A high-precision industrial spraying robot

Abstract

A high-precision industrial spraying robot, wherein the base assembly, waist joint assembly, upper arm joint assembly and lower arm joint assembly connected in sequence are all hollow structures and together form a sealed chamber of the robot, an internal wiring tube for providing power and control signals is provided in the sealed chamber, the head end of the power line and the signal line in the internal wiring tube is connected to an external control cabinet, the base assembly is fixedly connected to the ground by screws, the head port of the waist joint assembly is rotatably connected to the upper port of the base assembly, the tail port of the waist joint assembly is rotatably connected to the head port of the upper arm joint assembly, the tail port of the upper arm joint assembly is rotatably connected to the head port of the lower arm joint assembly, the tail port of the lower arm joint assembly is fixedly connected to the head port of a three-degree-of-freedom hollow wrist, and the tail port of the three-degree-of-freedom hollow wrist is used to connect a terminal tool. The invention has good movement flexibility and flexibility, high movement precision, a wide range of spraying tasks that can be performed, and high work safety and reliability.

Description

Technical Field

[0001] The present invention relates to a robot, and in particular to a high-precision industrial spraying robot. Background Art

[0002] Spraying robots have the characteristics of stable spraying quality, high efficiency, safety and environmental protection. They are widely used in various industries such as engineering machinery, aerospace, furniture and light industry. Especially for the automotive manufacturing industry, spraying robots have become an indispensable automation equipment.

[0003] In the prior art, industrial spray robots generally have six degrees of freedom and a certain degree of flexibility in movement; they adopt a hollow sealing structure and positive pressure explosion-proof technology and have a certain explosion-proof performance. However, the existing spray robot structure is relatively simple. The spray robot disclosed in patent CN 202684913U uses three hollow RV reducers, which will lead to high production costs; in order to ensure the reasonable arrangement of the motor line, the spray robot disclosed in patent CN 108115696A has additional internal motor line routing cavities designed in the second and third joints, which will lead to an overly complex structure. In addition, the spray robot wrist involves a large number of transmission gears, and there is no special transmission gap adjustment mechanism. It is difficult to ensure a high joint motion accuracy, which in turn affects the positioning accuracy of the whole machine. Finally, considering that the spray workshop is a flammable and explosive hazardous place specified by national standards, how to reasonably design the sealing structure, ensure the reasonable arrangement of various power lines and signal lines, and safely and reliably connect to the joint motor, and reasonably design the joint limit mechanism is the key to ensuring the safety of equipment and personnel, and is also an important issue in the design of high-performance spray robots. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a high-precision industrial spraying robot with good movement flexibility and high movement accuracy and capable of performing a wide range of spraying tasks.

[0005] The technical solution adopted by the present invention is: a high-precision industrial spraying robot, comprising a base assembly, a waist joint assembly, an upper arm joint assembly, a lower arm joint assembly and a three-degree-of-freedom hollow wrist connected in sequence, characterized in that the base assembly, the waist joint assembly, the upper arm joint assembly and the lower arm joint assembly are all hollow structures and together form a sealed cavity of the robot, an internal wiring tube for providing power and control signals is provided in the sealed cavity, the head ends of the power lines and signal lines in the internal wiring tube are connected to an external control cabinet, the base assembly is fixedly connected to the ground by screws, and the sealing chamber is provided with an internal wiring tube for providing power and control signals, and the head ends of the power lines and signal lines in the internal wiring tube are connected to an external control cabinet, and the base assembly is fixedly connected to the ground by screws. It is the basis of the robot, the head port of the waist joint assembly is rotatably connected to the upper port of the base assembly, and the connection constitutes a first rotary joint, the tail port of the waist joint assembly is rotatably connected to the head port of the upper arm joint assembly, and the connection constitutes a second rotary joint, the tail port of the upper arm joint assembly is rotatably connected to the head port of the forearm joint assembly, and the connection constitutes a third rotary joint, the tail port of the forearm joint assembly is fixedly connected to the head port of the three-degree-of-freedom hollow wrist, and the tail port of the three-degree-of-freedom hollow wrist is used to connect the end tool.

