CN218313558U - Cooperation robot suitable for metal plate spouts application environment - Google Patents
Cooperation robot suitable for metal plate spouts application environment Download PDFInfo
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- CN218313558U CN218313558U CN202222077594.9U CN202222077594U CN218313558U CN 218313558 U CN218313558 U CN 218313558U CN 202222077594 U CN202222077594 U CN 202222077594U CN 218313558 U CN218313558 U CN 218313558U
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Abstract
The utility model relates to a panel beating spouts the robotechnology field, and specific is a cooperation robot suitable for panel beating spouts application environment, which comprises a mounting bas, the mount pad is installed on truss system, rotates on the mount pad and installs the primary shaft, and the primary shaft side rotates and installs the secondary shaft, and the secondary shaft side rotates and installs the third axle, and the third axle side rotates and installs the fourth axle, and fourth axle one end movable mounting has the fifth axle, and the fifth axle side rotates and installs the sixth axle, and movable mounting has the spraying frock on the sixth axle, the utility model discloses a six cooperation robot centre gripping spray guns can increase spray gun gesture flexibility, and the various car sheet metal parts of spraying can use in the intelligent scene of automatic planning orbit.
Description
Technical Field
The utility model relates to a panel beating spouts the robotechnology field, and specific is a cooperation robot suitable for the panel beating spouts application environment.
Background
According to the data of the ministry of public security, the number of accident vehicles in China reaches 8000 thousands in 2017 (preferably 2021 year data updating is searched), the plate spraying market of automobiles in China reaches 2000 hundred million/year according to the maintenance calculation of 3 surfaces of each vehicle number in average, wherein 1080 million plate spraying maintenance markets and 1000 million plate spraying accessory markets. Although the plate spraying market is huge, less workers are engaged in paint spraying, and the personnel management cost is high, so the industry enters the development stage of intelligent paint spraying before industrialization. The industrial robot does not meet the safety requirement of the man-machine cooperation spraying working condition, and the specification is large and heavy; the cooperative robot is used as a robot for man-machine cooperation, meets the man-machine cooperation requirement, but the wrist gesture flexibility of a common cooperative robot is not enough, and the requirement of spraying on the gesture adjustment of a spray gun (the gesture of a spray gun port is kept at the position of about 200mm of the outer normal line of the curved surface of a sheet metal part) cannot be met. The 6-axis cooperation robot is provided for clamping the spray gun to increase the posture flexibility of the spray gun, and the problems are solved.
SUMMERY OF THE UTILITY MODEL
For solving the not enough that mentions in the above-mentioned background art, the utility model aims to provide a cooperation robot suitable for panel beating spouts application environment, solved among the prior art gesture flexibility of the spraying robot of man-machine cooperation not enough, can not satisfy the problem of spraying to spray gun gesture adjustment.
The purpose of the utility model can be realized by the following technical scheme:
the utility model provides a cooperation robot suitable for metal plate spouts application environment, includes the mount pad, its characterized in that, the mount pad is installed on truss system, installs mechanical digging arm on the mount pad, and mechanical digging arm includes six pivots, rotates on the mount pad and installs the primary shaft, and the primary shaft side rotates and installs the secondary shaft, and the secondary shaft side rotates and installs the third axle, and the third axle side rotates and installs the fourth axle, and fourth axle one end movable mounting has the fifth axle, and the fifth axle side rotates and installs the sixth axle, and movable mounting has the spraying frock on the sixth axle.
Further, be equipped with first transmission between the axle of mechanical digging arm, first transmission includes first servo motor, first speed reducer and hold-in range, first servo motor installs on the motor bedplate, first servo motor main shaft is fixed with synchronous pulley, first speed reducer main shaft is fixed with synchronous pulley, be equipped with the hold-in range between the epaxial synchronous pulley of first servo motor and the first speed reducer synchronous pulley, synchronous pulley passes through the hold-in range and drives first speed reducer rotatory, the first speed reducer other end is connected in next pivot.
Furthermore, a second transmission device is arranged between the rotating shafts and comprises a second speed reducer, a second servo motor and a rotating gear, the second servo motor is installed on the last flange, a main shaft of the second servo motor drives the second speed reducer to rotate through the rotating gear, and the other end of the second speed reducer is connected to the next rotating shaft.
