A multi-directional spraying manipulator

Abstract

The present invention relates to the field of robotic arm technology, and specifically to a multi-directional spraying manipulation robotic arm, which solves the problems that the running trajectory of the robotic arm during the spraying process is relatively complex, its spraying efficiency is low, and it is impossible to perform a comprehensive spraying operation on the lower end surface of the sprayed object. It includes a spraying robotic arm, and a high-efficiency spraying mechanism is fixedly installed on one side of the outer surface of the spraying robotic arm. The present invention uses a high-efficiency spraying mechanism so that the robotic arm only needs to move the high-efficiency spraying mechanism up and down to complete the spraying operation on the sprayed part, thereby reducing the movement path of the spraying robotic arm during the spraying operation, saving spraying time, and improving its spraying efficiency. At the same time, the spraying mechanism fully covers the bottom surface of the sprayed part, so that the lower end surface of the sprayed part can be sprayed in all aspects, thereby increasing its spraying range. Through the above technical solution, the spraying efficiency of the equipment is improved while the sprayable range is increased.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical arms, in particular to a multi-directional spraying manipulation mechanical arm. Background Art

[0002] A multi-directional spraying manipulation robot arm is a robot arm that can realize multi-angle, high-precision spraying operations. This robot arm adopts a multi-joint design, including a base, shoulder joints, elbow joints, wrist joints and end effectors. Each joint is driven by a high-precision servo motor to ensure that the robot arm has high flexibility and stability.

[0003] However, when using this multi-directional spraying manipulation robot arm to spray objects, the spraying system on the robot arm will move back and forth on the outside of various parts of the object for spraying. Its operation trajectory is relatively cumbersome and complicated, and the spraying efficiency is low. In addition, when using the multi-directional spraying manipulation robot arm, the object to be sprayed needs to be placed on the corresponding placement table, so that the lower end surface of the object cannot be sprayed, and the spraying range cannot completely cover the outer surface of the object. Therefore, it does not meet the existing needs. We have proposed a multi-directional spraying manipulation robot arm. Summary of the invention

[0004] The purpose of the present invention is to provide a multi-directional spraying manipulation robot arm to solve the problems raised in the above-mentioned background technology that when using this kind of multi-directional spraying manipulation robot arm to spray objects, the spraying system on the robot arm will move back and forth on the outside of various parts of the object for spraying, and its operation trajectory is relatively cumbersome and complicated, the spraying efficiency is low, and when the multi-directional spraying manipulation robot arm is needed, the object to be sprayed needs to be placed on the corresponding placement table, so that the lower end surface of the object cannot be sprayed, and the spraying range cannot completely cover the outer surface of the object.

[0005] To achieve the above-mentioned object, the present invention provides the following technical solutions: a multi-directional spraying manipulation robot arm, comprising a spraying robot arm, a high-efficiency spraying mechanism is fixedly installed on one side of the outer surface of the spraying robot arm, and the high-efficiency spraying mechanism comprises a strip plate, two top surface spraying heads, two L-shaped plates, two side spraying heads, a rotating mechanism and an adjusting mechanism;

[0006] The two top surface spray heads are respectively slidably mounted on both sides of the lower end surface of the strip plate near the middle position, the two L-shaped plates are respectively slidably mounted on both sides of the lower end surface of the strip plate near the front and rear end surfaces, and the two side spray heads are respectively mounted on the opposite surfaces of the two L-shaped plates. The two top surface spray heads and the two side spray heads can be made to revolve around the center point of the lower end surface of the strip plate through a rotating mechanism, and the two top surface spray heads and the two side spray heads can be synchronously moved outward or inward through the adjusting mechanism.

