CN114603568A

CN114603568A - Robot arm device and coating robot

Info

Publication number: CN114603568A
Application number: CN202011423818.6A
Authority: CN
Inventors: 陈伯扦; 刘恒志
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2020-12-08
Filing date: 2020-12-08
Publication date: 2022-06-10

Abstract

The invention provides a robot arm device and a coating robot. The robot arm device includes: a base; the mechanical arm is connected with the base and can be arranged in a rotating way relative to the base; the conveying pipe assembly is arranged on the mechanical arm and can rotate relative to the base, and at least part of the conveying pipe assembly and the mechanical arm move synchronously; the conveying pipe assembly comprises a plurality of conveying pipes which are sequentially connected in a pivoting mode, and inner cavities of every two adjacent conveying pipes are communicated. According to the technical scheme, the conveying pipe assembly of the mechanical arm device can adapt to the movement of the mechanical arm, the problem that the conveying pipe is easy to deform in the movement process of the mechanical arm is solved, and the normal supply of materials is guaranteed.

Description

Robot arm device and coating robot

Technical Field

The invention relates to the technical field of mechanical arms, in particular to a mechanical arm device and a coating robot.

Background

The existing coating robot generally adopts a hose to supply materials, a part to be mixed is arranged at the tail end of a mechanical arm of the coating robot, and a feeding part is connected with the part to be mixed through the hose so as to supply the materials for the part to be mixed through the hose; the above arrangement has the following problems: when the mechanical arm moves, the position of the part to be mixed changes, the hose is easy to bend and deform along with the movement of the mechanical arm, and the deformation of the hose can influence the normal supply of materials.

Disclosure of Invention

The invention mainly aims to provide a mechanical arm device and a coating robot, wherein a conveying pipe assembly of the mechanical arm device can adapt to the movement of a mechanical arm, so that the problem that the conveying pipe is easy to deform in the movement process of the mechanical arm is avoided, and the normal supply of materials is ensured.

In order to achieve the above object, according to an aspect of the present invention, there is provided a robot arm device including: a base; the mechanical arm is connected with the base and can be arranged in a rotating way relative to the base; the conveying pipe assembly is arranged on the mechanical arm and can rotate relative to the base, and at least part of the conveying pipe assembly and the mechanical arm move synchronously; the conveying pipe assembly comprises a plurality of conveying pipes which are sequentially connected in a pivoting manner, and inner cavities of two adjacent conveying pipes are communicated. The robotic arm and the delivery tube assembly are both rotatably disposed relative to the base such that the delivery tube assembly rotates with the robotic arm relative to the base when the robotic arm rotates relative to the base; meanwhile, as the conveying pipes of the conveying pipe assembly are sequentially in pivot connection, the conveying pipe assembly can adapt to the movement of the mechanical arm, so that the conveying pipe assembly and the mechanical arm move synchronously, the problem that the conveying pipes deform in the movement process of the mechanical arm can be avoided, and the normal supply of materials is ensured.

Further, the central axis of rotation of the duct assembly relative to the base is arranged parallel to the central axis of rotation of the robotic arm relative to the base such that the duct assembly and the robotic arm have the same tendency to move. When the mechanical arm rotates relative to the base, the conveying pipe assembly can rotate relative to the base along with the mechanical arm, so that the conveying pipe assembly and the mechanical arm move synchronously, the movement trends of the conveying pipe assembly and the mechanical arm are the same, the problem that the conveying pipe deforms in the movement process of the mechanical arm can be avoided, and the normal supply of materials is further guaranteed.

Furthermore, one end of the mechanical arm is connected with the base, the other end of the mechanical arm is connected with the part to be mixed, the conveying pipes which are positioned on the outermost side of the upstream position in the plurality of conveying pipes are arranged on the base and connected with the feeding part along the conveying direction of the materials, and the conveying pipes which are positioned on the outermost side of the downstream position in the plurality of conveying pipes are connected with the part to be mixed. The conveying pipe component can be stably connected with the base and the mechanical arm through the arrangement, the material is conveyed to the conveying pipe by the feeding component, and the material is conveyed to the component to be mixed through the conveying pipe, so that the stable supply of the material is realized.

Further, the mechanical arm comprises a plurality of arm bodies which are connected in sequence, the two adjacent arm bodies are connected in a pivoting mode, and the arm bodies are arranged corresponding to the conveying pipelines. The plurality of arm bodies are sequentially in pivot connection, so that the mechanical arm can flexibly move, the part to be mixed is driven by the mechanical arm to flexibly move, and the adaptability and the operation range of the mechanical arm device are improved; the plurality of arm bodies and the plurality of conveying pipelines are correspondingly arranged, so that the plurality of conveying pipelines can move along with the plurality of arm bodies, the synchronism of movement between the conveying pipe assembly and the mechanical arm is improved, the conveying pipelines can be prevented from deforming in the process of moving along with the mechanical arm, and the normal supply of materials is ensured.

Further, the delivery pipe assembly and the mechanical arm are arranged in the front-rear direction; or, two material conveying pipes positioned on the outermost side of the plurality of material conveying pipes are arranged along the front-back direction, and the material conveying pipes positioned in the middle position are arranged along the left-right direction. The mutual interference between the conveying pipe assembly and the mechanical arm can be avoided by the arrangement, and the conveying pipe assembly can move synchronously with the mechanical arm. The arrangement enables the conveying pipe assembly and the mechanical arm to be arranged along the front-back direction, so that mutual interference between the conveying pipe assembly and the mechanical arm is avoided, and the conveying pipe assembly can move synchronously with the mechanical arm.

Further, the mechanical arm device further comprises a rotary connector, and the conveying pipe assembly is in pivot connection with the base through the rotary connector. The spout assembly is pivotally connected to the base by a swivel joint, thereby enabling the spout assembly to be rotatable relative to the base.

Further, the mechanical arm is rotatably arranged around a first axis of the base, the rotary connector comprises a first rotary joint, the conveying pipeline positioned on the outermost side of the upstream position is pivotally connected with the base through the first rotary joint, and a central axis of the conveying pipeline positioned on the outermost side of the upstream position, which rotates relative to the base, is parallel to the first axis. The conveying pipe located on the outermost side of the upstream position can rotate relative to the base through the first rotary joint, so that the conveying pipe assembly can rotate relative to the base, the conveying pipe located on the outermost side of the upstream position forms a conveying pipe assembly central axis relative to the base through the first rotary joint relative to the central axis of the base, and through the arrangement, the conveying pipe assembly and the mechanical arm can move synchronously, so that the problem that the conveying pipe deforms in the moving process of the mechanical arm can be avoided, and normal supply of materials is guaranteed.

Further, the first rotary joint includes: a first rotating sleeve having a first passage; the first rotating shaft is connected with the first rotating sleeve in a pivoting mode, a second channel communicated with the first channel is arranged on the first rotating shaft, the center line of the first channel is parallel to the center line of the second channel, and the material conveying pipe located on the outermost side of the upstream position is communicated with the feeding component through the first channel and the second channel. The delivery pipe positioned at the outermost side of the upstream position is connected with the first rotary sleeve, so that the delivery pipe is communicated with the first channel and can rotate relative to the first rotating shaft; the first rotating shaft is arranged on the base, so that the conveying pipe can rotate relative to the base, the conveying pipe assembly can move along with the mechanical arm, the problem that the conveying pipe deforms is avoided, and normal supply of materials can be guaranteed. The feeding component conveys materials to the conveying pipeline through the second channel and the first channel, so that the materials are supplied to the component to be mixed through the conveying pipeline component, and the purpose of feeding the component to be mixed is achieved. The central line of the first channel and the central line of the second channel are arranged in parallel, so that the stability of feeding to the conveying pipe through the first rotary joint can be ensured, and the normal and stable supply of materials is ensured.

Furthermore, the mechanical arm is rotatably arranged around a second axis of the base, wherein the first axis is perpendicular to the second axis, the rotary connector further comprises a second rotary joint, the conveying pipe located on the outermost side of the upstream position and the conveying pipe adjacent to the conveying pipe located on the outermost side of the upstream position are in pivot connection through the second rotary joint, and the central axis, which rotates relative to the conveying pipe located on the outermost side of the upstream position, of the conveying pipe adjacent to the conveying pipe located on the outermost side of the upstream position through the second rotary joint is parallel to the second axis. The conveying pipeline located on the outermost side of the upstream position is connected with the conveying pipeline adjacent to the conveying pipeline through the second rotary joint, so that the conveying pipeline located on the outermost side of the upstream position and the conveying pipeline adjacent to the conveying pipeline can rotate relatively, and the conveying pipeline adjacent to the conveying pipeline located on the outermost side of the upstream position is parallel to the second axis relative to the rotating axis of the conveying pipeline located on the outermost side of the upstream position, therefore, the conveying pipeline component can adapt to the movement of the mechanical arm, the problem of deformation of the conveying pipeline is avoided, and normal supply of materials is guaranteed.

