Spraying robot based on electromagnetic driving

Abstract

The invention discloses a spraying robot based on electromagnetic drive, the spraying robot comprises a mechanical arm mounted on a robot base, the mechanical arm comprises a mechanical arm tail end execution mechanism, the mechanical arm tail end execution mechanism is provided with a spray head support and a spray head, and the spray head is connected with a feed liquid tank through a feeding hose to execute spraying operation; the mechanical arm base is used for fixing the bottom mechanical arm joint to the robot base; the mechanical arm joints are provided with driving control circuit boards, electromagnets and permanent magnets, the multiple adjacent joints are rotationally connected in an up-down orthogonal mode through upper and lower connecting arms, and the upper and lower surfaces of the adjacent joints are attracted and repelled through the electromagnets and the permanent magnets; the adjacent joints are adjusted through the driving control circuit board, electromagnetic attraction is used as driving force for joint deflection, and + / -30-degree deflection of the joints of the mechanical arm in the horizontal direction and the vertical direction is achieved. Electromagnetic force is used for driving and controlling the robot to move, the weight and the size of the robot are greatly reduced, and flexible operation in a small space can be achieved.

Description

Technical Field

[0001] The invention relates to the field of intelligent robots, in particular to an electromagnetically driven robot used for spraying work. Background Art

[0002] As a workpiece surface treatment technology, spraying process is widely used in automobile, construction, machinery manufacturing and other industries. Spraying operation is generally completed by manual or mechanical equipment. The advantage of manual spraying operation is that it can meet the production of small batches, customized curved surfaces and other workpieces; mechanical equipment spraying operation is suitable for completing large batches and workpieces with strong consistency. However, the manual spraying method has low work efficiency, it is difficult to ensure uniform spraying quality, and the harsh working environment and harmful components of the spraying material will seriously affect the health of the operator. Traditional mechanical equipment spraying operation has problems such as fixed work site and single spraying workpiece. Thanks to the development of robot technology, spraying work is now mostly completed by robots. However, most of the existing spraying robots have five to six degrees of freedom, and the driving mode is motor-driven, which makes the spraying robot larger in size and weight. Therefore, when working in a small space, the working space of the robot arm is limited, which greatly increases the complexity of the overall operation task. Therefore, it is necessary to design a spraying robot with a light structure, high flexibility and flexible driving mode. Summary of the invention

[0003] In order to solve the above-mentioned defects existing in the prior art, the purpose of the present invention is to provide a spraying robot based on electromagnetic drive. The robot of the present invention is driven by electromagnetic force, has no direct mechanical connection structure, realizes working failures and changing loads, and can achieve dexterous operations in a small space.

[0004] The present invention is achieved through the following technical solutions.

[0005] In one aspect of the present invention, there is provided a spraying robot based on electromagnetic drive, comprising a mechanical arm mounted on a robot base, the mechanical arm comprising:

[0006] The end actuator of the robot arm is equipped with a nozzle bracket and a nozzle, and the nozzle is connected to the liquid tank through a feeding hose to perform the spraying operation;

[0007] A robot arm base, used to fix the bottom robot arm joint to the robot base;

[0008] The robot arm joint is configured with a drive control circuit board, an electromagnet and a permanent magnet;

[0009] The drive control circuit board is used to control the electromagnet, supply power to the electromagnet, control the direction and magnitude of the current, and send and receive information;

[0010] Electromagnets and permanent magnets are used to adjust the angles of adjacent robotic arm joints;

[0011] Multiple adjacent robot arm joints are connected by upper and lower connecting arms in accordance with up and down orthogonal rotation, and the upper and lower surfaces of adjacent robot arm joints are attracted and repelled by electromagnets and permanent magnets;

[0012] The adjacent robot arm joints are adjusted by the drive control circuit board, and the electromagnetic suction force is used as the driving force for the joint deflection, so that the robot arm joints can be deflected by ±30° in the horizontal and vertical directions.

[0013] Preferably, the robot arm joint includes a joint seat, a drive control circuit board fixed on the joint seat, a pair of electromagnets fixed on the drive control circuit board, and a pair of permanent magnets corresponding to the next level electromagnets fixed at the bottom of the joint seat.

[0014] Preferably, the robot arm joint seat is in a circular ring shape, and an annular drive control circuit board is connected above the joint seat.

