CN109395938A - A kind of painting robot mechanism of flexible cable parallel drive - Google Patents
A kind of painting robot mechanism of flexible cable parallel drive Download PDFInfo
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- CN109395938A CN109395938A CN201811293056.5A CN201811293056A CN109395938A CN 109395938 A CN109395938 A CN 109395938A CN 201811293056 A CN201811293056 A CN 201811293056A CN 109395938 A CN109395938 A CN 109395938A
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- 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
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Spray Control Apparatus (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of painting robot mechanism of flexible cable parallel drive, the flexible cable parallel connection spray robot is made of parts such as rigid support, ball-screw executing agency, pulley, transmission flexible cable, synchronous belt, spray head and drive control box.Spray head is driven by flexible cable, and the pulley of flexible cable is supported nut slider can be followed to move along guide rail；Nut slider is driven by screw rod, passes through toothed belt transmission between screw rod and motor.Beneficial technical effect: the painting robot mechanism of flexible cable parallel drive of the present invention controls end effector using flexible cable parallel-connection structure, has the characteristics that movement inertia is small, sensitive；Drive part concentrates in the drive control box of bottom, so that driving circuit is kept apart with external environment, realizes explosion prevention function；Running part is compact-sized, and it is big to reserve lifting workpiece space.
Description
Technical field
The present invention relates to robot field, the painting robot mechanism of specifically a kind of flexible cable parallel drive.
Background technique
As industrial automatization is continuously improved, many hand labor links are replaced robot in traditional industry.
Painting workshop working environment is poor, labor intensity is high, is not suitable for very much worker's long time continuous working；Spray robot solves
Hand labor has been put, and production efficiency is significantly increased, has reduced production cost.Current most of spray robots are all adopted
Spraying task is completed with rigid mechanical arm configuration.Rigid Robot Manipulator has many advantages, such as that positioning accuracy is high, control is simple.But just
Property mechanical arm each joint need independent driver, and be not easy to realize long-distance transmission, movement inertia is big, flexibility is lower
The problems such as also give spraying field to bring many restrictions.
It needs to be atomized in spraying due to spraying paint used, gas has combustibility in air for disperse, explosive
Painting environments are higher to the security requirement of equipment.And traditional Rigid Robot Manipulator needs to have good airtightness to guarantee to drive
Dynamic motor is kept apart with external environment, avoids that there is a situation where driver circuit generation electric spark igniting gas.From reality
From the point of view of applicable cases, guarantee that being absolutely sealed for mechanical arm is relatively difficult, therefore meet explosion-proof want the invention proposes a kind of
The novel spraying machine people asked.
The object of the present invention is to provide a kind of painting robot mechanisms of flexible cable parallel drive for summary of the invention, existing to solve
There is the problem of exposed easy igniting gas outside of electric part existing for technology spray robot.
In order to achieve the above object, the technical scheme adopted by the invention is as follows:
A kind of painting robot mechanism of flexible cable parallel drive, it is characterised in that: including drive control box and rigid support, spray
Head, in which:
Rigid support is made of the rigid support of rectangular frame structure and frame shape, rectangular frame structure by top frame, bottom frame and
Top frame, four vertical frame sides compositions of bottom frame are connected, rigid support frame covers and is fixed on drive control upper box part, rectangle frame
Frame structure is integrally located above rigid support, and rigid support is connect by multiple connectors with rectangular frame structure；
Ball-screw executing agency is respectively installed in parallel respectively at the top of four horizontal pane sides of its top frame of rectangular frame structure,
The vertical frame side of four of rectangular frame structure is respectively equipped with ball-screw executing agency in parallel respectively, and above-mentioned ball-screw executes
Mechanism is screw slider mechanism, and frame side and central axis of the lead screw rotational installation in screw slider mechanism where respective are parallel
Frame side where respective；
Respectively one end is respectively fixed with first to each lead screw in four ball-screw executing agencies of rectangular frame structure top frame
Synchronous pulley, and the first synchronous pulley position of four lead screws of top frame staggers successively, its bottom frame of rectangular frame structure
Four horizontal pane side lateral surfaces are respectively rotatably equipped with double synchronous pulleys to transport mechanism respectively, and each double synchronous pulleys are to transmission
Mechanism is same by the second of first pair of synchronous pulley, second pair of synchronous pulley and the first, second pair of synchronous pulley that be sequentially connected respectively
Step band is constituted, and four double synchronous pulleys correspond transport mechanism with four the first synchronous pulleys and cooperate, and rigid support four
The lateral surface on horizontal pane side is respectively rotatably equipped with the second synchronous pulley respectively, and four the second synchronous pulleys are also double synchronous with four
Belt wheel, which corresponds transport mechanism, to be cooperated, and each first synchronous pulley passes through the first synchronous belt and corresponding double synchronous belts respectively
Wheel to first pair of synchronous belt pulley transmission connection in transport mechanism, each second synchronous pulley pass through respectively third synchronous belt with it is corresponding
Double synchronous pulleys to second pair of synchronous belt pulley transmission connection in transport mechanism, it is same that drive control box is internally provided with each second
