CN216094463U

CN216094463U - Spraying mechanical arm

Info

Publication number: CN216094463U
Application number: CN202121953808.3U
Authority: CN
Inventors: 郑翼; 高阳; 郑彪
Original assignee: Beijing Haoyunda Zhichuang Technology Co Ltd
Current assignee: Beijing Haoyunda Zhichuang Technology Co Ltd
Priority date: 2021-08-19
Filing date: 2021-08-19
Publication date: 2022-03-22
Anticipated expiration: 2031-08-19

Abstract

The application relates to a spraying mechanical arm, relates to the technical field of spraying equipment, and comprises a mechanical arm component, a buffering component and a multifunctional connecting component; the mechanical arm assembly comprises a first connecting seat, a first mechanical arm, a second connecting seat and a second mechanical arm, and the front end part of the second mechanical arm is rotatably connected with a fourth driving assembly; the buffer assembly is provided with a telescopic rod, a U-shaped support is arranged on the first connecting seat, the buffer assembly is connected with the U-shaped support through a rotating shaft, and the telescopic rod is connected with the tail end of the first mechanical arm through a hinge mechanism; the impact of larger inertia acting force of the first mechanical arm on the first driving assembly is reduced by arranging the buffer assembly; multifunctional connection subassembly with the fourth drive assembly is connected for assembly spraying device and shelter from the device, utilize to shelter from the device and can retrieve the coating granule of part dispersion in the air, reduce air pollution, realized the extension of this product function.

Description

Spraying mechanical arm

Technical Field

The utility model relates to the technical field of spraying equipment, in particular to a spraying mechanical arm.

Background

The prefabricated box girder is an important component in the field of bridge construction, after cement is sealed and smeared in an anchor bolt hole on the end face of the box girder during site construction, glue paint needs to be sprayed on the end face of the box girder, and as the height of the box girder is usually about 3-5 m, in the traditional production, the box girder is manually sprayed through a ladder or an application crane, so that construction is very inconvenient, and meanwhile, during actual spraying operation, part of the paint is diffused in the air to cause air pollution.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a spraying mechanical arm, which is used for solving the technical problems of inconvenience in construction and easiness in causing air pollution in a spraying process in the prior art.

In order to achieve the above purpose of the utility model, the following technical scheme is adopted:

the application provides a spraying mechanical arm which comprises a mechanical arm assembly, a buffering assembly and a multifunctional connecting assembly;

the mechanical arm assembly comprises a first connecting seat, a first mechanical arm, a second connecting seat and a second mechanical arm; the first connecting seat is provided with a first driving assembly, the first driving assembly is connected with a first mechanical arm, the front end part of the first mechanical arm is rotatably connected with a second driving assembly, the second driving assembly is connected with a second connecting seat, the second connecting seat is provided with a third driving assembly, the third driving assembly is connected with the second mechanical arm, and the front end part of the second mechanical arm is rotatably connected with a fourth driving assembly;

the buffer assembly is provided with a telescopic rod, a U-shaped support is arranged on the first connecting seat, the buffer assembly is connected with the U-shaped support through a rotating shaft, and the telescopic rod is connected with the tail end of the first mechanical arm through a hinge mechanism;

the multifunctional connecting assembly is connected with the fourth driving assembly and used for assembling the spraying device and shielding the device.

Furthermore, the hinge mechanism comprises a connecting lug arranged at the tail end of the first mechanical arm, and a connecting ring arranged on the telescopic rod, and the connecting ring is connected with the connecting lug through a rotating shaft.

Further, the buffer assembly adopts a hydraulic buffer or a pneumatic buffer.

Further, multi-functional coupling assembling includes fixed disk and rolling disc, the fixed disk middle part sets up first connecting hole, the rolling disc passes through the bearing assembly and is in the first connecting hole, be provided with a plurality of connections that are used for on the rolling disc shelter from the second connecting hole of device, the middle part of rolling disc sets up the third connecting hole that is used for wearing to establish the pivot of fourth drive assembly.

Further, the length of the second mechanical arm is adjustable.

Furthermore, the shielding device comprises a shielding shell, the front end of the shielding shell is in a horn mouth shape, and the rear end of the shielding shell is connected with the second connecting hole through a bolt;

the bottom surface of the inner cavity of the shielding shell is an arc-shaped surface, and the bottom surface of the inner cavity of the shielding shell is concave from two ends to the middle of the shielding shell.

Further, shelter from the device and still include waste liquid collection device, waste liquid collection device pass through the pipeline with the inner chamber bottom surface intercommunication of sheltering from the shell.