[0015] Preferably, a pair of upper connecting arms are distributed upward along the outer circumference of the joint seat, and a pair of lower connecting arms are distributed downward along the outer circumference of the joint seat rotated 90° relative to the upper connecting arms. The lower connecting arms are provided with bearing seats, and the bearing seats are connected to the rotation angle sensor.

[0016] Preferably, adjacent robot arm joints are connected via a D-shaped shaft, which includes a D-shaped shaft large diameter end, a D-shaped shaft middle section and a D-shaped shaft small diameter end.

[0017] Preferably, the large diameter end of the D-shaft is connected to the D-shaped blind groove of the upper connecting arm, the small diameter end of the D-shaft is connected to the D-shaped groove of the rotation angle sensor, and the middle section of the D-shaft is wrapped with a bearing that passes through the lower connecting arm to achieve relative rotation between the D-shaft and the lower connecting arm.

[0018] Preferably, the joint angle is adjusted at each joint by corresponding electromagnets and permanent magnets.

[0019] Preferably, each robot arm joint is provided with a drive control circuit board for controlling the electromagnet, the drive control circuit boards are connected in series, and the drive control circuit boards are connected to a rotation angle sensor.

[0020] Preferably, when in a stationary state, the angle of each robotic arm joint is 0 degrees. When working, the limit angle of motion of the robotic arm joint is 30 degrees on both sides of the central axis. The joint rotation of multiple groups of robotic arm joints realizes the change of the robotic arm posture. The robotic arm uses the electromagnetic suction force generated by the electromagnet after power is turned on as the driving force for the deflection of the robotic arm joint.

[0021] The present invention adopts the above technical solution, which has the following beneficial effects:

[0022] 1. Since the present invention utilizes electromagnetic force to drive, and the drives at each joint are independent of each other and there is no direct mechanical connection between them, when a single electromagnetic drive unit is damaged, other electromagnetic drive units can still be adjusted to adapt to work failures and changing loads.

[0023] 2. The robotic arm contains multiple rotating joints, each of which has one degree of rotational freedom. When stationary, the angle of each joint is 0 degrees. When working, the limit angle of motion of the joint is 30 degrees on both sides of the central axis. The joint rotation of multiple groups of joints realizes the change of the position and posture of the robotic arm.

[0024] 3. Each drive control circuit board has a control chip, which is responsible for receiving data feedback from the sensor and calculating the motion control instructions for each joint according to the preset control algorithm, and can automatically adjust the driving force of the joint as needed.

[0025] 4. The volume and weight of the electromagnetically driven spraying robot are significantly reduced compared to ordinary spraying robots. By using electromagnetic drive and combining the drive with the robotic arm, the robotic arm can be used in a small space spraying working environment, thereby improving the utilization of space.

[0026] 5. Compared with ordinary spraying robots, the present invention can achieve fast and smooth movement, increase the speed of spraying work, and improve the efficiency of spraying work.

[0027] 6. Since the robot arm joints of the present invention are modularly designed, the drive and control are integrated in one joint, and the workspace can be expanded or reduced by adding or reducing modules. It has higher scalability and flexibility and can adapt to different task requirements.

[0028] 7. Since the electromagnetic drive system of the present invention has fewer mechanical components and vulnerable parts, the failure rate of the robot arm is reduced, the maintenance work is also simpler, and the reliability and durability of the system are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The drawings described herein are used to provide a further understanding of the present invention, constitute a part of the present application, and do not constitute an improper limitation of the present invention. In the drawings:

[0030] Figure 1 This is a schematic diagram of the structure of a spraying robot based on electromagnetic drive;

[0031] Figure 2 is a schematic diagram of permanent magnet arrangement;

[0032] Figure 3 1. It is a schematic diagram of the structure of the spraying device;

[0033] Figure 4 It is a schematic diagram of the structure of the joint seat of the robotic arm;

[0034] Figure 5 It is a schematic diagram of the structure of the robot arm joint module;

[0035] Figure 6 It is a schematic diagram of a D-axis;

[0036] Figure 7 It is a schematic diagram of the connection at the joint;

[0037] Figure 8 It is a schematic diagram of the structure of the robotic arm base.

