CN109395938B - Spraying robot mechanism driven by parallel flexible cables - Google Patents
Spraying robot mechanism driven by parallel flexible cables Download PDFInfo
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- CN109395938B CN109395938B CN201811293056.5A CN201811293056A CN109395938B CN 109395938 B CN109395938 B CN 109395938B CN 201811293056 A CN201811293056 A CN 201811293056A CN 109395938 B CN109395938 B CN 109395938B
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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
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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
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- Spray Control Apparatus (AREA)
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Abstract
The invention discloses a spraying robot mechanism driven by parallel flexible cables. The nozzle is driven by a flexible steel cable, and a pulley supporting the flexible steel cable can move along the guide rail along with the nut sliding block; the nut slider is driven by the lead screw, and the lead screw and the motor are driven by the synchronous belt. The beneficial technical effects are as follows: the spraying robot mechanism driven by the parallel flexible cables adopts the parallel flexible cable structure to control the end effector, and has the characteristics of small motion inertia, sensitive action and the like; the driving part is centralized in a driving control box at the bottom, so that the driving circuit is isolated from the external environment, and the explosion-proof function is realized; the transmission part has compact structure and large reserved upper and lower workpiece space.
Description
Technical Field
The invention relates to the field of robots, in particular to a spraying robot mechanism driven by parallel flexible cables.
Background
With the continuous improvement of the industrial automation degree, a plurality of manual labor links in the traditional industry are replaced by robots. The spraying workshop has poor working environment and high labor intensity, and is not very suitable for workers to continuously work for a long time; the spraying robot has the advantages of liberating manual labor, greatly improving production efficiency and reducing production cost. Most of the current spraying robots adopt a rigid mechanical arm structure to complete the spraying task. The rigid mechanical arm has the advantages of high positioning precision, simple control and the like. However, each joint of the rigid mechanical arm needs an independent driver, long-distance transmission is not easy to realize, the problems of large motion inertia, low flexibility and the like also bring many limitations to the spraying field.
Because the paint used for spraying needs to be atomized when in spraying, the gas dispersed in the air has flammability, and the explosive spraying environment has higher requirements on the safety of equipment. The traditional rigid mechanical arm needs to have good tightness so as to ensure that the driving motor is isolated from the external environment, and the situation that the electric spark generated by a driving circuit detonates combustible gas is avoided. From the practical application condition, it is difficult to ensure the absolute sealing of the mechanical arm, so the invention provides a novel spraying robot meeting the explosion-proof requirement.
The invention aims to provide a spraying robot mechanism driven by parallel flexible cables, which aims to solve the problem that an electric part of a spraying robot in the prior art is exposed outside and is easy to detonate combustible gas.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
the utility model provides a spraying robot mechanism of parallelly connected drive of flexible cable which characterized in that: including drive control box and rigid support, shower nozzle, wherein:
the rigid support is composed of a rectangular frame structure and a frame-shaped rigid support, the rectangular frame structure is composed of a top frame, a bottom frame and four vertical frame edges for connecting the top frame and the bottom frame, the rigid support frame is sleeved and fixed at the upper part of the drive control box, the rectangular frame structure is integrally positioned above the rigid support, and the rigid support is connected with the rectangular frame structure through a plurality of connecting pieces;
the top of four horizontal frame edges of a top frame of the rectangular frame structure is respectively provided with a ball screw actuating mechanism in parallel, four vertical frame edges of the rectangular frame structure are respectively provided with a ball screw actuating mechanism in parallel, the ball screw actuating mechanisms are screw rod sliding block mechanisms, screw rods in the screw rod sliding block mechanisms are rotatably arranged on the frame edges where the screw rods are respectively arranged, and the central axes of the screw rods are parallel to the frame edges where the screw rods are respectively arranged;
one end of each screw of four ball screw actuating mechanisms of a top frame of the rectangular frame structure is respectively fixed with a first synchronous belt wheel, the positions of the first synchronous belt wheels of the four screws of the top frame are sequentially staggered, the outer side surfaces of four horizontal frame edges of a bottom frame of the rectangular frame structure are respectively and rotatably provided with a double synchronous belt wheel pair conveying mechanism, each double synchronous belt wheel pair conveying mechanism is respectively composed of a first double synchronous belt wheel, a second double synchronous belt wheel and a second synchronous belt which is in transmission connection with the first double synchronous belt wheel and the second double synchronous belt wheel, the four double synchronous belt wheel pair conveying mechanisms are in one-to-one corresponding matching with the four first synchronous belt wheels, the outer side surfaces of the four horizontal frame edges which are rigidly supported are respectively and rotatably provided with a second synchronous belt wheel, the four second synchronous belt wheels are also in one-to-one corresponding matching with the four double synchronous belt wheel pair conveying mechanisms, each first synchronous belt wheel is in transmission connection with the corresponding double, each second synchronous pulley is in transmission connection with a second double synchronous pulley in the corresponding double synchronous pulley pair conveying mechanism through a third synchronous belt, a horizontal ball screw driving motor correspondingly matched with each second synchronous pulley is arranged in the driving control box, and an output shaft of each horizontal ball screw driving motor is coaxially and fixedly connected with a wheel shaft of the corresponding second synchronous pulley on the rigid support after penetrating out of the driving control box;