[0007] A spraying mechanism for fully covering the bottom surface of the sprayed part is provided below the efficient spraying mechanism, and the spraying mechanism for fully covering the bottom surface of the sprayed part includes a base, a circular groove, a bottom spraying head, two spraying part support plates A, two spraying part support plates B and a synchronization mechanism, wherein the circular groove is located in the middle of the upper end surface of the base, the bottom spraying head is installed inside the circular groove, the two spraying part support plates A are respectively located in front and behind the bottom spraying head, and the two spraying part support plates B are respectively located on the left and right of the circular groove, and the synchronization mechanism can synchronously move the two spraying part support plates B upward in the process of moving the two spraying part support plates A downward;

[0008] The adjustment mechanism comprises a transmission rod, a roller bearing ring is installed on the upper side of the outer surface of the transmission rod through a roller bearing, and a fixing spring is connected to both sides of the lower end surface of the roller bearing ring;

[0009] The lower end surface of the transmission rod is fixedly connected with a rotating handle, and the upper end surface of the rotating handle is fixedly provided with a circle of fixing rods, and the outer side of the top end of the fixing rod is provided with a fixing groove, and the top end of the fixing rod is stuck in the inner part of the fixing groove; the upper end surface of the transmission rod is fixedly connected with a square transmission shaft, and the outer side of the square transmission shaft is provided with a bevel gear B, and the middle position of the upper end surface of the bevel gear B is provided with a square through hole penetrating the bevel gear B, and the square transmission shaft vertically penetrates the square through hole, and the inner wall cross-section of the square transmission shaft is square, the outer surface of the square transmission shaft fits with the inner wall of the square through hole, and the square transmission shaft and the square through hole are slidably connected;

[0010] A bevel gear A is meshed on both sides of the outer surface of the bevel gear B, the axis of the bevel gear A is connected to a rotating shaft, one end of the rotating shaft is fixedly connected to a threaded rod, one side of the outer surface of the threaded rod is sleeved with an internal threaded sleeve A whose position corresponds to the top surface spray head, the lower end surface of the internal threaded sleeve A is fixed to the upper end surface of the top surface spray head, one side of the internal threaded sleeve A is provided with an internal threaded sleeve B whose position corresponds to the L-shaped plate and is sleeved on the outer surface of the threaded rod, and the lower end surface of the internal threaded sleeve B is fixed to the L-shaped plate.

[0011] Preferably, the bottom surface of the spraying part fully covers one side of the spraying mechanism and a spraying part is provided;

[0012] The synchronization mechanism includes a stepper motor, the output shaft of the stepper motor is connected to a transmission shaft through a coupling, a large gear is fixedly sleeved on the outer surface of the transmission shaft, a small gear A is meshed on both sides of the outer surface of the large gear, and the positions of the two small gears A correspond to the positions of the two spray-coated part support plates B respectively.

[0013] Preferably, the axis of the small gear A is connected to a gear transmission shaft A, and the upper end face of the gear transmission shaft A is fixedly connected to a threaded rod. The outer side of the threaded rod is provided with an internal thread groove A located on the lower end face of the spray part support plate B, and the threaded rod is inserted into the internal thread groove A, and the external thread of the threaded rod matches the internal thread of the internal thread groove A.

[0014] Preferably, a small gear B meshing with the large gear is provided on one side of the small gear A, and the positions of the two small gears B correspond to the positions of the two spray-coated part support plates A respectively.

[0015] Preferably, the axis of the small gear B is connected to a gear transmission shaft B, and the upper end face of the gear transmission shaft B is fixedly connected to a reverse threaded rod, and the outer side of the top end of the reverse threaded rod is provided with an internal thread groove B located on the lower end face of the spray part support plate A, and the top end of the reverse threaded rod is located inside the internal thread groove B, and the external thread of the reverse threaded rod matches the internal thread of the internal thread groove B, and the external thread of the reverse threaded rod is opposite to the external thread of the positive threaded rod.

[0016] Preferably, the rotating mechanism includes a spraying mechanical head, a rotating motor is fixedly installed inside the spraying mechanical head, the output shaft of the rotating motor is connected to a rotating shaft through a coupling, and the lower end surface of the rotating shaft is fixed to the middle position of the upper end surface of the strip plate.

[0017] Preferably, the high-efficiency spraying mechanism also includes a circular plate, the lower end surface of the circular plate is installed with a large roller bearing ring through a roller bearing, the upper end surface of the large roller bearing ring is provided with a paint receiving groove, the interior of the paint receiving groove contains paint, and one side of the upper end surface of the circular plate is connected to a delivery pipe that communicates with the interior of the paint receiving groove.