Furthermore, a second transmission device is arranged between the sixth shaft and the spraying tool, between the sixth shaft and the fifth shaft, between the fifth shaft and the fourth shaft, between the third shaft and the second shaft, between the second shaft and the first shaft, and between the first shaft and the mounting seat.
Furthermore, the first speed reducer is an RV speed reducer, and the second speed reducer is a large-aperture harmonic speed reducer.
Further, the first transmission device and the pulley structure do not need to be sealed.
Further, the third shaft is installed on the side surface of the second shaft close to the first shaft, and the fourth shaft is installed on the side surface of the third shaft close to the first shaft.
Furthermore, a large arm connecting rod is arranged on the second shaft, a third shaft is arranged on the side face of the large arm connecting rod, a small arm connecting rod is arranged on the third shaft, a fourth shaft is arranged on the side face of the small arm connecting rod, and a motor for driving the fourth shaft to rotate is arranged on the small arm connecting rod.
Further, the connecting arms with different lengths can be arranged on the rotating shaft according to requirements.
The utility model has the advantages that:
the utility model adopts six-axis cooperation robot to clamp the spray gun, which can increase the flexibility of the posture of the spray gun, spray various automobile sheet metal parts and can be used in the intelligent scene of automatically planning the track; the robot additional shaft can be used for light transferring, so that the flexible spraying operation range of the cooperative robot is enlarged, and the plate spraying of the automobile rear market can realize intelligent operation.
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 for those skilled in the art to obtain other drawings without creative efforts;
FIG. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a schematic view of another view angle of the overall structure of the present invention;
fig. 3 is a schematic view of a first transmission of the present invention;
fig. 4 is a schematic view of a second transmission according to the present invention.
The reference numbers are as follows:
the synchronous control device comprises a first shaft 1, a second shaft 2, a third shaft 3, a fourth shaft 4, a fifth shaft 5, a sixth shaft 6, a first transmission device 7, a second transmission device 8, a mounting seat 9, a large arm connecting rod 11, a small arm connecting rod 12, a first speed reducer 71, a synchronous belt 72, a first servo motor 73, a second speed reducer 81, a second servo motor 82 and a transmission gear group 83.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.
Example 1: as shown in fig. 1-3, a cooperative robot suitable for a metal plate spraying application environment includes a sixth shaft 6, a fifth shaft 5, a fourth shaft 4, a third shaft 3, a second shaft 2, a first shaft 1 and a mounting seat 9, where the mounting seat 9 is mounted on a truss system, a mechanical arm is mounted on the mounting seat 9, six rotating shafts, namely the first shaft 1, the second shaft 2, the third shaft 3, the fourth shaft 4, the fifth shaft 5 and the sixth shaft 6, are sequentially mounted on the mounting seat 9, two adjacent rotating shafts are rotatably connected, a first transmission device 7 is disposed between the rotating shafts, the first transmission device 7 includes a first servo motor 73, a first speed reducer 71 and a synchronous belt 72, the first servo motor 73 is mounted on an upper flange, a synchronous belt pulley is fixed to a main shaft of the first servo motor 73, a synchronous belt pulley is fixed to a main shaft of the first speed reducer 71, a synchronous belt 72 is disposed between the synchronous belt pulley on the main shaft of the first servo motor 73 and the synchronous belt pulley 71 of the first speed reducer 71, the synchronous belt 72 drives the first speed reducer 71 to rotate through the synchronous belt 72, and the other end of the first speed reducer 71 is connected to a next rotating shaft.
The lower end of the first shaft 1 is movably arranged on the mounting seat 9, a first servo motor 73 is arranged on the first shaft 1, and the first servo motor 73 and the synchronizing wheel driving wheel are locked and then arranged on a motor seat plate of the first shaft 1; the synchronous pulley driven wheel is connected with a first speed reducer 71 with a large aperture through a synchronous belt 72; a first speed reducer 71 is arranged on a joint on the first shaft 1, and the initial tension of a synchronous belt 72 is adjusted; the lower end of the first speed reducer 71 is connected to the mounting base 9, and the first shaft 1 and the mounting base 9 are driven to rotate through the synchronous belt 72 by the rotation of the first servo motor 73 on the first shaft 1.