The horizontal ball-screw driving motor of belt wheel corresponding matching is walked, the output shaft of each horizontal ball-screw driving motor is pierced by respectively
After drive control box, then the wheel shaft of the second synchronous pulley corresponding in rigid support is fixedly and coaxially connected；
Each each lead screw lower end is respectively fixed with to rectangular frame structure respectively in the ball-screw executing agency on vertical frame side
Four synchronous pulleys, the drive control box top are rotatably equipped with the third synchronous belt of each 4th synchronous pulley corresponding matching
Wheel, each 4th synchronous pulley pass through the 4th synchronous belt respectively and connect with corresponding third synchronous belt pulley transmission, drive control box
It is inside provided with the vertical ball-screw driving motor of each third synchronous pulley corresponding matching, each vertical ball-screw driving electricity
After the output shaft of machine is pierced by drive control box respectively, then it is fixedly and coaxially connected with the wheel shaft of corresponding third synchronous pulley；
Each slider top is rotatably equipped with first respectively in four ball-screw executing agencies of rectangular frame structure top frame
Pulley, it is axial that the central axis of first pulley is parallel to corresponding lead screw, and rectangular frame structure is also rotatably equipped with each the
The angle pulley group of one pulley corresponding matching, spray head are set in rectangle frame binding structure, and the connection of spray head upper surface is soft there are four pulling up
Rope, after four pull-up flexible cables one-to-one correspondence are around four first pulleys, further around the corresponding angle pulley group of excessively respective first pulley
Stretch to rigid support straight down afterwards, the lateral surface on four horizontal pane sides of rigid support is respectively rotatably equipped with the second flexible cable respectively
Roller, four the second flexible cable rollers and four pull-up flexible cables correspond and cooperate, and each pull-up flexible cable winds and is fixed on respectively
On corresponding first flexible cable roller, drive control box 7 is internally provided with the pull-up flexible cable of each second flexible cable roller corresponding matching
Driving motor, it is each pull-up Wire driven robot motor output shaft be pierced by drive control box respectively after, then with corresponding second flexible cable
The shaft of roller is fixedly and coaxially connected；
It is rotatably equipped with second respectively on each sliding block in the ball-screw executing agency on rectangular frame structure four vertical frame sides
Pulley, the central axis of second pulley are parallel to corresponding lead screw axial direction, the ball-screw executing agency on four vertical frame sides
In be also rotatably equipped with the first angle pulley on each sliding block respectively, the connection of spray head lower surface is there are four pulling down flexible cable, under four
Flexible cable is drawn to correspond around after four second pulleys, further around stretching straight down after crossing corresponding first angle pulley of second pulley
To rigid support, the lateral surface on four horizontal pane sides of rigid support is also respectively rotatably equipped with the first flexible cable roller respectively, and four
First flexible cable roller and four drop-down flexible cables correspond and cooperate, and each drop-down flexible cable winds respectively and is fixed on corresponding first
On flexible cable roller, drive control box is internally provided with the drop-down Wire driven robot motor of each first flexible cable roller corresponding matching, often
After the output shaft of a drop-down Wire driven robot motor is pierced by drive control box respectively, then it is same with the shaft of corresponding first flexible cable roller
Axis is fixedly connected.
The painting robot mechanism of a kind of flexible cable parallel drive, it is characterised in that: double synchronous pulleys are to biography
It send in mechanism, first pair of synchronous pulley rotational installation is being located at corresponding first synchronous pulley just in the bottom frame of rectangular frame structure
Lower position makes to connect first pair of synchronous pulley and the first synchronous belt of corresponding first synchronous pulley is parallel to the first synchronous belt
Take turns the vertical frame side of rectangular frame structure of position；
Second pair of synchronous pulley and first pair of synchronous pulley are in horizontal distribution, keep first pair of synchronous pulley of connection synchronous with second pair
Second synchronous belt of belt wheel is parallel to double synchronous pulleys to the horizontal pane of the rectangular frame structure bottom frame where transport mechanism
Side；
Second synchronous pulley is located at immediately below corresponding second pair of synchronous pulley in the position of rigid support, keeps connection second synchronous
The third synchronous belt of belt wheel and second pair of synchronous pulley is vertical；
Realize that four group of first synchronous pulley and its corresponding double synchronous pulleys synchronize transport mechanism, second by above structure
Belt wheel is non-interference during the work time, and realizes non-interference with flexible cable.
The painting robot mechanism of a kind of flexible cable parallel drive, it is characterised in that: the angle pulley group includes
Second angle pulley, third angle pulley, the 4th angle pulley, the 5th angle pulley, the second angle pulley are rotatablely installed in right
On sliding block where the first pulley answered, third angle pulley is rotatablely installed in first pulley corresponding top frame horizontal pane side one
End, and the first synchronous belt is avoided in third angle pulley position, the 4th angle pulley is rotatablely installed in rectangular frame structure bottom frame
Lateral surface is simultaneously located at immediately below third angle pulley, and the rotational installation of the 5th angle pulley is on the outside of rectangular frame structure bottom frame
Face, and the 5th angle pulley and the 4th angle pulley are in horizontal distribution, the pull-up that thus structure bypasses each first pulley is soft
Rope extends trend along the frame side of rectangular frame structure, and then does each pull-up flexible cable mutually not with each synchronous pulley and synchronous belt
It relates to.