[0018] Preferably, a metal tube is fixedly connected to both sides of the lower end surface of the large roller bearing ring, the other end of the metal tube is fixed to the upper end surface of the strip plate, and a liquid infusion tube A is provided inside the metal tube, and the side spray head is communicated with the inside of the paint storage tank through the liquid infusion tube A;

[0019] A liquid infusion tube B is provided on one side of the liquid infusion tube A, and the interior of the top surface spray head and the interior of the paint storage tank are communicated through the liquid infusion tube B.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. The present invention can make the top spray head and the side spray head revolve around the center point of the lower end surface of the strip plate through a rotating mechanism, and the top spray head and the side spray head in the revolving state can be moved up and down through the spraying mechanical arm. When it is necessary to spray the sprayed part, it is placed on the spraying mechanism that fully covers the bottom surface of the sprayed part, and then the center point of the lower end surface of the strip plate is aligned with the sprayed part through the spraying mechanical arm. Then, during the rotation of the revolving top spray head and the side spray head, the top spray head and the top spray head are moved downward, and the upper end surface of the sprayed part can be sprayed by the rotating top spray head, and the side surfaces of the sprayed part can be sprayed by the two rotating side spray heads. According to the above technical solution, the spraying mechanical arm only needs to move the high-efficiency spraying mechanism up and down to complete the spraying operation of the sprayed part, thereby reducing the movement path of the spraying mechanical arm during the spraying operation, saving the spraying time and improving its spraying efficiency;

[0022] 2. The present invention can, when placing the spray piece on two spray piece support plates A, use the bottom spray head to spray the position of the lower end surface of the spray piece that is not in contact with the spray piece support plate A. When the spraying treatment of the other parts of the lower end surface of the spray piece except the position in contact with the spray piece support plate A is completed, the spray piece support plate B can be moved upwards through the synchronization mechanism during the downward movement of the spray piece support plate A. When the spray piece support plate B contacts the spray piece but the spray piece support plate A continues to move downward, the spray piece will be supported by the two spray piece support plates B, and the position that was previously in contact with the spray piece support plate A will be exposed to the outside world. Thereafter, the position that was previously in contact with the spray piece support plate A can be sprayed by the bottom spray head. Through the above technical solution, the lower end surface of the spray piece can be sprayed in all aspects, thereby increasing its spraying range. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0024] Figure 2 For the present invention Figure 1 Schematic diagram of the bottom structure at B in the middle;

[0025] Figure 3 It is a front view of the internal structure of the present invention as a whole;

[0026] Figure 4 For the present invention Figure 1 Side view of the internal structure at A in the middle;

[0027] Figure 5 For the present invention Figure 3 A magnified view of the structure at C in the middle;

[0028] Figure 6 For the present invention Figure 5 Enlarged view of the structure at D in the middle.

[0029] In the figure: 1. Spraying robot arm; 2. Spraying mechanism for fully covering the bottom surface of the spraying part; 201. Base; 202. Circular groove; 203. Bottom spraying head; 204. Spraying part support plate A; 205. Spraying part support plate B; 206. Stepper motor; 207. Transmission shaft; 208. Large gear; 209. Small gear A; 210. Gear transmission shaft A; 211. Positive thread rod; 212. Internal thread groove A; 213. Small gear B; 214. Gear transmission shaft B; 215. Reverse thread rod; 216. Internal thread groove B; 3. Spraying part; 4. Spraying robot head; 5. Rotating motor; 6. Rotating Rotating shaft; 7. Strip plate; 8. Round plate; 9. Large roller bearing ring; 10. Paint storage slot; 11. Paint; 12. Metal pipe; 13. Infusion tube A; 14. L-shaped plate; 15. Side spray head; 16. Top spray head; 17. Threaded rod; 18. Rotating shaft; 19. Bevel gear A; 20. Bevel gear B; 21. Square through hole; 22. Square transmission rotating shaft; 23. Transmission rod; 24. Fixed rod; 25. Fixed groove; 26. Roller bearing ring; 27. Fixed spring; 28. Delivery tube; 29. ​​Infusion tube B; 30. Internal threaded sleeve A; 31. Internal threaded sleeve B; 32. Rotating handle. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0031] See also Figures 1 to 6 , an embodiment provided by the present invention: a multi-directional spraying manipulation robot arm, comprising a spraying robot arm 1, a high-efficiency spraying mechanism is fixedly installed on one side of the outer surface of the spraying robot arm 1, and the high-efficiency spraying mechanism comprises a strip plate 7, two top surface spraying heads 16, two L-shaped plates 14, two side spraying heads 15, a rotating mechanism and an adjusting mechanism;