[0006] The high-precision industrial spraying robot of the present invention has good movement flexibility and flexibility, high movement precision, a wide range of spraying tasks that can be performed, and high working safety and reliability. The advantages and positive effects thereof are:

[0007] ① It has six degrees of freedom and good mobility and flexibility.

[0008] ② Each joint adopts high-precision RV reducer and planetary reducer, combined with a high-precision three-degree-of-freedom hollow wrist to ensure that the robot has good motion accuracy.

[0009] ③ The hollow sealing structure is adopted, the power lines and signal lines of the joint servo motor are arranged reasonably, and the robot is equipped with a joint limit mechanism, which has high safety and reliability in the spraying environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a structural schematic diagram of a high-precision industrial spraying robot of the present invention;

[0011] Figure 2 yes Figure 1 Rear view of

[0012] Figure 3 It is a structural schematic diagram of the base assembly in the present invention;

[0013] Figure 4 It is a structural schematic diagram of the base body in the present invention;

[0014] Figure 5 It is a structural schematic diagram of the waist joint assembly in the present invention;

[0015] Figure 6 It is a schematic diagram of the structure of the waist shell in the present invention;

[0016] Figure 7 It is a schematic diagram of the internal structure of the waist shell in the present invention;

[0017] Figure 8 It is a structural schematic diagram of the upper arm joint assembly in the present invention;

[0018] Fig. 9 yes Figure 8 Rear view of

[0019] Fig.10 It is a schematic diagram of the internal structure of the forearm joint assembly of the present invention;

[0020] Fig.11 It is a schematic structural diagram of the forearm housing in the present invention;

[0021] Fig.12 It is a schematic diagram of the internal structure of the forearm housing in the present invention;

[0022] Fig.13 It is a schematic structural diagram of the high-precision three-degree-of-freedom hollow wrist in the present invention.

[0023] In the picture

[0024] 1: Base assembly 1-1: Base shell

[0025] 1-1-1: Upper end of base 1-1-2: Input port

[0026] 1-1-3: Base fixing block 1-2: Input end cover

[0027] 1-3: Pipeline protection cover 2: Waist joint assembly

[0028] 2-1: Waist shell 2-1-1: Waist joint head end mounting surface

[0029] 2-1-2: Waist joint tail end mounting surface 2-1-3: First motor mounting surface

[0030] 2-1-4: Second motor mounting surface 2-1-5: Waist joint auxiliary arm mounting hole

[0031] 2-1-6: Lumbar joint fixed block 2-2: Lumbar joint auxiliary arm

[0032] 2-3: RV reducer for the first joint 2-4: RV reducer for the second joint

[0033] 2-5: First motor 2-6: Second motor

[0034] 2-7: First joint block 3: Upper arm joint assembly

[0035] 3-1: Boom housing 3-1-1: Boom head end mounting surface

[0036] 3-1-2: Mounting surface of the tail end of the big arm 3-1-3: Mounting hole of the auxiliary arm

[0037] 3-1-4: Upper arm fixed block 3-2: Second joint block

[0038] 4: Forearm joint assembly 4-1: Forearm tail shell

[0039] 4-1-1: Mounting surface of the forearm head end 4-1-2: Mounting surface of the forearm tail end

[0040] 4-1-3: Third motor mounting surface 4-1-4: Wrist motor mounting surface

[0041] 4-1-5: Gear pump motor installation surface 4-2: Third motor

[0042] 4-3: Third joint RV reducer 4-4: Wrist motor

[0043] 4-5: Gear pump motor 4-6: First planetary gear reducer

[0044] 4-7: Wrist transmission axis 4-8: Third joint block

[0045] 4-9: Arm housing 4-10: Second planetary gear reducer

[0046] 5: Three-DOF hollow wrist 5-1: Wrist base

[0047] 5-2: The first wrist joint 5-3: The second wrist joint

[0048] 5-4: Wrist flange 5-5: Wrist input shaft

[0049] 6: Internal wiring tube DETAILED DESCRIPTION

[0050] A high-precision industrial spraying robot of the present invention is described in detail below in conjunction with the embodiments and drawings.

