CN108115696B

CN108115696B - Spraying robot

Info

Publication number: CN108115696B
Application number: CN201611067208.0A
Authority: CN
Inventors: 李学威; 何伟全; 边弘晔; 陈廷辉; 张鹏; 冯春雨; 付杰
Original assignee: Shenyang Siasun Robot and Automation Co Ltd
Current assignee: Shenyang Siasun Robot and Automation Co Ltd
Priority date: 2016-11-28
Filing date: 2016-11-28
Publication date: 2021-06-22
Anticipated expiration: 2036-11-28
Also published as: CN108115696A

Abstract

The invention provides a spraying robot which comprises a spraying robot body and a spraying gun arranged on the spraying robot body, wherein a motor wire routing cavity is formed in the spraying robot body, a motor wire and a motor are packaged in the motor wire routing cavity, the motor wire routing cavity is a closed cavity, and a spraying pipe is arranged outside the motor wire routing cavity. Through encapsulating motor line and motor at inclosed motor line and walk the line intracavity, walk the line intracavity with the coating pipe setting at the motor line simultaneously outside for motor line and motor and the complete isolation of coating pipe, even break at the in-process coating pipe that spraying robot operated, spraying materials such as paint vehicle also can not contact motor and motor line, great reduction the explosion, the possibility that the condition such as fire takes place, furthest's assurance personnel and equipment, security performance and reliability have been improved.

Description

Spraying robot

Technical Field

The invention belongs to the field of automatic spraying, and particularly relates to a spraying robot.

Background

Within the painting industry, painting operations are typically performed by painting robots in order to facilitate automated control and reduce the impact on the operator. Specifically, a spray gun is arranged at the end part of an automatic control spraying manipulator, and then a spraying material is led to the spray gun through a spraying pipe.

In the prior art, the motor wire and the spraying pipe of the spraying robot generally enter from the base of the spraying robot, and reach the three axle boxes after passing through the waist seat and the large arm, and then the spraying pipe reaches the mechanical wrist through the small arm and is connected with the spray gun, so that the connection between the motor wire and the spraying pipe and the motor or the spray gun of the spraying robot is realized. In the scheme, before the motor wire and the spraying pipe reach the three-axle box, the routing paths of the motor wire and the spraying pipe are completely the same, the motor wire and the spraying pipe are both positioned in the same sealed cavity, the sealed cavity consists of a base, a waist seat, a large arm and the three-axle box, and meanwhile, all the motors are also positioned in the cavity.

However, when the painting robot performs the painting operation, it is applied in an environment in which dangerous gases (gases generated by atomization during the painting process) such as inflammable and explosive gases are mixed, and according to the regulations of the national standard "electrical equipment for explosive gas atmosphere" GB3836, all electrical equipment used in an explosive gas atmosphere must be explosion-proof. In the scheme, the motor wire, the motor and the spraying pipe are positioned in the same cavity and are extremely dangerous; once the spraying robot is in use, the spraying pipe is broken (the spraying pipe is repeatedly bent and twisted due to continuous rotation of joints in the use of the spraying robot, which is easy to happen) and contacts with a motor wire or a motor in the same cavity, so that explosion and fire disasters can be easily caused to damage equipment such as the spraying robot, and the personal safety of workers is seriously affected.

Disclosure of Invention

The present invention is directed to solve at least one of the above problems and to provide a more reliable painting robot with higher overall performance.

In order to achieve the purpose, the invention adopts the following technical scheme:

the invention provides a spraying robot which comprises a spraying robot body and a spraying gun arranged on the spraying robot body, wherein the spraying robot body comprises a plurality of motors, and a base, a waist seat, a large arm, a three-axle box, a small arm and a mechanical wrist which are sequentially connected; the spraying robot is provided with a motor wire for supplying power to the motor and a spraying pipe connected with the spray gun, a motor wire routing cavity is formed in the spraying robot body, the motor wire and the motor are packaged in the motor wire routing cavity, the motor wire routing cavity is a closed cavity, and the spraying pipe is arranged outside the motor wire routing cavity.

In some embodiments, the motor line routing cavity comprises a base motor line routing cavity arranged in the base, a waist base motor line routing cavity arranged in the waist base, a large arm motor line routing cavity arranged in the large arm and a tri-box motor line routing cavity arranged in the tri-box, and the base motor line routing cavity, the waist base motor line routing cavity, the large arm motor line routing cavity and the tri-box motor line routing cavity are communicated with each other.

