CN107282342A - Spray robot - Google Patents
Spray robot Download PDFInfo
- Publication number
- CN107282342A CN107282342A CN201710442665.1A CN201710442665A CN107282342A CN 107282342 A CN107282342 A CN 107282342A CN 201710442665 A CN201710442665 A CN 201710442665A CN 107282342 A CN107282342 A CN 107282342A
- Authority
- CN
- China
- Prior art keywords
- arm
- bar shaped
- shaped conduit
- rotating shaft
- spray robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000007921 spray Substances 0.000 title claims abstract description 33
- 230000007246 mechanism Effects 0.000 claims abstract description 34
- 238000005507 spraying Methods 0.000 abstract description 10
- 238000005516 engineering process Methods 0.000 description 3
- 230000007812 deficiency Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000003973 paint Substances 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008021 deposition Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000001727 in vivo Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention discloses spray robot, it is characterised in that including：Fixed seat, translation mechanism is movably set with the fixed seat；Multi-joint arm, the multi-joint arm is configured to rotate relative to the translation mechanism；A bar shaped conduit is fixedly installed in the tail end arm of the multi-joint arm, multigroup spray gun is arranged at intervals with the bar shaped conduit.The present invention according to the market demand develop specifically designed for spraying field additional shaft, by articulation mechanism, translation mechanism, rotating mechanism combination, and effectively use servo-actuating device, realize the automation of spraying.
Description
Technical field
The present invention relates to robotic technology field, specifically, being related to a kind of spray robot.
Background technology
At present, robot field's various product makes rapid progress, but in the spraying field of mass（For example, the spraying of pot）
Existing industrial robot can not meet the actual production demand of enterprise.
Based on above-mentioned technological deficiency, it is necessary to be improved for existing spray robot.
The content of the invention
For the deficiencies in the prior art, the invention provides spray robot.
The present invention is achieved through the following technical solutions：Spray robot, it is characterised in that including：Fixed seat, in institute
State and translation mechanism is movably set with fixed seat；Multi-joint arm, the multi-joint arm is configured to revolve relative to the translation mechanism
Turn；A bar shaped conduit is fixedly installed in the tail end arm of the multi-joint arm, is arranged at intervals with the bar shaped conduit many
Group spray gun.
In above-mentioned technical proposal, the spray gun is fixedly installed on the bar shaped conduit side.
In above-mentioned technical proposal, slide rail is movably set with the bar shaped conduit, is fixed in the bar shaped conduit side
Screw mechanism is provided with, the screw mechanism is driven by servo-actuating device, is set on the ball nut of the screw mechanism
Connecting plate, the connecting plate passes through the bar hole opened up in the bar shaped duct wall and fixed with the slide rail, in the bar
Rotate and be provided with and spray gun quantity identical rotating shaft, end of the rotating shaft with stretching bar shaped conduit, at the end in shape conduit
Portion is fixedly installed in the spray gun, the rotating shaft and is provided with gear, and the tooth engaged with the gear is provided with the slide rail
Bar.
In above-mentioned technical proposal, the rotating shaft passes through spaced two groups of shaft-cups, and the shaft-cup is fixed on the bar shaped
The side wall of conduit, and bearing is provided with shaft-cup, rotating shaft is by the bearing rotating support.
In above-mentioned technical proposal, sliding block is provided with the bar shaped conduit, the slide rail is slidably arranged on the sliding block.
In above-mentioned technical proposal, the rotating shaft is arranged at intervals with three groups.
In above-mentioned technical proposal, the multi-joint arm includes rotating the first arm being connected and first with the translation mechanism
Arm rotate connection the second arm, with the 3rd arm that is connected of the second arm rotation, in addition to drive respectively first arm, the second arm,
The servo-actuating device driving that 3rd arm is rotated.
In above-mentioned technical proposal, the translation mechanism includes casing, and the box body-sliding is arranged in the straight of fixed seat
On line guide rail, in addition to the long rack being arranged in the fixed seat, casing lower section is set and long rack meshed gears, in case
The servo-actuating device of the driving gear is set in vivo.