[0051] like Figure 1 , Figure 2As shown, a high-precision industrial spraying robot of the present invention comprises a base assembly 1, a waist joint assembly 2, an upper arm joint assembly 3, a lower arm joint assembly 4 and a three-degree-of-freedom hollow wrist 5 connected in sequence, characterized in that the base assembly 1, the waist joint assembly 2, the upper arm joint assembly 3 and the lower arm joint assembly 4 are all hollow structures and together form a sealed cavity of the robot, an internal wiring tube 6 for providing power and control signals is provided in the sealed cavity, the head ends of the power lines and signal lines in the internal wiring tube 6 are connected to an external control cabinet, the base assembly 1 is fixedly connected to the ground by screws, as the The foundation of the robot, the head end of the waist joint component 2 is rotatably connected to the upper end of the base component 1, and the connection constitutes a first rotary joint, the tail end of the waist joint component 2 is rotatably connected to the head end of the upper arm joint component 3, and the connection constitutes a second rotary joint, the tail end of the upper arm joint component 3 is rotatably connected to the head end of the forearm joint component 4, and the connection constitutes a third rotary joint, the tail end of the forearm joint component 4 is fixedly connected to the head end of the three-degree-of-freedom hollow wrist 5, and the tail end of the three-degree-of-freedom hollow wrist 5 is used to connect end tools such as spray guns,

[0052] like Figure 1 , Figure 2 , Figure 3 , Figure 4 As shown, the base assembly 1 comprises: a base shell 1-1, an input end cover 1-2 fixedly connected to the input port 1-1-2 of the base shell 1-1 by screws and used to connect to an external control cabinet through power lines and signal lines, the upper end of the base shell 1-1 is formed with a base upper end surface 1-1-1 connected to the interior and used to connect to the waist joint assembly 2, the internal wiring tube 6 extends from the base upper end surface 1-1-1 into the waist joint assembly 2, the head ends of the power line and the signal line in the internal wiring tube 6 are connected to the external control cabinet through the input end cover 1-2, and the outer periphery of the base upper end surface 1-1-1 is provided with a base fixed block 1-1-3 for limiting the forward and reverse rotation angle ranges of the first swivel joint. The outer side of the input end cover 1-2 is provided with a pipeline protective cover 1-3 for ensuring that the joint of the pipeline is isolated from the explosive air.

[0053] like Figure 1 , Figure 2 , Figure 5 , Figure 6 , Figure 7As shown, the waist joint assembly 2 includes a waist shell 2-1, and the bottom of the waist shell 2-1 is formed with a waist joint head end mounting surface 2-1-1 that passes through the middle. The waist joint head end mounting surface 2-1-1 is fixedly connected to one end of the first joint RV reducer 2-3 of the hollow structure by screws, and the other end of the first joint RV reducer 2-3 is fixedly connected to the upper end surface 1-1-1 of the base of the base assembly 1 by screws to form a first rotary joint. The waist shell 2-1 is connected to the first motor mounting surface 2-1 -3 is provided with a first motor 2-5 connected to the first joint RV reducer 2-3, which is used to drive the rotation of the first rotary joint; a waist joint auxiliary arm mounting hole 2-1-5 connected to the first port of the waist joint auxiliary arm part 2-2 with a hollow structure is formed on one side surface of the waist shell 2-1 near the waist joint head end mounting surface 2-1-1, and a middle through waist joint tail end mounting surface 2-1-2 is formed away from the waist joint head end mounting surface 2-1-1, and the waist joint tail end mounting surface 2-1-2 is fixedly connected to the non-hollow structure by screws The second joint RV reducer 2-4 of the structure, the second joint RV reducer 2-4 is located at one end of the outer side of the waist shell 2-1 and the tail port of the waist joint auxiliary arm part 2-2 is fixedly connected to the head port of the upper arm joint assembly 3 by screws to form a second rotary joint, and the second motor 2-6 connected to the second joint RV reducer 2-4 is installed in the waist shell 2-1 corresponding to the second joint RV reducer 2-4 through the second motor mounting surface 2-1-4, which is used to drive the rotation of the second rotary joint; the waist joint first The outer periphery of the end mounting surface 2-1-1 is provided with two first joint blocks 2-7, and the first joint blocks 2-7 can be adjusted along the outer periphery of the waist joint head end mounting surface 2-1-1, and are used to cooperate with the base fixed block 1-1-3 around the base upper end surface 1-1-1 of the base assembly 1 to limit the forward and reverse rotation angle range of the first rotary joint; the outer periphery of the waist joint tail end mounting surface 2-1-2 is provided with a waist joint fixed block 2-1-6 for limiting the forward and reverse rotation angle range of the second rotary joint. The internal wiring tube 6 runs through the internal channel formed by the first joint RV reducer 2-3, the waist housing 2-1 and the waist joint auxiliary arm part 2-2 to provide power lines and signal lines for the first motor 2-5 and the second motor 2-6, and enter the upper arm joint assembly 3.

