CN210729934U

CN210729934U - Automatic change robot robotic arm with clamping device that sprays paint

Info

Publication number: CN210729934U
Application number: CN201921454381.5U
Authority: CN
Inventors: 罗宏博; 胡天林; 张建锐; 郭晋昌
Original assignee: Longdong University
Current assignee: Longdong University
Priority date: 2019-09-03
Filing date: 2019-09-03
Publication date: 2020-06-12
Anticipated expiration: 2029-09-03

Abstract

The utility model discloses an automatic change robot robotic arm with clamping device that sprays paint, including shell and the chucking structure of installation in the shell, the shell includes mounting panel and the holding cover of fixed mounting in the mounting panel side, chucking structure is equipped with the multiunit, and all sets up in the holding cover, still be provided with the limiting plate relatively with chucking structure in the holding cover, the limiting plate passes through spacing axle elastic connection in the mounting panel side, and the limiting plate passes through spacing extending structure and motor connection transmission, the radial work piece that limiting plate cooperation chucking structure formed relative holding cover is fixed and axial work piece control rotates. The utility model discloses a grip block carries out relative centre gripping to the structure of spraying paint to drive the rotor plate through the spacing extending structure of motor drive and rotate, thereby make the structure of spraying paint rotate through the roll axis, and then under the stable condition that can not drop of assurance centre gripping, can adjust the control angle that sprays paint in a flexible way, the centre gripping is more nimble, and processing is more convenient.

Description

Automatic change robot robotic arm with clamping device that sprays paint

Technical Field

The utility model relates to a robotic arm's centre gripping technical field specifically is an automatic change robot robotic arm is with clamping device that sprays paint.

Background

The mechanical arm is an automatic mechanical device which is widely applied in the technical field of robots, and when paint is sprayed, the mechanical arm is clamped and controlled, so that the paint spraying position can be accurately controlled, and the physical harm possibly caused by manual control can be reduced.

In the prior art, the clamping of the mechanical arm during paint spraying is completed through the conventional mechanical arm clamping claw piece, the stability of the paint spraying structure can be guaranteed after clamping, but the adjustment of the paint spraying angle is completed by adjusting the mechanical arm, and the control mode is relatively large in adjustment range and not convenient enough.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an automatic change robot robotic arm is with clamping device that sprays paint to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme:

the utility model provides an automatic change robot robotic arm is with clamping device that sprays paint, includes shell and the chucking structure of installation in the shell, the shell includes mounting panel and the holding cover of fixed mounting in the mounting panel side, chucking structure is equipped with the multiunit, and all sets up in the holding cover, still be provided with the limiting plate relatively with chucking structure in the holding cover, the limiting plate passes through spacing axle elastic connection in the mounting panel side, and the limiting plate passes through spacing extending structure and motor connection transmission, the radial work piece that limiting plate cooperation chucking structure formed relative holding cover is fixed and axial work piece control rotates.

Further, the chucking structure is the distribution of cross array and sets up in the holding cover, just the chucking structure is fixed the electric telescopic handle and the grip block of fixed connection at the electric telescopic handle output at the holding cover lateral wall by the embedding and is constituteed, the grip block is arc structure panel.

Furthermore, a mounting seat is fixedly connected to the outer side of the arc surface of the clamping plate, a bolt is arranged on the mounting seat, and the mounting seat is assembled and sleeved on the output end of the electric telescopic rod.

Furthermore, a plurality of groups of arrangement grooves are embedded into the inner side of the cambered surface of the clamping plate, and rolling shafts which rotate along the axial direction of the clamping plate are arranged in the arrangement grooves in a rotating connection mode.

Furthermore, the limiting plate comprises a rotating plate and a fixed plate which are rotatably connected through a bearing, the fixed plate and the limiting shaft are fixedly connected, and the limiting telescopic structure movably penetrates through the fixed plate and the rotating plate to be connected and driven; the rotating plate is far away from the end face of the fixed plate and is provided with a plurality of groups of suckers in a connecting manner.