a fourth synchronous pulley is respectively fixed at the lower end of each screw in the ball screw actuating mechanism on each vertical frame edge of the rectangular frame structure, a third synchronous pulley which is correspondingly matched with each fourth synchronous pulley is rotatably installed at the top of the drive control box, each fourth synchronous pulley is in transmission connection with the corresponding third synchronous pulley through a fourth synchronous belt, a vertical ball screw drive motor which is correspondingly matched with each third synchronous pulley is arranged in the drive control box, and an output shaft of each vertical ball screw drive motor is coaxially and fixedly connected with a wheel shaft of the corresponding third synchronous pulley after penetrating out of the drive control box;
the top of each sliding block in four ball screw actuating mechanisms of a top frame of a rectangular frame structure is respectively and rotatably provided with a first pulley, the central axis of each first pulley is parallel to the axial direction of the corresponding screw, the rectangular frame structure is also rotatably provided with a steering pulley block which is correspondingly matched with each first pulley, a spray head is arranged in a rectangular frame connecting structure, the upper surface of the spray head is connected with four flexible pull-up cables, the four flexible pull-up cables are respectively and rotatably arranged on the outer side surfaces of four horizontal frame edges of the rigid support respectively and are correspondingly matched with the four flexible pull-up cables, each flexible pull-up cable is respectively wound and fixed on the corresponding first flexible cable roller, a flexible pull-up cable driving motor which is correspondingly matched with each second flexible cable roller is arranged in a driving control box 7, an output shaft of each upper pulling flexible cable driving motor penetrates out of the driving control box and then is coaxially and fixedly connected with a rotating shaft of the corresponding second flexible cable roller;
each slide block in the ball screw actuating mechanisms on four vertical frame sides of the rectangular frame structure is respectively and rotatably provided with a second pulley, the central shaft of each second pulley is parallel to the axial direction of a corresponding screw rod, each slide block in the ball screw actuating mechanisms on four vertical frame sides is also respectively and rotatably provided with a first steering pulley, the lower surface of the spray head is connected with four pull-down flexible cables, the four pull-down flexible cables are respectively and rotatably provided with first flexible cable rollers after passing around the four second pulleys one by one and then vertically and downwardly extending to a rigid support after passing around the first steering pulleys corresponding to the second pulleys, the outer side surfaces of the four horizontal frame sides of the rigid support are respectively and rotatably provided with first flexible cable rollers, the four first flexible cable rollers are respectively and correspondingly matched with the four pull-down flexible cables, each pull-down flexible cable is respectively wound and fixed on the corresponding first flexible cable roller, and a pull-down flexible cable driving motor corresponding to each first flexible cable roller is, and the output shaft of each pull-down flexible cable driving motor penetrates out of the driving control box and then is coaxially and fixedly connected with the rotating shaft of the corresponding first flexible cable roller.
A spraying robot mechanism of parallelly connected drive of flexible cable, its characterized in that: in the double-synchronous pulley pair conveying mechanism, a first double-synchronous pulley is rotatably arranged at the position, right below a corresponding first synchronous pulley, of a bottom frame of a rectangular frame structure, so that a first synchronous belt connecting the first double-synchronous pulley and the corresponding first synchronous pulley is parallel to a vertical frame edge of the rectangular frame structure where the first synchronous pulley is located;
the second double synchronous belt wheel and the first double synchronous belt wheel are horizontally distributed, so that a second synchronous belt connecting the first double synchronous belt wheel and the second double synchronous belt wheel is parallel to a horizontal frame edge of a bottom frame of the rectangular frame structure where the double synchronous belt wheel is arranged on the conveying mechanism;
the second synchronous belt wheel is positioned right below the corresponding second double synchronous belt wheel at the position of the rigid support, so that a third synchronous belt connecting the second synchronous belt wheel and the second double synchronous belt wheel is vertical;
the structure realizes that the four groups of first synchronous belt wheels, the corresponding double synchronous belt wheel pair transmission mechanisms and the corresponding second synchronous belt wheels do not interfere with each other in the working process and realize the non-interference with the flexible cable.
A spraying robot mechanism of parallelly connected drive of flexible cable, its characterized in that: the steering pulley block comprises a second steering pulley, a third steering pulley, a fourth steering pulley and a fifth steering pulley, the second steering pulley is rotatably installed on a sliding block where the corresponding first pulley is located, the third steering pulley is rotatably installed at one end of a horizontal frame edge of a top frame corresponding to the first pulley, the third steering pulley is kept away from a first synchronous belt, the fourth steering pulley is rotatably installed on the outer side surface of a bottom frame of the rectangular frame structure and located right below the third steering pulley, the fifth steering pulley is rotatably installed on the outer side surface of a bottom frame of the rectangular frame structure, and the fifth steering pulley and the fourth steering pulley are horizontally distributed.