[0054] like Figure 1 , Figure 2 , Figure 8 , Fig. 9As shown, the upper arm joint assembly 3 includes an upper arm shell 3-1, one side of the upper arm shell 3-1 is formed with an upper arm head end mounting surface 3-1-1 that is not connected to the interior, and the other side is formed with an auxiliary arm mounting hole 3-1-3 that is connected to the interior, the upper arm head end mounting surface 3-1-1 is fixedly connected to the second joint RV reducer 2-4 in the waist joint assembly 2 by screws, and the auxiliary arm mounting hole 3-1-3 can be rotatably connected to the tail end of the waist joint auxiliary arm part 2-2 in the waist joint assembly 2, together forming a second rotary joint; the tail end of the upper arm shell 3-1 is formed with an upper arm tail end mounting surface 3-1-2 that is connected to the interior and is used to connect the head end of the forearm joint assembly 4 to form a third rotary joint, Two second joint blocks 3-2 are arranged on the outer periphery of the mounting surface 3-1-1 at the front end of the upper arm, and the second joint blocks 3-2 can be adjusted in position along the outer periphery of the mounting surface 3-1-1 at the front end of the upper arm, and are used to cooperate with the waist joint fixed blocks 2-1-6 around the waist joint tail end mounting surface 2-1-2 of the waist joint assembly 2 to limit the forward and reverse rotation angle range of the second rotary joint; the outer periphery of the mounting surface 3-1-2 at the tail end of the upper arm is provided with a fixed arm block 3-1-4 for limiting the forward and reverse rotation angle range of the third rotary joint, and the internal wiring tube 6 passes through the auxiliary arm mounting hole 3-1-3, the upper arm shell 3-1 and the mounting surface 3-1-2 at the tail end of the upper arm in sequence to enter the forearm joint assembly 4.