A kind of painting robot mechanism of flexible cable parallel drive, it is characterised in that: the rectangle of the rigid support
The support plate for placing workpiece is fixed in frame structure bottom frame.
The painting robot mechanism of a kind of flexible cable parallel drive, it is characterised in that: set in the drive control box
It is equipped with the controller of each driving motor.
The painting robot mechanism for the flexible cable parallel drive that the present invention designs, is passed based on flexible cable and synchronous belt
It is dynamic, by driving motor centralized arrangement in the drive control box of robot body bottom, to effectively driver circuit be avoided to generate
Electric spark ignite fuel gas occurs in environment explosion the case where.The design of structure through the invention simultaneously, can make flexible cable
Itself, it is non-interference between synchronous belt itself and flexible cable and synchronous belt, improve the stability of movement.
This painting robot mechanism can be used cooperatively with mechanical arm of connecting.Mechanical arm of connecting is used for lifting workpiece, or straight
It connects clamping workpiece and receives spraying, change pose of the workpiece in spraying process, to reach better spraying effect.In addition, this spray
Applying robot mechanism can also be used cooperatively with conveyer belt, and compact drive mechanism makes this painting robot mechanism be reserved with foot
Enough spaces pass through conveyer belt.It can be realized workpiece directly to be sprayed on a moving belt, improve production efficiency.
The invention has the characteristics that:
1, spray head is controlled using flexible cable parallel-connection structure, movement inertia is small, sensitive, can be used for large space, high speed spraying.
2, drive part concentrates in the drive control box of bottom, so that driving circuit is kept apart with external environment, it is real
Existing explosion prevention function.
3, running part is compact-sized, and reserved lifting workpiece space is big, convenient for cooperating with other robot or conveyer belt.
4, using flexible cable and toothed belt transmission, it is small to generate operating noise.
5, spray robot body construction is simple, and maintenance and repair are convenient.
Detailed description of the invention
Fig. 1 is the painting robot mechanism general assembly drawing of flexible cable parallel drive.
Fig. 2 is the painting robot mechanism internal structure chart of flexible cable parallel drive.
Fig. 3 is flexible cable parallel drive painting robot mechanism rigid support.
Fig. 4 is ball-screw executing agency concrete structure diagram.
Fig. 5 is pulley concrete structure schematic diagram.
Fig. 6 is that the flexible cable of flexible cable parallel drive painting robot mechanism arranges route map.
Fig. 7 is that the synchronous belt of flexible cable parallel drive painting robot mechanism arranges route map.
Fig. 8 is the double synchronous pulley schematic diagrames of flexible cable parallel drive spray robot list.
Fig. 9 is driving box internal drive motor distribution map.
Figure 10 is driving motor and motor supporting structure schematic diagram.
Figure label explanation:
In Fig. 1: 1- rigid support, 2- ball-screw executing agency, 3- first pulley, 4- flexible cable, 5- synchronous belt, 6- spray head, 7-
Drive control box, 8- workpiece, 9- support plate, 10- second pulley, the first angle pulley of 3001-, the second angle pulley of 3002-,
3003- third angle pulley, the 4th angle pulley of 3004-, the 5th angle pulley of 3005-.
In Fig. 3: 1100- horizontal pane side, the vertical frame side 1200-, 1300- rigid support, 1400- rectangular frame structure.
In Fig. 4: 2100- bearing block, 2200- ball-screw, 2300- sliding block, 2400-slide rails, 5110-the first is same
Walk belt wheel.
In Fig. 5: 3100- idler wheel, 3200- roller shaft, 3300- rolling wheel support, 3400- supporter.
In Fig. 6: the flexible cable that ball-screw controls on 4100- horizontal stiffness bracket pulls up flexible cable, and 4200- is rigidly propped up vertically
The flexible cable that ball-screw controls on frame pulls down flexible cable, 4300- the first flexible cable roller, 4400- the second flexible cable roller.
In Fig. 7: the 5110-the first synchronous pulley, 5120-the first pair of synchronous pulley, 5130-the second pair of synchronous pulley,
5140-the second synchronous pulley, the 5210-the first synchronous belt, the 5220-the second synchronous belt, 5230-third synchronous belts 3,5300-
Third synchronous pulley, the 5400-the four synchronous belt, the 4th synchronous pulley of 5500-.
In Fig. 8: 5310-synchronous pulleys, the 5320-the first synchronous belt wheel shaft, the 5122-the second synchronous belt wheel shaft, 5121-
Double pulley.
