CN209735883U - Four-shaft mechanical arm capable of freely swinging to adjust angle of spray gun - Google Patents
Four-shaft mechanical arm capable of freely swinging to adjust angle of spray gun Download PDFInfo
- Publication number
- CN209735883U CN209735883U CN201920418487.3U CN201920418487U CN209735883U CN 209735883 U CN209735883 U CN 209735883U CN 201920418487 U CN201920418487 U CN 201920418487U CN 209735883 U CN209735883 U CN 209735883U
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- China
- Prior art keywords
- spray gun
- rolling disc
- driving motor
- swing
- angle
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- Expired - Fee Related
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Abstract
The utility model discloses a can freely swing four-axis manipulator of adjusting spray gun angle, the on-line screen storage device comprises a base, the upper and lower axle that moves, swing arm rotation axis and front and back telescopic shaft, still include a spray gun body, rolling disc and a driving motor, the installation pole of a perpendicular setting has been installed to the terminal cooperation of stretching out of front and back telescopic shaft, a mounting bracket has been installed in the cooperation on the installation pole, rolling disc and driving motor cooperation assembly are in the mounting bracket, and this driving motor drives with the rolling disc mutually and is connected, driving motor's power take off end drive rolling disc rotates the setting, spray gun body cooperation is fixed to be installed on the rolling disc, the rolling disc drives the swing setting of spray gun body. The utility model discloses not only can accomplish current four-axis manipulator's function, can make the spray gun body of its work end realize a plurality of planar spraying operations moreover, can freely adjust swing spraying angle, and need not increase new mechanical joint or arm.
Description
Technical Field
The utility model relates to a design and production field of robot manipulator, the more specifically four-axis manipulator that can freely swing and adjust spray gun angle that says so.
background
The existing four-shaft mechanical arm has very strong rigidity, so that the four-shaft mechanical arm is well applied to high-height and high-repeatability industrial production work. In the fields of glue spraying and printing production, because of the need of operations such as spraying, coating and the like in a plurality of high-repeatability places, a four-shaft mechanical arm needs to be widely applied, and a spray gun body is additionally arranged at the working end of the four-shaft mechanical arm, so that the automatic operation of spray gun operation is realized. However, since the first two joints of the four-axis manipulator are used for moving up and down in a vertical plane and freely rotating left and right in a horizontal plane, and the third joint is used for extending and retracting forward and backward in the horizontal plane, the spray gun body at the working end of the four-axis manipulator can only perform spraying operation on one working surface, and cannot simultaneously perform spraying operation on a plurality of working surfaces. If the spraying of a plurality of working faces is to be realized, a plurality of joints and mechanical arms need to be reassembled, not only a plurality of sets of servo motors, encoders and mechanical arms are needed, but also circuit design and configuration need to be added, namely the structure is complex, high cost is generated, and therefore the spraying machine is not beneficial to the production, popularization and application of enterprises.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a can freely swing four-axis manipulator of adjusting spray gun angle, its main aim at overcome the above-mentioned not enough and shortcoming that prior art exists, provide a four-axis manipulator, it not only can accomplish current four-axis manipulator's function, can make the spray gun body of its work end realize a plurality of planar spraying operations moreover, can freely adjust swing spraying angle, and need not increase new mechanical joint or arm.
The utility model adopts the technical scheme as follows:
A four-axis manipulator capable of freely swinging to adjust the angle of a spray gun comprises a base, an upper moving shaft, a lower moving shaft, a swing arm rotating shaft, a front telescopic shaft, a rear telescopic shaft, a spray gun body, a rotating disc and a driving motor, wherein the upper moving shaft and the lower moving shaft are arranged on the base, the swing arm rotating shaft is adaptive to the upper moving shaft and the lower moving shaft, the swing arm rotating shaft is arranged in a swinging manner in a horizontal plane, the front telescopic shaft and the rear telescopic shaft are arranged on the swing arm rotating shaft, a vertically arranged mounting rod is arranged at the extending tail end of the front telescopic shaft and the rear telescopic shaft in a matching manner, a mounting frame is arranged on the mounting rod in a matching manner, the rotating disc and the driving motor are assembled in the mounting frame in a matching manner, the driving motor is in driving connection with the rotating disc, the power output end of the, the rotating disc drives the spray gun body to swing.
