponding to the third spraying arm is provided with an X-direction guide rail 11, and the base body is driven to move along the X-direction guide rail through an X-direction adjusting device arranged on the rack, so that the base body is adjusted on the rack along the X direction.
In an alternative embodiment, the frame is provided with a plurality of groups of drag chains 12, and cables and/or pipes for connecting the adjusting devices are uniformly distributed on the drag chains moving in corresponding directions. The pipeline is effectively protected by the drag chain, so that the pipeline is not easy to damage and has longer service life. The first spraying arm and the second spraying arm are usually arranged in a row, and the third spraying arm is arranged in a row separately (of course, when the third spraying arm is adjusted in the Y direction, the third spraying arm is allowed to reach a position flush with the first spraying arm and the second spraying arm, and the structure is feasible as long as the third spraying arm and the second spraying arm do not interfere with each other).
Each Y-direction adjusting device comprises a Y-direction driving belt 14 driven by a Y-direction driving mechanism 13, a Y-direction sliding seat 15 is fixedly arranged on a base body of an arm body of the corresponding spraying arm, and the Y-direction driving belt is clamped and fixed on the Y-direction sliding seat through a clamping plate 16, so that the corresponding spraying arm is driven to move when the Y-direction driving belt acts.
It should be noted that, when it is not necessary to drive the Y-direction drive belt by the Y-direction drive mechanism to perform Y-direction adjustment on the corresponding base, the connecting member (generally, a screw) between the clamp plate and the Y-direction slide may be released, so that the clamp plate loosens the clamping and fixing of the Y-direction drive belt, that is, the fixed relationship between the Y-direction slide and the Y-direction drive belt is released, which provides a possibility for the base driving the corresponding spray arm to perform more directions, and after the fixing is released, the Y-direction adjustment device may not interfere with the Y-direction slide (or even the Y-direction guide rail). Normally, when fixing, the drive belt is on the upper side of the slide and the clamping plate is above the drive belt (single side), and then the connecting piece is screwed so that the clamping plate clamps the slide. In order to avoid the connecting piece from damaging the driving belt, the widths of the sliding seat and the clamping plate are larger than the width of the driving belt, a connecting hole is arranged at the uncovered part of the driving belt, and the connecting piece for connecting and fixing does not penetrate through the driving belt, so that the driving belt has longer service life and is not easy to break.
When the Y-direction driving mechanism is required to drive the Y-direction driving belt to perform Y-direction adjustment on the corresponding base body, the corresponding clamping plate can be fixed with the Y-direction sliding seat, and the Y-direction driving belt is clamped and fixed between the clamping plate and the Y-direction sliding seat, so that the Y-direction sliding seat can be driven to act under the condition that the Y-direction driving belt acts, and the corresponding base body is driven to perform Y-direction adjustment.
As a specific implementation manner, the Y-direction driving mechanism may adopt a form that a Y-direction motor drives a Y-direction conveyor belt, the Y-direction conveyor belt turns through an idler 17 to drive a Y-direction driving belt to act, and the idler is used to change the transmission direction to turn, which belongs to the field of the prior art and is not described again; of course, the Y-direction drive belt may be driven by the Y-direction motor directly according to the actual space, and the Y-direction drive mechanism may be provided to drive the Y-direction drive belt.
In addition, in order to ensure the base body and the frame to have a stable matching relationship, and to make the direction adjustment process smooth and stable, a Y-direction rail 18 for the Y-direction slide of the first spray arm and the second spray arm can be arranged on the frame. It should be noted that, a Y-direction guide rail is no longer provided for the third spray arm, mainly to ensure the X-direction adjustment action, and certainly, in order to further improve the stability, in other optional embodiments, a Y-direction guide rail may also be provided for the third spray arm, specifically, under this condition, a detachable transition seat may be connected to the lower end of the Y-direction slide seat in the third spray arm, and when the X-direction adjustment is required, the Y-direction guide rail may contact the connection between the transition seat and the Y-direction slide seat, and at this time, the X-direction adjustment action of the third spray arm is not hindered by the Y-direction guide rail, which is not limited too much here.
In an alternative embodiment, each Z-adjustment device comprises a Z-drive mechanism and a Z-slide 19, which is driven by the corresponding Z-drive mechanism to move along the Z-guide rail. The specific structure in this embodiment may be: the Z-direction driving mechanism comprises a Z-direction motor 20 and a Z-direction lead screw 21, a lead screw nut 22 matched with the Z-direction lead screw is arranged in the middle of the Z-direction sliding block, and the Z-direction sliding block is moved by driving the Z-direction lead screw to rotate through the Z-direction motor.
The X-direction adjusting device comprises an X-direction guide rail between a Z-direction slide block in the third spraying arm and the base body, and an X-direction driving mechanism for pushing the base body of the third spraying arm and the Y-direction adjusting device to move simultaneously. In order to facilitate the above-mentioned X-direction adjustment, the Y-direction adjustment device of the third spray arm may be mounted on a frame, and the frame may be normally connected to the frame (of course, it is not necessary to connect to the frame), and when the X-direction adjustment is required, the frame may be disconnected from the frame. In general, the X-direction driving mechanism may be a stepping motor, an electric cylinder (electric push rod) or a hydraulic cylinder, as long as the base body of the third spray arm and the Y-direction adjusting device can be pushed to simultaneously act, and those skilled in the art can design other structural forms as required.
