Six-axis robotic arm spraying equipment

Abstract

The present invention relates to the field of spraying equipment, in particular to six-axis robot arm spraying equipment. In view of the existing technology, a deformable tripod with an equilateral triangle structure is installed on the upper end of a base plate. The tripod can be deformed into a horizontally arranged straight structure. When the tripod is an equilateral triangle structure, it can rotate in a circle at the upper end of the base plate with the center of the base plate as the axis. When the tripod is a straight structure, it can move left and right at the upper end of the base plate. When the device is in use and it is necessary to perform cyclic spraying on a component, the tripod can be controlled to rotate in a circle at the upper end of the base plate. Then, the component surrounds the upper side edge of the tripod and can rotate with the tripod to meet the spraying of the six-axis robot arm. While rotating with the tripod, it can also rotate with the rotation of the clamping structure, so as to carefully spray the surface of the component, make the surface of the component sprayed evenly, and avoid spraying leaks.

Description

Technical Field

[0001] The invention relates to the field of spraying equipment, in particular to six-axis mechanical arm spraying equipment. Background Art

[0002] With the rapid development of industrial technology, the requirements for automation of mechanical equipment are gradually increasing. As an important branch of robotics technology, the six-axis robot arm plays an irreplaceable role in modern manufacturing, medical, aerospace and military fields. The six-axis robot arm is composed of six rotating joints, which can move on three planes, thereby realizing all-round operation in three-dimensional space. Each joint is driven by a motor to rotate, thereby controlling the end effector of the robot arm to reach a predetermined position and posture. It is flexible and convenient in the application of component spraying, and the staff does not need to manually perform the spraying operation, which greatly saves manpower and avoids the physical harm caused by the spraying operation to the staff; however, when using the six-axis robot arm for spraying, the parts cannot change their angles and positions as the spraying operation proceeds, which makes it easy for the parts to be sprayed unevenly at the angles during the spraying operation. Summary of the invention

[0003] In view of the deficiencies in the prior art, the present invention provides a six-axis robotic arm spraying device, which effectively solves the problems mentioned in the above background technology.

[0004] In order to solve the above problems, the technical solution adopted by the present invention is:

[0005] The six-axis robot spraying equipment comprises a six-axis robot, wherein the lower end of the six-axis robot is fixedly connected to a base plate, and the upper end of the base plate is equipped with a deformable tripod in an equilateral triangle structure, and the tripod can be deformed into a horizontally arranged straight structure. When the tripod is an equilateral triangle structure, it can rotate in a circle at the upper end of the base plate with the center of the base plate as the axis, and when the tripod is a straight structure, it can move left and right at the upper end of the base plate; the upper side of the tripod is respectively connected to a top plate, and the bottom of the top plate is respectively rotatably connected to a clamping structure that can rotate synchronously.

[0006] Preferably, the tripod includes a bottom plate and two side plates located on both sides of the bottom plate, the bottom plate and the side plates are of equal length, the left and right sides of the upper end of the bottom plate are respectively fixedly connected with mounting rods, the side plates and the bottom plate have corresponding ends respectively provided with through holes, the through holes are respectively slidably connected with the mounting rods coaxially, one end of one side plate away from the bottom plate is fixedly connected with a docking rod, and the other side plate has a docking hole at one end away from the bottom plate, the docking hole is slidably connected to the docking rod.

[0007] Preferably, a track groove is provided at the upper end of the base plate, and the track groove includes an arc groove and a transverse groove. The arc groove is coaxially arranged with the base plate, and the transverse groove is connected with the arc groove. The left and right sides of the lower end of the bottom edge plate and the lower end of the docking rod are respectively rotatably connected with pulleys, and the pulleys are respectively slidably connected with the track grooves.

[0008] Preferably, the surfaces of the mounting rods are respectively sleeved with return springs, which are respectively located on the upper sides of the side plates, and the upper ends of the mounting rods are respectively fixedly connected with baffles, which are respectively located on the upper sides of the return springs.