[0038] In the figure: 1 is a nozzle, 2 is a nozzle bracket, 3 is an actuator, 4 is a drive control circuit board, 5 is an electromagnet, 6 is a robot arm joint, 6-1 is a bearing seat, 6-2 is an upper connecting arm, 6-3 is a joint seat, 6-4 is a lower connecting arm, 6-5 is a D-shaped blind groove of the upper connecting arm, 7 is a rotation angle sensor, 7-1 is a D-shaped groove of the rotation angle sensor, 8 is a robot arm base, 9 is a permanent magnet, 10 is a D-shaped shaft, 10-1 is a large diameter end of the D-shaped shaft, 10-2 is a middle section of the D-shaped shaft, 10-3 is a small diameter end of the D-shaped shaft, and 11 is a bearing. DETAILED DESCRIPTION

[0039] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. The exemplary embodiments and descriptions of the present invention are used to explain the present invention but are not intended to limit the present invention.

[0040] Reference Figure 1 As shown, an electromagnetically driven spraying robot provided by an embodiment of the present invention includes a robotic arm installed on a robot base, the robotic arm includes three parts: a robotic arm end effector, a robotic arm joint 6, and a robotic arm base 8. The robotic arm joint is composed of multiple joints that are orthogonally cross-connected up and down; the top of the robotic arm is connected to the robotic arm end effector (spraying device), and the bottom is fixed with a robotic arm base 8, and the bottom robotic arm joint is fixed to the robot base.

[0041] like Figure 1 , Figure 2 As shown, the robot arm joint 6 includes a robot arm joint seat 6-3, and a drive control circuit board 4, an electromagnet 5 and a permanent magnet 9 fixed on the robot arm joint seat 6-3. The robot arm joint is orthogonally cross-connected up and down in sequence through the robot arm connecting rod 6.

[0042] like Figure 3As shown, the end actuator of the robot arm is a spraying device, which includes an actuator 3, a nozzle bracket 2 and a nozzle 1. The actuator 3 is connected to the nozzle 1 through the nozzle bracket 2; the actuator 3 is a disc-shaped structure, and the nozzle 1 is fixedly connected to the upper surface of the disc through a pair of nozzle brackets 2. The nozzle 1 is connected to the liquid tank through a feeding hose to perform the spraying operation. The feeding hose is arranged inside the robot arm. A pair of connecting arms are provided below the disc, and the pair of connecting arms are connected to the robot arm connecting rod 6 of the robot arm joint.

[0043] like Figure 4 , Figure 5 As shown, the robot arm joint 6 includes an annular joint seat 6-3, and an annular drive control circuit board 4 is connected above the joint seat 6-3. The drive control circuit board is installed by nylon studs, and the drive control circuit board 4 is installed 5 mm above the plane of the joint seat 6-3; a pair of symmetrically arranged electromagnets 5 are distributed on the annular drive control circuit board 4, and the angle difference between the line connecting the pair of electromagnets and the axis of the rotating joint is 90 degrees; a permanent magnet 9 corresponding to the pair of electromagnets 5 on the adjacent robot arm joint 6 is provided at the bottom of the joint seat 6-3, so that the electromagnet of the previous joint is directly opposite to the permanent magnet of the next joint, the line connecting the two permanent magnets is parallel to the axis of the rotating joint, and the angle difference with the line connecting the electromagnets is 90 degrees, and the pitch circle diameter of the permanent magnet is equal to the pitch circle diameter of the electromagnet. A pair of upper connecting arms 6-2 are distributed upwardly along the outer periphery of the joint seat 6-3, and a pair of lower connecting arms 6-4 are distributed downwardly along the outer periphery of the joint seat 6-3 rotated 90 degrees relative to the upper connecting arms 6-2. A bearing seat 6-1 is provided on the lower connecting arm 6-4, and the bearing seat 6-1 is connected to the rotation angle sensor 7, such as Figure 5 shown.

[0044] The drive control circuit board is a ring-shaped circuit board. The central circular hole is used to arrange the circuit and connect the feeding hose. The drive control circuit boards at each joint are connected in series for centralized power supply. Each drive control circuit board has a control chip that is responsible for receiving data feedback from the sensor and calculating the motion control instructions for each joint according to the preset control algorithm. It can automatically adjust the driving force of the joint as needed.

