CN111992389A - Spraying robot - Google Patents
Spraying robot Download PDFInfo
- Publication number
- CN111992389A CN111992389A CN202010789334.7A CN202010789334A CN111992389A CN 111992389 A CN111992389 A CN 111992389A CN 202010789334 A CN202010789334 A CN 202010789334A CN 111992389 A CN111992389 A CN 111992389A
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- CN
- China
- Prior art keywords
- ring
- block
- supporting
- piece
- atress
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/70—Arrangements for moving spray heads automatically to or from the working position
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a spraying robot, which structurally comprises a spraying pipe, a supporting mechanism, a blocking mechanism, a moving mechanism and a rotating arm, wherein the supporting mechanism is provided with a supporting rod, elastic rods, a stress block and a buffer mechanism, in the rotating and moving process of the spraying robot, the four elastic rods pull the gravity in the inclined direction, the spring rods support the supporting rod through supporting blocks, meanwhile, the gravity plates limit the bending force of the stress plate and the supporting blocks within a certain range, the buffer mechanism raises the gravity center of the spraying robot, so that the supporting force of the stress block to the spraying robot is stronger, the degree of gravity center deviation is reduced, the stability of the spraying robot is prevented from being influenced, obstacles on the moving path of the spraying robot are cleaned through the blocking mechanism internal resistance blocks, the blocking blocks can be kept in balance, a pressure mechanism on the surface of a rubber ring is stressed with the ground, and the inside of the telescopic ring is formed in a hollow state to be stretched, the ground grabbing force to the ground is improved, and the spraying robot is prevented from inclining due to the change of gravity.
Description
Technical Field
The invention relates to the field of robots, in particular to a spraying robot.
Background
Spraying robot utilizes the program control of editor to spray paint the processing to the product, and it is higher than the efficiency that the manual work sprays paint, can effectively reduce the input of cost of labor, the robot sprays paint has the effect that the precision is high, the waste of paint has been reduced, the inhomogeneous of manual spraying has been avoided again simultaneously, but the robot is in to automobile shell spraying process, the shape of shell is great, and the fuselage of robot is less, lead to when spraying automobile shell product, need carry out the spraying when the robot removes, move the in-process because the direction of gravity lasts and changes, and the arm need rotate during the robot spraying, cause centrobaric skew, improve the instability of spraying, homogeneity when making the spraying receives the influence.
Disclosure of Invention
The invention is realized by the following technical scheme: a spraying robot structurally comprises a spraying pipe, a supporting mechanism, a blocking mechanism, a moving mechanism and four rotating arms, wherein the spraying pipe is installed at the upper end of each rotating arm, the blocking mechanism is welded at the left side and the right side of the supporting mechanism, the moving mechanism is fixedly embedded at the front side and the rear side of the supporting mechanism, the rotating arms are fixedly embedded inside the supporting mechanism, the supporting mechanism is provided with a supporting rod, an elastic rod, a stress block and a buffer mechanism, the supporting rod is in clearance fit with the stress block, the upper end and the lower end of the elastic rod are fixedly embedded inside the supporting rod and the stress block respectively, the inner side of the buffer mechanism is laminated at the outer side of the supporting rod, the outer side of the buffer mechanism is laminated at the inner side of the stress block, the supporting rod is installed at the lower end of the rotating arm, a larger clearance is reserved between the supporting rod and the stress block, a sliding chute is reserved, is uniformly distributed in the upper end of the stress block in a ring shape.
As a further improvement of the invention, the method is characterized in that: buffer gear is equipped with spheroid, atress ring, spring beam, solid fixed ring, the spheroid inlays admittedly at the atress intra-annular side, friction fit is carried out in the outside of spheroidal inboard and bracing piece, the inboard of spring beam inlays admittedly in the outside of atress ring, the outside welding of spring beam is in solid fixed ring's inboard, gu fixed ring laminates at the atress piece inboard, the spring beam is equipped with ten, and evenly distributed encircles the structure, and the loop structure who just constitutes lies in same center axis with the bracing piece.