Further, the second rotary joint includes: the second rotating sleeve is provided with a first overflowing channel; and the second rotating shaft is in pivot connection with the second rotating sleeve, a second overflowing channel communicated with the first overflowing channel is arranged on the second rotating shaft, the central line of the first overflowing channel is perpendicular to the central line of the second overflowing channel, the conveying pipe located on the outermost side of the upstream position is communicated with the second overflowing channel, and the conveying pipe adjacent to the conveying pipe located on the outermost side of the upstream position is communicated with the first overflowing channel. The material conveying pipe located on the outermost side of the upstream position conveys materials to the material conveying pipe arranged adjacent to the material conveying pipe located on the outermost side of the upstream position through the second overflowing channel and the first overflowing channel, and the purpose of supplying the materials to the component to be supplied through the conveying pipe assembly is achieved. The central line of the first overflowing channel and the central line of the second overflowing channel are perpendicular to each other, so that two adjacent conveying pipelines connected through the second rotary joint can be perpendicular to each other, the conveying direction of materials can be changed, the conveying pipeline assembly can better adapt to a mechanical arm, the problem that the conveying pipelines deform in the moving process of the mechanical arm is avoided, and the normal supply of the materials is guaranteed.

The mechanical arm device further comprises a third rotary joint, a material conveying pipe located on the outermost side of the downstream position is communicated with the part to be mixed through the third rotary joint, the mechanical arm device further comprises a first driving part used for driving a third rotating shaft of the third rotary joint to rotate, and the first driving part is arranged at one end, far away from the base, of the mechanical arm; alternatively, the feed delivery pipe is made of metal or rigid plastic. The material conveying pipe and the part to be mixed which are positioned on the outermost side of the downstream position are connected with the third rotary joint, and the material conveying pipe positioned on the outermost side of the downstream position supplies materials to the part to be mixed through the third rotary joint, so that the purpose of supplying materials to the part to be mixed is achieved. Under the drive of first drive division, the third pivot rotates for the third with the first flange homogeneous phase that is connected of third pivot, like this, with first flange connection's discharging pipe with treat that the compounding part all rotates for the third along with first flange, can improve the operation scope of treating the compounding part, the flexibility and the adaptability of work. The material conveying pipe made of metal or hard plastic is not easy to deform, and the normal supply of materials can be ensured through the material conveying pipe.

Furthermore, the mechanical arm device further comprises a connecting assembly, the connecting assembly comprises a hoop arranged on the periphery of the mechanical arm and a connecting ring in pivot connection with the hoop, and the connecting ring is connected with a conveying pipeline located in the middle of the conveying pipelines. The connecting assembly is used for connecting the mechanical arm and the conveying pipeline, so that the mechanical arm and the conveying pipeline assembly are connected together through the connecting assembly, and therefore when the mechanical arm moves, the conveying pipeline assembly can move together with the mechanical arm, and the synchronism of the conveying pipeline assembly with the movement of the mechanical arm is improved. The clamp is in pivot connection with the connecting ring, so that the mechanical arm is in pivot connection with the material conveying pipe, the flexibility of connection of the material conveying pipe and the mechanical arm is improved, the problem that the material conveying pipe deforms in the motion process of the mechanical arm can be effectively avoided, and normal supply of materials is facilitated.

Further, the connection assembly further includes a first connection plate pivotally connected to the yoke, and the connection ring is connected to the first connection plate. The clamp and the connecting ring are in pivot connection through the first connecting plate, so that the connection flexibility of the clamp and the connecting ring is improved, the mechanical arm is flexibly connected with the conveying pipe, the conveying pipe is not prone to deformation in the motion process of the mechanical arm, and normal material supply is facilitated.

Furthermore, a sliding groove is formed in the first connecting plate, the connecting assembly further comprises a first connecting rod, one end of the first connecting rod is pivotally connected with the connecting ring, and the other end of the first connecting rod is slidably arranged along the sliding groove. Through first connecting rod, the go-between can slide and rotate for first connecting plate along the spout, has improved the flexibility that go-between and clamp are connected, makes the arm be connected more nimble with the conveying pipeline to make the conveying pipeline at the motion in-process of mechanical arm non-deformable, be favorable to normally supplying the material.

According to another aspect of the present invention, there is provided a coating robot comprising a mixer and the above-mentioned arm device, wherein the outermost feed conveyor pipe located at the downstream position communicates with the mixer, which forms the part to be mixed. The mixer is used for mixing materials, and a material conveying pipe of the mechanical arm device is communicated with the mixer to supply materials to the mixer.

By applying the technical scheme of the invention, the mechanical arm and the conveying pipe assembly are both rotatably arranged relative to the base and are connected with the part to be mixed, so that when the mechanical arm rotates relative to the base, the conveying pipe assembly can rotate relative to the base along with the mechanical arm; meanwhile, as the conveying pipes of the conveying pipe assembly are sequentially in pivot connection, the conveying pipe assembly can adapt to the movement of the mechanical arm, so that the conveying pipe assembly and the mechanical arm move synchronously, the problem that the conveying pipes deform in the movement process of the mechanical arm can be avoided, and the normal supply of materials is ensured.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 shows a schematic perspective view of an angle of an embodiment of a coating robot according to the invention;

FIG. 2 shows a perspective view of another angle of the coating robot of FIG. 1;

FIG. 3 shows a schematic perspective view of another angle of the coating robot of FIG. 1;

FIG. 4 shows a perspective view of another angle of the coating robot of FIG. 1;

FIG. 5 shows a front view of the coating robot of FIG. 1;

FIG. 6 shows a top view of the coating robot of FIG. 5;

FIG. 7 shows a bottom view of the coating robot of FIG. 5;

FIG. 8 shows a right side view of the coating robot of FIG. 5;

FIG. 9 shows a left side view of the coating robot of FIG. 5;

FIG. 10 is a schematic view of the coupling assembly of the coating robot of FIG. 1 coupled to the arm body of the robotic arm;

fig. 11 shows a perspective view of a first rotary joint of the coating robot of fig. 1;

FIG. 12 shows a cross-sectional view of the first rotary joint of FIG. 11;

FIG. 13 shows a left side view of the first rotary joint of FIG. 11;

FIG. 14 shows a top view of the first rotary joint of FIG. 11;

fig. 15 shows a schematic perspective view of a second rotary joint of the coating robot of fig. 1;

FIG. 16 shows a cross-sectional view of the second rotary joint of FIG. 15;

FIG. 17 shows a left side view of the second rotary joint of FIG. 15;

FIG. 18 shows a bottom view of the second rotary joint of FIG. 15;

FIG. 19 shows a top view of the second rotary joint of FIG. 15;

fig. 20 shows a perspective view of a third rotary joint of the coating robot of fig. 1;

FIG. 21 shows a schematic perspective view of another angle of the third rotary joint of FIG. 20;

FIG. 22 shows a cross-sectional view of the third rotary joint of FIG. 20;

FIG. 23 shows a left side view of the third rotary joint of FIG. 20;

FIG. 24 shows a right side view of the third rotary joint of FIG. 20;

FIG. 25 shows a bottom view of the third rotary joint of FIG. 20; and

fig. 26 shows a top view of the third rotary joint of fig. 20.

Wherein the figures include the following reference numerals:

10. a base; 11. a pipeline support; 20. a mechanical arm; 21. an arm body; 30. a delivery tube assembly; 31. a delivery pipe; 40. a first rotary joint; 41. a first rotating sleeve; 411. a first channel; 412. a third channel; 42. a first rotating shaft; 421. a second channel; 422. a fourth channel; 43. a first bearing; 44. a first seal member; 45. a first fastener; 50. a second rotary joint; 51. a second rotating sleeve; 511. a first flow passage; 512. a third flow passage; 52. a second rotating shaft; 521. a second flow passage; 522. a fourth flow channel; 53. a second bearing; 54. a second seal member; 55. a second fastener; 60. a third rotary joint; 61. a third rotating sleeve; 611. a first cavity; 612. a second through hole; 62. a third rotating shaft; 621. a second cavity; 622. a first through hole; 623. an end cap; 63. a first flange; 631. a third cavity; 64. a third bearing; 65. a third seal member; 66. a second flange; 70. a connecting assembly; 71. clamping a hoop; 72. a connecting ring; 73. a first connecting plate; 74. a chute; 75. a first connecting rod; 76. a second connecting rod; 80. a mixer; 91. a first pipe joint; 92. a second pipe joint; 93. a third pipe joint; 95. a fifth pipe joint; 96. and (4) discharging the pipe.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

It is noted that, unless otherwise indicated, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

In the present invention, unless specified to the contrary, use of the terms of orientation such as "upper, lower, top, bottom" or the like, generally refer to the orientation as shown in the drawings, or to the component itself in a vertical, perpendicular, or gravitational orientation; likewise, for ease of understanding and description, "inner and outer" refer to the inner and outer relative to the profile of the components themselves, but the above directional words are not intended to limit the invention.

The invention provides a mechanical arm device, aiming at the problem that a hose is easy to deform along with the movement of a mechanical arm and the normal supply of materials is influenced.

As shown in fig. 1 to 7, in an embodiment of the present invention, a robot apparatus includes a base 10, a robot 20, and a duct assembly 30, the robot 20 is connected to the base 10, the robot 20 is rotatably disposed with respect to the base 10, the duct assembly 30 is disposed on the robot 20, the duct assembly 30 is rotatably disposed with respect to the base 10, at least a portion of the duct assembly 30 moves synchronously with the robot 20, wherein the duct assembly 30 includes a plurality of material conveying pipes 31 that are sequentially pivotally connected, and inner cavities of two adjacent material conveying pipes 31 communicate with each other. Specifically, one end of the mechanical arm 20 is connected to the base 10, the other end of the mechanical arm 20 is connected to the material-mixing member, and along the material conveying direction, the outermost material conveying pipe 31 of the plurality of material conveying pipes 31 located at the upstream position is disposed on the base 10 and connected to the material-mixing member, and the outermost material conveying pipe 31 of the plurality of material conveying pipes 31 located at the downstream position is connected to the material-mixing member.