Furthermore, the limiting shaft is embedded in the mounting plate in a sliding mode, and the tail end of the limiting shaft is elastically connected with the mounting plate through a spring.

Further, spacing extending structure is including rotating dwang and the transfer line of swing joint at the dwang lower extreme of connection at the mounting panel middle part, the embedding of transfer line bilateral symmetry is provided with the slip spacing groove, transfer line and dwang sliding connection, and slip spacing groove and dwang inner wall activity adaptation on the transfer line, transfer line lower extreme and rotor plate fixed connection.

Further, the peripheral upper portion of dwang passes through belt drive mode and motor output and connects the transmission, the motor supports through the extension board of fixing on the mounting panel and settles.

Compared with the prior art, the beneficial effects of the utility model are that: when the paint spraying structure is used, the paint spraying structure can be abutted to the rotating plate when extending into the containing cover, the rotating plate and the fixed plate push the limiting shaft to be elastically compressed, then the electric telescopic rod is driven to push the clamping plate to relatively clamp the paint spraying structure, the rolling shafts are in surface contact with the paint spraying structure, the paint spraying structure can be controlled not to slide off from the clamping plate in the radial direction, and the axial direction can form the rotation of the paint spraying structure through the rotation of a plurality of groups of rolling shafts, so that the paint spraying range can be expanded, and the difficulty of regulation and control is reduced under the condition of ensuring that the clamping is stable and cannot fall off; the sucking disc on the rotor plate can adsorb fixed structure of spraying paint, drives spacing extending structure through driving motor and drives the rotor plate and rotate to drive the jet structure and pass through the rolling axis and rotate, can adjust the control angle that sprays paint in a flexible way like this, the centre gripping is more nimble, and it is more convenient to process.

Drawings

Fig. 1 is a schematic structural view of a paint spraying clamping device for an automated robot manipulator.

Fig. 2 is a schematic structural view of a clamping plate in a paint spraying clamping device for an automated robot manipulator.

Fig. 3 is a schematic structural diagram of a position-limiting plate in the paint-spraying clamping device for the robot arm.

Fig. 4 is a schematic structural diagram of a limiting telescopic structure in the paint spraying clamping device for the robot mechanical arm.

In the figure: 1-mounting plate, 2-containing cover, 3-electric telescopic rod, 4-clamping plate, 41-placing groove, 42-rolling shaft, 43-mounting seat, 5-limiting plate, 51-rotating plate, 52-fixing plate, 53-sucking disc, 6-limiting shaft, 7-driving rod, 71-sliding limiting groove, 8-rotating rod, 9-supporting plate and 10-motor.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Example 1

Please refer to fig. 1-3, in the embodiment of the utility model, an automatic change robot robotic arm with clamping device that sprays paint, including shell and the chucking structure of installing in the shell, the shell includes mounting panel 1 and fixed mounting at the holding cover 2 of mounting panel 1 side, chucking structure is equipped with the multiunit, and all sets up in holding cover 2, still be provided with limiting plate 5 with chucking structure relatively in holding cover 2, limiting plate 5 is connected in mounting panel 1 side through spacing 6 elastic connection, and limiting plate 5 connects the transmission through spacing extending structure and motor 10, limiting plate 5 cooperates the chucking structure to form radial work piece fixed and the axial work piece control rotation of relative holding cover 2.

The chucking structure is the distribution of cross array and sets up in holding cover 2, just the chucking structure is fixed at the electric telescopic handle 3 of 2 lateral walls of holding cover and fixed connection by the embedding and is constituteed at the grip block 4 of 3 outputs of electric telescopic handle, grip block 4 is arc structure panel.