The present invention has the advantages that：The present invention has merged spread out frame structure and articulation structure, and according to the market demand
Develop the additional shaft specifically designed for spraying field, by articulation mechanism, translation mechanism, rotating mechanism combination, and have
Effect uses servo-actuating device, realizes the automation of spraying, not only improves the working environment of people and disappear while reducing paint
Consumption, improves efficiency, reduces pollution, and fully meet produce reality demand；The present invention is simple in construction, and sealing property is excellent
Good, accurate positioning is reliable, saves labour.
Brief description of the drawings
Fig. 1 is schematic top plan view of the invention.
Fig. 2 is dimensional structure diagram of the invention.
Fig. 3 is the rotating shaft mechanism set in tail end arm.
Fig. 4 is Fig. 3 decomposing schematic representation.
Fig. 5 is the cooperation schematic diagram of every group of spray gun and rotating shaft mechanism.
Fig. 6 is the structural representation of another embodiment of the present invention.
Embodiment
The present invention is described in further detail with embodiment below in conjunction with the accompanying drawings：Embodiment 1：Referring to Fig. 1 extremely
Fig. 5, spray robot, including fixed seat 1, are arranged at intervals with two groups of line slideways 11 in the fixed seat 1, described in two groups
Length direction extension of the line slideway 11 along fixed seat 1, the fixed seat 1 is set between being located at line slideway 11 described in two groups
There is a long rack 10, the parallel line slideway 11 of the long rack 10 is set.
Slided on the line slideway 11 and be provided with translation mechanism 2, the translation mechanism 2 includes casing 20 and described
The lower section of casing 20 is setting with the long meshed gears of rack 10（Accompanying drawing is not shown）, the driving gear is set in casing 20
Servo-actuating device.Exerted oneself and moved along a straight line with moving gear and long rack 10 by servo-actuating device.
The multi-joint arm 3 that can be rotated relative to the translation mechanism 2 is provided with the translation mechanism 2, specifically,
The multi-joint arm 3 includes rotating the first arm 30 being connected with the translation mechanism 2, rotates the second arm being connected with the first arm 30
31st, the 3rd arm 32 being connected is rotated with the second arm 31, in addition to drives what first arm, the second arm, the 3rd arm were rotated respectively
Servo-actuating device, wherein driving the servo-actuating device of first arm 30 to be arranged in the casing 20 of the translation mechanism 2
Portion, it has the output shaft for stretching out casing 20（Accompanying drawing is not shown）, the first arm 30 is connected with the output shaft.In second arm 31
One end be provided with the receiving portion 31a with opening, servo-actuating device is arranged in receiving portion 31a, to drive the second arm
Rotated motion with respect to the first arm, most bonnet sets the cover plate 31b for covering the opening.Rotated in the other end of second arm 31
Substantially the 3rd arm 32 that is coaxial therewith is set, and the 3rd arm 32 passes through the servo that is set in the other end internal cavity of the second arm 31
Drive mechanism drives it to be rotated relative to the second arm.
In the tail end arm of the multi-joint arm 3（That is the 3rd arm 32）On be fixedly installed a bar shaped conduit 4, in the bar shaped
Slide rail 5 is movably set with conduit 4, screw mechanism 6 is fixedly installed in the side of bar shaped conduit 4, the screw mechanism 6 leads to
Cross servo-actuating device driving 100 to drive, connecting plate 61, the connecting plate are set on the ball nut 60 of the screw mechanism 6
61 pass through the bar hole 40 opened up in the side wall of bar shaped conduit 4 and are fixed with the slide rail 5, between the bar shaped conduit 4 is interior
Rotation is provided with three groups of rotating shafts 7, the rotating shaft 7 has the end 70 for stretching out bar shaped conduit 4, is fixedly installed in the end 70
Gear 50 is provided with spray gun 8, the rotating shaft, the rack 72 engaged with the gear is provided with the slide rail 5.Need
It is bright, although illustrating that rotating shaft 7 is provided with three groups in the present embodiment（Corresponding spray gun, gear, rack are also respectively provided with three groups）,
But in the application for rotating shaft 7 particular number can according to the difference for being actually sprayed-on workpiece, can with the selection of flexibility,
It is not specifically limited in the application for its quantity.