In the above arrangement, the robot arm 20 and the delivery pipe assembly 30 are both rotatably arranged relative to the base 10, and the robot arm 20 and the delivery pipe assembly 30 are both connected to the part to be mixed, so that when the robot arm 20 rotates relative to the base 10, the delivery pipe assembly 30 can rotate together with the robot arm 20 relative to the base 10; meanwhile, as the plurality of material conveying pipes 31 of the conveying pipe assembly 30 are sequentially and pivotally connected, the conveying pipe assembly 30 can adapt to the movement of the mechanical arm 20, so that the conveying pipe assembly 30 and the mechanical arm 20 synchronously move, the problem that the material conveying pipes 31 deform in the movement process of the mechanical arm 20 can be avoided, and the normal supply of materials is ensured (for example, the supply amount of the materials is ensured to meet the requirements of users).

Further, the mechanical arm 20 moves to drive the part to be mixed to move, so that the position of the part to be mixed is changed, and the adaptability of the mechanical arm device and the part to be mixed is improved.

Further, a plurality of conveying pipes 31 are in pivot connection in sequence, and the inner cavities of two adjacent conveying pipes 31 are communicated, so that the conveying pipe assembly 30 can adapt to the movement of the mechanical arm 20, the conveying pipes 31 are prevented from deforming, the purpose of conveying materials to a part to be mixed is achieved, and the normal supply of the materials is guaranteed.

Further, one end of the mechanical arm 20 is connected with the base 10, the other end of the mechanical arm 20 is connected with a part to be mixed, the conveying pipe 31 located on the outermost side of the upstream position is arranged on the base 10, the conveying pipe 31 located on the outermost side of the downstream position is connected with the part to be mixed, the conveying pipe assembly 30 can be stably connected with the base 10 and the mechanical arm 20 through the arrangement, the material is conveyed to the conveying pipe 31 by the feeding part, the material is conveyed to the part to be mixed through the conveying pipe 31, and stable supply of the material is achieved.

It should be noted that the term "simultaneous movement" of at least a portion of the transfer tube assembly 30 and the robotic arm 20 refers to the fact that at least a portion of the transfer tube assembly 30 is movable with the robotic arm 20, wherein the degree of freedom of the transfer tube assembly 30 is greater than or equal to the degree of freedom of the robotic arm 20.

In the embodiment of the present invention, the "outermost feed conveyor pipe 31 located at an upstream position among the plurality of feed conveyor pipes 31" refers to a first feed conveyor pipe 31 among the plurality of feed conveyor pipes 31 in the conveying direction of the material, and the "outermost feed conveyor pipe 31 located at a downstream position among the plurality of feed conveyor pipes 31" refers to a last feed conveyor pipe 31 among the plurality of feed conveyor pipes 31 in the conveying direction of the material.

In the embodiment of the present invention, one end of the robot arm 20 is connected to the base 10, the other end of the robot arm 20 is connected to the member to be mixed, and along the material conveying direction, the outermost material conveying pipe 31 of the plurality of material conveying pipes 31 located at the upstream position is disposed on the base 10 and connected to the material feeding member, and the outermost material conveying pipe 31 of the plurality of material conveying pipes 31 located at the downstream position is connected to the member to be mixed. In an alternative embodiment of the present application, it is also possible to arrange a conveying pipe assembly 30 comprising a plurality of conveying pipes 31 directly on the robot arm 20, according to the actual needs, the outermost conveying pipe 31 in the upstream position being connected to the feeding member, and the outermost conveying pipe 31 in the downstream position being connected to the member to be mixed; the feeding component may be disposed on the base 10, or may be disposed at a corresponding position of the arm 20, and the component to be mixed may be disposed at an end of the arm 20 away from the base 10, or may be disposed at any other position of the arm 20 (for example, the component to be mixed may be disposed at a middle joint of the arm 20), as long as the feeding component is capable of communicating with the outermost delivery pipe 31 located at the upstream position among the delivery pipes 31, and the outermost delivery pipe 31 located at the downstream position among the delivery pipes 31 is capable of communicating with the component to be mixed to feed.

Preferably, as shown in fig. 1 and 2, in the embodiment of the present invention, the robot arm 20 is a four-axis robot arm. Of course, in an alternative embodiment not shown in the drawings of the present application, a two-axis robot arm or a three-axis robot arm or at least a five-axis robot arm may be selected as the robot arm 20 in the present application according to actual needs.

As shown in fig. 1 and 9, in the embodiment of the present invention, the central axis of rotation of the duct assembly 30 with respect to the base 10 is disposed in parallel with the central axis of rotation of the robot arm 20 with respect to the base 10, so that the duct assembly 30 and the robot arm 20 move in the same tendency.

Through the arrangement, when the mechanical arm 20 rotates relative to the base 10, the conveying pipe assembly 30 can rotate relative to the base 10 along with the mechanical arm 20, so that the conveying pipe assembly 30 and the mechanical arm 20 move synchronously, the conveying pipe assembly 30 and the mechanical arm 20 have the same moving trend, the problem that the conveying pipe 31 deforms in the moving process of the mechanical arm 20 can be solved, and the normal supply of materials is further ensured.

Preferably, as shown in fig. 1 and 9, in the embodiment of the present invention, the central axis of rotation of the robot arm 20 with respect to the base 10 includes a first axis and a second axis, and the above-mentioned "the central axis of rotation of the duct assembly 30 with respect to the base 10 is arranged in parallel with the central axis of rotation of the robot arm 20 with respect to the base 10" includes that the central axis of rotation of the outermost feed conveyor pipe 31 at the upstream position with respect to the base 10 through the first rotary joint 40 is parallel with the first axis and the axis of rotation of the feed conveyor pipe 31 adjacent to the outermost feed conveyor pipe 31 at the upstream position with respect to the second axis through the second rotary joint 50 is parallel with the second axis.

As shown in fig. 1 to 9, in the embodiment of the present invention, the mechanical arm 20 includes a plurality of arm bodies 21 connected in sequence, two adjacent arm bodies 21 are pivotally connected, and the plurality of arm bodies 21 are disposed corresponding to the plurality of material conveying pipes 31.

In the arrangement, the plurality of arm bodies 21 are sequentially connected in a pivoting manner, so that the mechanical arm 20 can move flexibly, the mechanical arm 20 drives the part to be mixed to move flexibly, and the adaptability and the operation range of the mechanical arm device are improved; the plurality of arm bodies 21 and the plurality of material conveying pipes 31 are correspondingly arranged, so that the plurality of material conveying pipes 31 can move along with the plurality of arm bodies 21, the movement synchronism between the conveying pipe assembly 30 and the mechanical arm 20 is improved, the material conveying pipes 31 can be prevented from deforming in the process of moving along with the mechanical arm 20, and the normal supply of materials is ensured.

The above-mentioned "a plurality of arms 21 are provided corresponding to a plurality of feed pipes 31" means that one of the plurality of arms 21 is provided corresponding to at least one feed pipe 31. The number of the arm bodies 21 and the number of the material conveying pipes 31 can be set according to actual needs, as long as it is ensured that at least part of the conveying pipe assemblies 30 can move together with the mechanical arm 20, and the conveying pipe assemblies 30 cannot deform. Preferably, the degree of freedom of the duct assembly 30 is greater than or equal to the degree of freedom of the robotic arm 20. Preferably, the number of the feed delivery pipes 31 is greater than or equal to the number of the arm bodies 21.

As shown in fig. 6, in the embodiment of the present invention, the duct assembly 30 and the robot arm 20 are arranged in the front-rear direction. By the arrangement, mutual interference between the delivery pipe assembly 30 and the mechanical arm 20 can be avoided, and the delivery pipe assembly 30 can move synchronously with the mechanical arm 20.

In the embodiment of the present invention, as shown in fig. 6, two outermost feed conveyors 31 among the feed conveyors 31 are arranged in the front-rear direction, and the feed conveyor 31 located at the center is arranged in the left-right direction.

Through the arrangement, the conveying pipe assembly 30 and the mechanical arm 20 can be arranged along the front-back direction, so that mutual interference between the conveying pipe assembly 30 and the mechanical arm 20 is avoided, and the conveying pipe assembly 30 can move synchronously with the mechanical arm 20.

As shown in fig. 6, in the embodiment of the present invention, the "front-rear direction" refers to a direction perpendicular to the traveling direction of the robot arm device, and the "left-right direction" refers to the traveling direction of the robot arm device.

Preferably, in the embodiment of the present invention, the conveyor pipe 31 located at the intermediate position is moved in synchronization with the robot arm 20. The material conveying pipe 31 positioned in the middle position can adapt to the movement of the mechanical arm 20, so that the problem that the material conveying pipe 31 deforms along with the movement of the mechanical arm 20 is avoided, and the normal supply of materials is ensured.

Preferably, in the embodiment of the present invention, the robot arm device further includes a rotary joint, and the conveying pipe assembly 30 is pivotally connected to the base 10 through the rotary joint.

In the above arrangement, the duct assembly 30 is pivotally connected to the base 10 by a swivel joint, such that the duct assembly 30 is rotatable relative to the base 10.

In the embodiment of the invention shown in fig. 1 and 9, the robot arm 20 is rotatably arranged around a first axis of the base 10, the rotary joint further comprises a first rotary joint 40, the outermost feed conveyor pipe 31 at the upstream position is pivotally connected to the base 10 through the first rotary joint 40, and the central axis of the outermost feed conveyor pipe 31 at the upstream position is parallel to the first axis through the first rotary joint 40 relative to the base 10.