Furthermore, the rotating disc is also provided with a limiting mechanism which is used for limiting the rotating angle of the rotating disc.
Further, the rotation angle of the rotary disk is 0 to 180 °.
Further, the driving motor is a servo motor.
Through the above-mentioned right the utility model discloses a description compares with prior art, the advantage of the utility model lies in:
The utility model discloses setting up a driving motor and a rotary disk at the work end through the four-axis arm, can realizing the angle swing of the work end spray gun body ingeniously, make this spray gun body can carry out the spraying operation to a plurality of planes, overcome traditional four-axis spray gun manipulator and can only carry out the limitation of spraying operation to a working plane, need not increase articulated or many arms moreover, the structure is more reasonable practical, and the function is more practical, need not increase high cost simultaneously.
Drawings
fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural view of the present invention in use.
Detailed Description
The following further describes embodiments of the present invention with reference to the accompanying drawings.
As shown in fig. 1 and fig. 2, a four-axis manipulator capable of freely swinging to adjust the angle of a spray gun comprises a base 1, an up-down moving shaft 2, a swing arm rotating shaft 3, a front telescopic shaft 4 and a rear telescopic shaft 4, wherein the up-down moving shaft 2 is arranged on the base 1, the swing arm rotating shaft 3 is adapted to the up-down moving shaft 2, the swing arm rotating shaft 3 swings in the horizontal plane, the front telescopic shaft 4 and the rear telescopic shaft 4 are arranged on the swing arm rotating shaft 3, the four-axis manipulator further comprises a spray gun body 5, a rotary disc 6 and a driving motor 7, a vertically arranged mounting rod 8 is arranged at the extending end of the front telescopic shaft 4 and the rear telescopic shaft 4 in a matching way, a mounting frame 9 is arranged on the mounting rod 8 in a matching way, the rotary disc 6 and the driving motor 7 are arranged in the mounting frame 9 in a matching way, the driving motor 7 is in driving connection with the rotary disc, the spray gun body 5 is fixedly arranged on the rotating disc 6 in a matching way, and the rotating disc 6 drives the spray gun body 5 to swing. As shown in fig. 1 and 2, during the spraying operation, the spray gun body can not only perform the spraying operation treatment on the horizontal work area, but also swing the spray gun body through the rotation of the rotating disc 6, thereby performing the spraying operation treatment on the opposite work areas at the same time and completing the spraying of different work surfaces.
Furthermore, a limiting mechanism (not shown in the figures due to the view angle) is further disposed on the rotating disc 6, and the limiting mechanism is used for limiting the rotating angle of the rotating disc 6.
Further, the rotation angle of the rotary disk 6 is 0 to 180 °.
Further, the driving motor 7 is a servo motor.
Through the above-mentioned right the utility model discloses a description compares with prior art, the advantage of the utility model lies in:
The utility model discloses setting up a driving motor and a rotary disk at the work end through the four-axis arm, can realizing the angle swing of the work end spray gun body ingeniously, make this spray gun body can carry out the spraying operation to a plurality of planes, overcome traditional four-axis spray gun manipulator and can only carry out the limitation of spraying operation to a working plane, need not increase articulated or many arms moreover, the structure is more reasonable practical, and the function is more practical, need not increase high cost simultaneously.
The above is only the concrete implementation of the present invention, but the design concept of the present invention is not limited to this, and all the design concepts are to be utilized to improve the present invention insubstantially, and all the behaviors belonging to the infringement of the protection scope of the present invention should be considered.