[0045] Adjacent robot arm joints 6 are arranged to be rotated 90 degrees relative to each other, and the periphery is fixedly rotatably connected by a connecting arm. Adjacent robot arm joints 6 are attracted or repelled by the permanent magnet 9 through the electromagnet 5 .

[0046] like Figure 5 As shown, adjacent robot arm joints 6 are connected by D-shaped shafts 10. Figure 6 As shown, the D-shaped shaft includes a D-shaped shaft large diameter end 10-1, a D-shaped shaft middle section 10-2 and a D-shaped shaft small diameter end 10-3. The D-shaped shaft large diameter end 10-1 and the D-shaped shaft small diameter end 10-3 are structures in which a part of a cylinder is cut off.

[0047] Figure 7 Combination Figure 5 As shown, the small diameter end 10-3 of the D-shaped shaft is connected to the D-shaped groove 7-1 of the rotation angle sensor 7, and the rotation angle sensor 7 is installed on the lower connecting arm 6-4 by screws; the large diameter end 10-1 of the D-shaped shaft is connected to the upper connecting arm 6-2, and the large diameter end 10-1 of the D-shaped shaft is fixedly connected to the D-shaped blind groove 6-5 of the upper connecting arm; the middle section 10-2 of the D-shaped shaft passes through the bearing seat 6-1 on the lower connecting arm 6-4, and the bearing seat 6-1 wraps a bearing, and the bearing here is a miniature bearing of model MR74ZZ. The cylinder of the middle section 10-2 of the D-shaped shaft passes through the inner ring of the bearing to realize the relative rotation of the D-shaped shaft and the lower connecting arm. Since the large diameter end of the D-shaped shaft is connected to the blind groove of the upper connecting arm, and the small diameter end of the D-shaped shaft is connected to the D-shaped groove of the rotation angle sensor, when the drive control circuit board controls the motor to drive the upper level mechanical arm joint to rotate, the components connected with the "D" type interface rotate simultaneously with the D-shaped shaft, so that the upper connecting arm 6-2 and the rotation angle sensor 7 rotate simultaneously, and the lower connecting arm 6-4 is not affected.

[0048] Rotation angle sensors 7 are installed on the lower connecting arms 6-4 on both sides of the robot arm joint 6. The sensor is connected to the next robot arm joint through a D-axis 10. Due to the characteristics of the D-axis, the rotation angles of two adjacent joints can be transmitted to the rotation angle sensor through the axis, realizing direct real-time measurement of the rotation angle.

[0049] like Figure 8 As shown, an annular drive control circuit board 4 is connected above the robot arm base 8, and a pair of symmetrically arranged electromagnets 5 are distributed on the annular drive control circuit board 4; a pair of upper connecting arms are distributed upward along the outer circumference of the robot arm base 8 and connected to the upper robot arm joint 6.

[0050] The robotic arm of this embodiment includes three rotating joints, each of which has one degree of rotational freedom. The robotic arm joints are rotatably connected by two adjacent upper and lower connecting arms. The two electromagnets installed on the robotic arm joint seat and the two permanent magnets under the first section of the robotic arm joint constitute two groups of electromagnetic drive units. Similarly, the two electromagnets installed on the upper surface of the first section of the robotic arm joint and the two permanent magnets installed on the lower surface of the second section of the robotic arm joint constitute two groups of electromagnetic drive units, and the same applies to the other joint.

[0051] The robotic arm is installed on the frame through the robot base. The robotic arm adopts a design that combines electromagnetic drive and joints. Each joint has a corresponding electromagnet and permanent magnet to adjust the joint angle. Each joint is equipped with a drive control circuit board to control the electromagnet, supply power to the electromagnet, control the direction and size of the current, and send and receive information. The robot joint module adopts a modular design and can be extended or shortened to an appropriate degree according to the difficulty of the task.

[0052] The drive and control circuit boards of each joint module on the robotic arm are independent of each other. A control chip is installed on the drive and control circuit board to collect data from the rotation angle sensor in real time, monitor the difference between the angle and the preset angle, and provide feedback control.