A spraying robot mechanism of parallelly connected drive of flexible cable, its characterized in that: and a supporting plate for placing a workpiece is fixed in the bottom frame of the rectangular frame structure of the rigid support.
A spraying robot mechanism of parallelly connected drive of flexible cable, its characterized in that: and controllers of all driving motors are arranged in the driving control box.
The spraying robot mechanism driven by the flexible cables in parallel is driven based on the flexible steel cables and the synchronous belts, and the driving motors are intensively arranged in the driving control box at the bottom of the robot body, so that the condition that electric sparks generated by a driving circuit ignite explosion of combustible gas in the environment is effectively avoided. Meanwhile, through the structural design of the invention, the flexible cable, the synchronous belt and the flexible cable and the synchronous belt do not interfere with each other, and the stability of the movement is improved.
The spraying robot mechanism can be matched with a serial mechanical arm for use. The serial mechanical arm is used for loading and unloading workpieces or directly clamping the workpieces to be sprayed, and the pose of the workpieces in the spraying process is changed, so that a better spraying effect is achieved. In addition, the spraying robot mechanism can be matched with a conveyor belt for use, and the compact transmission structure enables the spraying robot mechanism to reserve enough space to pass through the conveyor belt. The workpiece can be directly sprayed on the conveying belt, and the production efficiency is improved.
The invention has the following characteristics:
1. the flexible cable parallel structure is adopted to control the spray head, so that the motion inertia is small, the action is sensitive, and the spray head can be used for large-space high-speed spraying.
2. The driving part is concentrated in the driving control box at the bottom, so that the driving circuit is isolated from the external environment, and the explosion-proof function is realized.
3. The transmission part has a compact structure, and the reserved space for the upper and lower workpieces is large, so that the transmission part is convenient to cooperate with other robots or conveyor belts.
4. The flexible cable and the synchronous belt are adopted for transmission, so that the generated working noise is low.
5. The spraying robot body has simple structure and convenient maintenance and repair.
Drawings
Fig. 1 is an assembly diagram of a spraying robot mechanism driven by parallel flexible cables.
Fig. 2 is a structural diagram of the interior of a spraying robot mechanism driven by parallel flexible cables.
Fig. 3 shows a rigid support of a flexible cable parallel drive spraying robot mechanism.
Fig. 4 is a detailed configuration diagram of the ball screw actuator.
Fig. 5 is a schematic view of a specific structure of the pulley.
Fig. 6 is a diagram of a wire arrangement route of a wire parallel drive painting robot mechanism.
Fig. 7 is a timing belt layout route diagram of a flexible cable parallel drive spraying robot mechanism.
Fig. 8 is a schematic view of a single-double synchronous pulley of a flexible cable parallel drive spraying robot.
FIG. 9 is a view showing a distribution of the driving motor inside the driving box.
Fig. 10 is a schematic view of a driving motor and a motor support structure.
The reference numbers in the figures illustrate:
in fig. 1: 1-rigid support, 2-ball screw actuator, 3-first pulley, 4-flexible cable, 5-synchronous belt, 6-spray head, 7-drive control box, 8-workpiece, 9-support plate, 10-second pulley, 3001-first diverting pulley, 3002-second diverting pulley, 3003-third diverting pulley, 3004-fourth diverting pulley, 3005-fifth diverting pulley.
In fig. 3: 1100-horizontal frame side, 1200-vertical frame side, 1300-rigid support, 1400-rectangular frame structure.
In fig. 4: 2100-bearing seat, 2200-ball screw, 2300-slider, 2400-sliding guide rail, 5110-first synchronous pulley.
In fig. 5: 3100 roller, 3200 roller shaft, 3300 roller support, 3400 support.
In fig. 6: 4100-pull up cable controlled by ball screw on horizontal rigid support, 4200-pull down cable controlled by ball screw on vertical rigid support, 4300-first cable roller, 4400-second cable roller.
In fig. 7: 5110-first synchronous pulley, 5120-first double synchronous pulley, 5130-second double synchronous pulley, 5140-second synchronous pulley, 5210-first synchronous belt, 5220-second synchronous belt, 5230-third synchronous belt 3, 5300-third synchronous pulley, 5400-fourth synchronous belt, 5500-fourth synchronous pulley.
In fig. 8: 5310-synchronous pulley, 5320-first synchronous pulley shaft, 5122-second synchronous pulley shaft, 5121-double pulley.
In fig. 9: 7000-box, 7100-lower flexible cable driving motor, 7200-upper flexible cable driving motor, 7300-horizontal ball screw driving motor, 7400-vertical ball screw driving motor.
In fig. 10: 7110 driving motor, 7120 motor support, 7130 reducer, 7140 torque output shaft.
Detailed Description
In order to better understand the technical characteristics of the flexible cable parallel spraying robot mechanism, the following provides a specific embodiment of the invention, which is described in conjunction with the accompanying drawings.