[0009] Preferably, the lower end of the bottom side plate is fixedly connected to a groove plate arranged along the radial direction of the bottom plate, the lower end of the groove plate is provided with a sliding groove along the length direction, the lower end of the groove plate is provided with a rotating plate, one end of the rotating plate is rotatably connected to the bottom plate coaxially, the other end of the rotating plate is connected to a positioning pin shaft, the positioning pin shaft is slidably connected to the sliding groove, the bottom of the bottom plate is fixedly connected to a first motor, and the output end of the first motor is fixedly connected to the rotating plate coaxially;

[0010] A positioning hole that can engage with the positioning pin is opened in the middle of the lower end of the bottom edge plate, and the positioning hole is connected to the sliding groove. A mounting groove with an upper opening is opened inside the end of the rotating plate facing the bottom edge plate. The positioning pin is slidably connected to the inner side of the upper opening of the mounting groove. A spring plate is slidably connected inside the mounting groove. The positioning pin is fixedly connected to the spring plate coaxially. A positioning spring is fixedly connected to the bottom of the spring plate, and the lower end of the positioning spring is fixedly connected to the inner wall of the mounting groove.

[0011] Preferably, the bottom of the pulley is rotatably connected with a ball.

[0012] Preferably, the clamping structure includes a mounting frame and a connecting screw fixedly connected to the upper end of the mounting frame, the upper ends of the connecting screws are rotatably connected to the upper ends of the top plates, rectangular grooves are respectively provided on the corresponding two sides of the mounting frame, two cams are respectively hinged on the inner sides of the rectangular grooves, the two cams are coaxially fixedly connected, the protruding parts of the cams are respectively facing the inner sides of the mounting frame, a tension spring is respectively fixedly connected to the outer side of one of the cams, and the other end of the tension spring is respectively fixedly connected to the surface of the mounting frame.

[0013] Preferably, linkage plates are provided on both sides of the connecting screw, and reinforcement rods are fixedly connected on both sides of the lower end of the linkage plate, the surfaces of the reinforcement rods are vertically slidably connected to the mounting frame and each reinforcement rod is located on the upper side of a corresponding cam, and auxiliary springs are respectively sleeved on the surfaces of the reinforcement rods located on the upper side of the mounting frame, and connecting rods are fixedly connected to the middle of the upper end of the linkage plate, a reinforcement knob is threadedly connected to the surface of the connecting screw, and a linkage ring is rotatably connected to the lower side of the surface of the reinforcement knob, and the connecting plates are fixedly connected to the corresponding ends of the linkage ring and the connecting rod, and connecting holes are respectively opened at the outer ends of the connecting plates, and the connecting rods are slidably connected to the inner sides of the connecting holes.

[0014] Preferably, a reinforcement plate is respectively provided on the surface of the protruding parts of two adjacent cams, and an adjusting screw is rotatably connected to the middle part of the outer end of the reinforcement plate, a matching plate is fixedly connected between the two adjacent cams, the adjusting screw is threadedly connected to the matching plate, and the outer ends of the adjusting screws are respectively fixedly connected to control knobs, and the surfaces of the reinforcement rods on both sides of the adjusting screws are respectively fixedly connected to limit rods, and limit holes are respectively provided on the surfaces of the cams corresponding to the limit rods, and the limit rods are respectively slidably connected to the limit holes.

[0015] Preferably, the side surfaces of the bottom plate and the side plate are respectively fixedly connected with a bearing plate, and support tubes with openings at both ends are respectively fixedly connected to the two sides of the upper end of the bearing plate, and the top plate is respectively fixedly connected between two corresponding support tubes, and the inside of the support tubes is respectively rotatably connected with a transmission shaft, and the upper ends of the transmission shafts are respectively fixedly connected with main sprockets, and a chain is sleeved between the two corresponding main sprockets, and a second motor is provided on the upper side of one of the main sprockets, the second motor is fixedly connected to the top plate, and the power output end of the second motor is coaxially fixedly connected to the corresponding main sprocket, and the upper ends of the connecting screws are respectively fixedly connected with secondary sprockets, and the secondary sprockets are respectively meshed with the chains.