The outer side of the cambered surface of the clamping plate 4 is fixedly connected with an installation seat 43, a bolt is arranged on the installation seat 43, and the installation seat 43 is assembled and sleeved at the output end of the electric telescopic rod 3; the inboard embedding of 4 cambered surfaces of grip block is provided with multiunit arrangement groove 41, swivelling joint is provided with along 4 axial pivoted rolling axis 42 of grip block in the arrangement groove 41, multiunit grip block 4 all can be respectively through relative electric telescopic handle 3 control synchronous flexible like this, thereby fixed to the structure centre gripping that sprays paint, and rolling axis 42 and the structure surface contact that sprays paint, can control the structure that sprays paint and can not follow radial landing in grip block 4, and the axial can form the rotation of the structure that sprays paint through the rotation of multiunit rolling axis 42, can enlarge the scope of spraying paint like this, and reduce the degree of difficulty of regulation control.

The limiting plate 5 comprises a rotating plate 51 and a fixed plate 52 which are rotatably connected through a bearing, the fixed plate 52 is fixedly connected with the limiting shaft 6, and the limiting telescopic structure movably penetrates through the fixed plate 52 and the rotating plate 51 to be connected and driven; the end surface of the rotating plate 51 far away from the fixed plate 52 is provided with a plurality of groups of suckers 53; the limiting shaft 6 is embedded in the mounting plate 1 in a sliding mode, and the tail end of the limiting shaft is elastically connected with the mounting plate 1 through a spring. Such design can make the structure of spraying paint when stretching into holding cover 2 in, can support to rotor plate 51 to adsorb fixed sprayer structure through sucking disc 53, and then through the relative centre gripping of electric telescopic handle 3 control grip block 4 again, can drive spacing extending structure through driving motor 10 like this and drive rotor plate 51 and rotate, thereby drive the jet-propelled structure and pass through roll axis 42 and rotate, can adjust the control angle of spraying paint in a flexible way like this, the centre gripping is more nimble, it is more convenient to process.

Example 2

Referring to fig. 4, in an embodiment of the present invention, an automatic robot manipulator paint spraying clamping device, on the basis of embodiment 1, the limiting telescopic structure includes a rotating rod 8 rotatably connected to the middle of the mounting plate 1 and a transmission rod 7 movably connected to the lower end of the rotating rod 8, sliding limiting grooves 71 are symmetrically embedded in the transmission rod 7, the transmission rod 7 and the rotating rod 8 are slidably connected, and the sliding limiting grooves 71 on the transmission rod 7 are movably adapted to the inner wall of the rotating rod 8, and the lower end of the transmission rod 7 is fixedly connected to the rotating plate 51.

Peripheral upper portion of dwang 8 is through belt transmission mode and the transmission of motor 10 output connection, motor 10 supports through the extension board 9 of fixing in mounting panel 1 upper end and settles.

The motor 10 and the control circuit of the electric telescopic rod 3 are both electrically communicated with the control circuit of the manipulator, so that the whole manipulator can be controlled by the control circuit of the conventional manipulator in the prior art to automatically control clamping and angle adjustment.

The utility model discloses a theory of operation is: when the paint spraying structure is used, when the paint spraying structure extends into the accommodating cover 2, the paint spraying structure can be abutted to the rotating plate 51, the rotating plate 51 and the fixing plate 52 push the limiting shaft 6 to be elastically compressed, then the electric telescopic rod 3 is driven to push the clamping plate 4 to relatively clamp the paint spraying structure, the rolling shafts 42 are in surface contact with the paint spraying structure, the paint spraying structure can be controlled not to radially slide off from the clamping plate 4, and the axial direction can form the rotation of the paint spraying structure through the rotation of a plurality of groups of rolling shafts 42, so that the paint spraying range can be expanded, and the difficulty in adjustment and control is reduced under the condition that the clamping is guaranteed to be stable and not to fall; the sucking disc 53 on the rotor plate 51 can adsorb the fixed structure of spraying paint, drives spacing extending structure through driving motor 10 and drives rotor plate 51 and rotate to drive the jet-propelled structure and pass through rolling shaft 42 and rotate, can adjust the control angle of spraying paint in a flexible way like this, the centre gripping is more nimble, and processing is more convenient.