As a further improvement of the invention, the stress ring is provided with a supporting block, a stress plate and a gravity plate, the stress plate is attached to two sides of the supporting block, the gravity plate is attached to two sides of the stress plate, the inner side of the supporting block is matched with the ball body to move, the outer side of the gravity plate is of a hollow structure and fixes the stress plate, and the stress ring is prevented from deforming when the supporting block is stressed.
As a further improvement of the invention, the blocking mechanism is provided with two blocking blocks and two connecting blocks, the outer sides of the connecting blocks are welded on the inner sides of the blocking blocks, the inner sides of the connecting blocks are welded on the left side and the right side of the supporting mechanism, the two blocking blocks are in a triangular structure, and the angle between the two blocking blocks is an obtuse angle.
As a further improvement of the invention, the blocking block is provided with an inclined block, a clearing mechanism and iron blocks, the iron blocks are attached to the inclined block, the upper end of the clearing mechanism is attached to the lower end of the inclined block, the inner side of the inclined block is welded to the outer side of the connecting block, and the clearing mechanism is a cube iron block which has larger weight and is distributed at two ends of the blocking block.
The cleaning mechanism is further improved by comprising a fixing plate, a triangular plate and a rubber strip, wherein the triangular plate is attached to the left side of the fixing plate, the rubber strip is embedded in the fixing plate, the upper end of the fixing plate is attached to the lower end of the inclined block, the rubber strip is of a bent structure, is flexible and is in friction fit with the ground.
As a further improvement of the invention, the moving mechanism is provided with a pressure mechanism, a rotating shaft and a rubber ring, the pressure mechanism is embedded and fixed in the rubber ring, the rotating shaft and the rubber ring are mutually attached, the rotating shaft is embedded and fixed at the front end and the rear end of the supporting mechanism, and the rubber ring is made of rubber and surrounds the outer side of the rotating shaft.
As a further improvement of the invention, the pressure mechanism is provided with a pressure block, a compression ring and a telescopic ring, wherein the pressure block and the compression ring are positioned on the same central axis, the upper end of the telescopic ring is attached to the lower end of the compression ring, the compression ring is attached to the surface of the rubber ring, and the telescopic ring is of a folding sealing structure and is attached to the upper end of the pressure block.
Advantageous effects
Compared with the prior art, the invention has the beneficial effects that:
1. in the rotatory removal in-process of spraying robot, increase its lifting surface area, when the bracing piece is rotatory, the direction of gravity changes, pull the direction of gravity slope through four elastic rods, and cushion the bracing piece through buffer gear, the spring beam passes through the supporting shoe and supports the bracing piece, the while gravity board makes the bending force of atress board and supporting shoe inject in the certain limit, buffer gear has raised spraying robot's focus, make the atress piece stronger to spraying robot's holding power, reduce the degree of focus skew, avoid influencing its stability.
2. Clear up the obstacle on the spraying robot moving path through the internal resistance dog of block mechanism, and the iron plate makes the block piece keep balance, in the removal process, the barrier landing from the set-square of slope, rubber strip rubs with ground simultaneously, avoid influencing the degree of sealing on pressure mechanism and ground, when the axis of rotation drives the rubber ring and removes, the pressure mechanism on rubber ring surface carries out the atress with ground, make the compression ring compress under gravity, make the inside hollow state that forms of expansion ring and flexible, improve the land fertility of grabbing to ground, prevent that spraying robot gravity from changing and slope.
Drawings
Fig. 1 is a schematic structural diagram of a painting robot according to the present invention.
Fig. 2 is a schematic plan view of a supporting mechanism according to the present invention.
Fig. 3 is a schematic top view of a buffering mechanism according to the present invention.
FIG. 4 is a schematic view of a partial structure of a force-bearing ring according to the present invention.
Fig. 5 is a schematic perspective view of a barrier according to the present invention.
Fig. 6 is a schematic side view of a cleaning mechanism according to the present invention.
Fig. 7 is a schematic perspective view of a moving mechanism according to the present invention.
Fig. 8 is a schematic perspective view of a pressure mechanism according to the present invention.