[0016] The present invention has novel structure, ingenious design, simple and convenient operation, and has the following advantages compared with the prior art:

[0017] 1. When the device is in use, when it is necessary to spray the parts in a cycle, the tripod can be controlled to rotate in a circle at the upper end of the bottom plate. Then, the parts surround the upper edge of the tripod and can rotate with the tripod to meet the spraying of the six-axis robot arm. While rotating in a circle with the tripod, the device can also rotate with the rotation of the clamping structure to carefully spray the surface of the parts, so that the surface of the parts is sprayed evenly to avoid spray leakage;

[0018] 2. When the device is in use, the control tripod can be deformed so that the tripod is arranged in a straight line structure and moves linearly left and right at the upper end of the bottom plate. When the tripod moves linearly at the upper end of the bottom plate, the components clamped and fixed by the clamping structure can also be sprayed by the six-axis robot arm, and can also rotate with the clamping structure during the movement, so as to facilitate the careful spraying of the surface of the component. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the six-axis robotic arm spraying equipment of the present invention.

[0020] Figure 2 It is a schematic diagram of the track groove structure of the six-axis robot arm spraying equipment of the present invention.

[0021] Figure 3 This is a first schematic diagram of the tripod structure of the six-axis robotic arm spraying equipment of the present invention.

[0022] Figure 4 This is a second schematic diagram of the tripod structure of the six-axis robotic arm spraying equipment of the present invention.

[0023] Figure 5 This is a schematic diagram of the rotating plate installation structure of the six-axis robot arm spraying equipment of the present invention.

[0024] Figure 6 This is the first schematic diagram of the transmission shaft transmission structure of the six-axis robot arm spraying equipment of the present invention.

[0025] Figure 7 This is a second schematic diagram of the transmission shaft transmission structure of the six-axis robot arm spraying equipment of the present invention.

[0026] Figure 8 It is a schematic diagram of the clamping structure of the six-axis robot arm spraying equipment of the present invention.

[0027] Fig. 9 It is a schematic diagram of the cam installation structure of the six-axis robot arm spraying equipment of the present invention.

[0028] Fig.10 This is a schematic diagram of the reinforcement plate installation structure of the six-axis robot arm spraying equipment of the present invention.

[0029] Fig.11 This is a schematic diagram of the reinforcement rod installation structure of the six-axis robotic arm spraying equipment of the present invention.

[0030] Fig.12 It is a schematic diagram of the exploded structure of the connection rod and the connection plate of the six-axis robot arm spraying equipment of the present invention.

[0031] Numbers in the figure: 1-six-axis robot arm, 2-bottom plate, 3-arc groove, 4-lateral groove, 5-bottom side plate, 6-side plate, 7-pulley, 8-mounting rod, 9-baffle, 10-reset spring, 11-first motor, 12-slot plate, 13-positioning hole, 14-positioning pin shaft, 15-spring plate, 16-positioning spring, 17-rotating plate, 18-ball, 19-bearing plate, 20-support tube, 21-transmission shaft, 22-transmission pulley, 23-transmission belt, 24-second motor, 25-main sprocket, 26-secondary sprocket, 27-chain, 28-connecting screw, 29-mounting frame, 30-cam, 31-tension spring, 32-rectangular groove, 33-reinforcement plate, 34-matching plate, 35-adjusting screw, 36-control knob, 37-limit rod, 38-reinforcement rod, 39-auxiliary spring, 40-interlocking plate, 41-connecting rod, 42-interlocking ring, 43-reinforcement knob, 44-connecting plate, 45-connecting hole, 46-top plate, 47-push plate, 48-docking rod. DETAILED DESCRIPTION

[0032] The following are specific embodiments of the present invention, and the technical solutions of the present invention are further described in conjunction with the accompanying drawings, but the present invention is not limited to these embodiments.

[0033] like Figure 1-12 As shown, the present invention provides a six-axis robotic arm spraying equipment, including a six-axis robotic arm, the lower end of the six-axis robotic arm is fixedly connected to a base plate 2, the upper end of the base plate 2 is installed with an equilateral triangle structure and a deformable tripod, the tripod can be deformed into a horizontally arranged straight structure, when the tripod is an equilateral triangle structure, it can rotate in a circle at the upper end of the base plate 2 with the center of the base plate 2 as the axis, when the tripod is a straight structure, it can move left and right at the upper end of the base plate 2; the upper side of the tripod is respectively connected to a top plate 46, and the bottom of the top plate 46 is respectively rotatably connected to a clamping structure that can rotate synchronously.