In some embodiments, a base spray pipe routing cavity is formed in the base, and the spray pipe is connected to the spray gun through the base spray pipe routing cavity.

In some embodiments, a waist seat spray pipe routing cavity is formed in the waist seat, and the spray pipe is connected with the spray gun through the waist seat spray pipe routing cavity.

In some embodiments, a small arm spray pipe routing cavity is formed in the small arm, and the spray pipe is connected with the spray gun through the small arm spray pipe routing cavity. .

In some embodiments, a robot wrist spray pipe routing cavity is formed in the robot wrist, and the spray pipe is connected to the spray gun through the robot wrist spray pipe routing cavity.

The spraying pipes are sequentially arranged along a base spraying pipe routing cavity arranged in the base, a waist seat spraying pipe routing cavity arranged in the waist seat, the outer sides of the waist seat, the large arm and the three-axle box, and then the spraying pipes are connected with the spray gun through a small arm spraying pipe routing cavity arranged in the small arm and a mechanical wrist spraying pipe routing cavity arranged in the mechanical wrist.

In some embodiments, a fixing buckle is arranged on the outer side of the waist seat, a fixing buckle is arranged on the outer side of the triaxial box, and the spraying pipe led out from the spraying pipe routing cavity of the waist seat is fixed through the fixing buckle.

The invention has the beneficial effects that: through encapsulating motor line and motor at inclosed motor line and walk the line intracavity, walk the line intracavity with the coating pipe setting at the motor line simultaneously outside for motor line and motor and the complete isolation of coating pipe, even break at the in-process coating pipe that spraying robot operated, spraying materials such as paint vehicle also can not contact motor and motor line, great reduction the explosion, the possibility that the condition such as fire takes place, furthest's assurance personnel and equipment, security performance and reliability have been improved.

Drawings

Fig. 1 is a perspective view of the overall structure of the painting robot provided by the present invention.

Fig. 2 is a schematic cross-sectional view of a three-axle box, a small arm and a mechanical wrist of the painting robot provided by the invention.

Fig. 3 is a schematic view of the connection structure of the base, the waist seat and the large arm.

Figure 4 is a cross-sectional schematic view of the upper arm and lumbar support.

Figure 5 is a schematic horizontal cross-section of a lumbar support in an embodiment of the present invention.

Figure 6 is a schematic horizontal cross-section of a base in one embodiment of the invention.

Figure 7 is a schematic vertical cross-section of a base in one embodiment of the invention.

Figure 8 is a schematic vertical cross-section of a lumbar support in an embodiment of the present invention.

Reference numerals:

a spray gun 1; a base 2; a base motor wire routing cavity 21; a base spray pipe routing cavity 22; a waist seat 3; a wire routing cavity 31 of the waist seat motor; a waist seat spray pipe routing cavity 32; a large arm 4; a large arm motor wire routing cavity 41; a three-axle box 5; a three-axle box motor wire routing cavity 51; a small arm 6; a small arm spray pipe routing cavity 61; a mechanical wrist 7; the mechanical wrist spray pipe routing cavity 71; a motor wire 8; a spray pipe 9; a retaining buckle 91.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be considered as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "disposed," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

The following describes the painting robot according to the present invention in detail with reference to fig. 1 to 8.

As shown in fig. 1, the painting robot includes a painting robot body and a spray gun 1 provided on the painting robot body. The spraying robot body is used for driving and adjusting the position of the spray gun 1 and simultaneously provides support for the routing of the spraying pipe 9. Generally, the spraying robot body is a multi-joint mechanical arm, and the position of the spray gun 1 can be adjusted in multiple directions and at multiple angles to meet the requirements of different positions of the spray gun 1. In addition, the automatic control of the spray gun 1 is realized through a multi-joint mechanical arm, and the position of the spray gun 1 can be adjusted and controlled only by setting the motion track of the spraying robot body in advance according to the requirement of the spraying position of the spray gun 1; the automation is realized, and the manpower and material resources are reduced.

