Arm unit of spraying robot

Abstract

The invention discloses an arm unit of a spraying robot. The arm unit comprises a supporting arm, a wrist, and a tail end arm in rotational connection with the wrist, as well as a connecting piece in rotational fit with a tail end of the supporting arm and the wrist; the arm unit further comprises a first driving mechanism for driving the tail end arm to rotate, a second driving mechanism for driving the wrist to rotate and a third driving mechanism for driving the connecting piece to rotate; each driving mechanism is provided with a power input assembly matched with a transmission shaft to input power, and then the power is further accurately input into a driving assembly for directly driving the unit to rotate through power transfer of the power input assembly; by means of stepping, errors caused by long-distance transmission coaxiality can be eliminated; meanwhile, in the operating process of the spraying robot, a relative displacement between the wrist and the elbow joint of the tail end mechanical arm is compensated to ensure the accuracy of spraying; meanwhile, a rotating speed and a torque can be changed to reduce the working strength.

Description

technical field [0001] The invention relates to the field of robot equipment, in particular to a spraying robot arm part. Background technique [0002] Spraying robot, also called painting robot, is a robot that can automatically spray paint or spray other coatings. A spraying robot generally includes a plurality of mechanical arms that are connected in sequence. A spraying mechanism (located on the wrist of the spraying robot) is installed on the mechanical arm at the end for spraying operations, and the spraying mechanism at the end has multiple degrees of freedom of movement. A driving mechanism for driving the spraying mechanism to move along multiple degrees of freedom is provided. Among them, the driving mechanism mainly includes a power part and a transmission part. In order to reduce the weight of the spraying mechanism as much as possible, the power part of the driving mechanism is usually placed at the elbow joint at the rear end of the mechanical arm, and through...

AI Technical Summary

Problems solved by technology

Among them, the driving mechanism mainly includes a power part and a transmission part. In order to reduce the weight of the spraying mechanism as much as possible, the power part of the driving mechanism is usually placed at the elbow joint at the rear end of the mechanical arm, and through the transmission shaft and the cone at the wrist. The gear drive assembly is directly connected by transmission, and the power end of the corresponding bevel gear drive assembly is driven to move through the transmission shaft. In the prior art, in order to prevent the pipeline from being exposed to the spraying environment and being polluted, the transmission shaft is usually set as a hollow structure, and The transmission shaft that drives each degree of freedom to rotate is socketed, and a channel is formed inside the arm part of the spraying robot. The pipeline passes through this channel to connect to the spraying mechanism, which can effectively prevent the paint from polluting the pipeline. However, the above scheme has the following problems: due to the elbow The distance between the joint and the wrist is more than one meter, and the length of the transmission shaft for each degree of freedom rotation is also about one meter. The method of directly inputting power to the bevel gear drive assembly through the transmission shaft, first, this transmission distance makes the elbow The coaxiality between the joint and the wrist is difficult to guarantee. During the operation of the robot, the wrist and elbow joint may have relative displacement, which will affect the accuracy of the spraying mechanism. is too big

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