The second shaft 2 is movably arranged on the side surface of the first shaft 1, a first servo motor 73 is arranged on the second shaft 2, and the first servo motor 73 and the synchronizing wheel driving wheel are locked and then arranged on a motor seat plate of the second shaft 2; the synchronous pulley driven wheel is connected with a first speed reducer 71 with a large aperture through a synchronous belt 72; the first speed reducer 71 is mounted on the first servo motor 73, and adjusts the initial tension of the synchronous belt 72; the lower end of the first speed reducer 71 is connected to the side surface of the first shaft 1, and the second shaft 2 and the first shaft 1 are driven to rotate through the synchronous belt 72 by the rotation of the first servo motor 73 on the second shaft 2.
The third shaft 3 is movably arranged on the side surface of the second shaft 2, a first servo motor 73 is arranged on the third shaft 3, and the first servo motor 73 and a synchronizing wheel driving wheel are locked and then arranged on a motor seat plate of the third shaft 3; the synchronous pulley driven wheel is connected with a first speed reducer 71 with a large aperture through a synchronous belt 72; the first speed reducer 71 is arranged on the third shaft 3 and used for adjusting the initial tension of the synchronous belt 72; the other end of the first speed reducer 71 is connected to the second shaft 2, and the third shaft 3 and the second shaft 2 are driven to rotate through the synchronous belt 72 by the rotation of the first servo motor 73 on the third shaft 3.
The fourth shaft 4 is movably arranged on the side surface of the third shaft 3, a first servo motor 73 is arranged on the third shaft 3, and the first servo motor 73 and a synchronizing wheel driving wheel are locked and then arranged on a motor seat plate of the third shaft 3; the synchronous pulley driven wheel is connected with a first speed reducer 71 with a large aperture through a synchronous belt 72; the first speed reducer 71 is arranged on a joint on the third shaft 3, and the initial tension of the synchronous belt 72 is adjusted; the lower end of the first speed reducer 71 is connected to the third shaft 3, and the fourth shaft 4 and the third shaft 3 are driven to rotate through the synchronous belt 72 by the rotation of the first servo motor 73 on the fourth shaft 4.
The fifth shaft 5 is movably arranged on the end surface of the fourth shaft 4, the fourth shaft 4 is provided with a first servo motor 73, and the first servo motor 73 and a synchronizing wheel driving wheel are locked and then arranged on a motor seat plate of the fourth shaft 4; the synchronous pulley driven wheel is connected with a first speed reducer 71 with a large aperture through a synchronous belt 72; the first speed reducer 71 is arranged on a joint on the fourth shaft 4, and the initial tension of the synchronous belt 72 is adjusted; the lower end of the first speed reducer 71 is connected to the fourth shaft 4, and the first servo motor 73 on the fourth shaft 4 rotates to drive the fifth shaft 5 and the fourth shaft 4 to rotate through the synchronous belt 72.
The side surface of the sixth shaft 6 is movably arranged on a fifth shaft 5, a first servo motor 73 is arranged on the fifth shaft 5, and the first servo motor 73 and a driving wheel of a synchronizing wheel are locked and then arranged on a motor base plate of the fifth shaft 5; the synchronous pulley driven wheel is connected with a first speed reducer 71 with a large aperture through a synchronous belt 72; the first speed reducer 71 is arranged on a joint on the fifth shaft 5, and the initial tension of the synchronous belt 72 is adjusted; the lower end of the first speed reducer 71 is connected to the fifth shaft 5, the first servo motor 73 on the fifth shaft 5 rotates to drive the sixth shaft 6 and the fifth shaft 5 to rotate through the synchronous belt 72, and the other end of the sixth shaft 6 is provided with a spraying tool.
