Paint spraying robot

Abstract

The invention discloses a paint spraying robot, which relates to the technical field of paint spraying and comprises a moving module, a lifting module and a spraying module, the moving module is used for achieving overall full-freedom-degree displacement of the robot. A paint storage tank is carried on the moving module; the lifting module is carried above the moving module, and the spraying module is carried on the lifting module; the lifting module is used for driving the spraying module to lift; the spraying module comprises a snakelike mechanical arm, and the snakelike mechanical arm comprises a pitching joint and a yawing joint; and the spraying module is used for obtaining paint in the paint storage tank for spraying. Full-degree-of-freedom displacement of the robot is achieved through the moving module, the robot can be rapidly positioned to the optimal spraying position, and the requirements of large-size workpieces and complex environments are met; a single snakelike mechanical arm composed of a pitching joint and a yawing joint is arranged, the vertical adjusting capacity of the lifting module is combined, and the accessibility and posture adjusting capacity of the robot in narrow spaces such as an automobile inner cavity and a pipeline gap are remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of spray painting technology, and in particular to a spray painting robot. Background Technology

[0002] Against the backdrop of rapid development in modern manufacturing and industrial automation, painting robots, with their advantages of high efficiency, precision, and safety, are becoming key equipment for improving production efficiency and ensuring product quality. Traditional manual painting is not only inefficient and costly, but also faces safety risks such as health hazards from paint volatilization and flammable and explosive working environments. In contrast, painting robots, through programmed control and stable mechanical movement, can achieve uniform coating coverage and thorough spraying without dead angles, significantly reducing paint waste and freeing workers from high-risk environments. Whether in the automotive, aerospace, furniture, or electronics industries, the application of painting robots has significantly improved the standardization of painting processes, helping companies reduce costs and increase efficiency. They have become an indispensable core equipment in the intelligent transformation of industry, with advantages not only reflected in automated operations but also in their intelligent and high-precision spraying capabilities.

[0003] Furthermore, painting robots equipped with visual recognition systems and adaptive algorithms can detect the surface condition of workpieces in real time and automatically adjust spraying parameters to adapt to the coating needs of different pipe diameters, curved surfaces, and complex structures. These technological advantages not only improve coating quality and production efficiency but also drive the industrial corrosion protection and surface treatment industry towards standardization and intelligentization.

[0004] While existing painting robots have advantages in efficiency and quality, they still have significant limitations:

[0005] Firstly, its working range is limited by the robotic arm's radius of motion and preset programs, making it difficult to adapt to the spraying needs of complex curved surfaces or large-sized workpieces. This can lead to insufficient coverage or repeated spraying in the edge areas. Secondly, when working in narrow spaces such as the interior of a car or the gaps in a pipe, the reachability and attitude adjustment capabilities of the spray gun are limited due to the size limitations of the end effector and the insufficient degrees of freedom of the joints. This can easily result in defects such as uneven coating thickness, missed spraying, or drips. Summary of the Invention

[0006] In order to solve the above-mentioned technical problems, the purpose of this invention is to provide a painting robot that further solves the problems of uneven painting quality caused by the limited working range and poor accessibility in narrow spaces of traditional painting robots.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] A painting robot includes a moving module, a lifting module, and a painting module;

[0009] The mobile module is used to achieve full-degree-of-freedom displacement of the robot as a whole; the mobile module is equipped with a paint storage tank;

[0010] The lifting module is mounted above the moving module, and the spraying module is mounted on the lifting module; the lifting module is used to drive the spraying module to move up and down.

[0011] The spraying module includes a serpentine robotic arm, which includes a pitch joint and a yaw joint; the spraying module is used to acquire paint from the paint storage tank for spraying.