In the above arrangement, the first rotary joint 40 enables the outermost material conveying pipe 31 located at the upstream position to rotate relative to the base 10, so that the material conveying pipe assembly 30 can rotate relative to the base 10, and the outermost material conveying pipe 31 located at the upstream position forms a central axis of the material conveying pipe assembly 30 rotating relative to the base 10 through the central axis of the first rotary joint 40 rotating relative to the base 10.

As shown in fig. 11 to 14, in the embodiment of the present invention, the first rotary joint 40 includes a first rotary sleeve 41 and a first rotary shaft 42, the first rotary sleeve 41 has a first passage 411, the first rotary shaft 42 is pivotally connected to the first rotary sleeve 41, the first rotary shaft 42 is provided with a second passage 421 communicated with the first passage 411, a center line of the first passage 411 is parallel to a center line of the second passage 421, and the feed delivery pipe 31 located at the outermost side of the upstream position is communicated with the feeding part through the first passage 411 and the second passage 421.

In the embodiment of the present invention, the outermost material delivery pipe 31 located at the upstream position is connected to the first rotary sleeve 41, so that the material delivery pipe 31 is communicated with the first channel 411, and the material delivery pipe 31 can rotate relative to the first rotary shaft 42; the first rotating shaft 42 is disposed on the base 10, so that the material conveying pipe 31 can rotate relative to the base 10, and further the conveying pipe assembly 30 can rotate relative to the base 10, so that the conveying pipe assembly 30 can move together with the mechanical arm 20, thereby avoiding the problem of deformation of the material conveying pipe 31 and ensuring normal supply of materials. The feeding component feeds the material to the material conveying pipe 31 through the second channel 421 and the first channel 411, so that the material is supplied to the component to be mixed through the conveying pipe assembly 30, and the purpose of feeding the component to be mixed is achieved. The central line of the first channel 411 is parallel to the central line of the second channel 421, so that the stability of feeding to the feeding pipe 31 through the first rotary joint 40 can be ensured, and the normal and stable supply of materials can be ensured.

Of course, in an alternative embodiment not shown in the drawings of the present application, it is also possible to connect the outermost feed conveyor pipe 31 in the upstream position to the first rotary shaft 42, and to arrange the first rotary sleeve 41 on the base 10, so that said feed conveyor pipe 31 is rotatably arranged with respect to the base 10, in which case said feed conveyor pipe 31 communicates with the feeding means via the second channel 421 and the first channel 411, as required.

Specifically, in the embodiment of the present invention, the first rotating sleeve 41 of the first rotating joint 40 further has a third passage 412 communicated with the first passage 411, the first rotating shaft 42 further has a fourth passage 422 communicated with the second passage 421, the third passage 412 is communicated with the fourth passage 422, so that the first passage 411 is communicated with the second passage 421, and the delivery pipe 31 located at the outermost side of the upstream position is communicated with the feeding part through the first passage 411, the third passage 412, the fourth passage 422 and the second passage 421.

Preferably, in the embodiment of the present invention, as shown in fig. 12, the radial dimension of the third channel 412 is the same as the radial dimension of the fourth channel 422, so that the material is less resistant to flowing from the fourth channel 422 to the third channel 412, and the material can smoothly enter the third channel 412 from the fourth channel 422 and then flow to the conveying pipe 31. Of course, in an alternative embodiment not shown in the drawings of the present application, the radial dimension of the third channel 412 may be larger than the radial dimension of the fourth channel 422, or the radial dimension of the third channel 412 may be smaller than the radial dimension of the fourth channel 422, according to actual needs.

Preferably, the center line of the first channel 411 and the center line of the third channel 412 have an angle therebetween. Preferably, in the embodiment of the present invention, the angle between the center line of the first channel 411 and the center line of the third channel 412 is 90 °. Of course, in an alternative embodiment not shown in the drawings of the present application, the included angle between the center line of the first channel 411 and the center line of the third channel 412 may be set to other angles, for example, 60 ° or 120 ° according to actual needs.

Preferably, the center line of the second channel 421 and the center line of the fourth channel 422 have an included angle therebetween. Preferably, in the embodiment of the present invention, the angle between the center line of the second channel 421 and the center line of the fourth channel 422 is 90 °. Of course, in alternative embodiments not shown in the drawings of the present application, the included angle between the center line of the second channel 421 and the center line of the fourth channel 422 may be set to other angles, for example, 60 ° or 120 ° according to actual needs.

Preferably, the first rotating joint 40 further includes a first bearing 43 disposed between the first rotating sleeve 41 and the first rotating shaft 42, and the first rotating sleeve 41 is pivotally connected to the first rotating shaft 42 through the first bearing 43, so that the first rotating sleeve 41 and the first rotating shaft 42 can rotate relatively.

Preferably, the first rotary joint 40 further includes a first sealing member 44 disposed between the first rotary sleeve 41 and the first rotary shaft 42, the first sealing member 44 is used for sealing a gap between the first rotary sleeve 41 and the first rotary shaft 42, preventing material loss, and reducing material loss, and especially, during relative rotation between the first rotary sleeve 41 and the first rotary shaft 42, the first sealing member 44 can seal the first rotary sleeve 41 and the first rotary shaft 42, and reduce material loss. Preferably, the first seal 44 may be a backbone oil seal.

Preferably, the first rotary joint 40 further comprises a first fastener 45 disposed between the first rotary sleeve 41 and the first rotary shaft 42, the first fastener 45 being used for fixing the first bearing 43, preventing the first bearing 43 from sliding along the pivot axis of the first rotary shaft 42 and the first rotary sleeve 41, and stabilizing the relative rotation between the first rotary shaft 42 and the first rotary sleeve 41. Preferably, the first fastening member 45 may be a snap spring.

Preferably, the robot arm device further comprises a first pipe joint 91 connected to the first rotary sleeve 41, the first pipe joint 91 is connected to an end of the first passage 411 of the first rotary sleeve 41 away from the third passage 412, and the outermost feed conveyor pipe 31 located at the upstream position is connected to the first rotary sleeve 41 through the first pipe joint 91.

Preferably, the first pipe joint 91 is connected with one end of the first passage 411 of the first rotary sleeve 41 far from the third passage 412 through a locking member. Preferably, the locking member may be a bolt.

Preferably, a sealing ring is arranged between the first pipe joint 91 and one end of the first channel 411 of the first rotating sleeve 41, which is far away from the third channel 412, and the sealing ring is used for sealing a gap between the first pipe joint 91 and the first rotating sleeve 41 to prevent material loss. Preferably, the sealing ring may be an O-ring.

Preferably, the inner wall of the first pipe joint 91 is provided with a first internal thread, the outermost feed delivery pipe 31 at the upstream position is provided with a first external thread matched with the first internal thread, and the first pipe joint 91 is in threaded connection with the outermost feed delivery pipe 31 at the upstream position.

Preferably, the robot arm device further comprises a second pipe joint 92 connected to the first rotating shaft 42, the second pipe joint 92 is connected to one end of the second channel 421 of the first rotating shaft 42 far from the fourth channel 422, the second pipe joint 92 is connected to the feeding component, and the feeding component is connected to the first rotating shaft 42 through the second pipe joint 92.

It should be noted that the connection between the second pipe joint 92 and the end of the second channel 421 of the first rotary shaft 42, which is far from the fourth channel 422, may be the same as the connection between the first pipe joint 91 and the end of the first channel 411 of the first rotary sleeve 41, which is far from the third channel 412, and the connection between the second pipe joint 92 and the feeding component may be the same as the connection between the first pipe joint 91 and the outermost feed delivery pipe 31 located at the upstream position, and the description thereof is omitted here.

Preferably, the robot arm device further comprises a feeding pipe connected to the feeding part, one end of the feeding pipe remote from the feeding part is connected to the first rotating shaft 42 of the first rotating joint 40 through a second pipe joint 92, and the feeding part feeds the material to the first rotating joint 40 through the feeding pipe, so that the material is supplied to the part to be mixed through the conveying pipe assembly 30. Preferably, second coupling 92 is connected to the feeding pipe in the same manner as first coupling 91 is connected to the outermost feed conveyor pipe 31 in the upstream position, and will not be described in detail here.

In the embodiment of the present invention, as shown in fig. 1 and 9, the robot arm 20 is rotatably disposed about a second axis of the base 10, wherein the first axis is perpendicular to the second axis, the rotary joint further comprises a second rotary joint 50, the outermost feed conveyor pipe 31 located at the upstream position and the feed conveyor pipe 31 disposed adjacent to the outermost feed conveyor pipe 31 located at the upstream position are pivotally connected by the second rotary joint 50, and the axis of rotation of the feed conveyor pipe 31 disposed adjacent to the outermost feed conveyor pipe 31 located at the upstream position with respect to the outermost feed conveyor pipe 31 located at the upstream position is parallel to the second axis by the second rotary joint 50.

In the above arrangement, the outermost material conveying pipe 31 located at the upstream position and the material conveying pipe 31 adjacent thereto are connected by the second rotary joint 50, so that the outermost material conveying pipe 31 located at the upstream position and the material conveying pipe 31 adjacent thereto can rotate relatively, and the axis of the material conveying pipe 31 adjacent to the outermost material conveying pipe 31 located at the upstream position, which rotates relative to the outermost material conveying pipe 31 located at the upstream position, is parallel to the second axis, so that the material conveying pipe assembly 30 can adapt to the movement of the robot arm 20, the problem of deformation of the material conveying pipe 31 is avoided, and the normal supply of materials is ensured.