In the figure: the spraying pipe comprises a spraying pipe body-1, a supporting mechanism-2, a blocking mechanism-3, a moving mechanism-4, a rotating arm-5, a supporting rod-21, an elastic rod-22, a stress block-23, a buffering mechanism-24, a sphere-241, a stress ring-242, a spring rod-243, a fixing ring-244, a supporting block-a 1, a stress plate-a 2, a gravity plate-a 3, a blocking block-31, a connecting block-32, an inclined block-311, a clearing mechanism-312, an iron block-313, a fixing plate-b 1, a triangular plate-b 2, a rubber strip-b 3, a pressure mechanism-41, a rotating shaft-42, a rubber ring-43, a pressure block-411, a compression ring-412 and a telescopic ring-413.
Detailed Description
The technology of the present invention is further described with reference to the accompanying drawings:
example 1:
as shown in fig. 1-4:
the invention relates to a spraying robot which structurally comprises a spraying pipe 1, a supporting mechanism 2, a blocking mechanism 3, a moving mechanism 4 and a rotating arm 5, wherein the spraying pipe 1 is installed at the upper end of the rotating arm 5, the blocking mechanism 3 is welded at the left side and the right side of the supporting mechanism 2, the moving mechanism 4 is fixedly embedded at the front side and the rear side of the supporting mechanism 2, the rotating arm 5 is fixedly embedded in the supporting mechanism 2, the supporting mechanism 2 is provided with a supporting rod 21, an elastic rod 22, a stress block 23 and a buffer mechanism 24, the supporting rod 21 is in clearance fit with the stress block 23, the upper end and the lower end of the elastic rod 22 are respectively fixedly embedded in the supporting rod 21 and the stress block 23, the inner side of the buffer mechanism 24 is attached to the outer side of the supporting rod 21, the outer side of the buffer mechanism 24 is attached to the inner side of the stress block 23, the supporting rod 21 is installed at the lower end of the rotating arm 5, a, there is the spout elastic rod 22's lower extreme, elastic rod 22 is equipped with four, is that annular state evenly distributed is inside the upper end of atress piece 23, stretches and supports the angle of gravity slope, raises spraying robot's focus, avoids influencing its stability.
Wherein, its characterized in that: buffer gear 24 is equipped with spheroid 241, atress ring 242, spring bar 243, solid fixed ring 244, spheroid 241 inlays admittedly at atress ring 242 inboardly, friction fit is carried out in the inboard of spheroid 241 and the outside of bracing piece 21, the inboard of spring bar 243 inlays admittedly in the outside of atress ring 242, the outside welding of spring bar 243 is in solid fixed ring 244's inboard, gu fixed ring 244 laminates at atress piece 23 inboardly, spring bar 243 is equipped with ten, and evenly distributed is annular structure, and the annular structure that constitutes is located same center axis with bracing piece 21, prevents its focus unstability, avoids causing and emptys.
The stress ring 242 is provided with a supporting block a1, a stress plate a2 and a gravity plate a3, the stress plate a2 is attached to two sides of the supporting block a1, the gravity plate a3 is attached to two sides of the stress plate a2, the inner side of the supporting block a1 is matched with the ball 241 to move, the outer side of the gravity plate a3 is of a hollow structure and fixes the stress plate a2, and the stress ring 242 is prevented from deforming when the supporting block a1 is stressed.
The embodiment has the following specific use modes and functions:
in the invention, in the rotating and moving process of the spraying robot, the stress area is increased, when the support rod 21 rotates, the gravity direction is changed, the four elastic rods 22 pull the gravity in the inclined direction, the support rod 21 is buffered by the buffer mechanism 24, the spring rod 243 supports the support rod 21 through the support block a1, meanwhile, the bending force of the stress plate a2 and the support block a1 is limited in a certain range by the gravity plate a3, the gravity of the spraying robot is raised by the buffer mechanism 24, so that the supporting force of the stress block 23 on the spraying robot is stronger, the gravity deviation degree is reduced, and the stability of the spraying robot is prevented from being influenced.
Example 2:
as shown in fig. 5-8:
wherein, block mechanism 3 and be equipped with and block piece 31, connecting block 32, the outside welding of connecting block 32 is in the inboard that blocks piece 31, the inboard welding of connecting block 32 is in the left and right sides of supporting mechanism 2, block piece 31 and be equipped with two, be the triangle-shaped structure, and two angles that block between the piece 31 are the obtuse angle, avoid spraying robot to receive the influence of instrument on the external floor at the removal in-process.