Specifically, the spraying robot body comprises a plurality of motors (not shown in the figure), a base 2, a waist seat 3, a large arm 4, a three-axle box 5, a small arm 6 and a mechanical wrist 7 which are connected in sequence, and the spray gun 1 is fixed on the mechanical wrist 7.

As shown in fig. 1, the base 2 is located at the lowest end of the entire painting robot body according to the spatial position, and serves as a mounting base and a supporting and fixing point for other components of the entire painting robot body. From bottom to top are a base 2, a waist seat 3, a big arm 4, a three-axis box 5, a small arm 6 and a mechanical wrist 7. Generally speaking, the motors in the invention comprise at least three motors, one between the base 2 and the waist seat 3, one between the waist seat 3 and the large arm 4, and one between the large arm 4 and the triaxial box 5; therefore, the multi-joint spraying robot body is formed, and the position is controlled more accurately and precisely. In one embodiment, the waist seat 3 can rotate in a horizontal plane relative to the base 2 to drive the spray gun 1 to move leftwards or rightwards; the large arm 4 can rotate around the waist seat 3 in a vertical plane to drive the spray gun 1 to move forwards or backwards; at the same time, the small arm 6 and the three-axle box 5 can rotate in the vertical plane around the large arm 4 to drive the spray gun 1 to move upwards or downwards.

Meanwhile, a motor wire 8 for supplying power to the motor and a spraying pipe 9 connected with the spray gun 1 are arranged on the spraying robot. In the present invention, the motor is provided between the base 2 and the waist rest 3, between the waist rest 3 and the large arm 4, or between the large arm 4 and the triaxial case 5, as described above. The above-mentioned "between" is not only located on the third platform between the base 2 and the waist seat 3, but also includes the waist seat 3 provided on the base 2, and also between the above-mentioned; the forces are mutually acting, it being easily understood that it is also possible to arrange on the lumbar support 3 for a mutual movement between the lumbar support 3 and the base 2. The motor line 8 is used for supplying power to the motor so as to drive the whole spraying robot to operate. In addition, the spraying pipe 9 is connected to the spray gun 1 from the bottom of the spraying robot, one end is connected with a spraying paint source, and the other end is connected with the spray gun 1; when the spraying conditions are met, the spraying pipe 9 is controlled to suck the coating from a spraying coating source, transfer the coating to the spray gun 1 and spray the coating from the spray gun 1.

During the use process of the spraying robot, a lot of flammable and explosive gases or dust fog can be generated; if the motor wire 8 or the motor is contacted with the gas or the dust fog for a long time, a fire or explosion is easy to happen, and the personal safety of workers and the safety of equipment are threatened. Therefore, in the invention, the spraying robot body is provided with the motor wire routing cavity, and the motor wire 8 and the motor are both packaged in the motor wire routing cavity; meanwhile, the motor wire routing cavity is a closed cavity. So, can completely isolate motor line 8 and motor and outside spraying environment, further, can walk the line intracavity at the motor line and carry out the explosion-proof processing of malleation, the personal safety of staff and the safety of equipment are ensured in the emergence of explosion or conflagration of preventing that can be fine.

Meanwhile, the spraying pipe 9 is arranged outside the motor wire routing cavity; not only isolate motor line 8 and motor and external environment, also isolate spraying pipe 9 and motor line 8 and motor simultaneously. So, even in spraying operation process, spray tube 9 breaks, and the spraying coating leaks, also can not contact motor line 8 or motor, has further ensured spraying robot's security performance, great reduction the possibility that the condition such as explosion, fire take place, furthest's assurance personnel and equipment safety.

In order to further improve the integration of the motor wire routing cavity and the spraying robot body, in an embodiment of the present invention, as shown in fig. 3 to 8, the motor wire routing cavity includes a base motor wire routing cavity 21 disposed in the base 2, a waist base motor wire routing cavity 31 disposed in the waist base 3, a large arm motor wire routing cavity 41 disposed in the large arm 4, and a three-axis box motor wire routing cavity 51 disposed in the three-axis box, and the base motor wire routing cavity 21, the waist base motor wire routing cavity 31, the large arm motor wire routing cavity 41, and the three-axis box motor wire routing cavity 51 are communicated with each other. The motor line routing cavity in the invention is composed of four parts, and the motor line 8 is connected to the three-axle box motor line routing cavity 51 along the base motor line routing cavity 21, the waist seat motor line routing cavity 31 and the large arm motor line routing cavity 41 from bottom to top.