[0034] When the device is in use, the components can be sprayed by the six-axis robot. When spraying, the components can be clamped and fixed under the top plate 46 by the clamping structure, which is convenient for the six-axis robot to spray. When it is necessary to spray the components cyclically, the tripod can be controlled to rotate in a circle at the upper end of the bottom plate 2. Then, the components surround the upper edge of the tripod and can rotate with the tripod to meet the spraying of the six-axis robot. While rotating in a circle with the tripod, the components can also rotate with the rotation of the clamping structure to carefully spray the surface of the components, so that the surface of the components is evenly sprayed to avoid spraying leaks. When the components are sprayed once, the control tripod can be deformed to arrange the tripod in a straight line structure and move straightly left and right at the upper end of the bottom plate 2. When the tripod moves straightly at the upper end of the bottom plate 2, the components clamped and fixed by the clamping structure can also receive the spraying of the six-axis robot, and can also rotate with the clamping structure during the movement, which is convenient for carefully spraying the surface of the components. It can be adjusted and used as needed during use.

[0035] The tripod includes a bottom plate 5 and two side plates 6 located on both sides of the bottom plate 5. The bottom plate 5 is equal to the side plates 6 in length. The bottom plate 5 and the two side plates 6 form an equilateral triangle structure. The left and right sides of the upper end of the bottom plate 5 are respectively fixedly connected with mounting rods 8. The side plates 6 and the corresponding ends of the bottom plate 5 are respectively provided with through holes, and the through holes are respectively slidably connected with the mounting rods 8 coaxially. One end of one side plate 6 away from the bottom plate 5 is fixedly connected with a docking rod 48, and the other side plate 6 is provided with a docking hole at one end away from the bottom plate 5, and the docking hole is slidably connected with the docking rod 48. Through the connection between the docking rod 48 and the docking hole and the connection between the mounting rod 8 and the through hole, the tripod can be formed into an equilateral triangle structure. When deformed, the two side plates 6 can be directly moved upward to disengage the docking rod 48 from the docking hole, and then the two side plates 6 can be swung to be parallel to the bottom plate 2, which is convenient for linear movement.

[0036] A track groove is provided at the upper end of the base plate 2, and the track groove includes an arc groove 3 and a transverse groove 4. The arc groove 3 is coaxially arranged with the base plate 2, and the transverse groove 4 is connected with the arc groove 3. The left and right sides of the lower end of the bottom edge plate 5 and the lower end of the docking rod 48 are rotatably connected with pulleys 7, respectively. The pulleys 7 are slidably connected with the track grooves. When the tripod is in an equilateral triangle structure, the three sides of the tripod are equal and the middle is coaxial with the middle of the arc groove 3. Therefore, when the pulley 7 is slidably connected with the track groove, the tripod can rotate in a circle along the arc groove 3. When the tripod is deformed into a straight-line structure, the pulleys 7 slide side by side on the inner side of the transverse groove 4. Therefore, the tripod can move in a straight line, and disassembly is simple and convenient.

[0037] The surfaces of the mounting rods 8 are respectively sleeved with return springs 10, which are respectively located on the upper sides of the side plates 6. The upper ends of the mounting rods 8 are respectively fixedly connected with baffles 9, which are respectively located on the upper sides of the return springs 10. The return springs 10 can push the two side plates 6 to be connected with the bottom plate 5 through their own elastic force, and the friction force of the connection between the side plates 6 and the bottom plate 5 can be increased under the spring resistance of the return springs 10, thereby improving the stability of the connection.