The utility model discloses the standard part that uses all can purchase from the market, and dysmorphism piece all can be customized according to the description with the record of drawing of description, and the concrete connection mode of each part all adopts conventional means such as ripe bolt, rivet, welding among the prior art, and machinery, part and equipment all adopt prior art, and conventional model, including circuit connection adopts conventional connection mode among the prior art, does not detailed here again.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. The utility model provides an automatic change robot robotic arm is with clamping device that sprays paint, includes shell and the chucking structure of installation in the shell, its characterized in that, the shell includes mounting panel (1) and fixed mounting and covers (2) in the holding of mounting panel (1) side, the chucking structure is equipped with the multiunit, and all sets up in holding cover (2), still be provided with limiting plate (5) relatively with the chucking structure in holding cover (2), limiting plate (5) are through spacing axle (6) elastic connection in mounting panel (1) side, and limiting plate (5) connect the transmission through spacing extending structure and motor (10), limiting plate (5) cooperation chucking structure forms the radial work piece of relative holding cover (2) and axial work piece control rotates.

2. The paint spraying clamping device for the automatic robot mechanical arm is characterized in that the clamping structures are distributed in the accommodating cover (2) in a cross-shaped array mode, the clamping structures are composed of electric telescopic rods (3) embedded and fixed on the side wall of the accommodating cover (2) and clamping plates (4) fixedly connected to the output end of the electric telescopic rods (3), and the clamping plates (4) are arc-shaped structural plates.

3. The paint spraying clamping device for the automatic robot mechanical arm as claimed in claim 2, wherein a mounting seat (43) is fixedly connected to the outer side of the arc surface of the clamping plate (4), a bolt is arranged on the mounting seat (43), and the mounting seat (43) is assembled and sleeved on the output end of the electric telescopic rod (3).

4. The painting clamping device for the robot mechanical arm of the automatic robot according to claim 2, characterized in that a plurality of sets of installation grooves (41) are embedded inside the arc surface of the clamping plate (4), and a rolling shaft (42) rotating along the axial direction of the clamping plate (4) is rotatably connected in the installation grooves (41).

5. The paint spraying clamping device for the automatic robot mechanical arm is characterized in that the limiting plate (5) comprises a rotating plate (51) and a fixing plate (52) which are rotatably connected through a bearing, the fixing plate (52) and the limiting shaft (6) are fixedly connected, and a limiting telescopic structure movably penetrates through the fixing plate (52) and the rotating plate (51) to be connected and driven; the end face of the rotating plate (51) far away from the fixed plate (52) is provided with a plurality of groups of suckers (53).

6. The painting clamping device for an automated robot manipulator according to claim 1 or 5, characterized in that the limit shaft (6) is slidably embedded in the mounting plate (1), and the end is elastically connected to the mounting plate (1) by a spring.

7. The paint spraying clamping device for the automatic robot mechanical arm is characterized in that the limiting telescopic structure comprises a rotating rod (8) and a transmission rod (7), the rotating rod (8) is rotatably connected to the middle of the mounting plate (1), the transmission rod (7) is movably connected to the lower end of the rotating rod (8), sliding limiting grooves (71) are symmetrically embedded in two sides of the transmission rod (7), the transmission rod (7) is slidably connected with the rotating rod (8), the sliding limiting grooves (71) in the transmission rod (7) are movably matched with the inner wall of the rotating rod (8), and the lower end of the transmission rod (7) is fixedly connected with the rotating plate (51).

8. The paint spraying clamping device for the automatic robot mechanical arm is characterized in that the upper part of the periphery of the rotating rod (8) is in belt transmission with the output end of a motor (10), and the motor (10) is supported and arranged through a support plate (9) fixed at the upper end of the mounting plate (1).