The base motor wire routing cavity 21, the waist base motor wire routing cavity 31, the large arm motor wire routing cavity 41 and the three-axle box motor wire routing cavity 51 form a closed cavity together; motor line 8 is walked the line chamber 21 by the base motor line and is got into, is walked the line chamber 41 by big arm motor line and is drawn forth to triaxial box motor line and walks line chamber 51, and simultaneously, the motor just sets up and walks the intracavity at above-mentioned each.

In order to integrally arrange the spraying pipe 9 and the spraying robot body and ensure that the spraying pipe 9 is arranged outside the motor wire routing cavity; in one embodiment of the present invention, as shown in fig. 1-6, the spray pipe 9 is routed along the base spray pipe routing cavity 22, the waist seat spray pipe routing cavity 32, the outer sides of the large arm 4 and the triple axle box 5 in sequence, and then connected to the spray gun 1 through the small arm spray pipe routing cavity 61 and the mechanical wrist spray pipe routing cavity 71.

In general, the spray pipe 9 can be arranged along any one side of the base 2, the waist seat 3 and the large arm 4, including fixing; when the spray pipe 9 extends to the top end of the large arm 4, the spray pipe bypasses the side surface and the upper end surface of the three-axle box 5 and then reaches the spray gun 1 through the small arm 6 and the outer side of the mechanical wrist 7 to be connected with the spray gun 1. Although the wiring way realizes the complete isolation of the spraying pipe 9 and the motor wire 8; however, the routing of the spray pipe 9 completely occupies the space outside the spray robot body, which results in space waste on one hand, and the fixing and installation of the spray pipe 9 are troublesome on the other hand. In order to solve the above problem, in one embodiment of the present invention, as shown in fig. 1 and 2, the spray pipe 9 is sequentially routed along the base spray pipe routing cavity 22, the waist-base spray pipe routing cavity 32, and the outer sides of the upper arm 4 and the triple axle box 5, and when reaching the lower arm 6, the spray pipe is switched to be routed through the lower arm spray pipe routing cavity 61 and the robotic wrist spray pipe routing cavity 71, and finally connected to the spray gun 1. In the scheme, the occupation of the spray pipe 9 on the external space of the forearm 6 and the mechanical wrist 7 is reduced, and the fixing problem of the spray pipe 9 is solved. On one hand, in the spraying robot body, in order to facilitate the position adjustment of the spray gun 1 and to insert the spray gun 1 into some narrow spaces, the requirement of the small arm 6 on the outer diameter is relatively high, once the spraying pipe 9 is routed along the outer side of the small arm 6, the outer diameter of the small arm 6 must be increased, and the routing inside does not influence the outer diameter of the small arm 6; for the same reason, if a component for fixing the spray pipe 9 is arranged outside the small arm 6, the outer diameter of the small arm 6 is inevitably increased, and the internal routing is not possible. Generally, the inner part of the small arm 6 is made into an inner cavity which is penetrated along the extension direction of the small arm 6, an opening is arranged at one end of the small arm 6 far away from the spray gun 1, and the spraying pipe 9 passes through the triaxial box 5 and then is inserted into the inner cavity (the small arm spraying pipe routing cavity 61) of the small arm 6 through the opening; and then connected with the spray gun 1 through the inner cavity of the mechanical wrist 7 (the mechanical wrist spraying pipe routing cavity 71).

Similarly, in another embodiment of the present invention, as shown in fig. 3, 4, 5, 6 and 7, a base spray pipe routing cavity 22 is provided in the base 2, and the spray pipe 9 is connected to the spray gun 1 through the base spray pipe routing cavity 22. That is, the spray pipe 9 enters the base spray pipe routing cavity 22 from the bottom of the spray robot body; and then connected to the lance 1 via subsequent joints and components. In the present invention, the base spray pipe routing cavity 22 is completely isolated from the base motor line routing cavity 21, so as to isolate the spray pipe 9 from the motor line 8.