As shown in fig. 15 to 19, in the embodiment of the present invention, the second rotary joint 50 includes a second rotary sleeve 51 and a second rotary shaft 52, the second rotary sleeve 51 has a first overflowing passage 511, the second rotary shaft 52 is pivotally connected to the second rotary sleeve 51, the second rotary shaft 52 is provided with a second overflowing passage 521 communicated with the first overflowing passage 511, a center line of the first overflowing passage 511 is perpendicular to a center line of the second overflowing passage 521, wherein the outermost material conveying pipe 31 located at the upstream position is communicated with the second overflowing passage 521, and the material conveying pipe 31 adjacent to the outermost material conveying pipe 31 located at the upstream position is communicated with the first overflowing passage 511.

In the above arrangement, the outermost feed conveyor 31 at the upstream position conveys the material to the feed conveyor 31 adjacent to the outermost feed conveyor 31 at the upstream position through the second overflow channel 521 and the first overflow channel 511, thereby achieving the purpose of supplying the material to the component to be supplied through the conveying pipe assembly 30. The central line of the first overflowing channel 511 is perpendicular to the central line of the second overflowing channel 521, so that two adjacent conveying pipes 31 connected through the second rotary joint 50 are perpendicular to each other, the conveying direction of the material can be changed, the conveying pipe assembly 30 can better adapt to the mechanical arm 20, the problem that the conveying pipes 31 deform in the moving process of the mechanical arm 20 is solved, and the normal supply of the material is guaranteed.

Of course, in an alternative embodiment not shown in the drawings of the present application, it is also possible to connect the outermost feed pipe 31 located at the upstream position with the second rotary sleeve 51, connect the feed pipe 31 adjacent to the outermost feed pipe 31 located at the upstream position with the second rotary shaft 52, and allow the two adjacent feed pipes 31 connected by the second rotary joint 50 to rotate relatively, at this time, the outermost feed pipe 31 located at the upstream position communicates with the first through-flow passage 511, the feed pipe 31 adjacent to the outermost feed pipe 31 located at the upstream position communicates with the second through-flow passage 521, and the outermost feed pipe 31 located at the upstream position communicates with the feed pipe 31 adjacent thereto by the second rotary joint 50.

Specifically, in the embodiment of the present invention, the second rotary sleeve 51 of the second rotary joint 50 further has a third through-flow passage 512 communicated with the first through-flow passage 511, the second rotary shaft 52 further has a fourth through-flow passage 522 communicated with the second through-flow passage 521, the third through-flow passage 512 is communicated with the fourth through-flow passage 522, so that the first through-flow passage 511 is communicated with the second through-flow passage 521, and the outermost feed pipe 31 located at the upstream position conveys the material to the feed pipe 31 adjacent to the outermost feed pipe 31 located at the upstream position through the second through-flow passage 521, the fourth through-flow passage 522, the third through-flow passage 512 and the first through-flow passage 511.

Preferably, in the embodiment of the present invention, the radial dimension of the third flow-through channel 512 is the same as the radial dimension of the fourth flow-through channel 522, so that the material has a smaller resistance when flowing through the fourth flow-through channel 522 to the third flow-through channel 512, and the material can smoothly enter the third flow-through channel 512 from the fourth flow-through channel 522 and then flow to the material conveying pipe 31. Of course, in an alternative embodiment not shown in the drawings of the present application, the radial dimension of the third transfer channel 512 may be larger than the radial dimension of the fourth transfer channel 522, or the radial dimension of the third transfer channel 512 may be smaller than the radial dimension of the fourth transfer channel 522, according to actual needs.

Preferably, the center line of the first flow-passing channel 511 and the center line of the third flow-passing channel 512 form an included angle. Preferably, in the embodiment of the present invention, the included angle between the center line of the first flow-passing channel 511 and the center line of the third flow-passing channel 512 is 90 °. Of course, in an alternative embodiment not shown in the drawings of the present application, the included angle between the center line of the first flow-passing channel 511 and the center line of the third flow-passing channel 512 can be set to other angles, for example, 60 ° or 120 ° according to actual needs.

Preferably, the center line of the second transfer channel 521 and the center line of the fourth transfer channel 522 form an included angle. Preferably, in the embodiment of the present invention, the included angle between the center line of the second transfer channel 521 and the center line of the fourth transfer channel 522 is 180 °. Of course, in an alternative embodiment not shown in the drawings of the present application, the included angle between the center line of the second flow passage 521 and the center line of the fourth flow passage 522 may be set to other angles, for example, 120 ° or 150 ° according to actual needs.

Preferably, in the embodiment of the present invention, the second rotating joint 50 further includes a second bearing 53 disposed between the second rotating sleeve 51 and the second rotating shaft 52, and the second rotating sleeve 51 is pivotally connected to the second rotating shaft 52 through the second bearing 53, so that the second rotating sleeve 51 and the second rotating shaft 52 can rotate relatively.

Preferably, in the embodiment of the present invention, the second rotating joint 50 further includes a second sealing member 54 disposed between the second rotating sleeve 51 and the second rotating shaft 52, and the second sealing member 54 has the same function as the first sealing member 44 disposed between the first rotating sleeve 41 and the first rotating shaft 42, and will not be described again. Preferably, the second seal 54 may be a backbone oil seal.

Preferably, in the embodiment of the present invention, the second rotating joint 50 further includes a second fastening member 55 disposed between the second rotating sleeve 51 and the second rotating shaft 52, and the second fastening member 55 has the same function as the first fastening member 45 disposed between the first rotating sleeve 41 and the first rotating shaft 42, and will not be described again. Preferably, the second fastening member 55 may be a snap spring.

Preferably, in the embodiment of the present invention, the robot arm device further includes a third pipe joint 93 connected to the second rotary sleeve 51, the third pipe joint 93 is connected to an end of the first transfer passage 511 of the second rotary sleeve 51, which is far from the third transfer passage 512, the feed delivery pipe 31 disposed adjacent to the outermost feed delivery pipe 31 located at the upstream position is connected to the third pipe joint 93, and the feed delivery pipe 31 disposed adjacent to the outermost feed delivery pipe 31 located at the upstream position is connected to the second rotary sleeve 51 through the third pipe joint 93.

Preferably, in the embodiment of the present invention, the connection manner of the third pipe joint 93 and the end of the first overflow channel 511 of the second rotary sleeve 51, which is far from the third overflow channel 512, may be the same as the connection manner of the first pipe joint 91 and the end of the first channel 411 of the first rotary sleeve 41, which is far from the third channel 412, and the connection manner of the feed delivery pipe 31 arranged adjacent to the outermost feed delivery pipe 31 located at the upstream position and the third pipe joint 93 may be the same as the connection manner of the first pipe joint 91 and the outermost feed delivery pipe 31 located at the upstream position, and therefore, the description thereof is omitted.

Preferably, the robot arm device further comprises a fourth pipe joint connected with the second rotating shaft 52, the fourth pipe joint is connected with one end of the second transfer channel 521 of the second rotating shaft 52, which is far away from the fourth transfer channel 522, the fourth pipe joint is connected with the outermost conveying pipe 31 at the upstream position, and the outermost conveying pipe 31 at the upstream position is connected with the second rotating shaft 52 through the fourth pipe joint.

Preferably, the fourth pipe joint and the end of the second transfer channel 521 of the second rotating shaft 52 far from the fourth transfer channel 522 can be connected in the same way as the first pipe joint 91 and the end of the first channel 411 of the first rotating sleeve 41 far from the third channel 412, and the fourth pipe joint and the outermost feed delivery pipe 31 at the upstream position can be connected in the same way as the first pipe joint 91 and the outermost feed delivery pipe 31 at the upstream position, and therefore, the connection is not repeated here.

As shown in fig. 2 to 5, 7 and 8, in the embodiment of the present invention, the robot arm device further includes a third rotary joint 60, and the outermost material conveying pipe 31 located at the downstream position is communicated with the material to be mixed through the third rotary joint 60.

In the above arrangement, the material conveying pipe 31 and the material to be mixed which are located at the outermost side of the downstream position are both connected with the third rotary joint 60, and the material conveying pipe 31 located at the outermost side of the downstream position supplies the material to be mixed through the third rotary joint 60, so that the purpose of supplying the material to be mixed is achieved.

As shown in fig. 20 to 26, in the embodiment of the present invention, the third rotating joint 60 includes a third rotating sleeve 61, a third rotating shaft 62 and a first flange 63, the third rotating sleeve 61 has a first cavity 611, the third rotating shaft 62 is disposed on the third rotating sleeve 61 in a penetrating manner, the third rotating shaft 62 is pivotally connected to the third rotating sleeve 61, and a second cavity 621 communicating with the first cavity 611 is disposed on the third rotating shaft 62; the first flange 63 is connected with the third rotating shaft 62, the first flange 63 is provided with a third cavity 631 communicated with the second cavity 621, the center line of the third cavity 631 is parallel to the center line of the first cavity 611, the material conveying pipe 31 located on the outermost side of the downstream position is communicated with the first cavity 611, and the component to be mixed is communicated with the third cavity 631.

In the above arrangement, the feed delivery pipe 31 located at the outermost side of the downstream position is connected with the third rotary sleeve 61, the first flange 63 is connected with the third rotary shaft 62, and the member to be mixed is connected with the first flange 63, and since the third rotary sleeve 61 and the third rotary shaft 62 can rotate relatively, the first flange 63 and the third rotary sleeve 61 can rotate relatively, so that the feed delivery pipe 31 located at the outermost side of the downstream position and the member to be mixed can rotate relatively, and the member to be mixed can rotate relatively to the feed delivery pipe 31 located at the outermost side of the downstream position, so that the movable range of the member to be mixed can be expanded, and the operation range of the member to be mixed can be increased.