In Fig. 9: 7000-cabinets, 7100-drop-down Wire driven robot motors, 7200-pull-up Wire driven robot motors, 7300-
Horizontal ball-screw driving motor, 7400-vertical ball-screw driving motors.
In Figure 10: 7110-driving motors, 7120-electric machine supports, 7130-retarders, 7140-torque output shafts.
Specific embodiment
Specific reality of the invention is given below in the technical characterstic of flexible cable parallel connection painting robot mechanism in order to better understand
Mode is applied, and is illustrated in conjunction with attached drawing.
As shown in Fig. 1-Figure 10, a kind of painting robot mechanism of flexible cable parallel drive, including drive control box 7 and rigidity
Bracket 1, spray head 6, in which:
Rigid support 1 is made of the rigid support 1300 of rectangular frame structure 1400 and frame shape, and rectangular frame structure 1400 is by pushing up
Portion's frame, bottom frame and connection top frame, four vertical compositions of frame sides 1200 of bottom frame, 1300 frame of rigid support are covered and are fixed on
7 top of drive control box, rectangular frame structure 1400 are integrally located at the top of rigid support 1300, and rigid support 1300 pass through it is more
A connector is connect with rectangular frame structure 1400；
Four horizontal pane sides, 1100 top of 1400 its top frame of rectangular frame structure is respectively equipped with ball-screw in parallel respectively
Executing agency, the vertical frame side 1200 of four of rectangular frame structure 1400 are respectively equipped with ball-screw in parallel respectively and execute machine
Structure, above-mentioned ball-screw executing agency 2 are screw slider mechanism, and the lead screw 2200 in screw slider mechanism is rotatablely installed in each
From the frame at place while and central axis be parallel to it is respective where frame while；
The respective one end of each lead screw 2200 is solid respectively in four ball-screw executing agencies of 1400 top frame of rectangular frame structure
Surely there is the first synchronous pulley 5110, and 5110 position of the first synchronous pulley of four lead screws of top frame staggers successively, rectangle frame
Four horizontal pane side lateral surfaces of 1400 its bottom frame of frame structure are respectively rotatably equipped with double synchronous pulleys to transport mechanism respectively,
Each double synchronous pulleys are to transport mechanism respectively by first pair of synchronous pulley, 5120, second pairs of synchronous pulleys 5130 and transmission connection
Second synchronous belt 5220 of first, second pair of synchronous pulley 5120,5130 is constituted, and four double synchronous pulleys are to transport mechanism and four
A first synchronous pulley 5120 corresponds cooperation, and the lateral surface on 1,300 4 horizontal pane sides of rigid support distinguishes each autorotation peace
Equipped with the second synchronous pulley 5140, four the second synchronous pulleys 5140 also correspond transport mechanism with four double synchronous pulleys
Cooperation, each first synchronous pulley 5110 pass through the first synchronous belt 5210 with corresponding double synchronous pulleys in transport mechanism respectively
The first pair of synchronous pulley 5120 is sequentially connected, each second synchronous pulley 5140 respectively by third synchronous belt 5230 with it is corresponding
Double synchronous pulleys are sequentially connected to the second pair of synchronous pulley 5130 in transport mechanism, and drive control box 7 is internally provided with each the
The horizontal ball-screw driving motor 7300 of two synchronous pulleys, 5140 corresponding matching, each horizontal ball-screw driving motor 7300
Output shaft be pierced by drive control box 7 respectively after, then with the wheel shaft of the second synchronous pulley 5140 corresponding in rigid support 1300
It is fixedly and coaxially connected；
Each self-retaining is distinguished in each lead screw lower end in the ball-screw executing agency on each vertical frame side of rectangular frame structure 1400
There is the 4th synchronous pulley 5500, the of each 4th synchronous pulley, 5500 corresponding matching is rotatably equipped at the top of drive control box 7
Three synchronous pulleys 5300, each 4th synchronous pulley 5500 are synchronous with corresponding third by the 4th synchronous belt 5400 respectively
Belt wheel 5300 is sequentially connected, and the vertical ball of each 5300 corresponding matching of third synchronous pulley is provided in drive control box 7
Lead screw driving motor 7400, after the output shaft of each vertical ball-screw driving motor 7400 is pierced by drive control box 7 respectively, then
It is fixedly and coaxially connected with the wheel shaft of corresponding third synchronous pulley 5300；
Each slider top is rotatably equipped with respectively in four ball-screw executing agencies of 1400 top frame of rectangular frame structure
First pulley 3, the central axis of first pulley 3 are parallel to corresponding lead screw axial direction, and rectangular frame structure 1400 also rotates peace
Angle pulley group equipped with each 3 corresponding matching of first pulley, spray head 6 are set in rectangle frame binding structure 1400,6 upper surface of spray head
Connection is there are four flexible cable 4100 is pulled up, after four pull-up flexible cables 4100 one-to-one correspondence are around four first pulleys 3, further around excessively respective