As shown in fig. 1-10, a spraying robot mechanism driven by parallel flexible cables comprises a drive control box 7, a rigid support 1 and a spray head 6, wherein:
the rigid support 1 is composed of a rectangular frame structure 1400 and a frame-shaped rigid support 1300, the rectangular frame structure 1400 is composed of a top frame, a bottom frame and four vertical frame edges 1200 connecting the top frame and the bottom frame, the rigid support 1300 is sleeved and fixed on the upper part of the drive control box 7, the rectangular frame structure 1400 is integrally positioned above the rigid support 1300, and the rigid support 1300 is connected with the rectangular frame structure 1400 through a plurality of connecting pieces;
the top of each of the four horizontal frame edges 1100 of the top frame of the rectangular frame structure 1400 is respectively provided with a ball screw actuator in parallel, each of the four vertical frame edges 1200 of the rectangular frame structure 1400 is respectively provided with a ball screw actuator in parallel, each of the ball screw actuators 2 is a screw slider mechanism, a screw 2200 in each screw slider mechanism is rotatably arranged on the frame edge where the screw slider mechanism is arranged, and the central axis of the screw 2200 is parallel to the frame edge where the screw slider mechanism is arranged;
each screw 2200 in the four ball screw actuators of the top frame of the rectangular frame structure 1400 is fixed with a first synchronous pulley 5110 at one end thereof, and the positions of the first synchronous pulleys 5110 of the four screws of the top frame are staggered in sequence, the outer side surfaces of the four horizontal frame edges of the bottom frame of the rectangular frame structure 1400 are respectively and rotatably provided with a double synchronous pulley pair transmission mechanism, each double synchronous pulley pair transmission mechanism is respectively composed of a first double synchronous pulley 5120, a second double synchronous pulley 5130 and a second synchronous belt 20 which is in transmission connection with the first double synchronous pulley 5120 and the second double synchronous pulley 5130, the four double synchronous pulley pair transmission mechanisms are respectively and correspondingly matched with the four first synchronous pulleys 5120, the outer side surfaces of the four horizontal frame edges of the rigid support 1300 are respectively and rotatably provided with a second synchronous pulley 5140, the four second synchronous pulleys 5140 are also correspondingly matched with the four double synchronous pulley pair transmission mechanisms, each first synchronous belt wheel 5110 is in transmission connection with a first double synchronous belt wheel 5120 in the corresponding double synchronous belt wheel pair transmission mechanism through a first synchronous belt 5210, each second synchronous belt wheel 5140 is in transmission connection with a second double synchronous belt wheel 5130 in the corresponding double synchronous belt wheel pair transmission mechanism through a third synchronous belt 5230, a horizontal ball screw driving motor 7300 correspondingly matched with each second synchronous belt wheel 5140 is arranged in the driving control box 7, and an output shaft of each horizontal ball screw driving motor 7300 is coaxially and fixedly connected with a wheel shaft of the corresponding second synchronous belt wheel 5140 on the rigid support 1300 after respectively penetrating out of the driving control box 7;
a fourth synchronous pulley 5500 is respectively fixed at the lower end of each lead screw in the ball screw actuating mechanism on each vertical frame side of the rectangular frame structure 1400, a third synchronous pulley 5300 corresponding to each fourth synchronous pulley 5500 is rotatably installed at the top of the drive control box 7, each fourth synchronous pulley 5500 is in transmission connection with the corresponding third synchronous pulley 5300 through a fourth synchronous belt 5400, a vertical ball screw drive motor 7400 corresponding to each third synchronous pulley 5300 is arranged in the drive control box 7, and an output shaft of each vertical ball screw drive motor 7400 penetrates out of the drive control box 7 and then is coaxially and fixedly connected with a wheel shaft of the corresponding third synchronous pulley 5300;
the top of each sliding block in the four ball screw actuators of the top frame of the rectangular frame structure 1400 is respectively and rotatably mounted with a first pulley 3, the central axis of the first pulley 3 is parallel to the axial direction of the corresponding screw, the rectangular frame structure 1400 is also rotatably mounted with a diverting pulley block correspondingly matched with each first pulley 3, the spray head 6 is arranged in the rectangular frame connecting structure 1400, the upper surface of the spray head 6 is connected with four upper pulling flexible cables 4100, the four upper pulling flexible cables 4100 pass around the four first pulleys 3 one by one correspondingly and then pass around the diverting pulley blocks corresponding to the first pulleys 3 respectively and vertically extend downwards to the rigid support 1300, the outer side surfaces of the four horizontal frame edges of the rigid support 1300 are respectively and rotatably mounted with second flexible cable rollers 4400, the four second flexible cable rollers 4400 are correspondingly matched with the four upper pulling flexible cables 4100 one by one, each upper pulling flexible cable 4100 is respectively wound and fixed on the corresponding first flexible cable rollers 4400, an upper pull flexible cable driving motor 7200 correspondingly matched with each second flexible cable roller 4400 is arranged in the drive control box 7, and an output shaft of each upper pull flexible cable 7200 driving motor respectively penetrates out of the drive control box 7 and then is coaxially and fixedly connected with a rotating shaft of the corresponding second flexible cable roller 4400;