The rotating shaft 7 passes through spaced two groups of shaft-cups 71, and the shaft-cup 71 is fixed on the side of the bar shaped conduit 4
Wall, and it is provided with bearing on shaft-cup 71（Accompanying drawing is not shown）, rotating shaft 7 is by the bearing rotating support.In the bar shaped conduit 4
Sliding block 41 is inside provided with, the slide rail 5 is slidably arranged on the sliding block 41.
Drive ball-screw to rotate by servomotor in the present embodiment, and then drive ball nut sliding on ball-screw
It is dynamic, finally cause the connection set on the ball nut to promote the slide rail to slide soon, slide rail slides the tooth driven on slide rail
Gear engagement on bar and rotating shaft coordinates.Therefore, when servomotor is rotated according to given pulse, ball nut does straight line fortune
Dynamic, now guide rail is moved along a straight line, and rack moves along a straight line, and gear rotates, and three spray guns are driven with this while doing
Rotary motion.The linkage of five axles just can realize the spraying of the various angles of spray gun and various positions more than.When spray gun according to
The arrival that position of readiness waits next set product is just returned to after the completion of the path of setting and time spraying.So just realize spraying
Automated production.
Embodiment 2, referring to Fig. 6, the spray gun 8 is fixedly installed on the side of bar shaped conduit 4, specifically, T-shaped by one
The spray gun 8 is fixedly installed on the side of bar shaped conduit 4 by contiguous block and a fastener, and remaining be the same as Example 1 of embodiment 2 is real
Apply example 2 and lacked the rotation of an axle relative to embodiment 1, thus some paint that deposition accuracies are required with relatively low part can be carried out
Spraying.
In the application, servo-actuating device can be servomotor, or the entirety of servomotor and reducing gear,
Specific servo-actuating device is as good as with general servo-actuating device, for its principle and concrete structure no longer in this application
Specifically repeat.
General principle, principal character and the advantages of the present invention of the present invention has been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and that described in above-described embodiment and specification is the present invention
Principle, various changes and modifications of the present invention are possible without departing from the spirit and scope of the present invention.Above-mentioned change and
Improvement is both fallen within the range of claimed invention.
Claims (8)
1. spray robot, it is characterised in that：Including：
Fixed seat（1）, in the fixed seat（1）On be movably set with translation mechanism（2）；
Multi-joint arm（3）, the multi-joint arm（3）It is configured to relative to the translation mechanism（2）Rotation；
In the multi-joint arm（3）Tail end arm on be fixedly installed a bar shaped conduit（4）, in the bar shaped conduit（4）Between upper
Every being provided with multigroup spray gun（8）.
2. spray robot as claimed in claim 1, it is characterised in that：The spray gun（8）The bar shaped is fixedly installed on to lead
Pipe（4）Side.
3. spray robot as claimed in claim 1, it is characterised in that：In the bar shaped conduit（4）Inside it is movably set with cunning
Rail（5）, in the bar shaped conduit（4）Side is fixedly installed screw mechanism（6）, the screw mechanism（6）Pass through servo-drive
Mechanism drives（100）, the screw mechanism（6）Ball nut（60）Upper setting connecting plate（61）, the connecting plate（61）Wear
Cross in the bar shaped conduit（4）The bar hole that side wall is opened up（40）And with the slide rail（5）It is fixed, in the bar shaped conduit（4）
Interior rotation is provided with and spray gun quantity identical rotating shaft（7）, the rotating shaft（7）With stretching bar shaped conduit（4）End（70）,
In the end（70）It is fixedly installed spray gun（8）, gear is provided with the rotating shaft（50）, in the slide rail（5）On be provided with
The rack engaged with the gear（72）.