Further, first speed reducer 71 is large aperture harmonic speed reducer, adopts motor cooperation large aperture speed reducer and synchronous pulley to conveniently maintain through so design, and the drive mode of large aperture harmonic speed reducer and gear or hold-in range has replaced the joint module of current cooperation robot, and its overall dimension, cost, the big hole of speed reducer all have the advantage with the joint module, are favorable to the enterprise to fall this processing, owing to adopted the utility model discloses a transmission structure, for traditional cooperation robot drive mechanism, the robot cost reduces by a wide margin, and the installation is maintained simply relatively, and economic benefits is better, guarantees the good development of enterprise, simultaneously, through servo motor and large aperture speed reducer, hold-in range, gear drive method for the cable can easily pass through, reduces the mill line risk, reduces the body cost simultaneously, does benefit to popularization and repayment, and simple structure has better market prospect.
Example 2: as shown in fig. 1, 2 and 4, a cooperative robot suitable for a plate spraying application environment comprises a sixth shaft 6, a fifth shaft 5, a fourth shaft 4, a third shaft 3, a second shaft 2, a first shaft 1 and a mounting seat 9, wherein the mounting seat 9 is mounted on a truss system, the fifth shaft 5, the fourth shaft 4, the third shaft 3, the second shaft 2 and the first shaft 1 are sequentially arranged on the sixth shaft 6, two adjacent rotating shafts are rotatably connected, a first transmission device 7 is arranged between the rotating shafts, the first transmission device 7 comprises a first servo motor 73, a first speed reducer 71 and a first servo motor 73, the first servo motor 73 is arranged on the upper rotating shaft, a synchronous belt pulley is fixed on a main shaft of the first servo motor 73, a first speed reducer 71 is mounted on the rotating shaft on which the first servo motor 73 is mounted, a synchronous belt 72 is arranged between the synchronous belt pulley on the main shaft of the first servo motor 73 and the first speed reducer 71, the synchronous belt pulley drives the first speed reducer 71 to rotate through the synchronous belt 72, and the other end of the first speed reducer 71 is connected to the next rotating shaft.
The transmission scheme of the third shaft 3, the second shaft 2 and the rotating shaft of the first shaft 1 is a first transmission device 7, the first transmission device 7 comprises a first speed reducer 71, a synchronous belt 72 and a first servo motor 73, the first servo motor 73 is arranged on the last rotating shaft, a synchronous belt pulley is fixed on the main shaft of the first servo motor 73, the first speed reducer 71 is arranged on the rotating shaft on which the first servo motor 73 is arranged, the synchronous belt 72 is arranged between the synchronous belt pulley on the main shaft of the first servo motor 73 and the first speed reducer 71, the synchronous belt pulley drives the first speed reducer 71 to rotate through the synchronous belt 72, and the other end of the first speed reducer 71 is connected to the next rotating shaft; by the design, the sealing is not needed, and the maintenance is convenient;
the transmission scheme of the sixth shaft 6, the fifth shaft 5 and the fourth shaft 4 is a second transmission device 8, the second transmission device 8 comprises a second servo motor 82, a rotating gear bracket 83 and a second speed reducer 81, the second servo motor 82 is installed on the last rotating shaft, a main shaft of the second servo motor 82 drives the second speed reducer 81 to rotate through the rotating gear bracket 83, and the other end of the second speed reducer 81 is connected to the next rotating shaft; through such design, the advantage that concrete space is compact can realize the nimble collaborative robot structural layout of wrist gesture of sixth axle 6, fifth axle 5 and the 4 fourth axle high integrations of 4 pivots, and the adaptation robot does not interfere the use in the uncontrollable orbit of automatic generation.
Further, the third shaft is arranged on the side surface of the second shaft close to the first shaft, and the fourth shaft is arranged on the side surface of the third shaft close to the first shaft; so can guarantee that the robot motion is that required space is littleer, and is more nimble, furtherly, be equipped with big arm connecting rod 11 on the secondary shaft, third axle 3 is installed in the side of big arm connecting rod 11, is equipped with forearm connecting rod 12 on the third axle 3, and fourth shaft 4 installs in the side of forearm connecting rod 12, drives fourth shaft 4 pivoted motor and installs on forearm connecting rod 12, furtherly, the pivot can set up the linking arm of different length as required. Therefore, the working radius of the robot can be enlarged without influencing the flexibility of the tail end joint rotating shaft.