[0053] The joint structure of the robot arm adopts a multi-section design. At each joint, the upper connecting arm and the lower connecting arm are connected by a D-shaped shaft. The large end of the D-shaped shaft is connected to the upper connecting arm, and the middle section of the D-shaped shaft passes through the inner ring of the bearing, and the bearing is wrapped by the bearing seat on the lower connecting arm, so as to achieve a ±30-degree angle deflection between the lower connecting arm of the previous joint and the upper connecting arm of the next joint. Each joint gives the robot arm one degree of rotational freedom, which can complete the deflection in one direction, and the rotational movement angle is ±30 degrees based on the horizontal direction; the vertical placement of two adjacent joints gives the robot arm structure two degrees of rotational freedom, so that the robot arm can complete a ±30-degree deflection in both the horizontal and vertical directions.

[0054] When stationary, the angle of each joint is 0 degrees. When working, the limit angle of the joint movement is 30 degrees on both sides of the central axis. The joint rotation of multiple groups of joints can realize the change of the position of the robotic arm.

[0055] At each joint of the robot arm, the control signal is transmitted through the drive control circuit board installed on the joint to control the direction, opening and closing and size of the current in the electromagnet. The robot arm uses the electromagnetic suction force generated by the electromagnet after power is turned on as the driving force for the joint deflection. The electromagnetic suction force F is:

[0056]

[0057] Where: F is the electromagnetic attraction; S is the magnetic pole area; μ 0 is the vacuum conductivity; B is the magnetic induction intensity of the electromagnet;

[0058] The robotic arm uses the electromagnetic suction force generated by the electromagnet when it is energized as the driving force F for the joint deflection:

[0059]

[0060] Where: Φ is the magnetic flux passing through the polarization surface of the core; S is the area of ​​the polarization surface of the core; δ is the air gap length between the core and the armature when not attracted; α is the correction coefficient, which is generally between 3 and 4, and α=4 is taken here;

[0061] In the above formula, Φ=IWG δ *10 8

[0062] Where: IW is the ampere-turn value of the wire package; G δ is the permeability of the working magnetic flux; W is the number of coil turns;

[0063] Magnetic conductivity of the working magnetic flux:

[0064]

[0065] Where: R 0 μ is the position from the armature rotation position to the center of the core; 0 is the vacuum magnetic permeability; r is the radius of the polarization plane.

[0066] The present invention is designed to install two permanent magnets 9 and two electromagnets 5 on the upper and lower planes at each joint. When the joint is formed, there are two electromagnets facing the two permanent magnets, thus forming two sets of electromagnetic drive systems. Deflection is achieved by changing the magnitude of the electromagnetic force by changing the current of the energized coils of the electromagnets on both sides.

[0067] Each joint module of the robot arm contains two electromagnets. In order to calculate the magnetic induction intensity after the electromagnet is energized, the calculation formula for the magnetic induction intensity of the electromagnet energized coil is required. The formula is:

[0068]

[0069] Where: μ 0 is the vacuum magnetic permeability; B 线圈 is the magnetic induction intensity of the electromagnet coil; N is the number of coil turns; I is the coil current; r is the coil radius.

[0070] Each joint module of the robot arm contains two permanent magnets. The permanent magnets themselves have a certain suction force, which needs to be taken into account when driving. The permanent magnet magnetic force calculation formula needs to be used during calculation. The formula is:

[0071]

[0072] Where: F is the suction force; B is the magnetic induction intensity of the permanent magnet; A is the effective adsorption area of ​​the permanent magnet; μ 0 is the vacuum magnetic permeability; μ r is the relative magnetic permeability of the permanent magnet; d is the distance between the permanent magnet and the adsorbed object.

[0073] The present invention measures the angle of rotation of the joint at any time by installing a rotation angle sensor at the shaft ends on both sides of the mechanical arm joint, and receives information including the position and posture of the end actuator through the robot master control. The rotation angle sensor adopts a linear potentiometer. The change of the rotation angle reflects the change of the resistance value of the resistor, and the output voltage also changes accordingly. The effective rotation angle of the rotation angle sensor is 333.3 degrees, and the analog voltage is continuously output. By monitoring the current voltage size, the change value of the current angle can be obtained through a linear relationship. By energizing the electromagnet and generating an attractive or repulsive force between the permanent magnet, the electromagnetic force is used to drive and control a single joint to reach a predetermined angle, so that the end actuator, i.e., the spraying device, reaches the desired posture.