[0038] The lower end of the bottom side plate 5 is fixedly connected to a slot plate 12 arranged along the radial direction of the bottom plate 2, and a sliding slot is opened at the lower end of the slot plate 12 along the length direction. A rotating plate 17 is arranged at the lower end of the slot plate 12, and one end of the rotating plate 17 is rotatably connected to the bottom plate 2 coaxially, and the other end of the rotating plate 17 is connected to a positioning pin shaft 14, and the positioning pin shaft 14 is slidably connected to the sliding slot. A first motor 11 is fixedly connected to the bottom of the bottom plate 2, and the output end of the first motor 11 is fixedly connected to the rotating plate 17 coaxially;

[0039] A positioning hole 13 that can mesh with the positioning pin 14 is opened in the middle of the lower end of the bottom side plate 5, and the positioning hole 13 is connected to the sliding groove. A mounting groove with an upper end opening is opened inside the rotating plate 17 toward one end of the bottom side plate 5, and the positioning pin 14 is slidably connected to the inner side of the upper end opening of the mounting groove. A spring plate 15 is slidably connected inside the mounting groove, and the positioning pin 14 is coaxially fixedly connected to the spring plate 15. A positioning spring 16 is fixedly connected to the bottom of the spring plate 15, and the lower end of the positioning spring 16 is fixedly connected to the inner wall of the mounting groove. Under the push of the positioning spring 16, when the positioning pin 14 corresponds to the positioning hole 13, the positioning pin 14 meshes with the positioning hole 13, and when the positioning pin 14 meshes with the positioning hole 13, the center of the tripod is coaxial with the rotation point of the rotating plate 17. At this time, when the first motor 11 rotates to control the rotating plate 17 to rotate, it rotates under the meshing of the positioning pin 14 and the positioning hole 13. When the plate 17 rotates, it can drive the tripod to rotate in a circle. When the tripod needs to move linearly, the tripod can be controlled to move forward to make the pulley 7 move within the range of the transverse groove 4. Then, when the pulley 7 slides with the transverse groove 4, the tripod can only move linearly under the limit of the transverse groove 4. At this time, when the rotating plate 17 rotates, it can push the tripod to move linearly through the sliding cooperation between the positioning pin shaft 14 and the sliding groove, and when the tripod is moved to the front side, the positioning pin shaft 14 is forced to move downward to disengage from the positioning hole 13 and squeeze the positioning spring 16, so that the user can move the tripod conveniently; the bottom of the pulley 7 is rotatably connected to a ball bearing 18, and the ball bearing 18 contacts the bottom surface of the track groove, which is used to facilitate the movement of the tripod. The upper end of the supporting plate 19 on the front side of the bottom plate 5 is fixedly connected to a push plate 47, which is used to facilitate the user to move the tripod. The bottom of the bottom plate is fixedly connected to a support foot for supporting the device.

[0040] The clamping structure includes a mounting frame 29 and a connecting screw 28 fixedly connected to the upper end of the mounting frame 29, the upper ends of the connecting screw 28 are rotatably connected to the upper ends of the top plate 46, and rectangular grooves 32 are respectively provided on the corresponding two sides of the mounting frame 29. Two cams 30 are respectively hinged on the inner sides of the rectangular grooves 32, and the two cams 30 are coaxially fixedly connected. The protruding parts of the cams 30 are respectively facing the inner sides of the mounting frame 29, and a tension spring 31 is fixedly connected to the outer side of one of the cams 30, and the other ends of the tension springs 31 are respectively fixedly connected to the surface of the mounting frame 29. There is a space for component installation between the two cams 30. Under the pulling of the tension spring 31, the protruding part of the cam 30 swings downward and the spacing is shortened while swinging. When installing the component, it can be directly inserted between the cams 30 from the bottom of the cam 30, so that the cam 30 swings upward, and then swings downward and resets under the pulling force of the tension spring 31, thereby achieving the effect of clamping and fixing the component.