Rigid support 1300,1,300 4 horizontal pane sides of rigid support are stretched to after the corresponding angle pulley group of first pulley 3 straight down
Lateral surface be respectively rotatably equipped with the second flexible cable roller 4400, four the second flexible cable rollers 4400 and four pull-up flexible cables respectively
4100 correspond cooperation, and each pull-up flexible cable 4100 winds respectively and is fixed on corresponding first flexible cable roller 4400, drive
Dynamic control cabinet 7 is internally provided with the pull-up Wire driven robot motor 7200, Mei Geshang of each second flexible cable roller, 4400 corresponding matching
Draw 7200 driving motor of flexible cable output shaft be pierced by drive control box 7 respectively after, then with corresponding second flexible cable roller 4400
Shaft is fixedly and coaxially connected；
Rotation is pacified respectively on each sliding block in the ball-screw executing agency on rectangular frame structure 1,400 4 vertical frame sides 1200
Equipped with second pulley 10, the central axis of second pulley 10 is parallel to that corresponding lead screw is axial, four vertical frame sides 1200
Also it is rotatably equipped with the first angle pulley 3001, the connection of 6 lower surface of spray head in ball-screw executing agency on each sliding block respectively
There are four drop-down flexible cables 4200, sliding further around crossing second after four drop-down flexible cables 4200 one-to-one correspondence are around four second pulleys 10
Rigid support 1300,1,300 4 horizontal pane sides of rigid support are stretched to straight down after taking turns 10 corresponding first angle pulleies 3001
Lateral surface be also respectively rotatably equipped with the first flexible cable roller 4300 respectively, four the first flexible cable rollers 4300 and four drop-downs are soft
Rope 4200 corresponds cooperation, and each drop-down flexible cable 4200 winds respectively and is fixed on corresponding first flexible cable roller 4300,
Drive control box 7 is internally provided with the drop-down Wire driven robot motor 7100 of each first flexible cable roller, 4300 corresponding matching, each
Drop-down Wire driven robot motor 7100 output shaft be pierced by drive control box 7 respectively after, then with corresponding first flexible cable roller 4300
Shaft be fixedly and coaxially connected.
Double synchronous pulleys are in transport mechanism, and first pair of rotational installation of synchronous pulley 5120 is in rectangular frame structure 1400
Bottom frame is located at corresponding first synchronous pulley, 5110 following position directly, makes to connect first pair of synchronous pulley 5120 and corresponding the
First synchronous belt 5210 of one synchronous pulley 5110 is parallel to the rectangular frame structure of 5110 position of the first synchronous pulley
1400 vertical frame sides 1200；
Second pair of synchronous pulley 5130 and first pair of synchronous pulley 5120 are in horizontal distribution, make to connect first pair of synchronous pulley 5120
Double synchronous pulleys are parallel to the rectangle frame where transport mechanism with the second synchronous belt 5220 of second pair of synchronous pulley 5130
The horizontal pane side of 1400 bottom frame of frame structure；
Second synchronous pulley 5140 is located at immediately below corresponding second pair of synchronous pulley 5130 in the position of rigid support 1300, makes
The third synchronous belt 5230 for connecting the second synchronous pulley 5140 and second pair of synchronous pulley 5130 is vertical；
Realize four group of first synchronous pulley 5110 and its corresponding double synchronous pulleys to transport mechanism, second by above structure
Synchronous pulley 5140 is non-interference during the work time, and realizes non-interference with flexible cable.
Angle pulley group includes the second angle pulley 3002, third angle pulley 3003, the 4th angle pulley the 3004, the 5th
Angle pulley 3005, on the sliding block where corresponding first pulley 3001, third turns the rotational installation of the second angle pulley 3002
It is rotatablely installed to pulley 3003 in 3001 corresponding top frame horizontal pane side of first pulley, 1100 one end, and third angle pulley
The first synchronous belt 5210 is avoided in 3003 positions, and the 4th angle pulley 3003 is rotatablely installed in outside 1400 bottom frame of rectangular frame structure
Side is simultaneously located at immediately below third angle pulley 3003, and the 5th angle pulley 3005 is rotatablely installed in 1400 bottom of rectangular frame structure
Portion outer frame side, and the 5th angle pulley 3005 and the 4th angle pulley 3004 are in horizontal distribution, thus structure makes each first
The pull-up flexible cable 4100 that pulley 3001 bypasses extends trend along the frame side of rectangular frame structure 1400, and then makes each pull-up flexible cable
4100 is non-interference with each synchronous pulley and synchronous belt.
The support plate for placing workpiece is fixed in 1400 bottom frame of rectangular frame structure of rigid support 1.Driving control
The controller of each driving motor is provided in case 7 processed.
The painting robot mechanism of flexible cable parallel drive of the present invention mainly by rigid support 1, ball-screw executing agency 2,
The most of composition of pulley 3, transmission flexible cable 4, synchronous belt 5, spray head 6 and drive control box 7 etc. seven.