[0012] Preferably, the moving module includes multiple omnidirectional wheels, each of which has a drive motor on one side. A motor connecting plate is provided between the drive motor and the omnidirectional wheel. The drive motor is fixedly connected to the motor connecting plate. The output end of the drive motor passes through the motor connecting plate and extends to the outside to be fixedly connected to the omnidirectional wheel. A base plate is bolted to the top of the motor connecting plate, and the motor connecting plate is respectively located at the four corners of the base plate.

[0013] Preferably, the lifting module includes two paint storage tanks, which are bolted to a base plate. A lower outer shell is provided between the two paint storage tanks. A lower outer shell base plate is bolted to the lower end of the lower outer shell, and the lower outer shell base plate is bolted to the base plate. A lower outer shell cover plate is bolted to the upper end of the lower outer shell, and an upper outer shell is bolted to the top of the lower outer shell cover plate. The upper outer shell has the same structure as the lower outer shell, and an upper outer shell cover plate is bolted to the upper end of the upper outer shell.

[0014] Preferably, the bottom plate of the lower outer shell is bolted to a slide rail fixing shell. A counterweight slide is fixedly mounted on the inner perimeter of the slide rail fixing shell. Each of the counterweight slides has a counterweight slide limit plate at its top. The counterweight slide limit plate is fixedly connected to the upper end of the slide rail fixing shell. A ball screw base is fixedly mounted on the top of the bottom plate of the lower outer shell. A screw motor fixing plate is fixedly mounted on the upper side of the ball screw base. A screw motor is fixedly mounted on the top of the screw motor fixing plate. A ball screw is mounted at the bottom of the screw motor. The ball screw and the screw motor are connected by a coupling. A screw bottom bearing seat is fixedly mounted at the bottom of the ball screw base, and the lower end of the ball screw mates with the screw bottom bearing seat.

[0015] Preferably, a lead screw slide is fixedly provided above the bottom bearing seat of the lead screw, a lead screw nut seat is slidably provided on one side of the lead screw slide, and the lead screw nut seat is located below the coupling. The upper end of the ball screw passes through the lead screw nut seat. A robotic arm base fixing plate is fixedly provided on one side of the lead screw nut seat. The spraying module is fixedly connected to the robotic arm base fixing plate. A counterweight box is provided inside the slide rail fixing shell. The counterweight box is fixedly connected to the counterweight slide, and a counterweight box cover is fixedly provided on the top of the counterweight box.

[0016] Preferably, the yaw joint is located below the pitch joint;

[0017] The pitch joint includes a pitch joint base plate. A left pitch joint plate is fixedly mounted on one side of the top of the pitch joint base plate, and a right pitch joint plate is fixedly mounted on the other side of the top of the pitch joint base plate. Parallel support joint shafts are fixedly mounted on the outer sides of both the left and right pitch joint plates. A pitch motor mounting base is fixedly mounted on the inner side of the left pitch joint plate. A pitch motor is fixedly mounted on one side of the pitch motor mounting base. A drive gear is fixedly mounted on the output end of the pitch motor, and a driven gear meshes with one side of the drive gear.

[0018] Preferably, a driven gear is meshed with one side of the driven gear, and a driven gear shaft of the pitch joint is rotatably provided between the left side plate and the right side plate of the pitch joint. A driven gear is fixedly provided on the outside of the driven gear shaft of the pitch joint. The driven gear is located on one side of the driven gear shaft of the pitch joint and meshes with the driven gear. A carbon fiber sleeve of the pitch joint is fixedly provided on the outside of the driven gear shaft of the pitch joint. A fixed pulley shaft is fixedly provided inside the bottom end of the fixed carbon fiber sleeve of the pitch joint, and a fixed pulley of the pitch joint is fixedly provided on the outside of the fixed pulley shaft.

[0019] Preferably, the yaw joint includes a yaw motor mounting base, which is disposed below the pitch joint base plate and fixedly connected to it. A yaw motor is fixedly mounted on the inner side of the yaw motor mounting base, and a yaw joint top plate is disposed on the outer side of the yaw motor. A yaw motor sleeve is fixedly mounted on the bottom of the yaw joint top plate, and the yaw motor is disposed inside the yaw motor sleeve and bolted to it. A right yaw joint plate is fixedly mounted on one side of the yaw joint top plate, and a left yaw joint plate is fixedly mounted on the other side of the yaw joint top plate.