[0055] like Figure 1 , Figure 2 , Fig.10 , Fig.11 , Fig.12As shown, the forearm joint assembly 4 includes: a forearm tail shell 4-1 and a forearm head shell 4-9 connected to each other, one side of the forearm head shell 4-9 is formed with a forearm head end mounting surface 4-1-1 connected to the interior, a forearm tail end mounting surface 4-1-2 is arranged on the tail end surface of the forearm tail shell 4-1, a third joint RV reducer 4-3 with a hollow structure is installed on the forearm head end mounting surface 4-1-1, and one end of the third joint RV reducer 4-3 located on the outer side of the forearm head shell 4-9 is fixedly connected to the upper arm in the upper arm joint assembly 3 by screws The upper arm tail end mounting surface 3-1-2 of the shell 3-1 constitutes the third rotary joint; the lower arm head shell 4-9 is provided with a third motor 4-2 connected to the third joint RV reducer 4-3 through the third motor mounting surface 4-1-3 corresponding to the third joint RV reducer 4-3, which is used to drive the third joint to rotate; the lower arm tail end mounting surface 4-1-2 is fixedly connected to the three-degree-of-freedom hollow wrist 5 by screws; the lower arm head shell 4-9 is provided with three wrist motors connected to the lower arm tail shell 4-1 on the surface connected to the lower arm tail shell 4-1 The mounting surface 4-1-4, each of which is equipped with a first planetary gear reducer 4-6, the input end of each of which is connected to the output shaft of a wrist motor 4-4, the output shafts of the three first planetary gear reducers 4-6 are respectively connected to a wrist transmission shaft 4-7 located in the forearm tail housing 4-1 through a coupling, and the other ends of the three wrist transmission shafts 4-7 are connected to the three-degree-of-freedom hollow wrist 5 through a coupling, and drive the three-degree-of-freedom hollow wrist 5 to operate; the forearm head Two third joint stops 4-8 are arranged on the periphery of the end mounting surface 4-1-1, and the third joint stops 4-8 can be adjusted in position along the outer periphery of the forearm head end mounting surface 4-1-1, and are used to cooperate with the upper arm fixed stops 3-1-4 on the outer periphery of the upper arm tail end mounting surface 3-1-2 in the upper arm joint assembly 3 to limit the forward and reverse rotation angle range of the third rotary joint; the internal wiring tube 6 passes through the third joint RV reducer 4-3 and the forearm head shell 4-9 in sequence, and provides power lines and signal lines for the third motor 4-2 and the wrist motor 4-4.

[0056] like Fig.10 , Fig.12As shown, two gear pump motor mounting surfaces 4-1-5 are provided on the surface connected to the forearm tail shell 4-1 inside the forearm head shell 4-9, and each gear pump motor mounting surface 4-1-5 is installed with a second planetary gear reducer 4-10, and each input end of the second planetary gear reducer 4-10 is connected to the output end of a gear pump motor 4-5. The gear pump motor 4-5 is provided to install the gear pump in the external spraying system on the forearm tail shell 4-1, and to provide power for the operation of the gear pump in the external spraying system through the second planetary gear reducer 4-10 and the coupling, so as to improve the response speed of the spraying system, and the internal wiring tube 6 provides power lines and signal lines for the gear pump motor 4-5.

[0057] like Figure 1 , Figure 2 , Fig.13 As shown, the three-degree-of-freedom hollow wrist 5 adopts the technology disclosed in patent application number 201910875113.9, which includes a wrist base component 5-1, a wrist first joint component 5-2, a wrist second joint component 5-3, a wrist flange 5-4 and a wrist input shaft 5-5. The head end surface of the wrist base component 5-1 is fixedly connected to the forearm tail end mounting surface 4-1-2 of the forearm tail shell 4-1 in the forearm joint assembly 4 by screws, the tail end surface of the wrist base component 5-1 is rotatably connected to the head end surface of the wrist first joint component 5-2, the tail end surface of the wrist first joint component 5-2 is rotatably connected to the head end surface of the wrist second joint component 5-3, the tail end surface of the wrist second joint component 5-3 is rotatably connected to the head end surface of the wrist flange 5-4, and the tail end surface of the wrist flange 5-4 can be fixedly connected to a spray gun or other end tool by screws. The wrist input shaft 5-5 is rotatably connected to the front end face of the wrist base member 5-1, and the other end of the wrist input shaft 5-5 is connected to the wrist transmission shaft 4-7 through a coupling, and drives the three rotary joints of the wrist to move; the three-degree-of-freedom hollow wrist 5 is provided with a gear pair meshing clearance adjustment mechanism, which can adjust and eliminate the meshing clearance of the cylindrical gear pair and the bevel gear pair in the wrist mechanism, thereby ensuring a higher movement accuracy of the wrist; the three-degree-of-freedom hollow wrist 5 has a hollow channel structure, which is convenient for various pipelines to pass through and be connected to end tools such as spray guns.