Further illustrate that rigid support 1 is by rectangular frame structure 1400 and to support synchronous pulley in conjunction with Fig. 1,2,3
The rigid support 1300 of axis, flexible cable drum shaft.The specific structure is shown in FIG. 3 for rigid support 1.At 1400 top of rectangular frame structure
Four horizontal panes of frame while 1100 and side four vertical frames while 1200 on be respectively equipped with totally 8 groups of ball-screw executing agency 2().
To support the rigid support 1300 of synchronous belt wheel shaft and flexible cable drum shaft to be provided with circular hole in corresponding support position respectively.
It is further illustrated in conjunction with Fig. 1,3,4, ball-screw executing agency 2 is led by ball-screw 2200, sliding block 2300, sliding
Rail 2400, bearing block 2100 form.Ball-screw concrete structure diagram is as shown in Figure 4.Wherein slide rail 2400 and rigid support
1100, it 1200 is fixedly connected, ball-screw 2200 is connected on slide rail 2400 by bearing block 2100, and sliding block 2300 is rolling
Translational motion is realized under the rotation of ballscrew 2200 and the constraint of slide rail 2400.One end of ball-screw 2200 is equipped with first
Synchronous pulley 5110.For the ease of arranging transmission parts, positioned at the horizontal pane side 1100 of the top frame of rectangular frame structure 1400
On four groups of ball-screw executing agencies 2 be sequentially connected with mode using head and the tail and install；Positioned at the vertical of rectangular frame structure 1400
Four groups of ball-screws on frame side 1200 install downwards one end equipped with the 4th synchronous pulley 5500.8 groups of ball-screw guide rails 2
To change pull-up flexible cable 4100, drop-down 4200 Support Position of flexible cable, thus pose needed for obtaining spray head 6.
It is further illustrated in conjunction with Fig. 1,5,6, first pulley 3, second pulley 10 each serve as support and guiding pull-up flexible cable
4100, the effect of flexible cable 4200 is pulled down.By taking first pulley 3 as an example, the structure of first pulley 3 is as shown in Figure 5.Pulley is by idler wheel
3100, roller shaft 3200, rolling wheel support 3300 and supporter 3400 form.Around being mounted on ball-screw on vertical frame side 1200
The drop-down flexible cable 4200 for the pulley that the sliding block of driving mechanism is connected directly is fixedly connected with drop-down 7100 axis of Wire driven robot motor
The first flexible cable roller 4300 connection；Around on horizontal pane side 1100 the connected pulley of sliding block of ball screw drive mechanism it is upper
Flexible cable 4100 is drawn also to be sequentially arranged at just by 3 for the ease of cloth centrally-mounted driving position and the space of reserved lifting workpiece
Property bracket 1 on angle pulley guiding after be connected with driving motor roller.The spray robot uses 28(8*2+4*3 altogether) a cunning
Wheel.
It is further illustrated in conjunction with Fig. 1,6,9, pull-up flexible cable 4100 and drop-down flexible cable 4200 collectively form flexible cable 4 to drive
Spray head 6.The specific arrangement method of flexible cable 4 is as shown in Figure 6.One end of flexible cable 4 is connect with spray head 6, and the other end is by being mounted on cunning
It is connect after pulley on block and the pulley being mounted on rigid support 1 with driving motor flexible cable roller.The spray robot makes altogether
With flexible cable 8, independently driven by 8 motor (4 7100 motor, 4 7200 motor) respectively.
It is further illustrated in conjunction with Fig. 1,7,8,9, synchronous belt is to by horizontal ball-screw driving motor 7300, vertical ball
In the torque transfer to ball screw of lead screw driving motor 7400.The specific arrangement method of synchronous belt is as shown in Figure 7.Wherein it is located at
4 groups of ball-screws on vertical frame side 1200, every group of ball-screw are connected to vertical ball-screw by one article of the 4th synchronous belt
Driving motor 7400；4 groups of ball-screws on horizontal pane side 1100 are for the ease of the horizontal ball-screw driving motor of arrangement
The space of 7300 positions and reserved lifting workpiece, every group between ball-screw and driving motor using 3 different lengths first,
Second, third synchronous belt 5210,5220,5230 transmits torque.Pass through first, second pair of synchronous belt between adjacent two synchronous belts
Wheel 5120,5130 is driven.By taking first pair of synchronous pulley 5120 as an example, first couple of 5120 specific structure of synchronous pulley such as Fig. 8
It is shown.It is made of double synchronous pulleys 5121 and pulley shaft 5122.Pulley shaft 5122 is fixedly connected on rigid support 1, double synchronizations
It mutually can be to rotation between belt wheel 5121 and pulley shaft 5122.The spray robot using 4 kinds of different sizes synchronous belt 5210,
5220,5230,5400 total 16(3*4+4) item, (4 7300 motor, 4 7400 motor) are independently driven by 8 motor.
Further illustrate that spray head 6 is the spray head of spray robot in conjunction with Fig. 1,6.The upper top surface surrounding of spray head 6 connects four
Flexible cable 4100 is pulled up, the surrounding of lower surface connection pulls down flexible cable 4200, and the nozzle of protrusion is arranged at bottom.The liquid of spraying passes through pipeline
(pipeline is not drawn into figure) is transported in spray head.