Wherein, the stopper piece 31 is equipped with slope piece 311, clearance mechanism 312, iron plate 313, the iron plate 313 laminating on slope piece 311, the upper end laminating of clearance mechanism 312 is at the lower extreme of slope piece 311, the inboard welding in the outside of connecting block 32 of slope piece 311, clearance mechanism 312 is the square iron plate, has great weight, distributes at the both ends of stopper piece 31, makes stopper piece 31 keep balance, damages when avoiding clearing up the obstacle.
Wherein, clearance mechanism 312 is equipped with fixed plate b1, set-square b2, rubber strip b3, set-square b2 laminates in the left side of fixed plate b1, rubber strip b3 inlays the inside at fixed plate b1, the upper end laminating of fixed plate b1 is at slope piece 311 lower extreme, rubber strip b3 is crooked shape structure, has the compliance, and ground carries out friction fit, avoids the dust on ground to influence the operation at rear.
Wherein, moving mechanism 4 is equipped with pressure mechanism 41, axis of rotation 42, rubber ring 43, pressure mechanism 41 inlays admittedly inside rubber ring 43, axis of rotation 42 and the laminating of rubber ring 43 each other, axis of rotation 42 inlays admittedly at the front and back both ends of supporting mechanism 2, rubber ring 43 adopts the rubber material, encircles in the outside of axis of rotation 42, the increase with the land fertility of grabbing on ground.
Wherein, pressure mechanism 41 is equipped with pressure piece 411, compression ring 412, expansion ring 413, pressure piece 411 is located same central axis with compression ring 412, the lower extreme at compression ring 412 is laminated to the upper end of expansion ring 413, the laminating of compression ring 412 is on rubber ring 43 surface, expansion ring 413 is folding seal structure, and the laminating is in the upper end of pressure piece 411, and the increase is to the adsorption affinity on ground, prevents that spraying robot gravity from changing and slope.
The embodiment has the following specific use modes and functions:
in the invention, the obstacles on the moving path of the spraying robot are cleaned through the internal resistance block 31 of the blocking mechanism 3, the blocking block 31 can be kept balanced by the iron block 313, the obstacles slide off the inclined triangular plate b2 in the moving process, meanwhile, the rubber strip b3 rubs with the ground, the sealing degree of the pressure mechanism 41 and the ground is prevented from being influenced, when the rotating shaft 42 drives the rubber ring 43 to move, the pressure mechanism 41 on the surface of the rubber ring 43 is stressed with the ground, the compression ring 412 is compressed under the gravity, the interior of the expansion ring 413 is in a hollow state and expands, the ground gripping force on the ground is improved, and the spraying robot is prevented from being inclined due to the change of the gravity.
The technical scheme of the invention is utilized, or a similar technical scheme is designed by a person skilled in the art based on the inspiration of the technical scheme of the invention, so that the technical effects are achieved, and the technical scheme and the method fall into the protection scope of the invention.
Claims (8)
1. The utility model provides a spraying robot, its structure includes spray tube (1), supporting mechanism (2), barrier mechanism (3), moving mechanism (4), swinging boom (5), install in swinging boom (5) upper end spray tube (1), the left and right sides at supporting mechanism (2) is welded in barrier mechanism (3), both sides around supporting mechanism (2) are inlayed in moving mechanism (4), inside its characterized in that of supporting mechanism (2) is inlayed in swinging boom (5):
supporting mechanism (2) are equipped with bracing piece (21), elastic rod (22), atress piece (23), buffer gear (24), bracing piece (21) and atress piece (23) clearance fit, the upper and lower both ends of elastic rod (22) are inlayed respectively and are fixed inside bracing piece (21) and atress piece (23), the inboard laminating of buffer gear (24) is in the outside of bracing piece (21), the outside laminating of buffer gear (24) is in the inboard of atress piece (23), the bracing piece (21) is installed at swinging boom (5) lower extreme, there is the clearance between bracing piece (21) and atress piece (23).