each slide block in the ball screw actuators of four vertical rims 1200 of the rectangular frame structure 1400 is respectively rotatably mounted with a second pulley 10, a central axis of the second pulley 10 is parallel to an axial direction of a corresponding screw, each slide block in the ball screw actuators of the four vertical rims 1200 is further respectively rotatably mounted with a first steering pulley 3001, the lower surface of the spray head 6 is connected with four pull-down flexible cables 4200, the four pull-down flexible cables 4200 respectively and correspondingly wind around the four second pulleys 10, then wind around the first steering pulley 3001 corresponding to the second pulley 10 and vertically extend downwards to the rigid support 1300, the outer side surfaces of the four horizontal rims of the rigid support 1300 are respectively and rotatably mounted with first flexible cable rollers 4300, the four first flexible cable rollers 4300 are respectively and correspondingly matched with the four pull-down flexible cables 4200, each pull-down cable 4200 is respectively and fixedly wound on the corresponding first flexible cable roller 4300, a pull-down cable driving motor correspondingly matched with each first flexible cable roller 4300 is arranged inside the driving control box 7 7100, the output shaft of each pull-down flexible cable driving motor 7100 is respectively passed through the driving control box 7 and then coaxially and fixedly connected with the rotating shaft of the corresponding first flexible cable roller 4300.
In the double synchronous pulley pair transmission mechanism, a first double synchronous pulley 5120 is rotatably mounted at the bottom frame of the rectangular frame structure 1400 and is positioned right below a corresponding first synchronous pulley 5110, so that a first synchronous belt 5210 connecting the first double synchronous pulley 5120 and the corresponding first synchronous pulley 5110 is parallel to a vertical frame side 1200 of the rectangular frame structure 1400 where the first synchronous pulley 5110 is positioned;
the second double synchronous pulley 5130 and the first double synchronous pulley 5120 are horizontally distributed, so that the second synchronous belt 5220 connecting the first double synchronous pulley 5120 and the second double synchronous pulley 5130 is parallel to the horizontal frame edge of the bottom frame of the rectangular frame structure 1400 where the double synchronous pulley pair transmission mechanism is located;
the second timing belt 5140 is located right below the corresponding second dual timing belt 5130 at the position of the rigid support 1300 such that the third timing belt 5230 connecting the second timing belt 5140 and the second dual timing belt 5130 is vertical;
the four groups of first synchronous pulleys 5110 and the corresponding double synchronous pulley pair transmission mechanisms and the second synchronous pulleys 5140 are realized to be mutually noninterfere in the working process and mutually noninterfere with the flexible cable by the structure.
The steering pulley block comprises a second steering pulley 3002, a third steering pulley 3003, a fourth steering pulley 3004 and a fifth steering pulley 3005, the second steering pulley 3002 is rotatably arranged on the corresponding sliding block where the first pulley 3001 is positioned, the third steering pulley 3003 is rotatably arranged at one end of the top frame horizontal frame edge 1100 corresponding to the first pulley 3001, and the third diverting pulley 3003 is positioned to avoid the first timing belt 5210, the fourth diverting pulley 3003 is rotatably installed on the outer side of the bottom frame of the rectangular frame structure 1400 and is positioned right under the third diverting pulley 3003, the fifth diverting pulley 3005 is rotatably installed on the outer side of the bottom frame of the rectangular frame structure 1400, and the fifth diverting pulley 3005 and the fourth diverting pulley 3004 are horizontally distributed, this structure allows the pull-up wires 4100 wound around each first pulley 3001 to extend along the frame of the rectangular frame structure 1400, so that the respective pull-up wires 4100 do not interfere with the respective timing pulleys and timing belts.
A supporting plate for placing a workpiece is fixed in the bottom frame of the rectangular frame structure 1400 of the rigid support 1. The drive control box 7 is internally provided with controllers of all the drive motors.
The spraying robot mechanism driven by the parallel flexible cables mainly comprises seven parts, namely a rigid support 1, a ball screw actuating mechanism 2, a pulley 3, a transmission flexible cable 4, a synchronous belt 5, a spray head 6, a driving control box 7 and the like.
As further illustrated in connection with fig. 1, 2 and 3, the rigid support 1 is comprised of a rectangular frame structure 1400 and rigid supports 1300 for supporting the timing-belt axles and the wire-drum axles. The specific structure of the rigid support 1 is shown in fig. 3. The four horizontal frame edges 1100 on the top frame and the four vertical frame edges 1200 on the side of the rectangular frame structure 1400 are respectively provided with ball screw actuators 2 (total 8 groups). The rigid supports 1300 for supporting the timing belt pulley shaft and the flexible cable drum shaft are respectively provided with circular holes at corresponding support positions.