[0020] Preferably, parallel support joint shafts are fixedly provided on the outer sides of both the right and left sides of the yaw joint. A yaw motor fixed pulley shaft is rotatably provided between the right and left sides of the yaw joint. A yaw joint fixed pulley is fixedly provided on the outer side of the yaw motor fixed pulley shaft. A yaw joint carbon fiber sleeve is fixedly provided on the outer side of the yaw motor fixed pulley shaft. The yaw joint carbon fiber sleeve is located in the middle of the yaw motor fixed pulley shaft, and the yaw joint fixed pulley is located in the middle of the yaw joint carbon fiber sleeve.

[0021] Preferably, the top of the yaw joint at one end of the serpentine robotic arm in the spraying module is provided with a nozzle fixing seat, and a nozzle is fixedly mounted on one side of the nozzle fixing seat;

[0022] An upper parallel support is provided between the pitch joint and the yaw joint. One end of the upper parallel support is rotatably connected to the parallel support joint axis that is fixedly connected to the left and right plates of the pitch joint. The other end of the upper parallel support is rotatably connected to the parallel support joint axis that is fixedly connected to the left and right plates of the yaw joint. A carbon fiber tube is provided at the bottom of the upper parallel support. One end of the carbon fiber tube is located inside the carbon fiber sleeve of the pitch joint, and the other end of the carbon fiber tube is located inside the carbon fiber sleeve of the yaw joint.

[0023] The present invention has the following beneficial effects:

[0024] I. Wide operating range and high flexibility: Adopting an omnidirectional wheel chassis design, the robot achieves full-degree-of-freedom displacement, enabling it to quickly position itself at the optimal spraying location, adapting to the needs of large workpieces and complex environments. Equipped with an extra-long snake-like robotic arm, each segment consists of a pitch joint, a yaw joint, a parallel support, and carbon fiber tubing. Combined with the vertical adjustment capability of the lifting module, this significantly improves the robot's accessibility and posture adjustment capabilities in confined spaces such as car interiors and pipe gaps, solving the problem of insufficient edge and corner coverage in traditional spraying robots.

[0025] II. High Spraying Precision and Stable Quality: The parallelogram mechanism, consisting of an upper parallel support, carbon fiber tube, pitch joint, and yaw joint, along with a counterweight-based gravity compensation design, effectively reduces the load on the robotic arm's joint motors, minimizing energy consumption while improving motion smoothness and spraying precision. The innovative rotary nozzle design allows for precise control of speed and angle, ensuring uniform coating thickness and avoiding defects such as runs and orange peel, making it particularly suitable for complex curved surfaces and high-precision spraying requirements.

[0026] III. Energy-efficient and economical: The gravity compensation system balances the weight of the robotic arm by using counterweights, significantly reducing the torque requirements of the actuators, saving energy and extending equipment life. The integrated design of the paint delivery pipeline and gravity compensation winding path simplifies the system structure, saves space, and ensures stable spraying results throughout the entire working range.

[0027] IV. Strong adaptability and wide range of applications: Applicable to multiple industries such as automobile manufacturing, aerospace, furniture, and electronics, as well as various working scenarios. For example, this invention integrates the paint delivery pipeline and the gravity compensation winding pipeline into one, which is used to deliver the paint spraying medium and simultaneously undertake the gravity compensation function. Through integrated design, the layout path of the paint pipeline is cleverly utilized as the counterweight winding path. While realizing the spraying function, it continuously provides gravity balance compensation for the robotic arm joints. This not only simplifies the system complexity and saves space layout, but also ensures a stable gravity compensation effect throughout the entire working range of the robotic arm. It is particularly suitable for spraying robot applications that require a large range of motion; at the same time, it can meet the coating needs of different pipe diameters, curved surfaces, and complex structures. Through a visual recognition system and adaptive algorithms, the robot can detect the surface condition of the workpiece in real time and automatically adjust the spraying parameters, further improving the spraying quality and efficiency.