[0058] A high-precision industrial spraying robot of the present invention has the following characteristics:

[0059] (1) High-precision RV reducers and planetary reducers are respectively used in the drive chains of each rotary joint of the spraying robot, and combined with a high-precision three-degree-of-freedom hollow wrist, it is ensured that the spraying robot has good motion accuracy; in particular, the second joint RV reducer 2-4 in the second rotary joint drive chain of the spraying robot is an RV reducer without a hollow structure, which can effectively reduce the overall manufacturing cost of the sprayer, and at the same time ensure that the structural complexity and structural strength of the second rotary joint of the spraying robot are higher than those of the third rotary joint. Compared with the existing design, it can better meet the principle of higher structural strength in the spraying robot structural design as it is closer to the base.

[0060] (2) The base assembly 1, waist joint assembly 2, upper arm joint assembly 3 and lower arm joint assembly 4 of the spraying robot all have a hollow structure and together form an internal sealed cavity of the robot. The internal wiring tube 6 is located in the sealed cavity of the spraying robot and passes through the base assembly 1, the first joint RV reducer 2-3, the waist shell 2-1, the waist joint auxiliary arm 2-2, the upper arm joint assembly 3, and the lower arm joint assembly 4 in sequence, and is respectively connected to the first motor 2-5, the second motor 2-6, the third motor 4-2, the gear pump motor 4-5 and the wrist motor 4-4, etc., to provide them with power lines and signal lines; the setting of the internal wiring tube 6 can effectively separate the motor power line and signal line and other pipelines from the explosive environment in the spraying workshop, thereby improving the safety of the spraying robot. The first rotary joint, the second rotary joint and the third rotary joint of the robot are provided with a joint limit mechanism, which can limit the forward and reverse rotation angle range of the rotary joint, further improving the safety and reliability of the spraying operation of the spraying robot.