As further described with reference to fig. 1, 3, and 4, the ball screw actuator 2 includes a ball screw 2200, a slider 2300, a slide rail 2400, and a bearing housing 2100. Fig. 4 shows a specific structure of the ball screw. Wherein the sliding guide 2400 is fixedly connected with the rigid brackets 1100 and 1200, the ball screw 2200 is coupled to the sliding guide 2400 through the bearing housing 2100, and the slider 2300 performs a translational motion under the rotation of the ball screw 2200 and the constraint of the sliding guide 2400. One end of the ball screw 2200 is provided with a first synchronous pulley 5110. In order to facilitate the arrangement of transmission components, four groups of ball screw actuators 2 positioned on the horizontal frame edge 1100 of the top frame of the rectangular frame structure 1400 are installed in an end-to-end sequential connection manner; the four sets of ball screws on the vertical rim 1200 of the rectangular frame structure 1400 mount the end with the fourth timing pulley 5500 down. The 8 groups of ball screw guide rails 2 are used for changing the supporting positions of the upper pull flexible cable 4100 and the lower pull flexible cable 4200, so that the required posture of the spray head 6 is obtained.
As further described in conjunction with fig. 1, 5, and 6, the first pulley 3 and the second pulley 10 function to support and guide the upper pull wire 4100 and the lower pull wire 4200, respectively. Taking the first pulley 3 as an example, the structure of the first pulley 3 is shown in fig. 5. The pulley consists of a roller 3100, a roller shaft 3200, a roller bracket 3300 and a support 3400. A pull-down flexible cable 4200 which bypasses a pulley connected with a slide block of the ball screw driving mechanism arranged on the vertical frame side 1200 is directly connected with a first flexible cable roller 4300 fixedly connected with a shaft of a pull-down flexible cable driving motor 7100; the pull-up wire 4100, which runs around the pulley connected to the slider of the ball screw drive mechanism on the horizontal frame 1100, is guided by 3 turning pulleys mounted in sequence on the rigid frame 1 and then connected to the drive motor drum in order to facilitate the arrangement of the drive motor position and the space reserved for the upper and lower workpieces. The spraying robot uses 28 (8 × 2+4 × 3) pulleys in total.
As further illustrated in fig. 1, 6, and 9, the pull-up wire 4100 and the pull-down wire 4200 together form a wire 4 for driving the spray head 6. The specific arrangement of the wires 4 is shown in figure 6. One end of the flexible cable 4 is connected with the spray head 6, and the other end of the flexible cable is connected with the flexible cable roller of the driving motor after passing through the pulley arranged on the sliding block and the pulley arranged on the rigid support 1. The coating robot uses 8 flexible cables in common and is independently driven by 8 motors (4 7100 motors and 4 7200 motors).
As further described with reference to fig. 1, 7, 8, and 9, the timing belt is used to transmit the torque of the horizontal ball screw driving motor 7300 and the vertical ball screw driving motor 7400 to the ball screw. The specific arrangement of the timing belt is shown in fig. 7. Wherein 4 groups of ball screws on the vertical frame side 1200, each group of ball screws being connected to a vertical ball screw driving motor 7400 through a fourth synchronous belt; 4 groups of ball screws on the horizontal frame edge 1100 are used for conveniently arranging the position of the horizontal ball screw driving motor 7300 and reserving space for upper and lower workpieces, and 3 first, second and third synchronous belts 5210, 5220 and 5230 with different lengths are used between each group of ball screws and the driving motor to transmit torque. Two adjacent synchronous belts are driven by first and second double synchronous pulleys 5120 and 5130. Taking the first dual timing pulley 5120 as an example, the specific structure of the first dual timing pulley 5120 is shown in fig. 8. Consists of a double synchronous pulley 5121 and a pulley shaft 5122. The pulley shaft 5122 is fixedly connected to the rigid support 1, and the double synchronous pulleys 5121 and the pulley shaft 5122 can rotate relatively. The painting robot uses 16 (3 × 4+ 4) synchronous belts 5210, 5220, 5230, 5400 of 4 different specifications, and is independently driven by 8 motors (4 7300 motors, 4 7400 motors).
As further explained in connection with fig. 1 and 6, the spray head 6 is a spray head of a painting robot. Four upper pull flexible cables 4100 are connected to the periphery of the upper top surface of the spray head 6, four lower pull flexible cables 4200 are connected to the lower surface of the spray head, and a protruding nozzle is arranged at the bottom of the spray head. The sprayed liquid is conveyed to the spray head through a pipe (the pipe is not shown in the figure).
As further described with reference to fig. 1 and 9, the drive control box 7 is a drive motor and control section placement area of the painting robot. The drive control box 7 is rigidly connected to the horizontal rim 1100 and the vertical rim 1200 by rigid supports 1300. In order to realize the explosion-proof function and avoid the ignition of combustible gas by electric sparks generated by a driving circuit, all driving motors (16 driving motors, namely 7100, 7200, 7300 and 7400) are intensively placed in a driving control box 7 by the spraying robot. The distribution of the drive motors in the drive control box is shown in fig. 9. Because the box realizes sealed more easily, be convenient for keep apart drive circuit and external environment to realize explosion-proof function.