[0074] The present invention solves the problems that the existing spraying robot is driven by a motor, the spraying robot is large in size and weight, the working space of the mechanical arm is limited when working in a small space, the mechanical connection structure is complex, and the spraying speed is limited. The present invention adopts a modular design of the mechanical arm joints to provide a robot with broad application prospects for spraying operations in small spaces.

[0075] The present invention is not limited to the above-mentioned embodiments. On the basis of the technical solution disclosed in the present invention, technicians in this field can make some substitutions and deformations to some technical features therein according to the disclosed technical content without creative labor, and these substitutions and deformations are all within the protection scope of the present invention.

Claims

1. A spraying robot based on electromagnetic drive, characterized in that: The robot comprises a robotic arm mounted on a robot base, the robotic arm comprising: The end actuator of the robot arm is equipped with a nozzle bracket and a nozzle, and the nozzle is connected to the liquid tank through a feeding hose to perform the spraying operation; A robot arm base, used to fix the bottom robot arm joint to the robot base; The robot arm joint is configured with a drive control circuit board, an electromagnet and a permanent magnet; The drive control circuit board is used to control the electromagnet, supply power to the electromagnet, control the direction and magnitude of the current, and send and receive information; Electromagnets and permanent magnets are used to adjust the angles of adjacent robotic arm joints; Multiple adjacent robot arm joints are connected by upper and lower connecting arms in accordance with up and down orthogonal rotation, and the upper and lower surfaces of adjacent robot arm joints are attracted and repelled by electromagnets and permanent magnets; The adjacent robot arm joints are adjusted by the drive control circuit board, and the electromagnetic suction force is used as the driving force for the joint deflection, so that the robot arm joints can be deflected by ±30° in the horizontal and vertical directions.

2. The electromagnetically driven spraying robot according to claim 1, characterized in that: The mechanical arm joint comprises a joint seat and a drive control circuit board fixed on the joint seat, a pair of electromagnets are fixed on the drive control circuit board, and a pair of permanent magnets corresponding to the next level electromagnets are fixed at the bottom of the joint seat.

3. The electromagnetically driven spraying robot according to claim 2, characterized in that: The mechanical arm joint seat is in a circular ring shape, and a ring-shaped drive control circuit board is connected above the joint seat.

4. The electromagnetically driven spraying robot according to claim 2, characterized in that: A pair of upper connecting arms are distributed upwardly along the outer circumference of the joint seat, and a pair of lower connecting arms are distributed downwardly along the outer circumference of the joint seat rotated 90 degrees relative to the upper connecting arms, and the lower connecting arms are connected to the rotation angle sensor.

5. The electromagnetically driven spraying robot according to claim 4, characterized in that: Adjacent robot arm joints are connected by a D-shaped shaft, which includes a D-shaped shaft large diameter end, a D-shaped shaft middle section and a D-shaped shaft small diameter end.

6. The electromagnetically driven spraying robot according to claim 5, characterized in that: The large diameter end of the D-shaped shaft is connected to the D-shaped blind groove of the upper connecting arm, and the small diameter end of the D-shaped shaft is connected to the D-shaped groove of the rotation angle sensor. The middle section of the D-shaped shaft is wrapped with a bearing and passes through the lower connecting arm to realize relative rotation between the D-shaped shaft and the lower connecting arm.

7. The electromagnetically driven spraying robot according to claim 1, characterized in that: The joint angle is adjusted at each joint through corresponding electromagnets and permanent magnets.

8. The electromagnetically driven spraying robot according to claim 1, characterized in that: Each section of the robot arm joint is provided with a drive control circuit board for controlling the electromagnet, the drive control circuit boards are connected in series, and the drive control circuit boards are connected to the rotation angle sensor.

9. The electromagnetically driven spraying robot according to claim 1, characterized in that: When stationary, the angle of each robotic arm joint is 0 degrees; when working, the maximum movement angle of the robotic arm joint is 30 degrees on both sides of the central axis; the joint rotation of multiple groups of robotic arm joints realizes the change of the robotic arm posture, and the robotic arm uses the electromagnetic suction force generated by the electromagnet after power is turned on as the driving force for the deflection of the robotic arm joint.

10. An electromagnetically driven spraying robot according to any one of claims 1 to 9, used in a small space spraying working environment.

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