4. spray robot as claimed in claim 3, it is characterised in that：The rotating shaft（7）Through spaced two groups of axles
Lid（71）, the shaft-cup（71）It is fixed on the bar shaped conduit（4）Side wall, and in shaft-cup（71）On be provided with bearing, rotating shaft
（7）By the bearing rotating support.
5. spray robot as claimed in claim 3, it is characterised in that：In the bar shaped conduit（4）Inside it is provided with sliding block
（41）, the slide rail（5）It is slidably arranged in the sliding block（41）On.
6. spray robot as claimed in claim 3, it is characterised in that：The rotating shaft（7）It is arranged at intervals with three groups.
7. spray robot as claimed in claim 1, it is characterised in that：The multi-joint arm（3）Including with the translation machine
Structure（2）Rotate the first arm of connection（30）And the first arm（30）Rotate the second arm of connection（31）And the second arm（31）The company of rotation
The 3rd arm connect（32）, in addition to the servo-actuating device driving for driving first arm, the second arm, the 3rd arm to rotate respectively.
8. spray robot as claimed in claim 7, it is characterised in that：The translation mechanism（2）Including casing（20）, it is described
Casing（20）It is slidably arranged in positioned at fixed seat（1）Line slideway（11）On, in addition to it is arranged on the fixed seat（1）On
Long rack（10）, casing（20）Lower section is set and long rack（10）Meshed gears, sets the driving gear in casing
Servo-actuating device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710442665.1A CN107282342A (en) | 2017-06-13 | 2017-06-13 | Spray robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710442665.1A CN107282342A (en) | 2017-06-13 | 2017-06-13 | Spray robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107282342A true CN107282342A (en) | 2017-10-24 |
Family
ID=60097538
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710442665.1A Pending CN107282342A (en) | 2017-06-13 | 2017-06-13 | Spray robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107282342A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109365172A (en) * | 2018-11-22 | 2019-02-22 | 苏州奥曼恩自动化科技有限公司 | A kind of part spray equipment |
| CN111921752A (en) * | 2020-07-09 | 2020-11-13 | 龙井和 | Industrial automatic spraying robot |
| CN112024206A (en) * | 2020-08-26 | 2020-12-04 | 孙浩 | Six-degree-of-freedom paint spraying manipulator |
| CN112691821A (en) * | 2020-12-21 | 2021-04-23 | 苏州阿甘机器人有限公司 | Robot for spraying product and working method thereof |
| CN114908488A (en) * | 2022-05-12 | 2022-08-16 | 杭州传联花边有限公司 | Lubricating device and method for high-speed embroidery machine |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2244242A1 (en) * | 1971-09-10 | 1973-03-15 | Z Przesneho Strojirenstvi Gott | ACTUATING DEVICE FOR SPRAY NOZZLE |
| US4716917A (en) * | 1985-07-08 | 1988-01-05 | Schmidt Ernst L | Tank washing system |
| CN103100501A (en) * | 2011-11-14 | 2013-05-15 | 东芝机械株式会社 | Painting robot system and spray gun unit |
| CN103538053A (en) * | 2012-07-17 | 2014-01-29 | 昆山华恒焊接股份有限公司 | Six-freedom-degree spray coating robot |
| CN203991046U (en) * | 2014-05-29 | 2014-12-10 | 东莞誉铭新工业有限公司 | Intelligence spray robot device |
| CN105689179A (en) * | 2015-08-20 | 2016-06-22 | 中科新松有限公司 | Ship body surface multi-gun coating operation robot |
| CN106345644A (en) * | 2016-09-19 | 2017-01-25 | 东莞市尔必地机器人有限公司 | Spray manipulator device |
| CN206838378U (en) * | 2017-06-13 | 2018-01-05 | 宁波伊泽机器人有限公司 | Spray robot |
-
2017
- 2017-06-13 CN CN201710442665.1A patent/CN107282342A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2244242A1 (en) * | 1971-09-10 | 1973-03-15 | Z Przesneho Strojirenstvi Gott | ACTUATING DEVICE FOR SPRAY NOZZLE |