Further, the first driving assembly comprises a first motor, and an output shaft of the first motor is connected with the first mechanical arm;

the second driving assembly comprises a second motor and a first transmission assembly, the second motor is connected with the second connecting seat through the first transmission assembly, the first transmission assembly comprises a positioning sleeve and a transmission sleeve, the rotating shaft of the second motor penetrates through the positioning sleeve and is rotatably connected with the front end of the first mechanical arm, the transmission sleeve is rotatably sleeved on the outer side of the positioning sleeve and is fixedly connected with the second motor, and the transmission sleeve is connected with the second connecting seat.

Furthermore, the third driving assembly comprises a third motor and a gear transmission mechanism, and the third motor is connected with the second mechanical arm through the gear transmission mechanism.

Furthermore, the front end of second arm is provided with the spread groove, fourth drive assembly through the pivot with the spread groove rotates to be connected.

Adopt above-mentioned technical scheme, compare in prior art, this application has following beneficial effect:

1. the mechanical arm assembly comprises a first connecting seat, a first mechanical arm, a second connecting seat and a second mechanical arm; the spraying device comprises a first connecting seat, a second connecting seat, a third connecting seat, a fourth connecting seat, a first driving assembly, a third driving assembly, a fourth driving assembly and a fourth driving assembly, wherein the first connecting seat is provided with the first driving assembly which is connected with a first mechanical arm, the front end part of the first mechanical arm is rotatably connected with the second driving assembly, the second driving assembly is connected with the second connecting seat, the third driving assembly is connected with the second mechanical arm, and the front end part of the second mechanical arm is rotatably connected with the fourth driving assembly;

2. the buffering assembly is provided with a telescopic rod, a U-shaped support is arranged on the first connecting seat, the buffering assembly is connected with the U-shaped support through a rotating shaft, the telescopic rod is connected with the tail end of the first mechanical arm through a hinge mechanism, the whole length of the mechanical arm assembly is long, the first mechanical arm can bear large acting force during spraying operation, so that the first driving assembly is easy to damage, and the impact of the large inertia acting force of the first mechanical arm on the first driving assembly is reduced by arranging the buffering assembly;

3. multifunctional connection subassembly is connected with the fourth drive assembly, and multifunctional connection subassembly can be used for assembling the spraying device and sheltering from the device, utilizes to shelter from the device and can retrieve the coating granule of part dispersion in the air, reduces air pollution, has realized the extension of this product function.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic structural diagram of a spraying robot provided in an embodiment of the present application;

FIG. 2 is a rear view of FIG. 1 (with the shielding device omitted);

FIG. 3 is an enlarged schematic view at A in FIG. 1;

FIG. 4 is a schematic structural view of a multi-function connection assembly according to an embodiment of the present application;

fig. 5 is a schematic structural diagram of a second driving assembly in an embodiment of the present application.

Reference numbers: 10-a robot arm assembly; 11-a first connection seat; a 111-U shaped bracket; 12-a first robot arm; 121-engaging lugs; 13-a second connecting seat; 14-a second mechanical arm; 141-a connecting groove; 15-a first drive assembly; 16-a second drive assembly; 161-a second motor; 162-a locating sleeve; 163-driving sleeve; 17-a third drive assembly; 18-a fourth drive assembly; 20-a buffer assembly; 21-a telescopic rod; 211-connecting ring; 22-a hinge mechanism; 30-a multifunctional connection assembly; 31-fixing the disc; 32-a rotating disc; 33-a first connection hole; 34-a second connection hole; 35-a third connection hole; 40-a shielding device; 41-shielding shell; 42-arc surface; 43-waste liquid collecting device.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; 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 meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

As shown in fig. 1-3, embodiments of the present application provide a spray robot arm that includes a robot arm assembly 10, a buffer assembly 20, and a multi-function connection assembly 30;

the robot assembly 10 includes a first connecting base 11, a first robot arm 12, a second connecting base 13 and a second robot arm 14;

the first connecting seat 11 is provided with a first driving assembly 15, the first driving assembly 15 is connected with the first mechanical arm 12, and the first driving assembly 15 can drive the first mechanical arm 12 to rotate by taking the Y axis as a central axis; the front end of the first mechanical arm 12 is rotatably connected with a second driving assembly 16, and the second driving assembly 16 is connected with the second connecting seat 13, that is, the second driving assembly 16 can rotate relative to the first mechanical arm 12 by taking the Y axis as a central axis, and the second connecting seat 13 is connected with the second driving assembly 16, so that the second connecting seat 13 can be driven to rotate synchronously;