Similarly, in another embodiment, as shown in fig. 5 and 8, a waist-seat spray tube routing cavity 32 is provided in the waist seat 3, and the spray tube 9 is connected to the spray gun 1 through the waist-seat spray tube routing cavity 32. That is, the spray pipe 9 enters the waist seat spray pipe routing cavity 32 from the bottom of the spray robot body through the base spray pipe routing cavity 22, and is connected to the spray gun 1 through the subsequent joints and components. In the present invention, the waist seat spraying pipe routing cavity 32 and the waist seat motor line routing cavity 31 are completely isolated, so as to realize the isolation of the spraying pipe 9 and the motor line 8.

As shown in fig. 1, in order to fix the spray pipes 9 provided inside and outside the base 2, the waist rest 3, the upper arm 4, the triaxial box 5, the lower arm 6, or the robot wrist 7, a fixing clip 91 is generally provided outside at least one of the base 2, the waist rest 3, the upper arm 4, the triaxial box 5, the lower arm 6, or the robot wrist 7, and the spray pipes 9 are fixed by the fixing clip 91. As shown in fig. 1, the spray pipes 9 generally need to extend from the side surfaces to the upper surface of the triaxial box 5, and therefore, for better fixation, fixing buckles 91 are provided on both the side surfaces and the upper surface of the triaxial box 5; similarly, the side of the waist seat is also provided with a fixing buckle 91.

In the specific embodiment, as shown in fig. 1, the invention provides a spraying robot, which sequentially comprises a base 2, a waist seat 3, a large arm 4, a three-axle box 5, a small arm 6, a mechanical wrist 7 and a spray gun 1 from bottom to top, wherein a multi-joint mechanical arm and the spray gun 1 are combined with each other.

Wherein, as shown in fig. 6 and 7, a base motor wire routing cavity 21 and a base spraying pipe routing cavity 22 are provided in the base 2, the base motor wire routing cavity 21 and the base spraying pipe routing cavity 22 constitute a circular ring cavity which is sleeved with each other, the base spraying pipe routing cavity 22 is located at the outer side of the base motor wire routing cavity 21, and the base motor wire routing cavity 21 and the base spraying pipe routing cavity 22 are isolated.

As shown in fig. 4, 5 and 8, the waist seat 3 is arranged above the base 2, a waist seat motor line routing cavity 31 and a waist seat spraying pipe routing cavity 32 are arranged in the waist seat 3, the waist seat motor line routing cavity 31 and the waist seat spraying pipe routing cavity 32 also form a circular cavity which is sleeved with each other, the waist seat spraying pipe routing cavity 32 is located at the outer side of the waist seat motor line routing cavity 31, and the waist seat motor line routing cavity 31 is separated from the waist seat spraying pipe routing cavity 32. The upper end of the base spray pipe routing cavity 22 is open and is communicated with the waist seat spray pipe routing cavity 32; the upper end of the base motor wire routing cavity 21 is open and communicated with the waist motor wire routing cavity 31.

Furthermore, the upper end of the waist seat spraying pipe routing cavity 32 is opened, and the spraying pipe 9 is led out from the opening; meanwhile, the waist seat 3 is provided with a fixing buckle 91, and the spraying pipe 9 is fixed through the fixing buckle 91. The spray pipe 9 led out from the waist seat spray pipe routing cavity 32 extends along the side surface of the large arm 4 and the side surface and the upper surface of the three-axle box 5; meanwhile, fixing buckles 91 are also provided on the side and upper surfaces of the triaxial box 5, and the spray pipes 9 are fixed by the fixing buckles 91.

As shown in fig. 2, a small arm spray pipe routing cavity 61 is arranged inside the small arm 6, and the spray pipe 9 passes through the upper surface of the triaxial box 5, extends into the small arm spray pipe routing cavity 61, further extends into the mechanical wrist spray pipe routing cavity 71, and is connected with the spray gun 1.

As shown in fig. 3, a large arm motor wire routing cavity 41 is arranged inside the large arm 4, and the large arm motor wire routing cavity 41 is communicated with the waist seat motor wire routing cavity 31; the upper end of the large arm motor wire routing cavity 41 is connected with the triaxial box motor wire routing cavity 51. The motor line 8 extends to the three-axle box motor line routing cavity 51 through the base motor line routing cavity 21, the waist base motor line routing cavity 31 and the large arm motor line routing cavity 41 in sequence.