Claims (4)
1. The utility model provides a can freely swing four-axis manipulator of adjusting spray gun angle, includes base, upper and lower removal axle, swing arm rotation axis and front and back telescopic shaft, it establishes to reciprocate the axle dress on the base, swing arm rotation axis adaptation is installed move epaxial from top to bottom, this swing arm rotation axis swing in the horizontal plane sets up, the front and back telescopic shaft is installed on the swing arm rotation axis, its characterized in that: still include a spray gun body, rolling disc and a driving motor, the installation pole of a perpendicular setting is installed in the terminal cooperation of stretching out of front and back telescopic shaft, and a mounting bracket has been installed in the cooperation on this installation pole, the rolling disc is in with the driving motor cooperation assembly in the mounting bracket, and this driving motor with the rolling disc is connected in the drive, this driving motor's power take off end drive the rolling disc rotates the setting, spray gun body cooperation is fixed to be installed on the rolling disc, this rolling disc drives spray gun body swing sets up.
2. The four-shaft mechanical arm capable of freely swinging to adjust the angle of the spray gun according to claim 1, is characterized in that: and the rotating disc is also provided with a limiting mechanism which is used for limiting the rotating angle of the rotating disc.
3. The four-shaft mechanical arm capable of freely swinging to adjust the angle of the spray gun according to claim 2, wherein: the rotation angle of the rotating disc is 0-180 degrees.
4. The four-shaft mechanical arm capable of freely swinging to adjust the angle of the spray gun according to claim 1, is characterized in that: the driving motor is a servo motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920418487.3U CN209735883U (en) | 2019-03-29 | 2019-03-29 | Four-shaft mechanical arm capable of freely swinging to adjust angle of spray gun |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920418487.3U CN209735883U (en) | 2019-03-29 | 2019-03-29 | Four-shaft mechanical arm capable of freely swinging to adjust angle of spray gun |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209735883U true CN209735883U (en) | 2019-12-06 |
Family
ID=68719050
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920418487.3U Expired - Fee Related CN209735883U (en) | 2019-03-29 | 2019-03-29 | Four-shaft mechanical arm capable of freely swinging to adjust angle of spray gun |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209735883U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111408493A (en) * | 2020-04-02 | 2020-07-14 | 宁波大学 | Automatic paint spraying equipment capable of being adjusted at multiple angles |
| CN112170066A (en) * | 2020-08-27 | 2021-01-05 | 南京昱晟机器人科技有限公司 | Automatic spraying industrial robot and method |
| CN112916258A (en) * | 2021-04-20 | 2021-06-08 | 陈龙伟 | Automatic change robot of spraying and equip |
| CN114130588A (en) * | 2021-11-03 | 2022-03-04 | 广东奥迪威传感科技股份有限公司 | Multi-surface spraying device |
| CN114939493A (en) * | 2022-05-05 | 2022-08-26 | 清华大学 | Series-parallel spraying device |
-
2019
- 2019-03-29 CN CN201920418487.3U patent/CN209735883U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111408493A (en) * | 2020-04-02 | 2020-07-14 | 宁波大学 | Automatic paint spraying equipment capable of being adjusted at multiple angles |
| CN111408493B (en) * | 2020-04-02 | 2021-08-06 | 宁波大学 | Automatic paint spraying equipment capable of being adjusted at multiple angles |
| CN112170066A (en) * | 2020-08-27 | 2021-01-05 | 南京昱晟机器人科技有限公司 | Automatic spraying industrial robot and method |
| CN112916258A (en) * | 2021-04-20 | 2021-06-08 | 陈龙伟 | Automatic change robot of spraying and equip |
| CN114130588A (en) * | 2021-11-03 | 2022-03-04 | 广东奥迪威传感科技股份有限公司 | Multi-surface spraying device |
| CN114939493A (en) * | 2022-05-05 | 2022-08-26 | 清华大学 | Series-parallel spraying device |
| CN114939493B (en) * | 2022-05-05 | 2023-09-19 | 清华大学 | Series-parallel spraying device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191206 Termination date: 20210329 |