[0041] Furthermore, in order to improve the firmness of clamping and fixing the components, linkage plates 40 are respectively provided on both sides of the connecting screw 28, and reinforcement rods 38 are respectively fixedly connected on both sides of the lower end of the linkage plate 40. The surfaces of the reinforcement rods 38 are respectively vertically slidably connected to the mounting frame 29, and each reinforcement rod 38 is respectively located on the upper side of a corresponding cam 30. By controlling the reinforcement rods 38 to move downward and push the cam 30 to swing downward, the firmness of the cam 30 in reinforcing and fixing the components can be improved. Auxiliary springs 39 are respectively provided on the surfaces of the reinforcement rods 38 located on the upper side of the mounting frame 29. The auxiliary springs 39 are used to stabilize the reinforcement rods 38 and can increase the downward thrust of the reinforcement rods 38 on the cam 30 through their own elastic force. A connecting rod 41 is respectively fixedly connected to the middle of the upper end of the linkage plate 40, and a reinforcement knob 43 is threadedly connected to the surface of the connecting screw 28. The surface of the reinforcement knob 43 The lower side is rotatably connected with a linkage ring 42, and the corresponding ends of the linkage ring 42 and the connecting rod 41 are fixedly connected with connecting plates 44, and the outer ends of the connecting plates 44 are respectively provided with connecting holes 45, and the connecting rods 41 are respectively slidably connected to the inner sides of the connecting holes 45. When installing the components, the cam 30 swings upward to push the reinforcement rod 38 to move upward, and the linkage rod and the connecting rod 41 can move upward synchronously, and the connecting rod 41 moves inside the connecting hole 45, and the reinforcement knob 43 is not affected. When reinforcing the components, the reinforcement knob 43 can be rotated, and when the reinforcement knob 43 is rotated, it moves downward under the action of the threaded connection with the connecting screw 28, and when the connecting plate 44 contacts the linkage plate 40, it can push the linkage plate 40 to move downward, and then push the reinforcement rod 38 to move downward. When the reinforcement rod 38 moves downward, the cam 30 is pushed to swing downward, thereby further improving the fixing effect of the components.

[0042] Furthermore, in order to improve the firmness of the fixing of the components and to facilitate the application of components of different sizes, a reinforcing plate 33 is respectively provided on the surface of the protruding portion of the two adjacent cams 30, and the middle of the outer end of the reinforcing plate 33 is rotatably connected with an adjusting screw 35, and a matching plate 34 is fixedly connected between the two adjacent cams 30, and the adjusting screw 35 is respectively threadedly connected to the matching plate 34, and the outer ends of the adjusting screws 35 are respectively fixedly connected with control knobs 36, and the surfaces of the reinforcing rods 38 on both sides of the adjusting screws 35 are respectively fixedly connected with limit rods 37, and the surfaces of the cams 30 corresponding to the limit rods 37 are respectively A limiting hole is provided, and the limiting rod 37 is slidably connected to the limiting hole respectively. Under the sliding cooperation between the limiting rod 37 and the limiting hole, the reinforcing plate 33 can only move to the inner side of the corresponding cam 30 forward and backward. At this time, the adjusting screw 35 can be driven to rotate by rotating the control knob 36. When the adjusting screw 35 rotates, the reinforcing plate 33 is controlled to move under the action of the threaded connection with the matching plate 34 to reduce the distance between the two reinforcing plates 33, thereby shortening the installation control of the component. It can not only improve the fixing effect of the component, but also can be adjusted according to the size of the component. It has a wide range of applications and is convenient for users to use.

[0043] The side surfaces of the bottom plate 5 and the side plate 6 are respectively fixedly connected with a bearing plate 19, and the upper ends of the bearing plates 19 are respectively fixedly connected with support tubes 20 with openings at both ends, and the top plates 46 are respectively fixedly connected between the two corresponding support tubes 20, and the insides of the support tubes 20 are respectively rotatably connected with transmission shafts 21, and the upper ends of the transmission shafts 21 are respectively fixedly connected with main sprockets 25, and a chain 27 is sleeved between the two main sprockets 25 corresponding to each other, and a second motor 24 is arranged on the upper side of one of the main sprockets 25, and the second motor 24 is fixedly connected to the top plate 46, and the power output end of the second motor 24 is coaxially fixedly connected with the corresponding main sprocket 25, and the upper ends of the connecting screws 28 are respectively fixedly connected with secondary sprockets 26, and the secondary sprockets 26 are respectively meshed with the chains 27, and the second motor 24 is used In order to drive the clamping structure to rotate, and then drive the components to rotate during spraying, it is convenient for uniform spraying. When the second motor 24 rotates, the two main sprockets 25 can be driven to rotate through the transmission shaft 21, and then the chain 27 can be driven to move. When the chain 27 moves, multiple secondary sprockets 26 can be driven to rotate synchronously. When the secondary sprockets 26 rotate, the connecting screw 28 can rotate synchronously, thereby playing the role of driving the clamping structure to rotate, and the bottom of the transmission shaft 21 is fixedly connected with a transmission pulley 22, and a transmission belt 23 is sleeved between the two corresponding transmission pulleys 22. Under the transmission of the two transmission pulleys 22 and the transmission belt 23, the two correspondingly arranged transmission shafts 21 are driven to rotate, and then the main sprocket 25 is driven to rotate, which plays an auxiliary transmission effect and can be selected according to the needs of the user.