2. A painting robot as claimed in claim 1, characterized in that: buffer gear (24) are equipped with spheroid (241), atress ring (242), spring bar (243), solid fixed ring (244), spheroid (241) are inlayed and are fixed at atress ring (242) inboard, friction fit is carried out with the outside of bracing piece (21) in the inboard of spheroid (241), the inboard of spring bar (243) is inlayed and is fixed in the outside of atress ring (242), the outside welding of spring bar (243) is in the inboard of solid fixed ring (244), gu fixed ring (244) laminating is inboard at atress piece (23).
3. A painting robot as claimed in claim 2, wherein: the stress ring (242) is provided with a supporting block (a1), a stress plate (a2) and a gravity plate (a3), the stress plate (a2) is attached to two sides of the supporting block (a1), the gravity plate (a3) is attached to two sides of the stress plate (a2), and the inner side of the supporting block (a1) is matched with the ball (241) in a movable mode.
4. A painting robot as claimed in claim 1, characterized in that: the blocking mechanism (3) is provided with a blocking block (31) and a connecting block (32), the outer side of the connecting block (32) is welded on the inner side of the blocking block (31), and the inner side of the connecting block (32) is welded on the two sides of the supporting mechanism (2).
5. A painting robot as claimed in claim 4, characterized in that: the blocking block (31) is provided with an inclined block (311), a clearing mechanism (312) and an iron block (313), the iron block (313) is attached to the inclined block (311), the upper end of the clearing mechanism (312) is attached to the lower end of the inclined block (311), and the inner side of the inclined block (311) is welded to the outer side of the connecting block (32).
6. A painting robot as claimed in claim 5, characterized in that: clear mechanism (312) are equipped with fixed plate (b1), set-square (b2), rubber strip (b3), the left side at fixed plate (b1) is laminated in set-square (b2), rubber strip (b3) are embedded and are fixed in the inside of fixed plate (b1), the upper end laminating of fixed plate (b1) is at slope piece (311) lower extreme.
7. A painting robot as claimed in claim 1, characterized in that: the moving mechanism (4) is provided with a pressure mechanism (41), a rotating shaft (42) and a rubber ring (43), the pressure mechanism (41) is embedded and fixed inside the rubber ring (43), the rotating shaft (42) and the rubber ring (43) are attached to each other, and the rotating shaft (42) is embedded and fixed at the front end and the rear end of the supporting mechanism (2).
8. A painting robot as claimed in claim 7, characterized in that: the pressure mechanism (41) is provided with a pressure block (411), a compression ring (412) and an expansion ring (413), the pressure block (411) and the compression ring (412) are located on the same central axis, the upper end of the expansion ring (413) is attached to the lower end of the compression ring (412), and the compression ring (412) is attached to the surface of the rubber ring (43).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010789334.7A CN111992389A (en) | 2020-08-07 | 2020-08-07 | Spraying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010789334.7A CN111992389A (en) | 2020-08-07 | 2020-08-07 | Spraying robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111992389A true CN111992389A (en) | 2020-11-27 |
Family
ID=73462906
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010789334.7A Withdrawn CN111992389A (en) | 2020-08-07 | 2020-08-07 | Spraying robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111992389A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112828907A (en) * | 2021-01-22 | 2021-05-25 | 杨洋 | Supporting equipment for pipeline cutting robot |
| CN112827704A (en) * | 2020-12-31 | 2021-05-25 | 广州市巧柏电子商务有限公司 | Paint spraying processing equipment for automobile front cover plate |
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| CN110653092A (en) * | 2019-10-14 | 2020-01-07 | 山东电子职业技术学院 | Electric automatization water smoke heat sink |
| CN110725513A (en) * | 2019-10-23 | 2020-01-24 | 广州瑞一环保科技有限公司 | Intelligent coating robot |
| CN210198409U (en) * | 2019-07-02 | 2020-03-27 | 南安如盈商贸有限公司 | Sensor support |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112827704A (en) * | 2020-12-31 | 2021-05-25 | 广州市巧柏电子商务有限公司 | Paint spraying processing equipment for automobile front cover plate |
| CN112827704B (en) * | 2020-12-31 | 2021-11-30 | 合肥右一传媒科技有限公司 | Paint spraying processing equipment for automobile front cover plate |
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| CN112828907B (en) * | 2021-01-22 | 2022-11-29 | 武汉华俄激光工程有限公司 | Supporting equipment for pipeline cutting robot |
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Application publication date: 20201127 |