In the above embodiment, the base 2 includes two cavities, namely, a base motor wire routing cavity 21 and a base spraying pipe routing cavity 22; the waist seat 3 comprises two cavities, namely a waist seat motor wire routing cavity 31 and a waist seat spraying pipe routing cavity 32. The base motor wire routing cavity 21, the waist base motor wire routing cavity 31, the large arm motor wire routing cavity 41 and the three-axle box motor wire routing cavity 51 form a closed cavity, namely a motor wire routing cavity; simultaneously, the motor also sets up at this motor line and walks the line intracavity to line chamber carries out malleation explosion-proof treatment to this motor line, makes this inclosed motor line walk the line chamber and isolates with outside inflammable and explosive gas environment, also isolates with spray pipe 9 simultaneously. The base spraying pipe routing cavity 22, the waist spraying pipe routing cavity 32, the large arm 4, the three-axle box 5, the small arm spraying pipe routing cavity 61 and the mechanical wrist spraying pipe routing cavity 71 form an open type cavity which can be communicated with the external space, no electric equipment or motor wire 8 is contained in the cavity, no explosion-proof treatment is needed, and the spraying pipe 9 is routed to the spray gun 1 along the cavity. That is, the wiring space of the spray pipe 9 and the wiring space of the motor wire 8 are completely isolated and do not interfere with each other; in the operation process of the spraying robot, even if the spraying pipe 9 is broken, the leaked spraying coating can not contact the motor wire 8 and the motor, so that the safety of workers and equipment is ensured.

As shown in fig. 2, in an embodiment of the present invention, the spray pipe 9 is sequentially routed along the base spray pipe routing cavity 22 disposed in the base 2, the waist seat spray pipe routing cavity 32 disposed in the waist seat 3, the outer sides of the waist seat 3, the large arm 4, and the triple axle box 5, and then connected to the spray gun 1 through the small arm spray pipe routing cavity 61 disposed in the small arm 6 and the mechanical wrist spray pipe routing cavity 71 disposed in the mechanical wrist 7.

In some embodiments, a small arm spray tube routing cavity 61 is formed in the small arm 6, and the spray tube 9 is connected to the spray gun 1 through the small arm spray tube routing cavity 61. .

In some embodiments, a robot wrist spray tube routing cavity 71 is formed in the robot wrist 7, and the spray tube 9 is connected to the spray gun 1 through the robot wrist spray tube routing cavity 71.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.

Claims

1. A spraying robot comprises a spraying robot body and a spray gun arranged on the spraying robot body, and is characterized in that the spraying robot body comprises a plurality of motors, and a base, a waist seat, a large arm, three axle boxes, a small arm and a mechanical wrist which are sequentially connected, wherein the spray gun is fixed on the mechanical wrist; the spraying robot is provided with a motor wire for supplying power to the motor and a spraying pipe connected with the spraying gun, a motor wire routing cavity is formed in the spraying robot body, the motor wire and the motor are both packaged in the motor wire routing cavity, the motor wire routing cavity is a closed cavity, and the spraying pipe is arranged outside the motor wire routing cavity;

the motor wire routing cavity comprises a base motor wire routing cavity arranged in the base, a waist seat motor wire routing cavity arranged in the waist seat, a large arm motor wire routing cavity arranged in the large arm and a three-axle box motor wire routing cavity arranged in the three-axle box, and the base motor wire routing cavity, the waist seat motor wire routing cavity, the large arm motor wire routing cavity and the three-axle box motor wire routing cavity are communicated with each other;

a base spraying pipe routing cavity is formed in the base, a waist seat spraying pipe routing cavity is formed in the waist seat, a small arm spraying pipe routing cavity is formed in the small arm, a mechanical wrist spraying pipe routing cavity is formed in the mechanical wrist, and the spraying pipes are sequentially routed along the base spraying pipe routing cavity formed in the base, the waist seat spraying pipe routing cavity formed in the waist seat and the outer sides of the waist seat, the large arm and the three shaft boxes and then connected with the spray gun through the small arm spraying pipe routing cavity formed in the small arm and the mechanical wrist spraying pipe routing cavity formed in the mechanical wrist;

the outside of waist seat is provided with fixed the knot, the triaxial box outside is provided with fixed the knot, by waist seat spraying pipe walks the spray tube that the line chamber was drawn forth and passes through fixed the knot is fixed.