Further, the material conveying pipe 31 located at the outermost side of the downstream position conveys the material to the component to be mixed through the first cavity 611, the second cavity 621 and the third cavity 631, so that the normal supply of the material is ensured.

Further, the center line of the third cavity 631 is disposed in parallel with the center line of the first cavity 611, so that the material can be smoothly supplied. Preferably, the third rotating sleeve 61 is provided with a second through hole 612 communicating with the first cavity 611, and a central axis of the second through hole 612 is parallel to a central axis of the third cavity 631.

Preferably, the third rotating shaft 62 is provided with a first through hole 622 communicated with the second cavity 621, and the first cavity 611 is communicated with the second cavity 621 through the first through hole 622.

Preferably, the third shaft 62 and the first flange 63 can be connected by a locking member (such as a bolt), and of course, the third shaft 62 and the first flange 63 can be connected by a snap connection or other means according to actual requirements.

Preferably, the center line of the second cavity 621 forms an angle with the center line of the third cavity 631. Preferably, in the embodiment of the present invention, the angle between the center line of the second cavity 621 and the center line of the third cavity 631 is 90 °. Of course, in an alternative embodiment not shown in the drawings of the present application, the included angle between the center line of the second cavity 621 and the center line of the third cavity 631 may be set to other angles, for example, 80 ° or 100 °, according to actual needs.

Preferably, as shown in fig. 22, in the embodiment of the present invention, the third rotating joint 60 further includes a third bearing 64 disposed between the third rotating sleeve 61 and the third rotating shaft 62, and the third rotating sleeve 61 is pivotally connected to the third rotating shaft 62 through the third bearing 64, so that the third rotating sleeve 61 and the third rotating shaft 62 can rotate relatively.

Preferably, as shown in fig. 22, in the embodiment of the present invention, the third rotating joint 60 further includes a third sealing member 65 disposed between the third rotating sleeve 61 and the third rotating shaft 62, and the third sealing member 65 has the same function as the first sealing member 44 disposed between the first rotating sleeve 41 and the first rotating shaft 42, and will not be described again. Preferably, third seal 65 may be a backbone oil seal.

Preferably, as shown in fig. 22, in the embodiment of the present invention, an end cover 623 is disposed at an end of the third rotating shaft 62 away from the first flange 63, the third rotating sleeve 61 is disposed between the end cover 623 and the first flange 63, and the end cover 623 and the first flange 63 can limit the movement of the third rotating sleeve 61 in the direction of the rotation axis of the third rotating sleeve 61 and the third rotating shaft 62, so as to ensure the connection stability of the third rotating sleeve 61 and the third rotating shaft 62.

Of course, in an alternative embodiment not shown in the drawings of the present application, a third fastening member may be disposed between the third rotating sleeve 61 and the third rotating shaft 62 according to actual needs, and the function of the third fastening member is the same as that of the first fastening member 45 disposed between the first rotating sleeve 41 and the first rotating shaft 42, and is not described again here; preferably, the third fastener may be a circlip.

Preferably, as shown in fig. 22, in the embodiment of the present invention, the arm device further includes a fifth pipe joint 95 connected to the third rotary sleeve 61, the fifth pipe joint 95 is communicated with the first cavity 611, the outermost feed pipe 31 at the downstream position is connected to the fifth pipe joint 95, and the outermost feed pipe 31 at the downstream position and the third rotary sleeve 61 are connected by the fifth pipe joint 95.

It should be noted that the connection between the fifth pipe joint 95 and the third rotary sleeve 61 may be the same as the connection between the first pipe joint 91 and the end of the first channel 411 of the first rotary sleeve 41, which is far from the third channel 412, and the connection between the fifth pipe joint 95 and the outermost feed pipe 31 at the downstream position may be the same as the connection between the first pipe joint 91 and the outermost feed pipe 31 at the upstream position, and therefore, the description thereof is omitted.

Preferably, a second internal thread is arranged on the inner wall of the outlet end of the third cavity 631 of the first flange 63, the part to be mixed has a second external thread matched with the second internal thread, and the first flange 63 is in threaded connection with the part to be mixed. Preferably, as shown in fig. 5, the arm device further comprises a discharge pipe 96 connected with the part to be mixed, one end of the discharge pipe 96 far away from the part to be mixed is connected with the first flange 63, and the outermost material conveying pipe 31 at the downstream position conveys the material to the part to be mixed through the third rotary joint 60 and the discharge pipe 96.

Preferably, the end of the tapping pipe 96 connected to the first flange 63 has a second external thread adapted to the second internal thread, and the tapping pipe 96 is screwed to the first flange 63. Of course, in an alternative embodiment not shown in the drawings of the present application, the robot arm device may further include a sixth pipe joint connected to the first flange 63 according to actual needs, the discharge pipe 96 is communicated with the third cavity 631 of the first flange 63 through the sixth pipe joint, the connection manner of the sixth pipe joint and the first flange 63 may be the same as the connection manner of the first pipe joint 91 and the end of the first channel 411 of the first rotating sleeve 41 far from the third channel 412, and the connection manner of the sixth pipe joint and the discharge pipe 96 may be the same as the connection manner of the first pipe joint 91 and the outermost feed pipe 31 located at the upstream position, and will not be described herein again.

Preferably, the part to be mixed is connected to the first flange 63. Preferably, the part to be mixed is connected to the first flange 63 by means of locking members, such as bolts. Of course, in an alternative embodiment not shown in the drawings of the present application, the component to be mixed and the first flange 63 may be connected by clamping or other means according to actual needs.

Preferably, in the embodiment of the present invention, the robot arm device further includes a first driving part disposed at an end of the robot arm 20 away from the base 10, and the first driving part is configured to drive the third rotating shaft 62 to rotate relative to the third rotating sleeve 61.

In the above arrangement, under the driving of the first driving portion, the third rotating shaft 62 and the first flange 63 connected to the third rotating shaft 62 both rotate relative to the third rotating sleeve 61, so that the discharge pipe 96 connected to the first flange 63 and the component to be mixed both rotate relative to the third rotating sleeve 61 along with the first flange 63, and the operation range, the flexibility and the adaptability of operation of the component to be mixed can be improved.

Preferably, as shown in fig. 5 and 22, the robot arm device further includes a second flange 66 connected to a power output end of the first driving portion, the second flange 66 is connected to an end of the third rotating shaft 62 away from the first flange 63, the first driving portion drives the second flange 66 to rotate the second flange 66, and the third rotating shaft 62 and the first flange 63 rotate relative to the third rotating sleeve 61 under the driving of the second flange 66.

As shown in fig. 1 to 10, in the embodiment of the present invention, the robot arm device further includes a connecting assembly 70, and the connecting assembly 70 includes a collar 71 provided on the outer periphery of the robot arm 20 and a connecting ring 72 pivotally connected to the collar 71, and the connecting ring 72 is connected to the feeding conveyor pipe 31 located at the intermediate position among the plurality of feeding conveyor pipes 31.

In the above arrangement, the connecting assembly 70 is used for connecting the robot arm 20 and the material conveying pipe 31, so that the robot arm 20 and the conveying pipe assembly 30 are connected together through the connecting assembly 70, and thus, when the robot arm 20 moves, the conveying pipe assembly 30 can move together with the robot arm 20, and the synchronism of the conveying pipe assembly 30 moving along with the robot arm 20 is improved. The clamp 71 is pivotally connected with the connecting ring 72, so that the mechanical arm 20 is pivotally connected with the material conveying pipe 31, the flexibility of connection between the material conveying pipe 31 and the mechanical arm 20 is improved, the problem that the material conveying pipe 31 is deformed in the motion process of the mechanical arm 20 can be effectively solved, and normal supply of materials is facilitated.

In an alternative embodiment not shown in the drawings of the present application, it is also possible to make the robot arm device include a plurality of connecting assemblies 70, a plurality of clips 71 of the plurality of connecting assemblies 70 are disposed on the outer periphery of the robot arm 20, and a plurality of connecting rings 72 of the plurality of connecting assemblies 70 are connected to a plurality of feed delivery pipes 31 located at an intermediate position among the plurality of feed delivery pipes 31, according to actual needs.

It should be noted that the above-mentioned "material conveying pipe 31 located at the middle position among the material conveying pipes 31" refers to the material conveying pipe 31 located between the first material conveying pipe 31 and the last material conveying pipe 31 among the material conveying pipes 31 along the material conveying direction.

As shown in fig. 10, in the embodiment of the present invention, the connecting assembly 70 further includes a first connecting plate 73 pivotally connected to the yoke 71, and the connecting ring 72 is connected to the first connecting plate 73.

In the above arrangement, the hoop 71 and the connecting ring 72 are pivotally connected through the first connecting plate 73, so that the flexibility of connection between the hoop 71 and the connecting ring 72 is improved, the mechanical arm 20 and the material conveying pipe 31 are flexibly connected, the material conveying pipe 31 is not easily deformed during the motion process of the mechanical arm 20, and normal material supply is facilitated.

Preferably, in the embodiment of the present invention, the connecting assembly 70 further includes a second connecting rod 76 connected to the yoke 71, and the first connecting rod 73 is pivotally connected to the second connecting rod 76, thereby pivotally connecting the first connecting rod 73 to the yoke 71.