Claims

1. A high-precision industrial spraying robot, comprising a base assembly (1), a waist joint assembly (2), an upper arm joint assembly (3), a lower arm joint assembly (4) and a three-degree-of-freedom hollow wrist (5) connected in sequence, characterized in that: The base assembly (1), waist joint assembly (2), upper arm joint assembly (3) and lower arm joint assembly (4) are all hollow structures and together form a sealed cavity of the robot. An internal wiring tube (6) for providing power and control signals is provided in the sealed cavity. The head ends of the power lines and signal lines in the internal wiring tube (6) are connected to an external control cabinet. The base assembly (1) is fixedly connected to the ground by screws as the foundation of the robot. The head end of the waist joint assembly (2) is rotatably connected to the base assembly (1). The upper port of the waist joint assembly (2) is connected to the upper port of the upper arm joint assembly (3) in rotation, and the connection constitutes a first rotary joint. The tail port of the upper arm joint assembly (3) is connected to the upper port of the lower arm joint assembly (4) in rotation, and the connection constitutes a second rotary joint. The tail port of the upper arm joint assembly (3) is connected to the upper port of the lower arm joint assembly (4) in rotation, and the connection constitutes a third rotary joint. The tail port of the lower arm joint assembly (4) is fixedly connected to the upper port of the three-degree-of-freedom hollow wrist (5), and the tail port of the three-degree-of-freedom hollow wrist (5) is used to connect an end tool. The base assembly (1) comprises: a base shell (1-1), an input end cover (1-2) fixedly connected to an input port (1-1-2) of the base shell (1-1) by screws and used to connect to an external control cabinet via a power line and a signal line, the upper end of the base shell (1-1) is formed with a base upper end surface (1-1-1) communicating with the interior and used to connect to the waist joint assembly (2), the internal wiring tube (6) extends from the base upper end surface (1-1-1) into the waist joint assembly (2), the head ends of the power line and the signal line in the internal wiring tube (6) are connected to the external control cabinet via the input end cover (1-2), and a base fixed stopper (1-1-3) for limiting the forward and reverse rotation angle ranges of the first swivel joint is arranged on the outer periphery of the base upper end surface (1-1-1); and a pipeline protective cover (1-3) for ensuring that the joint of the pipeline is isolated from explosive air is arranged on the outer side of the input end cover (1-2); The waist joint assembly (2) comprises a waist shell (2-1), the bottom of the waist shell (2-1) is formed with a waist joint head end mounting surface (2-1-1) that passes through the middle, the waist joint head end mounting surface (2-1-1) is fixedly connected to one end of a first joint RV reducer (2-3) of a hollow structure by screws, and the other end of the first joint RV reducer (2-3) is fixedly connected to the base upper end surface (1-1-1) of the base assembly (1) by screws to form a first rotary joint, and the waist shell (2-1) is fixedly connected to the first motor mounting surface (2-1-1) by screws. 3) A first motor (2-5) connected to the first joint RV reducer (2-3) is installed to drive the rotation of the first rotary joint; a waist joint auxiliary arm mounting hole (2-1-5) connected to the first port of the waist joint auxiliary arm member (2-2) with a hollow structure is formed on one side surface of the waist shell (2-1) near the waist joint head end mounting surface (2-1-1), and a middle through waist joint tail end mounting surface (2-1-2) is formed away from the waist joint head end mounting surface (2-1-1), and the waist joint tail end mounting surface (2-1-2) is fixedly connected to the non-hollow structure by screws. The second joint RV reducer (2-4) of the structure is located at one end of the outside of the waist housing (2-1) and the rear end of the waist joint auxiliary arm member (2-2) is fixedly connected to the head end of the upper arm joint assembly (3) by screws to form a second rotary joint. A second motor (2-6) connected to the second joint RV reducer (2-4) is installed in the waist housing (2-1) at a position corresponding to the second joint RV reducer (2-4) through a second motor installation surface (2-1-4) for driving the rotation of the second rotary joint. The waist joint head Two first joint stoppers (2-7) are arranged on the outer periphery of the end mounting surface (2-1-1), and the first joint stoppers (2-7) can be adjusted in position along the outer periphery of the waist joint head end mounting surface (2-1-1), and are used to cooperate with the base fixed stoppers (1-1-3) around the base upper end surface (1-1-1) of the base assembly (1) to limit the forward and reverse rotation angle ranges of the first rotary joint; and a waist joint fixed stopper (2-1-6) for limiting the forward and reverse rotation angle ranges of the second rotary joint is arranged on the outer periphery of the waist joint tail end mounting surface (2-1-2); The internal wiring tube (6) penetrates the internal channel formed by the first joint RV reducer (2-3), the waist housing (2-1) and the waist joint auxiliary arm component (2-2), provides power lines and signal lines for the first motor (2-5) and the second motor (2-6), and enters the upper arm joint assembly (3); The upper arm joint assembly (3) comprises an upper arm housing (3-1), one side of the upper arm housing (3-1) having a upper arm head end mounting surface (3-1-1) that is not connected to the interior, and the other side having an auxiliary arm mounting hole (3-1-3) that is connected to the interior, the upper arm head end mounting surface (3-1-1) being fixedly connected to the