a third driving assembly 17 is arranged on the second connecting seat 13, and the third driving assembly 17 is connected with the second mechanical arm 14, so as to drive the second mechanical arm 14 to rotate by taking the X axis as a central axis; a fourth driving assembly 18 is rotatably connected to the front end of the second mechanical arm 14;

the buffer assembly 20 is provided with a telescopic rod 21, the first connecting seat 11 is provided with a U-shaped support 111, the buffer assembly 20 is connected with the U-shaped support 111 through a rotating shaft, the telescopic rod 21 is connected with the tail end of the first mechanical arm 12 through a hinge mechanism 22, when the rotating position of the first mechanical arm 12 changes, the telescopic rod 21 of the buffer assembly 20 extends or shortens, and meanwhile, as the buffer assembly 20 can rotate relative to the U-shaped support 111, a certain buffer acting force can be provided for the first mechanical arm 12;

the multifunctional connecting assembly 30 is connected with the fourth driving assembly 18, and the multifunctional connecting assembly 30 can be used for assembling a spraying device and can also be used for connecting a shielding device 40, so that the application function of the spraying mechanical arm is expanded.

In a preferred embodiment, the hinge mechanism 22 includes a connection lug 121 disposed at the rear end of the first robot arm 12, and a connection ring 211 disposed on the telescopic rod 21, wherein the connection ring 211 is connected to the connection lug 121 through a rotation shaft, and when the rotation position of the first robot arm 12 changes, the positions of the connection lug 121 and the connection ring 211 are automatically adjusted accordingly, so as to ensure that the damping assembly 20 can always provide a certain damping force to the first robot arm 12.

The damping assembly 20 preferably employs a hydraulic damper or a pneumatic damper.

In a preferred embodiment, the multi-function connection assembly 30 includes a fixed disk 31 and a rotary disk 32, the fixed disk 31 is provided with a first connection hole 33 at the middle portion, and the rotary disk 32 is assembled in the first connection hole 33 by a bearing such that the rotary disk 32 can rotate relative to the fixed disk 31;

in addition, a plurality of second connecting holes 34 used for connecting the shielding device 40 are formed in the rotating disc 32, and a third connecting hole 35 used for penetrating through a rotating shaft of the fourth driving assembly is formed in the middle of the rotating disc 32, so that the rotating shaft of the fourth driving assembly is conveniently connected with the spraying device and drives the spraying device to rotate.

In a preferred embodiment, the length of the second mechanical arm 14 is adjustable, for example, the second mechanical arm 14 may be connected by a plurality of joints, the joints may be detached according to the actual use environment, and the second mechanical arm 14 may also adopt a hydraulic or electric telescopic rod 21 to realize the length adjustment function.

In a preferred embodiment, the shielding device 40 includes a shielding housing 41, the front end of the shielding housing 41 is arranged in a bell mouth shape, and the rear end of the shielding housing 41 is connected with the second connecting hole 34 through a bolt to realize fixation; the spraying device is positioned inside the shielding shell 41, and during actual spraying operation, the shielding shell 41 can prevent partial paint from diffusing in the air to cause air pollution;

in a preferred embodiment, the bottom surface of the inner cavity of the shielding shell 41 is an arc surface 42, and is concave from the two ends to the middle of the shielding shell 41, during the spraying operation, part of the coating particles dispersed in the air will impact the inner wall of the shielding shell 41 and fall down along the inner wall, and finally collect in the middle area of the arc surface 42.

In addition, shelter from device 40 and still include waste liquid collection device 43, waste liquid collection device 43 passes through the pipeline and communicates with the inner chamber bottom surface that shelters from shell 41, and waste liquid collection device 43 can retrieve the regional waste liquid in middle part that collects arcwall face 42, plays certain environmental protection when the spraying operation.

In a preferred embodiment, the first driving assembly 15 includes a first motor, the first motor is fixed on the first connecting base 11, and an output shaft of the first motor is connected to the first robot arm 12 for driving the first robot arm 12 to rotate;

the second driving assembly 16 includes a second motor 161 and a first transmission assembly, the second motor 161 is connected to the second connecting seat 13 through the first transmission assembly, specifically, the first transmission assembly includes a positioning sleeve 162 and a transmission sleeve 163, one end of the positioning sleeve 162 is connected to the front end of the first mechanical arm 12, and the rotation shaft of the second motor 161 passes through the positioning sleeve 162 to be connected to the front end of the first mechanical arm 12, so that the second motor 161 can rotate relative to the first mechanical arm 12, the transmission sleeve 163 is rotatably sleeved outside the positioning sleeve 162, the transmission sleeve 163 is fixedly connected to the second motor 161, and the transmission sleeve 163 is connected to the second connecting seat 13.