[0032] The two top surface spray heads 16 are respectively slidably mounted on both sides of the lower end surface of the strip plate 7 near the middle position, the two L-shaped plates 14 are respectively slidably mounted on both sides of the lower end surface of the strip plate 7 near the front and rear end surfaces, and the two side spray heads 15 are respectively mounted on the opposite surfaces of the two L-shaped plates 14. The two top surface spray heads 16 and the two side spray heads 15 can be made to revolve around the center point of the lower end surface of the strip plate 7 through a rotating mechanism, and the two top surface spray heads 16 and the two side spray heads 15 can be synchronously moved outward or inward through an adjusting mechanism.

[0033] A spray mechanism 2 for fully covering the bottom surface of the spray part is provided below the efficient spray mechanism. The spray mechanism 2 for fully covering the bottom surface of the spray part includes a base 201, a circular groove 202, a bottom spray head 203, two spray part support plates A204, two spray part support plates B205 and a synchronization mechanism. The circular groove 202 is located in the middle position of the upper end surface of the base 201, the bottom spray head 203 is installed inside the circular groove 202, the two spray part support plates A204 are respectively located in front and behind the bottom spray head 203, and the two spray part support plates B205 are respectively located on the left and right of the circular groove 202. Through the synchronization mechanism, the two spray part support plates B205 can be moved upward synchronously during the process of moving the two spray part support plates A204 downward.

[0034] The bottom surface of the spraying part is fully covered. A spraying part 3 is provided on one side of the spraying mechanism 2. When the spraying part 3 needs to be sprayed, it is placed on two spraying part support plates A204, and then the bottom surface spraying head 203 can be used to spray the lower end surface of the spraying part 3 that is not in contact with the spraying part support plate A204.

[0035] The synchronization mechanism includes a stepper motor 206, the output shaft of the stepper motor 206 is connected to a transmission shaft 207 through a coupling, a large gear 208 is fixedly sleeved on the outer surface of the transmission shaft 207, and a small gear A209 is meshed on both sides of the outer surface of the large gear 208, and the positions of the two small gears A209 correspond to the positions of the two spray-coated part support plates B205 respectively; when the spraying treatment of the lower end surface of the spray-coated part 3 except the position in contact with the spray-coated part support plate A204 is completed, the stepper motor 206 is started, and the stepper motor 206 can drive the transmission shaft 207 connected thereto and the large gear 208 fixedly sleeved on the outer surface of the transmission shaft 207 to rotate, and when the large gear 208 rotates, the two small gears A209 meshing therewith will rotate synchronously.

[0036] The axis of the small gear A209 is connected to the gear transmission shaft A210, and the upper end face of the gear transmission shaft A210 is fixedly connected to a main thread rod 211. The outer side of the main thread rod 211 is provided with an internal thread groove A212 located on the lower end face of the spray part support plate B205. The main thread rod 211 is inserted into the internal thread groove A212, and the external thread of the main thread rod 211 matches the internal thread of the internal thread groove A212; during the rotation of the small gear A209, the gear transmission shaft A210 connected to the axis of the small gear A209 and the main thread rod 211 fixed thereto will rotate together, and through the internal thread transmission of the internal thread groove A212, when the main thread rod 211 rotates, the spray part support plate B205 will move up and down accordingly, and the spray part support plate B205 is moved upward at this time.

[0037] A small gear B213 meshing with the large gear 208 is provided on one side of the small gear A209, and the positions of the two small gears B213 correspond to the positions of the two spray support plates A204 respectively; when the large gear 208 rotates, the small gear B213 meshing with it will rotate synchronously.