second joint RV reducer (2-4) in the waist joint assembly (2) by screws, the auxiliary arm mounting hole (3-1-3) being rotatably connected to the rear end port of the waist joint auxiliary arm member (2-2) in the waist joint assembly (2), together forming a second rotary joint; the rear end of the upper arm housing (3-1) having a upper arm tail end mounting surface (3-1-2) that is connected to the interior and used to connect the head end of the forearm joint assembly (4) to form a third rotary joint, the upper arm head end mounting surface (3-1-1) being fixedly connected to the second joint RV reducer (2-4) in the waist joint assembly (2) by screws, the auxiliary arm mounting hole (3-1-3) being rotatably connected to the rear end port of the waist joint auxiliary arm member (2-2) in the waist joint assembly (2), together forming a second rotary joint; Two second joint blocks (3-2) are arranged on the outer periphery of the upper arm head end mounting surface (3-1-1), and the second joint blocks (3-2) can be adjusted in position along the outer periphery of the upper arm head end mounting surface (3-1-1), and are used to cooperate with the waist joint fixed blocks (2-1-6) around the waist joint tail end mounting surface (2-1-2) of the waist joint assembly (2) to limit the forward and reverse rotation angle range of the second rotary joint; the outer periphery of the upper arm tail end mounting surface (3-1-2) is provided with an upper arm fixed block (3-1-4) for limiting the forward and reverse rotation angle range of the third rotary joint, and the internal wiring tube (6) passes through the auxiliary arm mounting hole (3-1-3), the upper arm housing (3-1) and the upper arm tail end mounting surface (3-1-2) in sequence to enter the forearm joint assembly (4); The forearm joint assembly (4) comprises: a forearm tail housing (4-1) and a forearm head housing (4-9) connected to each other; a forearm head end mounting surface (4-1-1) communicating with the interior is formed on one side of the forearm head housing (4-9); a forearm tail end mounting surface (4-1-2) is arranged on the tail end surface of the forearm tail housing (4-1); a third joint RV reducer (4-3) having a hollow structure is mounted on the forearm head end mounting surface (4-1-1); one end of the third joint RV reducer (4-3) located on the outside of the forearm head housing (4-9) is fixedly connected to the upper arm housing in the upper arm joint assembly (3) by screws. The forearm tail end mounting surface (3-1-2) of the forearm (3-1) is connected to the forearm tail end mounting surface (3-1-2) and forms a third rotary joint; a third motor (4-2) connected to the third joint RV reducer (4-3) is arranged in the forearm head housing (4-9) corresponding to the third joint RV reducer (4-3) through a third motor mounting surface (4-1-3) for driving the third joint to rotate; the forearm tail end mounting surface (4-1-2) is fixedly connected to the three-degree-of-freedom hollow wrist (5) by screws; three wrist motor mounting surfaces connected to the forearm tail housing (4-1) are arranged in the forearm head housing (4-9) on the surface connected to the forearm tail housing (4-1) The forearm is provided with a mounting surface (4-1-4), each of which is provided with a first planetary gear reducer (4-6), the input end of each of which is connected to the output shaft of a wrist motor (4-4), the output shafts of the three first planetary gear reducers (4-6) are respectively connected to a wrist transmission shaft (4-7) located in the forearm tail housing (4-1) through a coupling, and the other ends of the three wrist transmission shafts (4-7) are connected to the three-degree-of-freedom hollow wrist (5) through a coupling, and drive the three-degree-of-freedom hollow wrist (5) to operate; the forearm head end is provided with a first planetary gear reducer (4-6), the input end of each of which is connected to the output shaft of a wrist motor (4-4), the output shafts of the three first planetary gear reducers (4-6) are respectively connected to a wrist transmission shaft (4-7) located in the forearm tail housing (4-1) through a coupling, and the other ends of the three wrist transmission shafts (4-7) are connected to the three-degree-of-freedom hollow wrist (5) through a coupling, and drive the three-degree-of-freedom hollow wrist (5) to operate; Two third joint stoppers (4-8) are arranged on the periphery of the mounting surface (4-1-1), and the third joint stoppers (4-8) can be adjusted in position along the periphery of the mounting surface (4-1-1) at the head end of the forearm, and are used to cooperate with the upper arm fixed stoppers (3-1-4) at the periphery of the upper arm tail end mounting surface (3-1-2) in the upper arm joint assembly (3) to limit the forward and reverse rotation angle ranges of the third rotary joint; the internal wiring tube (6) sequentially passes through the third joint RV reducer (4-3) and the lower arm head housing (4-9), and provides power lines and signal lines for the third motor (4-2) and the wrist motor (4-4); Two gear pump motor mounting surfaces (4-1-5) are also arranged on the surface connected to the forearm tail shell (4-1) inside the forearm head shell (4-9), and each gear pump motor mounting surface (4-1-5) is installed with a second planetary gear reducer (4-10), and the input end of each second planetary gear reducer (4-10) is connected to the output end of a gear pump motor (4-5). The gear pump motor (4-5) is arranged to install the gear pump in the external spraying system on the forearm tail shell (4-1), and provide power for the operation of the gear pump in the external spraying system through the second planetary gear reducer (4-10) and the coupling, so as to improve the response speed of the spraying system, and the internal wiring tube (6) provides power lines and signal lines for the gear pump motor (4-5).

Images