In a preferred embodiment, the third driving assembly 17 includes a third motor and a gear transmission mechanism, and the third motor is connected to the second mechanical arm 14 through the gear transmission mechanism, so as to drive the second mechanical arm 14 to rotate around the X-axis.

In a preferred embodiment, the front end of the second mechanical arm 14 is provided with a connecting groove 141, the fourth driving assembly 18 is rotatably connected to the connecting groove 141 through a rotating shaft, the rotating shaft can be driven by another motor, and the fourth driving device 18 includes a fourth motor.

Compared with the prior art, the spraying mechanical arm provided by the embodiment at least has the following advantages:

1. the robot assembly 10 includes a first connecting base 11, a first robot arm 12, a second connecting base 13 and a second robot arm 14; the spraying device is characterized in that a first driving assembly 15 is arranged on the first connecting seat 11, the first driving assembly 15 is connected with the first mechanical arm 12, the front end part of the first mechanical arm 12 is rotatably connected with a second driving assembly 16, the second driving assembly 16 is connected with the second connecting seat 13, a third driving assembly 17 is arranged on the second connecting seat 13, the third driving assembly 17 is connected with the second mechanical arm 14, and the front end part of the second mechanical arm 14 is rotatably connected with a fourth driving assembly 18, so that the spraying device can be assembled by utilizing the mechanical arms, and the mechanical arms have multiple degrees of freedom, so that spraying can be carried out at any position of a box girder, and the production efficiency is greatly improved;

2. the buffer assembly 20 is provided with a telescopic rod 21, the first connecting seat 11 is provided with a U-shaped support 111, the buffer assembly 20 is connected with the U-shaped support 111 through a rotating shaft, the telescopic rod 21 is connected with the tail end of the first mechanical arm 12 through a hinge mechanism 22, the overall length of the mechanical arm assembly 10 is long, the first mechanical arm 12 can bear large acting force during spraying operation, so that the first driving assembly 15 is easy to damage, the buffer assembly 20 can be arranged to play a role in supporting the first mechanical arm 12 in an auxiliary mode, and meanwhile, impact of the large inertia acting force of the first mechanical arm 12 on the first driving assembly 15 is reduced;

3. the multifunctional connecting assembly 30 is connected with the fourth driving assembly 18, and the multifunctional connecting assembly 30 can be used for assembling the spraying device and the shielding device 40, so that the function of the product is expanded.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the utility model has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A spraying mechanical arm is characterized by comprising a mechanical arm assembly, a buffering assembly and a multifunctional connecting assembly;

2. The spray arm of claim 1, wherein said hinge mechanism comprises a connection lug disposed at a rear end of said first arm, and a connection ring disposed on said extension rod, said connection ring being connected to said connection lug via a shaft.

3. The spray arm of claim 1, wherein the buffer assembly is a hydraulic buffer or a pneumatic buffer.

4. The spraying mechanical arm of claim 1, wherein the multifunctional connecting assembly comprises a fixed disc and a rotating disc, a first connecting hole is formed in the middle of the fixed disc, the rotating disc is assembled in the first connecting hole through a bearing, a plurality of second connecting holes used for connecting the shielding device are formed in the rotating disc, and a third connecting hole used for penetrating through a rotating shaft of the fourth driving assembly is formed in the middle of the rotating disc.

5. The spray arm of claim 1, wherein said second arm is adjustable in length.

6. The spraying mechanical arm according to claim 4, wherein the shielding device comprises a shielding shell, the front end of the shielding shell is in a bell mouth shape, and the rear end of the shielding shell is connected with the second connecting hole through a bolt;

7. The spray arm of claim 6, wherein said shielding means further comprises a waste fluid collecting means in communication with a bottom surface of said inner cavity of said shielding housing via a conduit.

8. The spray arm of claim 1, wherein the first drive assembly comprises a first motor, an output shaft of the first motor being coupled to the first arm;

9. The spray arm of claim 1, wherein said third drive assembly comprises a third motor and a gear train, said third motor being coupled to said second arm through said gear train.

10. The spray coating mechanical arm of claim 1, wherein the front end of the second mechanical arm is provided with a connecting groove, and the fourth driving assembly is rotatably connected with the connecting groove through a rotating shaft.