| US4716917A (en) * | 1985-07-08 | 1988-01-05 | Schmidt Ernst L | Tank washing system |
| CN103100501A (en) * | 2011-11-14 | 2013-05-15 | 东芝机械株式会社 | Painting robot system and spray gun unit |
| CN103538053A (en) * | 2012-07-17 | 2014-01-29 | 昆山华恒焊接股份有限公司 | Six-freedom-degree spray coating robot |
| CN203991046U (en) * | 2014-05-29 | 2014-12-10 | 东莞誉铭新工业有限公司 | Intelligence spray robot device |
| CN105689179A (en) * | 2015-08-20 | 2016-06-22 | 中科新松有限公司 | Ship body surface multi-gun coating operation robot |
| CN106345644A (en) * | 2016-09-19 | 2017-01-25 | 东莞市尔必地机器人有限公司 | Spray manipulator device |
| CN206838378U (en) * | 2017-06-13 | 2018-01-05 | 宁波伊泽机器人有限公司 | Spray robot |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109365172A (en) * | 2018-11-22 | 2019-02-22 | 苏州奥曼恩自动化科技有限公司 | A kind of part spray equipment |
| CN111921752A (en) * | 2020-07-09 | 2020-11-13 | 龙井和 | Industrial automatic spraying robot |
| CN111921752B (en) * | 2020-07-09 | 2021-10-15 | 陕西微阅信息技术有限公司 | Industrial automatic spraying robot |
| CN112024206A (en) * | 2020-08-26 | 2020-12-04 | 孙浩 | Six-degree-of-freedom paint spraying manipulator |
| CN112024206B (en) * | 2020-08-26 | 2021-12-03 | 邢台欧美亚车业有限公司 | Six-degree-of-freedom paint spraying manipulator |
| CN112691821A (en) * | 2020-12-21 | 2021-04-23 | 苏州阿甘机器人有限公司 | Robot for spraying product and working method thereof |
| CN114908488A (en) * | 2022-05-12 | 2022-08-16 | 杭州传联花边有限公司 | Lubricating device and method for high-speed embroidery machine |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107282342A (en) | Spray robot | |
| CN104133424B (en) | Industrial robot linear interpolation method based on programmable logic controller | |
| CN207254623U (en) | A kind of comprehensive automatic spray apparatus | |
| CN104552300B (en) | A kind of off-line programing teaching apparatus based on teaching robot and method | |
| CN207915465U (en) | A kind of multiaxis transportation robot | |
| CN103495971B (en) | A kind of five degree of freedom Combined robot platform | |
| CN104989914A (en) | High-adaptability multifunctional pipeline robot | |
| CN104209294B (en) | Orthogonal multi-joint complex CNC (Computerized Numerical Control) cleaning machine and cleaning method thereof | |
| CN104260083A (en) | Five-degree-of-freedom planar joint robot mechanism | |
| CN104959983B (en) | Robot handheld demonstration method | |
| CN206838378U (en) | Spray robot | |
| CN208543485U (en) | A kind of 4 axis multi-joint robotic arms | |
| CN106272429A (en) | Additional shaft motion planning method in a kind of planer-type lifting machine people working cell | |
| CN206925862U (en) | A kind of planar manipulator | |
| CN201300417Y (en) | Four-freedom pneumatic manipulator | |
| CN208867176U (en) | Simple structure six-joint robot | |
| CN204322082U (en) | A kind of off-line programing teaching apparatus based on teaching robot | |
| CN104959978A (en) | Pipe fitting operation robot | |
| CN202985563U (en) | Manipulator | |
| CN207771816U (en) | A kind of mechanical arm that applicability is high | |
| CN203170497U (en) | Manipulator for irregular barrel-shaped workpiece inner surface spraying | |
| CN207615648U (en) | A kind of industrial robot cast arm | |
| CN206838372U (en) | The rotating mechanism of spray gun | |
| CN216590889U (en) | Industry vision shift unit | |
| CN206104229U (en) | Automatic spraying machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171024 |
|
| RJ01 | Rejection of invention patent application after publication |