[0044] The specific embodiments described herein are merely examples of the spirit of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways, but they will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

Claims

1. Six-axis robotic arm spraying equipment, including a six-axis robotic arm, characterized in that: The lower end of the six-axis robot arm is fixedly connected to a bottom plate (2), and the upper end of the bottom plate (2) is equipped with a tripod in an equilateral triangle structure and is deformable. The tripod can be deformed into a horizontally arranged straight structure. When the tripod is in an equilateral triangle structure, it can rotate in a circle at the upper end of the bottom plate (2) with the center of the bottom plate (2) as the axis. When the tripod is in a straight structure, it can move left and right at the upper end of the bottom plate (2); the upper side of the tripod is respectively connected to a top plate (46), and the bottom of the top plate (46) is respectively rotatably connected to a clamping structure that can rotate synchronously.

2. The six-axis robot spraying equipment according to claim 1, characterized in that: The tripod comprises a bottom plate (5) and two side plates (6) located on both sides of the bottom plate (5), the bottom plate (5) and the side plates (6) are of equal length, the left and right sides of the upper end of the bottom plate (5) are respectively fixedly connected with mounting rods (8), the side plates (6) and the bottom plate (5) have respective ends with through holes, the through holes are respectively coaxially slidably connected with the mounting rods (8), one end of one side plate (6) away from the bottom plate (5) is fixedly connected with a docking rod (48), and the other end of the other side plate (6) away from the bottom plate (5) is provided with a docking hole, the docking hole is slidably connected with the docking rod (48).

3. The six-axis robot spraying equipment according to claim 2, characterized in that: A track groove is provided at the upper end of the bottom plate (2), and the track groove includes an arc groove (3) and a transverse groove (4). The arc groove (3) is coaxially arranged with the bottom plate (2), and the transverse groove (4) is connected to the arc groove (3). The left and right sides of the lower end of the bottom side plate (5) and the lower end of the docking rod (48) are respectively rotatably connected to pulleys (7), and the pulleys (7) are respectively slidably connected to the track grooves.

4. The six-axis robot spraying equipment according to claim 2, characterized in that: The surfaces of the mounting rods (8) are respectively sleeved with return springs (10), the return springs (10) are respectively located on the upper sides of the side plates (6), and the upper ends of the mounting rods (8) are respectively fixedly connected with baffles (9), the baffles (9) are respectively located on the upper sides of the return springs (10).

5. The six-axis robot spraying equipment according to claim 2, characterized in that: The lower end of the bottom edge plate (5) is fixedly connected to a groove plate (12) arranged along the radial direction of the bottom plate (2); the lower end of the groove plate (12) is provided with a sliding groove along the length direction; the lower end of the groove plate (12) is provided with a rotating plate (17); one end of the rotating plate (17) is rotatably connected to the bottom plate (2) coaxially; the other end of the rotating plate (17) is connected to a positioning pin shaft (14); the positioning pin shaft (14) is slidably connected to the sliding groove; the bottom of the bottom plate (2) is fixedly connected to a first motor (11); the output end of the first motor (11) is fixedly connected to the rotating plate (17) coaxially; A positioning hole (13) capable of engaging with a positioning pin (14) is provided in the middle of the lower end of the bottom edge plate (5), the positioning hole (13) is connected to the sliding groove, a mounting groove with an upper end opening is provided inside the rotating plate (17) at one end facing the bottom edge plate (5), the positioning pin (14) is slidably connected to the inner side of the upper end opening of the mounting groove, a spring plate (15) is slidably connected inside the mounting groove, the positioning pin (14) is coaxially fixedly connected to the spring plate (15), a positioning spring (16) is fixedly connected to the bottom of the spring plate (15), and the lower end of the positioning spring (16) is fixedly connected to the inner wall of the mounting groove.