Further illustrate that drive control box 7 is driving motor and the control section rest area of spray robot in conjunction with Fig. 1,9
Domain.1200 rigid connection in 1100, vertical frame by rigid support 1300 and horizontal pane of drive control box 7.It is explosion-proof to realize
Function, the electric spark for avoiding driver circuit from generating ignite imflammable gas, this spray robot by all driving motors (7100,
7200,7300,7400 totally 16 driving motors) it is all put together in drive control box 7.Driving motor is in drive control box
Distribution it is as shown in Figure 9.Since cabinet is easier to realize sealing, convenient for driving circuit and external environment are kept apart, thus
Realize explosion prevention function.
Wherein, for pulling down Wire driven robot motor 7100, specific structure such as Figure 10 of Wire driven robot motor 7100 is pulled down
It is shown.It is made of motor 7110, electric machine support 7120, retarder 7130 and torque output shaft 7140.
It further illustrates, the support plate 9 for placing workpiece 8 is fixed in the bottom frame of rigid support 1, to support needs
The workpiece 8 of spraying.
This painting robot mechanism can be used cooperatively with mechanical arm of connecting.Mechanical arm of connecting is used for lifting workpiece, or straight
It connects clamping workpiece and receives spraying, change pose of the workpiece in spraying process, to reach better spraying effect.In addition, this spray
Applying robot mechanism can also be used cooperatively with conveyer belt, and compact drive mechanism makes this painting robot mechanism be reserved with foot
Enough spaces pass through conveyer belt.It can be realized workpiece directly to be sprayed on a moving belt, improve production efficiency.
Claims (5)
1. a kind of painting robot mechanism of flexible cable parallel drive, it is characterised in that: including drive control box and rigid support, spray
Head, in which:
Rigid support is made of the rigid support of rectangular frame structure and frame shape, rectangular frame structure by top frame, bottom frame and
Top frame, four vertical frame sides compositions of bottom frame are connected, rigid support frame covers and is fixed on drive control upper box part, rectangle frame
Frame structure is integrally located above rigid support, and rigid support is connect by multiple connectors with rectangular frame structure；
Ball-screw executing agency is respectively installed in parallel respectively at the top of four horizontal pane sides of its top frame of rectangular frame structure,
The vertical frame side of four of rectangular frame structure is respectively equipped with ball-screw executing agency in parallel respectively, and above-mentioned ball-screw executes
Mechanism is screw slider mechanism, and frame side and central axis of the lead screw rotational installation in screw slider mechanism where respective are parallel
Frame side where respective；
Respectively one end is respectively fixed with first to each lead screw in four ball-screw executing agencies of rectangular frame structure top frame
Synchronous pulley, and the first synchronous pulley position of four lead screws of top frame staggers successively, its bottom frame of rectangular frame structure
Four horizontal pane side lateral surfaces are respectively rotatably equipped with double synchronous pulleys to transport mechanism respectively, and each double synchronous pulleys are to transmission
Mechanism is same by the second of first pair of synchronous pulley, second pair of synchronous pulley and the first, second pair of synchronous pulley that be sequentially connected respectively
Step band is constituted, and four double synchronous pulleys correspond transport mechanism with four the first synchronous pulleys and cooperate, and rigid support four
The lateral surface on horizontal pane side is respectively rotatably equipped with the second synchronous pulley respectively, and four the second synchronous pulleys are also double synchronous with four
Belt wheel, which corresponds transport mechanism, to be cooperated, and each first synchronous pulley passes through the first synchronous belt and corresponding double synchronous belts respectively
Wheel to first pair of synchronous belt pulley transmission connection in transport mechanism, each second synchronous pulley pass through respectively third synchronous belt with it is corresponding
Double synchronous pulleys to second pair of synchronous belt pulley transmission connection in transport mechanism, it is same that drive control box is internally provided with each second
The horizontal ball-screw driving motor of belt wheel corresponding matching is walked, the output shaft of each horizontal ball-screw driving motor is pierced by respectively
After drive control box, then the wheel shaft of the second synchronous pulley corresponding in rigid support is fixedly and coaxially connected；
Each each lead screw lower end is respectively fixed with to rectangular frame structure respectively in the ball-screw executing agency on vertical frame side
Four synchronous pulleys, the drive control box top are rotatably equipped with the third synchronous belt of each 4th synchronous pulley corresponding matching
Wheel, each 4th synchronous pulley pass through the 4th synchronous belt respectively and connect with corresponding third synchronous belt pulley transmission, drive control box
It is inside provided with the vertical ball-screw driving motor of each third synchronous pulley corresponding matching, each vertical ball-screw driving electricity
After the output shaft of machine is pierced by drive control box respectively, then it is fixedly and coaxially connected with the wheel shaft of corresponding third synchronous pulley；
Each slider top is rotatably equipped with first respectively in four ball-screw executing agencies of rectangular frame structure top frame
Pulley, it is axial that the central axis of first pulley is parallel to corresponding lead screw, and rectangular frame structure is also rotatably equipped with each the