[0038] The axis of the small gear B213 is connected to the gear transmission shaft B214, and the upper end surface of the gear transmission shaft B214 is fixedly connected to the reverse threaded rod 215, and the outer side of the top end of the reverse threaded rod 215 is provided with an internal thread groove B216 located on the lower end surface of the spraying part support plate A204, and the top end of the reverse threaded rod 215 is located inside the internal thread groove B216, and the external thread of the reverse threaded rod 215 matches the internal thread of the internal thread groove B216, and the external thread of the reverse threaded rod 215 is opposite to the external thread of the positive thread rod 211; during the rotation of the small gear B213, the gear transmission shaft B214 connected to its axis and the reverse threaded rod 215 fixed thereto will rotate together, and through the internal thread transmission of the internal thread groove B216, when the reverse threaded rod 215 rotates, the spray The coating part support plate A204 will move up and down accordingly. Since the external thread of the positive thread rod 211 is opposite to the external thread of the reverse thread rod 215, when the spray part support plate B205 moves upward, the spray part support plate A204 will move downward accordingly. When the spray part support plate B205 contacts the spray part 3, but the spray part support plate A204 continues to move downward, the spray part 3 will be supported by the two spray part support plates B205, and the position that was previously in contact with the spray part support plate A204 will be exposed to the outside world. After that, the position that was previously in contact with the spray part support plate A204 can be sprayed through the bottom spray head 203. Through the above technical solution, the lower end surface of the spray part 3 can be sprayed in all aspects, thereby increasing its spraying range.

[0039] The rotating mechanism includes a spraying mechanical head 4, in which a rotating motor 5 is fixedly installed, and the output shaft of the rotating motor 5 is connected to a rotating shaft 6 through a coupling, and the lower end surface of the rotating shaft 6 is fixed to the middle position of the upper end surface of the strip plate 7; in the process of spraying the lower end surface of the spraying part 3, the center point of the lower end surface of the strip plate 7 is aligned with the spraying part 3 through the spraying mechanical arm 1, and then the rotating motor 5 is started to drive the strip plate 7 to rotate. During the rotation of the strip plate 7, the two side spray heads 15 and the two top spray heads 16 will revolve around the center point of the lower end surface of the strip plate 7. When the surface spray head 15 and the top surface spray head 16 start to rotate, the side spray head 15 and the top surface spray head 16 in a rotating state are moved downward by the spraying robot arm 1, and the upper end surface of the spraying part 3 can be sprayed by the rotating top surface spray head 16, and the side surfaces of the spraying part 3 can be sprayed by the two rotating side spray heads 15. Through the above technical solution, the spraying robot arm 1 only needs to move the high-efficiency spraying mechanism up and down to complete the spraying operation of the spraying part 3, thereby reducing the movement path of the spraying robot arm 1 during the spraying operation, saving the spraying time and improving its spraying efficiency.

[0040] The high-efficiency spraying mechanism also includes a circular plate 8, the lower end surface of the circular plate 8 is installed with a large roller bearing ring 9 through a roller bearing, the upper end surface of the large roller bearing ring 9 is provided with a paint receiving groove 10, the interior of the paint receiving groove 10 contains paint 11, and one side of the upper end surface of the circular plate 8 is connected to a delivery pipe 28 that is connected to the interior of the paint receiving groove 10; the delivery pipe 28 can replenish the interior of the paint receiving groove 10 with paint 11.

[0041] A metal tube 12 is fixedly connected to both sides of the lower end surface of the large roller bearing ring 9, and the other end of the metal tube 12 is fixed to the upper end surface of the strip plate 7. A liquid infusion tube A13 is provided inside the metal tube 12, and the side spray head 15 is connected to the inside of the paint storage tank 10 through the liquid infusion tube A13;

[0042] An infusion tube B29 is provided on one side of the infusion tube A13, and the interior of the top spray head 16 is communicated with the interior of the paint receiving tank 10 through the infusion tube B29; the infusion tube B29 and the infusion tube A13 can provide paint 11 for the side spray head 15 and the top spray head 16, and when the strip plate 7 rotates, the large roller bearing ring 9 connected to it through the metal tube 12 will rotate synchronously with it, and the rotating large roller bearing ring 9 can prevent the infusion tube B29 and the infusion tube A13 from being pulled, thereby causing the connection to break.