6. The six-axis robot spraying equipment according to claim 3, characterized in that: The bottom of the pulley (7) is rotatably connected to a ball (18).

7. The six-axis robot spraying equipment according to claim 2, characterized in that: The clamping structure comprises a mounting frame (29) and a connecting screw (28) fixedly connected to the upper end of the mounting frame (29), the upper ends of the connecting screw (28) being rotatably connected to the upper ends of the top plates (46), rectangular grooves (32) being respectively provided on the corresponding two sides of the mounting frame (29), two cams (30) being respectively hingedly connected to the inner sides of the rectangular grooves (32), the two cams (30) being coaxially fixedly connected, the protruding parts of the cams (30) facing the inner sides of the mounting frame (29), the outer sides of one of the cams (30) being respectively fixedly connected to a tension spring (31), the other ends of the tension spring (31) being respectively fixedly connected to the surface of the mounting frame (29).

8. The six-axis robot spraying equipment according to claim 7, characterized in that: Linking plates (40) are respectively provided on both sides of the connecting screw (28), and reinforcing rods (38) are respectively fixedly connected to both sides of the lower end of the linking plate (40), and the surfaces of the reinforcing rods (38) are respectively vertically slidably connected to the mounting frame (29), and each reinforcing rod (38) is respectively located on the upper side of a corresponding cam (30), and the surfaces of the reinforcing rods (38) located on the upper side of the mounting frame (29) are respectively sleeved with auxiliary springs (39), and the middle part of the upper end of the linking plate (40) is respectively fixedly connected to a connecting rod (41), and a reinforcing knob (43) is threadedly connected to the surface of the connecting screw (28), and a linking ring (42) is rotatably connected to the lower side of the surface of the reinforcing knob (43), and the linking ring (42) and the connecting rod (41) are respectively fixedly connected to the connecting plates (44) at one end corresponding to the connecting rod (41), and the outer ends of the connecting plates (44) are respectively provided with connecting holes (45), and the connecting rods (41) are respectively slidably connected to the inner sides of the connecting holes (45).

9. The six-axis robot spraying equipment according to claim 7, characterized in that: A reinforcing plate (33) is respectively provided on the surface of the protruding portion of two adjacent cams (30), and an adjusting screw (35) is rotatably connected to the middle of the outer end of the reinforcing plate (33), and a matching plate (34) is fixedly connected between the two adjacent cams (30), and the adjusting screw (35) is respectively threadedly connected to the matching plate (34), and the outer ends of the adjusting screw (35) are respectively fixedly connected to control knobs (36), and the surfaces of the reinforcing rods (38) on both sides of the adjusting screw (35) are respectively fixedly connected to limit rods (37), and the surfaces of the cams (30) corresponding to the limit rods (37) are respectively provided with limit holes, and the limit rods (37) are respectively slidably connected to the limit holes.

10. The six-axis robot spraying equipment according to claim 7, characterized in that: The side surfaces of the bottom plate (5) and the side plate (6) are respectively fixedly connected to a bearing plate (19); support tubes (20) with openings at both ends are respectively fixedly connected to the upper sides of the bearing plate (19); the top plate (46) is respectively fixedly connected between two corresponding support tubes (20); the insides of the support tubes (20) are respectively rotatably connected to transmission shafts (21); the upper ends of the transmission shafts (21) are respectively fixedly connected to main sprockets (25); a chain (27) is sleeved between the two corresponding main sprockets (25); a second motor (24) is provided on the upper side of one of the main sprockets (25); the second motor (24) is fixedly connected to the top plate (46); the power output end of the second motor (24) is coaxially fixedly connected to the corresponding main sprocket (25); the upper ends of the connecting screws (28) are respectively fixedly connected to secondary sprockets (26); the secondary sprockets (26) are respectively meshed with the chains (27).

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