[0028] V. Ingenious structural design and easy maintenance: The modular design of the moving module, lifting module, and spraying module facilitates assembly and maintenance. All components are secured with bolts, making disassembly convenient. The counterweight box houses a battery and control board, providing not only additional counterweight but also power to the system, optimizing the overall layout. Attached Figure Description

[0029] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is an overall structural diagram of the first embodiment of the present invention.

[0031] Figure 2 This is a schematic diagram of the mobile module structure according to the first embodiment of the present invention.

[0032] Figure 3 This is a schematic diagram of the overall structure of the moving module and lifting module according to the second embodiment of the present invention.

[0033] Figure 4 This is a schematic diagram of the internal structure of the lifting module according to the second embodiment of the present invention.

[0034] Figure 5 This is a schematic diagram of the internal structure of the lifting module according to the second embodiment of the present invention.

[0035] Figure 6 This is a schematic diagram of the gravity compensation principle in the second embodiment of the present invention.

[0036] Figure 7This is a schematic diagram of the overall structure of the serpentine robotic arm in the spraying module of the third embodiment of the present invention.

[0037] Figure 8 This is a schematic diagram of the pitch joint structure of a single-section serpentine robotic arm in the spraying module of the third embodiment of the present invention.

[0038] Figure 9 This is a top view of the pitch joint according to the third embodiment of the present invention.

[0039] Figure 10 This is a cross-sectional view of the driven gear of the pitch joint according to the third embodiment of the present invention.

[0040] Figure 11 This is a cross-sectional view of the pitch joint passive gear according to the third embodiment of the present invention.

[0041] Figure 12 This is a schematic diagram of the yaw joint structure of a single-section serpentine robotic arm in the spraying module of the third embodiment of the present invention.

[0042] Figure 13 This is a cross-sectional view of the yaw joint according to the third embodiment of the present invention.

[0043] Figure 14 This is a schematic diagram of a parallelogram mechanism according to a third embodiment of the present invention.

[0044] Figure 15 This is a schematic diagram of the parallelogram mechanism according to the third embodiment of the present invention.

[0045] Figure 16 This is a schematic diagram illustrating the spraying and winding principle of the fourth beneficial effect of the present invention.

[0046] In the diagram: 1. Moving module; 101. Omnidirectional wheel; 102. Drive motor; 103. Motor connecting plate; 104. Base plate; 2. Lifting module; 201. Paint storage tank; 202. Lower outer shell; 203. Lower outer shell cover plate; 204. Upper outer shell cover plate; 205. Upper outer shell; 206. Robotic arm base fixing plate; 207. Lower outer shell base plate; 208. Slide rail fixing shell; 209. Counterweight box cover; 210. Counterweight slide table; 211. Counterweight slide table limit plate; 212. Lead screw nut seat; 213. Ball screw; 214. Coupling; 215. Lead screw motor; 216. Lead screw motor fixing plate; 217. Lead screw slide table; 218. Ball screw base; 219. Lead screw bottom bearing seat; 220. Counterweight box; 3. Spraying module; 301. Yaw motor; 302. Pitch motor 303. Motor; 304. Upper parallel support; 305. Carbon fiber tube; 306. Nozzle holder; 307. Nozzle; 308. Driven gear; 309. Right side plate of pitch joint; 310. Driven gear; 311. Carbon fiber sleeve of pitch joint; 312. Base plate of pitch joint; 313. Yaw motor holder; 314. Left side plate of pitch joint; 315. Pitch motor holder; 316. Fixed pulley of pitch joint; 317. Driven gear shaft of pitch joint; 318. Fixed pulley shaft; 319. Carbon fiber sleeve of yaw joint; 320. Fixed pulley shaft of yaw motor; 321. Parallel support joint shaft; 322. Right side plate of yaw joint; 323. Top plate of yaw joint; 324. Left side plate of yaw joint; 325. Yaw motor sleeve; 326. Fixed pulley of yaw joint. Detailed Implementation