Furthermore, the first speed reducer is an RV speed reducer, and the second speed reducer is a large-aperture harmonic speed reducer.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only illustrative of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the present invention, and all such changes and modifications fall within the scope of the present invention as claimed.
Claims (8)
1. The utility model provides a cooperation robot suitable for metal plate spouts application environment, includes mount pad (9), its characterized in that, mount pad (9) are installed on truss system, install mechanical digging arm on mount pad (9), mechanical digging arm includes six axles, rotate on mount pad (9) and install primary shaft (1), primary shaft (1) side is rotated and is installed secondary shaft (2), secondary shaft (2) side is rotated and is installed third axle (3), third axle (3) side is rotated and is installed fourth axle (4), fourth axle (4) one end movable mounting has fifth axle (5), fifth axle (5) side is rotated and is installed sixth axle (6), movable mounting has the spraying frock on sixth axle (6).
2. The cooperative robot suitable for the plate spraying application environment is characterized in that a first transmission device (7) is arranged between shafts of the mechanical movable arms, the first transmission device (7) comprises a first servo motor (73), a first speed reducer (71) and a synchronous belt (72), the first servo motor (73) is installed on the motor seat plate, a synchronous belt pulley is fixed to a main shaft of the first servo motor (73), a synchronous belt pulley is fixed to a main shaft of the first speed reducer (71), the synchronous belt (72) is arranged between the synchronous belt pulley on the main shaft of the first servo motor (73) and the synchronous belt pulley of the first speed reducer (71), the synchronous belt pulley drives the first speed reducer (71) to rotate through the synchronous belt (72), and the other end of the first speed reducer (71) is connected to the next rotating shaft.
3. The cooperative robot suitable for the plate spraying application environment is characterized in that a second transmission device (8) is arranged between the rotating shafts, the second transmission device (8) comprises a second speed reducer (81), a second servo motor (82) and a rotating gear holder (83), the second servo motor (82) is mounted on the upper flange, a main shaft of the second servo motor (82) drives the second speed reducer (81) to rotate through the rotating gear holder (83), and the other end of the second speed reducer (81) is connected to the next rotating shaft.
4. A cooperative robot suitable for plate spraying application environments as claimed in claim 3, wherein a second transmission device (8) is arranged between the sixth shaft (6) and the spraying tool, between the sixth shaft (6) and the fifth shaft (5), between the fifth shaft (5) and the fourth shaft (4), between the third shaft (3) and the second shaft (2), between the second shaft (2) and the first shaft (1), and between the first shaft (1) and the mounting seat (9), a first transmission device (7) is arranged.
5. The cooperative robot suitable for the plate spraying application environment as claimed in claim 4, wherein the first speed reducer (71) is an RV speed reducer, and the second speed reducer (81) is a large-aperture harmonic speed reducer.
6. A cooperative robot adapted for use in a sheet metal spray application environment according to claim 5, wherein the first transmission (7) does not require a sealing with a pulley arrangement.
7. A coordination robot adapted to be used in plate spraying applications according to claim 6, characterized in that said third shaft (3) is mounted on the side of the second shaft (2) close to the first shaft (1) and said fourth shaft (4) is mounted on the side of the third shaft (3) close to the first shaft (1).
8. The cooperative robot suitable for the plate spraying application environment is characterized in that a large arm connecting rod (11) is arranged on the second shaft, a third shaft (3) is arranged on the side surface of the large arm connecting rod (11), a small arm connecting rod (12) is arranged on the third shaft (3), a fourth shaft (4) is arranged on the side surface of the small arm connecting rod (12), and a motor driving the fourth shaft (4) to rotate is arranged on the small arm connecting rod (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222077594.9U CN218313558U (en) | 2022-08-08 | 2022-08-08 | Cooperation robot suitable for metal plate spouts application environment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222077594.9U CN218313558U (en) | 2022-08-08 | 2022-08-08 | Cooperation robot suitable for metal plate spouts application environment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218313558U true CN218313558U (en) | 2023-01-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222077594.9U Active CN218313558U (en) | 2022-08-08 | 2022-08-08 | Cooperation robot suitable for metal plate spouts application environment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218313558U (en) |
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2022
- 2022-08-08 CN CN202222077594.9U patent/CN218313558U/en active Active
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