[0043] The adjustment mechanism includes a transmission rod 23, a roller bearing ring 26 is installed on the upper side of the outer surface of the transmission rod 23 through a roller bearing, and a fixing spring 27 is connected to both sides of the lower end surface of the roller bearing ring 26;

[0044] The lower end surface of the transmission rod 23 is fixedly connected with a rotating handle 32, and the upper end surface of the rotating handle 32 is fixedly provided with a circle of fixing rods 24, and the outer side of the top end of the fixing rod 24 is provided with a fixing groove 25, and the top end of the fixing rod 24 is stuck in the inside of the fixing groove 25; the spring force of the fixing spring 27 can ensure that the top end of the fixing rod 24 is stuck in the inside of the fixing groove 25, so as to prevent the rotating handle 32 from rotating without authorization. When the type of the spraying part 3 to be sprayed changes, the rotating handle 32 is pulled downward, and the fixing rod 24 fixed thereto will move downward together during the downward movement of the rotating handle 32. Only when the top end of the fixing rod 24 leaves the inside of the fixing groove 25 can the rotating handle 32 be rotated. When the rotating handle 32 is rotatable, the rotating handle 32 is manually rotated;

[0045] When the rotating handle 32 is pulled downward, the roller bearing ring 26 connected to the rotating handle 32 via the roller bearing will move downward together and press the fixing spring 27 .

[0046] The upper end surface of the transmission rod 23 is fixedly connected with a square transmission shaft 22, and an outer side of the square transmission shaft 22 is provided with a bevel gear B20, and a square through hole 21 penetrating the bevel gear B20 is provided in the middle position of the upper end surface of the bevel gear B20, and the square transmission shaft 22 vertically penetrates the square through hole 21, and the inner wall cross-section of the square transmission shaft 22 is square, and the outer surface of the square transmission shaft 22 fits with the inner wall of the square through hole 21, and the square transmission shaft 22 and the square through hole 21 are slidably connected; when the rotating handle 32 is rotated, the square transmission shaft 22 connected with it through the transmission rod 23 will rotate together, and because the outer surface of the square transmission shaft 22 fits with the inner wall of the square through hole 21, when the square transmission shaft 22 rotates, the bevel gear B20 will rotate together;

[0047] A bevel gear A19 is meshed on both sides of the outer surface of the bevel gear B20, and the axis of the bevel gear A19 is connected to a rotating shaft 18, and one end of the rotating shaft 18 is fixedly connected to a threaded rod 17, and one side of the outer surface of the threaded rod 17 is sleeved with an internal threaded sleeve A30 whose position corresponds to the top surface spray head 16, and the lower end surface of the internal threaded sleeve A30 is fixed to the upper end surface of the top surface spray head 16, and one side of the internal threaded sleeve A30 is provided with an internal threaded sleeve B31 whose position corresponds to the L-shaped plate 14 and is sleeved on the outer surface of the threaded rod 17, and the lower end surface of the internal threaded sleeve B31 is fixed to the L-shaped plate 14; when the bevel gear B20 rotates, the two bevel gears A19 meshed therewith will rotate synchronously, and when the bevel gear A19 rotates, the rotating shaft 18 connected to the axis of the bevel gear A19 and the threaded rod 17 fixed thereto will rotate together, because the internal threaded sleeve A31 sleeved on the outer surface of the threaded rod 17 30 and the internal thread sleeve B31 are respectively fixed to the top surface spray head 16 and the L-shaped plate 14, so the internal thread sleeve A30 and the internal thread sleeve B31 cannot rotate by themselves. When the threaded rod 17 rotates, the internal thread sleeve A30 and the internal thread sleeve B31, which are threadedly connected to it but cannot rotate by themselves, will move on the outer surface of the threaded rod 17. During the movement of the internal thread sleeve A30 and the internal thread sleeve B31, the top surface spray head 16 and the L-shaped plate 14, which are respectively fixed thereto, will move together. When the L-shaped plate 14 moves, the position of the side spray head 15 installed on its outer surface will also move accordingly. At this time, the position of the side spray head 15 is adjusted so that it is 20 cm away from the sprayed part 3 to be sprayed. This distance can make the spraying airflow reach a suitable speed, avoid corrugation or skidding of the coating, and ensure that the coating can evenly and completely cover the surface of the sprayed part 3.