As shown in fig. 10, in the embodiment of the present invention, the first connecting plate 73 is provided with a sliding slot 74, and the connecting assembly 70 further includes a first connecting rod 75, one end of the first connecting rod 75 is pivotally connected to the connecting ring 72, and the other end of the first connecting rod 75 is slidably disposed along the sliding slot 74.

In the above arrangement, through the first connecting rod 75, the connecting ring 72 can slide along the sliding groove 74 and rotate relative to the first connecting plate 73, so that the flexibility of connecting the connecting ring 72 with the hoop 71 is improved, and the connection between the mechanical arm 20 and the material conveying pipe 31 is more flexible, so that the material conveying pipe 31 is not easily deformed during the movement of the mechanical arm 20, and the normal supply of materials is facilitated.

Preferably, one end of the first connecting rod 75, which is engaged with the sliding slot 74, is provided with a sliding block, the sliding block is engaged with the sliding slot 74, and the sliding block can slide along the sliding slot 74, so as to realize slidable arrangement of the first connecting rod 75 along the sliding slot 74.

Preferably, in the embodiment of the present invention, the feed delivery pipe 31 is made of metal. The conveying pipe 31 arranged in this way is not easy to deform, and the normal supply of materials can be ensured through the conveying pipe 31.

Of course, in alternative embodiments of the present application, the feed delivery pipe 31 may be made of rigid plastic according to actual needs. The term "hard plastic" as used herein means a plastic that is less deformed by compression and less elastically deformed so as to maintain a predetermined shape of the feed pipe 31 during the material conveyance. The user can select a feed conveyor pipe 31 made of a suitable plastic material according to the actual situation and the actual need (for example, considering the type and amount of the materials to be conveyed).

Preferably, in the embodiment of the present invention, the robot arm device further includes a second driving part for driving the robot arm 20 to rotate relative to the base 10. The second driving part drives the mechanical arm 20 to enable the mechanical arm 20 to rotate relative to the base 10, so that the mechanical arm 20 drives a part to be mixed, which is arranged at one end, far away from the base 10, of the mechanical arm 20 to flexibly move, and the operation range is widened. Preferably, the second driving part may be a motor.

The floor paint coating robot needs to use a dynamic mixer to mix and discharge the A, B epoxy floor paint components at the tail end of a mechanical arm, the A, B two components of the epoxy floor paint need to be uniformly mixed according to a fixed proportion to be normally used, otherwise the epoxy floor paint cannot be solidified, and the mixing proportion of A, B two components of the common epoxy floor paint is 5: 1-3: 1. Conventional coating robots use two hoses for feed, with the a component having a large viscosity and flow rate, requiring a larger diameter hose, and the B component having a smaller diameter hose. The dynamic mixer is fixed at the tail end of the mechanical arm, so that the hoses are easy to deform when the mechanical arm moves, and the deformation amounts of the thick hose and the thin hose are different, so that the feeding proportion of the tail end is changed, and the solidification condition of the epoxy resin is directly influenced; in addition, under a certain working pressure, the hoses with different thicknesses are different in pressure expansion deformation amount, so that the feeding proportion is changed, and the solidification condition of the epoxy resin is further influenced.

In view of the above problems, the present invention and embodiments of the present invention also provide a coating robot.

In the embodiment of the invention shown in fig. 1 to 9, the coating robot comprises a mixer 80 and the above-mentioned arm device, wherein the outermost feed conveyor 31 located at the downstream position is in communication with the mixer 80, and the mixer 80 forms the above-mentioned part to be mixed.

In the above arrangement, the mixer 80 is used for mixing the materials, and the feed pipe 31 of the arm device is communicated with the mixer 80 to supply the materials to the mixer 80.

It should be noted that, since the coating robot of the present application includes the arm device of the present application, the coating robot of the present application also has the above-mentioned advantages of the arm device of the present application, and details thereof are omitted here.

Preferably, the mixer 80 can be a dynamic mixer, and of course, in alternative embodiments of the present application, the mixer 80 can be a static mixer, or other device capable of mixing materials, according to actual needs. It should be noted that the mixer 80 of the present invention and embodiments of the present invention may be any device capable of mixing materials in the prior art, and the specific structure of the mixer 80 will not be further described herein.

In the embodiment of the present invention, the robot device includes a robot 20 (or other multi-degree-of-freedom motion mechanism), a rigid material conveying pipe 31, rotary joints (a first rotary joint, a second rotary joint, and a third rotary joint), a dynamic mixer 80, and a pipeline support 11.

When the mechanical arm device is used, the coating flows in from the first rotary joint 40, sequentially passes through the second rotary joint 50, the material conveying pipe 31, the first rotary joint 40, the material conveying pipe 31, the second rotary joint 50, the material conveying pipe 31, the third rotary joint 60 and the material conveying pipe 31, and finally flows into the dynamic mixer 80.

Wherein, along the flowing direction of the coating, the first rotating shaft 42 of the first rotating joint 40 connected with the base 10 is parallel to the first axis of the base 10, and the second rotating shaft 52 of the first second rotating joint 50 connected with the outermost material conveying pipe 31 at the upstream position is parallel to the second axis of the rotation of the mechanical arm 20 relative to the base 10 and is perpendicular to the first axis; the first rotating shaft 42 of the second first rotating joint 40 and the second rotating shaft 52 of the second rotating joint 50 are both parallel to the second rotating shaft 52 of the first second rotating joint 50; the third rotating shaft 62 of the third rotating joint 60 is parallel to the first rotating shaft 42 of the first rotating joint 40; the duct assembly 30 achieves 4 degrees of freedom of movement in space.

The pipeline bracket 11 is fixedly connected with the base 10, the first rotary joint 40 is connected with the base 10 through the pipeline bracket 11, the pipeline bracket 11 can prevent the conveying pipe assembly 30 from interfering with the mechanical arm 20, and the pipeline bracket 11 is processed by adopting a sheet metal process. A group of connecting assemblies 70 are arranged between the material conveying pipe 31 and one arm body 21 of the mechanical arm 20, the material conveying pipe 31 and the mechanical arm 20 are connected and fixed through the connecting assemblies 70, 2-degree-of-freedom movement of the material conveying pipe 31 relative to the arm body 21 in a certain direction can be realized through the second connecting rod 76 and the sliding chute 74 of the connecting assemblies 70, and the connecting assemblies 70 are used for fixing the mechanical arm 20 and the hard material conveying pipe 31 and enabling the material conveying pipe 31 to have a certain moving space (as shown in fig. 10).

In the embodiment of the present invention, the rotary joints include three types, which are a first rotary joint 40, a second rotary joint 50, and a third rotary joint 60; the three rotary joints have the core characteristic that the internal volumes of the three rotary joints are not changed when the three rotary joints rotate, so that the flow of the coating is not changed, and the problem of change of the mixing proportion of the components of the mixture of the dynamic mixer is solved.

Third rotary joint 60:

the upper end of the third rotary joint 60 is connected with the second flange 66, the lower end of the third rotary joint 60 comprises a first flange 63 connected with the third rotating shaft 62, the first driving part transmits power to the third rotating shaft 62 through the second flange 66 so as to transmit the rotating motion of the second flange 66 to the first flange 63, the mixer 80 can be driven to rotate due to the connection of the mixer 80 and the first flange 63, and the material conveying pipe 31 is connected with the third rotary sleeve 61, so that the problem of mutual interference between the conveying pipe assembly 30 and the mechanical arm 20 can be avoided, and the hard material conveying pipe 31 does not influence the installation and use of other mechanisms; when the third rotary joint 60 is used, the paint enters the third rotary joint 60 from the fifth pipe joint 95 connected with the third rotary sleeve 61, flows into the third cavity 631 of the first flange 63 through the first through hole 622 on the third rotary shaft 62, and flows out through the discharge hole on the first flange 63.

The third rotary sleeve 61 is provided with two sets of third bearings 64 and third sealing elements 65, the third bearings 64 and the third sealing elements 65 are respectively arranged at the upper end and the lower end of the third rotary sleeve 61, wherein the third sealing elements 65 are arranged at the inner side of the third rotary sleeve 61, the third bearings 64 are arranged at the outer side of the third rotary sleeve 61, dynamic sealing is realized through the arrangement, the third bearings 64 provide enough supporting force, the third sealing elements 65 realize sealing, the third rotary sleeve 61 can realize rotary dynamic sealing, meanwhile, the rigid material conveying pipe 31 can also provide a supporting and fixing effect, and the material conveying pipe 31 is fixed on the mechanical arm 20.

The third rotating sleeve 61 is connected with the fifth pipe joint 95 through a bolt, and a fluorine rubber O-shaped ring is arranged between the third rotating sleeve 61 and the fifth pipe joint 95 for sealing and has an anti-corrosion effect.

Second rotary joint 50:

when the second rotary joint 50 is used, the dope flows in from the second rotating shaft 52 below, passes through the second rotating sleeve 51, rotates the flow direction of the dope by 90 degrees, and then flows out through the third pipe joint 93. The lower end of the second rotating shaft 52 is provided with threads, the third pipe joint 93 is also provided with threads, and the second rotating shaft 52 and the third pipe joint 93 are both connected with the material conveying pipe 31 in a threaded connection mode; the third pipe joint 93 is connected with the second rotating sleeve 51 through a bolt, and an O-shaped ring seal is arranged between the third pipe joint 93 and the second rotating sleeve 51 for sealing and has an anti-corrosion effect; two second bearings 53 are provided between the second shaft 52 and the second rotating sleeve 51 for providing axial and normal fixation, a second sealing member 54 for providing a rotary seal, and a second fastening member 55 for fixing the position of the second bearings 53. The second rotating shaft 52 and the second rotating sleeve 51 can freely rotate in 360 degrees. The diameter of the third flow passage 512 of the second rotating shaft 52 is equal to the diameter of the fourth flow passage 522 of the second rotating sleeve 51, so that the coating can flow smoothly, and the flow resistance is reduced; the first flow passage 511 of the second rotary sleeve 51 is formed by connecting two drill holes, the bottom of each drill hole has a certain process angle, the drill hole angle of a common drilling tool is 118 degrees, and the process angle can provide a chamfer angle, so that the material can flow more smoothly.