Here, the flexible cable driving motor 7100 is taken as an example, and a specific structure of the flexible cable driving motor 7100 is shown in fig. 10. The motor 7110, the motor bracket 7120, the reducer 7130 and the torque output shaft 7140.
Further, a supporting plate 9 for placing the workpiece 8 is fixed in the bottom frame of the rigid support 1 to support the workpiece 8 to be painted.
The spraying robot mechanism can be matched with a serial mechanical arm for use. The serial mechanical arm is used for loading and unloading workpieces or directly clamping the workpieces to be sprayed, and the pose of the workpieces in the spraying process is changed, so that a better spraying effect is achieved. In addition, the spraying robot mechanism can be matched with a conveyor belt for use, and the compact transmission structure enables the spraying robot mechanism to reserve enough space to pass through the conveyor belt. The workpiece can be directly sprayed on the conveying belt, and the production efficiency is improved.
Claims (5)
1. The utility model provides a spraying robot mechanism of parallelly connected drive of flexible cable which characterized in that: including drive control box and rigid support, shower nozzle, wherein:
the rigid support is composed of a rectangular frame structure and a frame-shaped rigid support, the rectangular frame structure is composed of a top frame, a bottom frame and four vertical frame edges for connecting the top frame and the bottom frame, the rigid support frame is sleeved and fixed at the upper part of the drive control box, the rectangular frame structure is integrally positioned above the rigid support, and the rigid support is connected with the rectangular frame structure through a plurality of connecting pieces;
the top of each of four horizontal frame edges of a top frame of the rectangular frame structure is respectively provided with a ball screw actuating mechanism in parallel, each of four vertical frame edges of the rectangular frame structure is respectively provided with a ball screw actuating mechanism in parallel, the ball screw actuating mechanisms are screw rod sliding block mechanisms, screw rods in the screw rod sliding block mechanisms are rotatably arranged on the frame edges where the screw rods are respectively arranged, and central shafts of the screw rods are parallel to the horizontal frame edges and the vertical frame edges where the screw rods are respectively arranged;
one end of each screw in four ball screw actuating mechanisms of a top frame of a rectangular frame structure is respectively fixed with a first synchronous belt wheel, the positions of the first synchronous belt wheels of the four screws of the top frame are sequentially staggered, the outer side surfaces of four horizontal frame edges of a bottom frame of the rectangular frame structure are respectively and rotatably provided with a double-synchronous belt wheel pair conveying mechanism, each double-synchronous belt wheel pair conveying mechanism respectively comprises a first double-synchronous belt wheel, a second double-synchronous belt wheel and a second synchronous belt which is in transmission connection with the first double-synchronous belt wheel and the second double-synchronous belt wheel, the four double-synchronous belt wheel pair conveying mechanisms are in one-to-one correspondence with the four first synchronous belt wheels, the outer side surfaces of the four horizontal frame edges which are rigidly supported are respectively and rotatably provided with a second synchronous belt wheel, the four second synchronous belt wheels are also in one-to-one correspondence with the four double-synchronous belt wheel pair conveying mechanisms, and each first synchronous belt wheel is respectively Each second synchronous pulley is in transmission connection with a second double synchronous pulley in the transmission mechanism through a third synchronous belt and a corresponding double synchronous pulley pair respectively, a horizontal ball screw driving motor correspondingly matched with each second synchronous pulley is arranged in the driving control box, and an output shaft of each horizontal ball screw driving motor is coaxially and fixedly connected with a wheel shaft of the corresponding second synchronous pulley on the rigid support after penetrating out of the driving control box respectively;
a fourth synchronous belt wheel is respectively fixed at the lower end of each screw in the ball screw actuating mechanism on each vertical frame edge of the rectangular frame structure, a third synchronous belt wheel correspondingly matched with each fourth synchronous belt wheel is rotatably installed at the top of the drive control box, each fourth synchronous belt wheel is in transmission connection with the corresponding third synchronous belt wheel through a fourth synchronous belt, a vertical ball screw drive motor correspondingly matched with each third synchronous belt wheel is arranged in the drive control box, and an output shaft of each vertical ball screw drive motor is coaxially and fixedly connected with a wheel shaft of the corresponding third synchronous belt wheel after penetrating out of the drive control box;
the top of each sliding block in four ball screw actuating mechanisms of a top frame of a rectangular frame structure is respectively and rotatably provided with a first pulley, the central axis of each first pulley is parallel to the axial direction of the corresponding screw, the rectangular frame structure is also rotatably provided with a steering pulley block correspondingly matched with each first pulley, a spray head is arranged in the rectangular frame structure, the upper surface of the spray head is connected with four flexible pull-up cables, the four flexible pull-up cables are respectively and rotatably provided with a second flexible cable roller after passing around the four first pulleys in a one-to-one correspondence manner and then vertically and downwards extending to a rigid support after passing around the steering pulley block corresponding to each first pulley, the outer side surfaces of four horizontal frame edges of the rigid support are respectively and rotatably provided with a second flexible cable roller, the four second flexible cable rollers are respectively and correspondingly matched with the four flexible pull-up cables, each flexible pull-up cable is respectively wound and fixed on the corresponding second flexible cable roller, and a flexible cable driving motor correspondingly matched with, an output shaft of each upper pulling flexible cable driving motor penetrates out of the driving control box and then is coaxially and fixedly connected with a rotating shaft of the corresponding second flexible cable roller;