[0048] When the position adjustment of the side spray head 15 is completed, the multiple fixing rods 24 fixed on the upper end surface of the rotating handle 32 are aligned with the fixing groove 25, and then the rotating handle 32 is released. Through the reaction force of the squeezed fixing spring 27, the top end of the fixing rod 24 can be stuck into the inside of the fixing groove 25, so as to lock the rotating handle 32 again to prevent it from rotating without authorization, thereby causing the position of the side spray head 15 to change.

[0049] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A multi-directional spraying manipulator, comprising a spraying manipulator (1), characterized in that: A high-efficiency spraying mechanism is fixedly mounted on one side of the outer surface of the spraying robot arm (1), the high-efficiency spraying mechanism comprising a strip plate (7), two top surface spraying heads (16), two L-shaped plates (14), two side surface spraying heads (15), a rotating mechanism and an adjusting mechanism; The two top surface spray heads (16) are respectively slidably mounted on both sides of the lower end surface of the strip plate (7) near the middle position, the two L-shaped plates (14) are respectively slidably mounted on both sides of the lower end surface of the strip plate (7) near the front and rear end surfaces, and the two side spray heads (15) are respectively mounted on the opposite surfaces of the two L-shaped plates (14). The two top surface spray heads (16) and the two side spray heads (15) can be made to revolve around the center point of the lower end surface of the strip plate (7) through a rotating mechanism, and the two top surface spray heads (16) and the two side spray heads (15) can be synchronously moved outward or inward through the adjusting mechanism. A spraying mechanism (2) for fully covering the bottom surface of a spraying part is provided below the high-efficiency spraying mechanism. The spraying mechanism (2) for fully covering the bottom surface of a spraying part comprises a base (201), a circular groove (202), a bottom surface spraying head (203), two spraying part support plates A (204), two spraying part support plates B (205), and a synchronization mechanism. The circular groove (202) is located in the middle of the upper end surface of the base (201). The bottom surface spraying head (203) is installed inside the circular groove (202). The two spraying part support plates A (204) are respectively located in front of and behind the bottom surface spraying head (203). The two spraying part support plates B (205) are respectively located on the left and right of the circular groove (202). The synchronization mechanism can synchronously move the two spraying part support plates B (205) upwards in the process of moving the two spraying part support plates A (204) downwards. The adjustment mechanism comprises a transmission rod (23), a roller bearing ring (26) is mounted on the upper side of the outer surface of the transmission rod (23) via a roller bearing, and a fixing spring (27) is connected to both sides of the lower end surface of the roller bearing ring (26); The lower end surface of the transmission rod (23) is fixedly connected to a rotating handle (32), and the upper end surface of the rotating handle (32) is fixedly provided with a circle of fixing rods (24), and the outer side of the top end of the fixing rod (24) is provided with a fixing groove (25), and the top end of the fixing rod (24) is inserted into the fixing groove (25); the upper end surface of the transmission rod (23) is fixedly connected to a square transmission shaft (22), and the outer side of the square transmission shaft (22) is provided with a bevel gear B (20), and the middle position of the upper end surface of the bevel gear B (20) is provided with a square through hole (21) penetrating the bevel gear B (20), and the square transmission shaft (22) vertically penetrates the square through hole (21), and the inner wall cross-section of the square transmission shaft (22) is square, and the outer surface of the square transmission shaft (22) is in contact with the inner wall of the square through hole (21), and the square transmission shaft (22) and the square through hole (21) are slidably connected; A bevel gear A (19) is meshed on both sides of the outer surface of the bevel gear B (20); the axis of the bevel gear A (19) is connected to a rotating shaft (18); one end of the rotating shaft (18) is fixedly connected to a threaded rod (17); one side of the outer surface of the threaded rod (17) is sleeved with an internal threaded sleeve A (30) whose position corresponds to the top surface spray head (16); the lower end surface of the internal threaded sleeve A (30) is fixed to the upper end surface of the top surface spray head (16); one side of the internal threaded sleeve A (30) is provided with an internal threaded sleeve B (31) whose position corresponds to the L-shaped plate (14) and is sleeved on the outer surface of the threaded rod (17); the lower end surface of the internal threaded sleeve B (31) is fixed to the L-shaped plate (14).