First rotary joint 40:

when the first rotary joint 40 is used, the coating flows in from the second pipe joint 92, passes through the first rotating shaft 42 and the first rotating sleeve 41, and finally flows out through the first pipe joint 91, the O-shaped rings between the first pipe joint 91 and the first rotating shaft 42 and between the second pipe joint 92 and the first rotating sleeve 41 have the same functions, and the first bearing 43 and the first sealing element 44 have the same functions; also, the diameter of the fourth channel 422 of the first rotating shaft 42 is equal to the diameter of the third channel 412 of the first rotating sleeve 41, so that the paint can flow smoothly, and the flow resistance is reduced; the first rotary joint 40 enables two parallel feed conveyor pipes 31 to freely rotate in 360 degrees.

Dynamic mixer 80:

the dynamic mixer 80 can uniformly mix A, B two-component paint in the mixing cavity, and the uniform mixing is realized by stirring through a motor.

In the embodiment of the present invention, the A-component of the dynamic mixer 80 is supplied through the hard feed delivery pipe 31, the inlet of the A-component of the dynamic mixer 80 is connected to the third rotary joint 60 through the outermost feed delivery pipe 31 located at the downstream position, and the B-component is directly supplied through the fine hose. The component A has large flow and high viscosity, so that a large pipeline is required for direct supply, and the inner diameter of the hard material conveying pipe 31 is 20 mm; the component B has small flow and low viscosity, a hose with the inner diameter of 4-10mm is used, and the deformation of the hose is small and negligible when the mechanical arm moves and the pipeline is stressed due to the small diameter; by combining the feeding mode of the large-diameter hard conveying pipe assembly 30 and the small-diameter hose, the dynamic mixer 80 can accurately mix the A, B components in proportion, and the problems that epoxy resin is not solidified, and is solidified too fast or too slow due to the error of the mixing proportion are avoided.

The robot arm device and the coating robot of the embodiment of the invention have the following advantages:

1. the conveying pipes are replaced by the hard pipelines from the thick hoses, and the two adjacent conveying pipes are pivotally connected through the rotary joints, so that the problem that the conveying pipes deform due to movement and pressure is solved, and the proportion requirement of the mixer on the components of the mixture can be met;

2. through three rotary joints (a first rotary joint, a second rotary joint and a third rotary joint), the mechanical arm device in the embodiment of the invention uses five rotary joints in total, so that the hard material conveying pipe has four degrees of freedom, and the material conveying pipe assembly can freely move along with the mechanical arm;

3. first rotary joint, second rotary joint and third rotary joint all seal through bearing pivotal connection and use skeleton oil blanket structure, and sealing performance is good, long-lived.

From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects: the mechanical arm and the conveying pipe assembly are rotatably arranged relative to the base and are connected with the part to be mixed, so that when the mechanical arm rotates relative to the base, the conveying pipe assembly can rotate relative to the base along with the mechanical arm; meanwhile, as the conveying pipes of the conveying pipe assembly are sequentially in pivot connection, the conveying pipe assembly can adapt to the movement of the mechanical arm, so that the conveying pipe assembly and the mechanical arm move synchronously, the problem that the conveying pipes deform in the movement process of the mechanical arm can be avoided, and the normal supply of materials is ensured. Furthermore, the mechanical arm can drive the part to be mixed to move, so that the position of the part to be mixed is changed, and the adaptability of the mechanical arm device and the part to be mixed is improved. Furthermore, the conveying pipes are sequentially in pivot connection, and the inner cavities of two adjacent conveying pipes are communicated, so that the conveying pipe assembly can adapt to the movement of the mechanical arm, the conveying pipes are prevented from deforming, the purpose of conveying materials to a part to be mixed is achieved, and normal supply of the materials is guaranteed.

It is to be understood that the above-described embodiments are only a few, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular is intended to include the plural unless the context clearly dictates otherwise, and it should be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of features, steps, operations, devices, components, and/or combinations thereof.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A robot arm device, comprising:

a base;

the mechanical arm is connected with the base and can be rotatably arranged relative to the base;

the conveying pipe assembly is arranged on the mechanical arm and can be rotatably arranged relative to the base, and at least part of the conveying pipe assembly moves synchronously with the mechanical arm;

the conveying pipe assembly comprises a plurality of conveying pipes which are connected in a pivoting mode in sequence, and inner cavities of the conveying pipes are communicated with each other.

2. The robotic arm assembly of claim 1, wherein the central axis about which the spout assembly rotates relative to the base is parallel to the central axis about which the robotic arm rotates relative to the base such that the spout assembly and the robotic arm move in the same direction.

3. The robot arm device according to claim 1, wherein one end of said robot arm is connected to said base, and the other end of said robot arm is connected to said member to be mixed, and wherein said feed delivery pipe located on the outermost side of said plurality of feed delivery pipes located at the upstream position is disposed on said base and connected to said feeding member, and said feed delivery pipe located on the outermost side of said plurality of feed delivery pipes located at the downstream position is connected to said member to be mixed, in the direction of material conveyance.

4. The mechanical arm device as claimed in claim 1, wherein the mechanical arm comprises a plurality of arms connected in sequence, two adjacent arms are pivotally connected, and the plurality of arms are arranged corresponding to the plurality of material conveying pipes.

5. The robot arm device of claim 1,

the conveying pipe assembly and the mechanical arm are arranged along the front-back direction; alternatively, the first and second electrodes may be,

and among the conveying pipes, the two conveying pipes positioned on the outermost side are arranged along the front-back direction, and the conveying pipe positioned in the middle position is arranged along the left-right direction.

6. The robotic arm assembly of claim 2, further comprising a swivel joint through which the spout assembly is pivotally connected to the base.

7. A robot arm device as claimed in claim 6, wherein the robot arm is pivotally mounted about a first axis of the base, the swivel joint comprises a first swivel joint by which the outermost feed conveyor pipe in the upstream position is pivotally connected to the base, and the central axis of rotation of the outermost feed conveyor pipe in the upstream position relative to the base is parallel to the first axis.

8. The robot arm device of claim 7, wherein the first rotational joint comprises:

a first rotating sleeve having a first passage;

the first rotating shaft is in pivot connection with the first rotating sleeve, a second channel communicated with the first channel is arranged on the first rotating shaft, the center line of the first channel is parallel to the center line of the second channel, and the material conveying pipe located on the outermost side of the upstream position is communicated with the feeding part through the first channel and the second channel.

9. The boom apparatus of claim 7, wherein said robot arm is rotatably disposed about a second axis of said base, wherein said first axis is perpendicular to said second axis, said rotary joint further comprises a second rotary joint, said feed pipe located at an outermost side of said upstream position and said feed pipe located adjacent to said outermost side of said upstream position are pivotally connected by said second rotary joint, and a central axis of rotation of said feed pipe located adjacent to said outermost side of said upstream position with respect to said feed pipe located at an outermost side of said upstream position is parallel to said second axis by said second rotary joint.

10. The robotic arm assembly of claim 9, wherein the second rotational joint comprises:

the second rotating sleeve is provided with a first overflowing channel;

the second pivot, with second swivel sleeve pivot joint, be equipped with in the second pivot with the second that first overflowed the passageway intercommunication overflows the passageway, first overflow the passageway the central line with the second overflows the central line of passageway mutually perpendicular, wherein, be located the outside of upper reaches position the conveying pipeline with the second overflows the passageway intercommunication, with be located the outside of upper reaches position the conveying pipeline adjacent the setting the conveying pipeline with first overflowed the passageway intercommunication.

11. The robot arm device according to any one of claims 1 to 10,

the mechanical arm device further comprises a third rotary joint, the conveying pipe located on the outermost side of the downstream position is communicated with a component to be mixed through the third rotary joint, the mechanical arm device further comprises a first driving part used for driving a third rotating shaft of the third rotary joint to rotate, and the first driving part is arranged at one end, far away from the base, of the mechanical arm; alternatively, the first and second electrodes may be,

the conveying pipeline is made of metal or hard plastic.

12. A robot arm device according to any of claims 1-10, characterized in that the robot arm device further comprises a coupling assembly comprising a collar arranged at the periphery of the robot arm and a coupling ring pivotally connected to the collar, said coupling ring being connected to a centrally located one of the feed conveyor pipes.

13. The robotic arm assembly of claim 12, wherein the coupling assembly further comprises a first coupling plate pivotally coupled to the yoke, the coupling ring being coupled to the first coupling plate.

14. The robotic arm assembly of claim 13, wherein the first connecting plate defines a slot, the connecting assembly further comprising a first connecting rod pivotally connected at one end to the connecting ring, the other end of the first connecting rod slidably disposed along the slot.

15. A coating robot comprising a mixer and a robot arm device as claimed in any one of claims 1 to 14, wherein said feed conveyor pipe located outermost in a downstream position communicates with said mixer, said mixer forming a part to be mixed.