each slide block in the ball screw actuating mechanisms on four vertical frame sides of the rectangular frame structure is respectively and rotatably provided with a second pulley, the central shaft of each second pulley is parallel to the axial direction of a corresponding screw rod, each slide block in the ball screw actuating mechanisms on four vertical frame sides is also respectively and rotatably provided with a first steering pulley, the lower surface of the spray head is connected with four pull-down flexible cables, the four pull-down flexible cables are respectively and rotatably provided with first flexible cable rollers after passing around the four second pulleys one by one and then vertically and downwardly extending to a rigid support after passing around the first steering pulleys corresponding to the second pulleys, the outer side surfaces of the four horizontal frame sides of the rigid support are respectively and rotatably provided with first flexible cable rollers, the four first flexible cable rollers are respectively and correspondingly matched with the four pull-down flexible cables, each pull-down flexible cable is respectively wound and fixed on the corresponding first flexible cable roller, a pull-down cable driving motor correspondingly matched with each first flexible cable roller is arranged in, and the output shaft of each pull-down flexible cable driving motor penetrates out of the driving control box and then is coaxially and fixedly connected with the rotating shaft of the corresponding first flexible cable roller.
2. The mechanism of claim 1, wherein the mechanism comprises: in the double-synchronous pulley pair conveying mechanism, a first double-synchronous pulley is rotatably arranged at the position, right below a corresponding first synchronous pulley, of a bottom frame of a rectangular frame structure, so that a first synchronous belt connecting the first double-synchronous pulley and the corresponding first synchronous pulley is parallel to a vertical frame edge of the rectangular frame structure where the first synchronous pulley is located;
the second double synchronous belt wheel and the first double synchronous belt wheel are horizontally distributed, so that a second synchronous belt connecting the first double synchronous belt wheel and the second double synchronous belt wheel is parallel to a horizontal frame edge of a bottom frame of the rectangular frame structure where the double synchronous belt wheel is arranged on the conveying mechanism;
the second synchronous belt wheel is positioned right below the corresponding second double synchronous belt wheel at the position of the rigid support, so that a third synchronous belt connecting the second synchronous belt wheel and the second double synchronous belt wheel is vertical;
the arrangement mode of the synchronous pulleys and the double synchronous pulleys realizes that the four groups of first synchronous pulleys and the corresponding double synchronous pulleys thereof do not interfere with each other in the working process of the conveying mechanism and the second synchronous pulleys and do not interfere with the upper pull flexible cable and the lower pull flexible cable.
3. The mechanism of claim 1, wherein the mechanism comprises: the steering pulley block comprises a second steering pulley, a third steering pulley, a fourth steering pulley and a fifth steering pulley, the second steering pulley is rotatably arranged on a sliding block where the corresponding first pulley is located, the third steering pulley is rotatably arranged at one end of a horizontal frame edge of a top frame corresponding to the first pulley, the third steering pulley is positioned to avoid a first synchronous belt, the fourth steering pulley is rotatably arranged on the outer side surface of a bottom frame of the rectangular frame structure and is positioned under the third steering pulley, the fifth steering pulley is rotatably arranged on the outer side surface of a bottom frame of the rectangular frame structure, the fifth steering pulley and the fourth steering pulley are horizontally distributed, and the second steering pulley, the third steering pulley, the fourth steering pulley and the fifth steering pulley are arranged in a way that an upper pulling flexible cable which is wound around each first pulley extends along the frame edge of the rectangular frame structure so as to enable each upper pulling flexible cable and the first synchronous belt pulley to extend along the frame edge, The first double synchronous belt wheel, the second double synchronous belt wheel, the first synchronous belt and the second synchronous belt are not interfered with each other.
4. The mechanism of claim 1, wherein the mechanism comprises: and a supporting plate for placing a workpiece is fixed in the bottom frame of the rectangular frame structure of the rigid support.
5. The mechanism of claim 1, wherein the mechanism comprises: and a horizontal ball screw driving motor, a vertical ball screw driving motor, an upper pull flexible cable driving motor, a lower pull flexible cable driving motor, and controllers of the horizontal ball screw driving motor, the vertical ball screw driving motor, the upper pull flexible cable driving motor and the lower pull flexible cable driving motor are arranged in the driving control box.
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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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