[0047] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0048] First embodiment

[0049] according to Figures 1 to 2 As shown, a painting robot includes a moving module 1, a lifting module 2, and a spraying module 3. The moving module 1 is used to achieve full-degree-of-freedom displacement of the robot as a whole. A paint storage tank 201 is mounted on the moving module 1. The lifting module 2 is mounted above the moving module 1, and the spraying module 3 is mounted on the lifting module 2. The lifting module 2 is used to drive the spraying module 3 to move up and down. The spraying module 3 includes a snake-shaped robotic arm, which includes a pitch joint and a yaw joint. The spraying module 3 is used to obtain paint from the paint storage tank 201 for spraying.

[0050] according to Figures 1 to 2As shown, the mobile module 1 includes multiple omnidirectional wheels 101, four of which are shown in the figure. Each of the four omnidirectional wheels 101 has a drive motor 102 on one side. A motor connecting plate 103 is provided between the drive motor 102 and the omnidirectional wheel 101. The drive motor 102 is fixedly connected to the motor connecting plate 103. The output end of the drive motor 102 passes through the motor connecting plate 103 and extends to the outside to be fixedly connected to the omnidirectional wheel 101. A base plate 104 is bolted to the top of the motor connecting plate 103, and the motor connecting plate 103 is respectively set at the four corners of the base plate 104.

[0051] In the automobile manufacturing workshop, when facing large car bodies, the four omnidirectional wheels 101 of the mobile module 1 play a key role in realizing the robot's overall full-degree-of-freedom displacement. It can move and turn in any direction in the plane and can quickly locate various parts of the large car body.

[0052] The drive motor 102 on one side of each omnidirectional wheel 101 is connected to the base plate 104 via a motor connecting plate 103. The base plate 104 serves as a support platform for the moving module 1, bearing the weight of the lifting module 2 and the paint storage tank 201, and connecting the moving module 1 to other modules. The motor connecting plate 103 serves as a connecting component between the drive motor 102 and the omnidirectional wheel 101, transmitting the power of the drive motor 102 and fixing the position of the drive motor 102 and the omnidirectional wheel 101.

[0053] The output end of the drive motor 102 passes through the motor connecting plate 103 and is fixed to the omnidirectional wheel 101. When the robot needs to move, the four drive motors 102 work together according to the control command to provide power to the omnidirectional wheel 101, drive the omnidirectional wheel 101 to rotate, thereby moving the robot.

[0054] The omnidirectional wheel 101 allows the robot to move quickly and flexibly on the workshop floor, accurately locate the appropriate painting position for large car bodies, and adapt to the complex environmental layout of the workshop.

[0055] Second embodiment

[0056] according to Figures 3 to 6 As shown, the lifting module 2 includes two paint storage tanks 201, which are bolted to the base plate 104. A lower outer shell 202 is provided between the two paint storage tanks 201. The lower end of the lower outer shell 202 is bolted to the lower outer shell base plate 207, which is bolted to the base plate 104. The upper end of the lower outer shell 202 is bolted to the lower outer shell cover plate 203, and the top of the lower outer shell cover plate 203 is bolted to the upper outer shell 205. The upper outer shell 205 has the same structure as the lower outer shell 202, and the upper end of the upper outer shell 205 is bolted to the upper outer shell cover plate 204.