2. The multi-directional spraying manipulator according to claim 1, characterized in that: A spraying part (3) is provided on one side of the spraying mechanism (2) that fully covers the bottom surface of the spraying part; The synchronization mechanism comprises a stepper motor (206), the output shaft of the stepper motor (206) being connected to a transmission shaft (207) via a coupling, a large gear (208) being fixedly sleeved on the outer surface of the transmission shaft (207), a small gear A (209) being meshed on both sides of the outer surface of the large gear (208), and the positions of the two small gears A (209) respectively corresponding to the positions of the two spraying part support plates B (205).

3. The multi-directional spraying manipulator according to claim 2, characterized in that: The axis of the small gear A (209) is connected to a gear transmission shaft A (210), and the upper end surface of the gear transmission shaft A (210) is fixedly connected to a positive thread rod (211). The outer side of the positive thread rod (211) is provided with an internal thread groove A (212) located on the lower end surface of the spraying part support plate B (205). The positive thread rod (211) is inserted into the internal thread groove A (212), and the external thread of the positive thread rod (211) matches the internal thread of the internal thread groove A (212).

4. The multi-directional spraying manipulator according to claim 3, characterized in that: A small gear B (213) meshing with the large gear (208) is provided on one side of the small gear A (209), and the positions of the two small gears B (213) respectively correspond to the positions of the two spraying part support plates A (204).

5. The multi-directional spraying manipulator according to claim 4, characterized in that: The axis of the small gear B (213) is connected to a gear transmission shaft B (214), and the upper end surface of the gear transmission shaft B (214) is fixedly connected to a reverse threaded rod (215). The outer side of the top end of the reverse threaded rod (215) is provided with an internal thread groove B (216) located on the lower end surface of the spraying part support plate A (204). The top end of the reverse threaded rod (215) is located inside the internal thread groove B (216). The external thread of the reverse threaded rod (215) matches the internal thread of the internal thread groove B (216), and the external thread of the reverse threaded rod (215) is opposite to the external thread of the positive threaded rod (211).

6. The multi-directional spraying manipulator according to claim 1, characterized in that: The rotating mechanism comprises a spraying mechanical head (4), a rotating motor (5) is fixedly installed inside the spraying mechanical head (4), an output shaft of the rotating motor (5) is connected to a rotating shaft (6) via a coupling, and a lower end surface of the rotating shaft (6) is fixed to a middle position of an upper end surface of a strip plate (7).

7. The multi-directional spraying manipulator according to claim 1, characterized in that: The high-efficiency spraying mechanism also includes a circular plate (8), the lower end surface of the circular plate (8) is mounted with a large roller bearing ring (9) via a roller bearing, the upper end surface of the large roller bearing ring (9) is provided with a spray paint receiving groove (10), the interior of the spray paint receiving groove (10) contains spray paint (11), and one side of the upper end surface of the circular plate (8) is connected to a conveying pipe (28) that communicates with the interior of the spray paint receiving groove (10).

8. The multi-directional spraying manipulator according to claim 7, characterized in that: A metal tube (12) is fixedly connected to both sides of the lower end surface of the large roller bearing ring (9); the other end of the metal tube (12) is fixed to the upper end surface of the strip plate (7); a liquid infusion tube A (13) is provided inside the metal tube (12); and the side spray head (15) is connected to the inside of the paint storage tank (10) through the liquid infusion tube A (13); A liquid infusion tube B (29) is provided on one side of the liquid infusion tube A (13), and the interior of the top surface spray head (16) and the interior of the spray paint storage tank (10) are communicated through the liquid infusion tube B (29).

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