Wrist structure of spraying robot

Abstract

The invention discloses a wrist structure of a spraying robot, and relates to the technical field of spraying robots. The front end of a large arm is rotationally connected with a support through a first connecting part to form a two-degree-of-freedom revolute pair; the tail end of the large arm is rotationally connected with a small arm through a second connecting part to form a one-degree-of-freedom revolute pair; the structure further comprises a wrist mechanism installed at the tail end of the small arm through the second connecting part; wrist joints comprise a first joint, a second joint, a third joint and a shell structure which are independently driven and move; and a three-degree-of-freedom rotation pair is formed in total. According to the invention, the axes of revolute pairs of the first joint, the second joint and the third joint of the wrist structure have no common intersection point and are in a novel oblique-crossing non-spherical motion mode; each joint is independently driven and transmitted; circumferential rotation can be achieved respectively; the motion flexibility is good; the motion trail coverage is comprehensive; and the device is particularly suitable for spraying operation of large components in narrow and complex environments.

Description

technical field [0001] The invention relates to the technical field of painting robots, in particular to a wrist structure of a painting robot. Background technique [0002] Spraying robots are an important branch of industrial robots, which can automatically complete the work of spraying paint or spraying other coatings. The end effector of the spraying robot has a large movement space and can perform complex trajectory movements, which are used in the production departments of automobiles, instruments, electrical appliances, and enamel. Furniture spraying is also a common occasion for the application of spraying robots. The shapes of furniture parts are changeable, and there are high requirements for the thickness of the sprayed coating, the smoothness and uniformity of the coating surface. [0003] The wrist of the spraying robot is used to fix the end effector and control the spatial position and attitude of the end effector. In order to make the flexibility of the end...

AI Technical Summary

Problems solved by technology

[0012] However, prior art 1 and prior art 2 both adopt the structure of three consecutive sets of orthogonal bevel gear transmission, and the structure is relatively complicated. At the same time, due to the lack of space inside the mechanical arm, the spraying pipeline needs to be placed externally, and the continuous bending angle of 90° will also affect normal work of the pipeline

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