The angle pulley group of one pulley corresponding matching, spray head are set in rectangle frame binding structure, and the connection of spray head upper surface is soft there are four pulling up
Rope, after four pull-up flexible cables one-to-one correspondence are around four first pulleys, further around the corresponding angle pulley group of excessively respective first pulley
Stretch to rigid support straight down afterwards, the lateral surface on four horizontal pane sides of rigid support is respectively rotatably equipped with the second flexible cable respectively
Roller, four the second flexible cable rollers and four pull-up flexible cables correspond and cooperate, and each pull-up flexible cable winds and is fixed on respectively
On corresponding first flexible cable roller, drive control box 7 is internally provided with the pull-up flexible cable of each second flexible cable roller corresponding matching
Driving motor, it is each pull-up Wire driven robot motor output shaft be pierced by drive control box respectively after, then with corresponding second flexible cable
The shaft of roller is fixedly and coaxially connected；
It is rotatably equipped with second respectively on each sliding block in the ball-screw executing agency on rectangular frame structure four vertical frame sides
Pulley, the central axis of second pulley are parallel to corresponding lead screw axial direction, the ball-screw executing agency on four vertical frame sides
In be also rotatably equipped with the first angle pulley on each sliding block respectively, the connection of spray head lower surface is there are four pulling down flexible cable, under four
Flexible cable is drawn to correspond around after four second pulleys, further around stretching straight down after crossing corresponding first angle pulley of second pulley
To rigid support, the lateral surface on four horizontal pane sides of rigid support is also respectively rotatably equipped with the first flexible cable roller respectively, and four
First flexible cable roller and four drop-down flexible cables correspond and cooperate, and each drop-down flexible cable winds respectively and is fixed on corresponding first
On flexible cable roller, drive control box is internally provided with the drop-down Wire driven robot motor of each first flexible cable roller corresponding matching, often
After the output shaft of a drop-down Wire driven robot motor is pierced by drive control box respectively, then it is same with the shaft of corresponding first flexible cable roller
Axis is fixedly connected.
2. a kind of painting robot mechanism of flexible cable parallel drive according to claim 1, it is characterised in that: described double same
Belt wheel is walked in transport mechanism, first pair of synchronous pulley rotational installation is located at corresponding first in the bottom frame of rectangular frame structure
Synchronous pulley following position directly makes to connect first pair of synchronous pulley and the first synchronous belt of corresponding first synchronous pulley is parallel to
The vertical frame side of the rectangular frame structure of first synchronous pulley position；
Second pair of synchronous pulley and first pair of synchronous pulley are in horizontal distribution, keep first pair of synchronous pulley of connection synchronous with second pair
Second synchronous belt of belt wheel is parallel to double synchronous pulleys to the horizontal pane of the rectangular frame structure bottom frame where transport mechanism
Side；
Second synchronous pulley is located at immediately below corresponding second pair of synchronous pulley in the position of rigid support, keeps connection second synchronous
The third synchronous belt of belt wheel and second pair of synchronous pulley is vertical；
Realize that four group of first synchronous pulley and its corresponding double synchronous pulleys synchronize transport mechanism, second by above structure
Belt wheel is non-interference during the work time, and realizes non-interference with flexible cable.
3. a kind of painting robot mechanism of flexible cable parallel drive according to claim 1, it is characterised in that: the steering
Pulley blocks include the second angle pulley, third angle pulley, the 4th angle pulley, the 5th angle pulley, and the second angle pulley turns
It moves on the sliding block where being installed on corresponding first pulley, third angle pulley is rotatablely installed in the corresponding top frame of first pulley
Horizontal pane side one end, and the first synchronous belt is avoided in third angle pulley position, the 4th angle pulley is rotatablely installed in rectangular frame
Structural base outer frame side is simultaneously located at immediately below third angle pulley, and the 5th angle pulley is rotatablely installed in rectangular frame structure bottom
Portion outer frame side, and the 5th angle pulley and the 4th angle pulley are in horizontal distribution, thus structure bypasses each first pulley
Pull-up flexible cable extend trend along the frame side of rectangular frame structure, and then make each pull-up flexible cable and each synchronous pulley and synchronous
With non-interference.
4. a kind of painting robot mechanism of flexible cable parallel drive according to claim 1, it is characterised in that: the rigidity
The support plate for placing workpiece is fixed in the rectangular frame structure bottom frame of bracket.
5. a kind of painting robot mechanism of flexible cable parallel drive according to claim 1, it is characterised in that: the driving
The controller of each driving motor is provided in control cabinet.
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| CN201811293056.5A CN109395938B (en) | 2018-11-01 | 2018-11-01 | Spraying robot mechanism driven by parallel flexible cables |
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| CN201811293056.5A CN109395938B (en) | 2018-11-01 | 2018-11-01 | Spraying robot mechanism driven by parallel flexible cables |
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| CN109395938B CN109395938B (en) | 2020-07-28 |
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