And a rotary driving mechanism for driving the spraying tool seat to rotate is arranged on the base body. In an alternative embodiment, the rotary driving mechanism includes a driving rod 26 connected to the coating tool holder, and a driving motor 27, preferably a servo motor or a stepping motor, for driving the driving rod to rotate.
The invention has reasonable combination design, higher integration level compared with the traditional manipulator, compact structure and less occupied space, reserves more space for the whole structure arrangement of the paint spraying production line equipment, can independently adjust the spray guns arranged on each spraying arm of the manipulator in the using process, can adjust X, Y, Z in multiple directions according to the requirements, can be furthest suitable for the spraying operation of various products with complex structures, has high production efficiency and better guarantees the spraying operation quality.
It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be embodied in other specific forms without departing from the spirit or essential characteristics thereof.
The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (10)
1. The utility model provides a but multidirectional adjustment's spraying manipulator which characterized in that: the spraying device comprises a first spraying arm, a second spraying arm and a third spraying arm which are arranged on a frame, wherein each spraying arm comprises an arm body;
the first spraying arm comprises a Y-direction adjusting device and a Z-direction adjusting device which drive the arm body of the first spraying arm; the second spraying arm comprises a Y-direction adjusting device and a Z-direction adjusting device which drive the arm body of the second spraying arm; the third spraying arm comprises an X-direction adjusting device, a Y-direction adjusting device and a Z-direction adjusting device which drive the arm body of the third spraying arm;
the arm body comprises a base body, a spraying tool seat arranged on the lower side of the base body and a Z-direction guide rail arranged on the base body, the base body is driven to adjust along the Y direction of the rack through a Y-direction adjusting device on a corresponding spraying arm, and the base body is driven to move along the Z-direction guide rail through a Z-direction adjusting device on the corresponding spraying arm, so that the Z-direction adjustment of the base body is realized;
the base body of the rack corresponding to the third spraying arm is provided with an X-direction guide rail, and the base body is driven to move along the X-direction guide rail through an X-direction adjusting device arranged on the rack, so that the X-direction adjustment of the base body is realized.
2. A multi-directionally adjustable spray coating robot as claimed in claim 1, wherein: the frame is provided with a plurality of groups of drag chains, and cables and/or pipelines which are connected with the adjusting devices are uniformly distributed on the drag chains which move in the corresponding direction.
3. A multi-directionally adjustable spray coating robot as claimed in claim 1, wherein: each Y-direction adjusting device comprises a Y-direction driving belt driven by a Y-direction driving mechanism, a Y-direction sliding seat is fixedly arranged on a base body of an arm body of the corresponding spraying arm, and the Y-direction driving belt is clamped and fixed on the Y-direction sliding seat through a clamping plate, so that the corresponding spraying arm is driven to move when the Y-direction driving belt acts.
4. A multi-directionally adjustable spray coating robot as claimed in claim 3, wherein: and a Y-direction guide rail for sliding the Y-direction sliding seat is arranged on the machine frame.
5. A multi-directionally adjustable spray coating robot as claimed in claim 1, wherein: each Z-direction adjusting device comprises a Z-direction driving mechanism and a Z-direction sliding block, and the Z-direction sliding blocks are driven by the corresponding Z-direction driving mechanisms and move along the Z-direction guide rails.
6. A multi-directionally adjustable spray coating robot as claimed in claim 5, wherein: the Z-direction driving mechanism comprises a Z-direction motor and a Z-direction lead screw, a lead screw nut matched with the Z-direction lead screw is arranged in the middle of the Z-direction sliding block, and the Z-direction motor drives the Z-direction lead screw to rotate so as to realize the movement of the Z-direction sliding block.
7. A multi-directionally adjustable spray coating robot as claimed in claim 3, wherein: the X-direction adjusting device comprises an X-direction guide rail between a Z-direction slide block in the third spraying arm and the base body, and an X-direction driving mechanism for pushing the base body of the third spraying arm and the Y-direction adjusting device to move simultaneously.
8. A multi-directionally adjustable spray coating robot as claimed in claim 1, wherein: and a plurality of hoisting rings are symmetrically arranged at the upper end of the rack.
9. A multi-directionally adjustable spray coating robot as claimed in any one of claims 1 to 8, wherein: and the base body is provided with a rotary driving mechanism for driving the spraying tool seat to rotate.
10. A multi-directionally adjustable spray coating robot as claimed in claim 9, wherein: the rotary driving mechanism comprises a driving rod connected to the spraying tool seat and a driving motor driving the driving rod to rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922391759.8U CN211937552U (en) | 2019-12-27 | 2019-12-27 | Spraying manipulator capable of being adjusted in multiple directions |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922391759.8U CN211937552U (en) | 2019-12-27 | 2019-12-27 | Spraying manipulator capable of being adjusted in multiple directions |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211937552U true CN211937552U (en) | 2020-11-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922391759.8U Active CN211937552U (en) | 2019-12-27 | 2019-12-27 | Spraying manipulator capable of being adjusted in multiple directions |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211937552U (en) |
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2019
- 2019-12-27 CN CN201922391759.8U patent/CN211937552U/en active Active
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