[0057] The bottom plate 207 of the lower outer shell is bolted to the top of the slide rail fixing shell 208. The slide rail fixing shell 208 is fixed with counterweight slides 210 on the inner side of the four sides. The top of the multiple counterweight slides 210 is provided with counterweight slide limit plates 211. The counterweight slide limit plates 211 are fixedly connected to the upper end of the slide rail fixing shell 208. The bottom plate 207 of the lower outer shell is fixed with a ball screw base 218. The ball screw base 218 is fixed with a screw motor fixing plate 216 on the upper side. The screw motor fixing plate 216 is fixed with a screw motor 215 on the top. The bottom of the screw motor 215 is provided with a ball screw 213. The ball screw 213 and the screw motor 215 are connected by a coupling 214. The bottom of the ball screw base 218 is fixed with a screw bottom bearing seat 219. The lower end of the ball screw 213 is engaged with the screw bottom bearing seat 219.

[0058] A lead screw slide 217 is fixedly installed above the lead screw bottom bearing seat 219. A lead screw nut seat 212 is slidably installed on one side of the lead screw slide 217 and is located below the coupling 214. The upper end of the ball screw 213 passes through the lead screw nut seat 212. A robotic arm base fixing plate 206 is fixedly installed on one side of the lead screw nut seat 212. The spraying module 3 is fixedly connected to the robotic arm base fixing plate 206. A counterweight box 220 is provided inside the slide rail fixing shell 208. The counterweight box 220 is fixedly connected to the counterweight slide 210. A counterweight box cover 209 is fixedly installed on the top of the counterweight box 220.

[0059] After the robot moves to the side of the large vehicle body via the omnidirectional wheels 101 of the mobile module 1, the lifting module 2 starts working once the robot reaches the designated position, based on the size and shape of the vehicle body.

[0060] The two paint storage tanks 201 on the base plate 104 can store the paint required for spraying and provide a paint source for the spraying module 3. The lower outer shell 202, the lower outer shell base plate 207, the lower outer shell cover plate 203, the upper outer shell 205 and the upper outer shell cover plate 204 constitute the outer shell structure of the lifting module 2, protecting the internal lifting mechanism and providing installation positions for other parts.

[0061] The ball screw base 218 is fixed on the top of the lower housing base plate 207. The ball screw motor 215 on the ball screw motor mounting plate 216 is started, driving the ball screw 213 to rotate through the coupling 214. The ball screw nut seat 212 on the ball screw 213 moves vertically along the ball screw 213 under the action of the thread, and the robotic arm base mounting plate 206 on one side of the ball screw nut seat 212 moves accordingly.

[0062] The ball screw base 218 supports the ball screw 213, providing a stable mounting foundation for the ball screw 213. The screw motor fixing plate 216 fixes the screw motor 215, ensuring the stable operation of the screw motor 215. The screw motor 215 drives the ball screw 213 to rotate, providing power to the lifting module 2 and realizing the lifting of the spraying module 3. The ball screw 213 converts the rotational motion of the screw motor 215 into linear motion, driving the screw nut seat 212 to move up and down, thereby realizing the lifting of the spraying module 3. The coupling 214 transmits the torque of the screw motor 215, ensuring that the ball screw 213 can accurately follow the rotation of the screw motor 215.

[0063] This causes the painting module 3 mounted on the lifting module 2 to adjust vertically, allowing the painting module 3 to adapt to painting areas at different vehicle heights. Simultaneously, the counterweight slide 210 and counterweight box 220 inside the slide rail fixing housing 208 are fixed by the counterweight slide limit plate 211. The counterweight box 220 is connected to the counterweight slide 210, providing gravity compensation during lifting, reducing the load on the lead screw motor 215, decreasing energy consumption, and improving the smoothness of movement.

[0064] The parallelogram mechanism is composed of an upper parallel support 303, a carbon fiber tube 304, and pitch and yaw joints.

[0065] Gravity Compensation Principle: The parallelogram mechanism in a robotic arm achieves gravity compensation based on the lever balance effect. When the robotic arm moves, the parallelogram mechanism's own weight generates a clockwise torque τ_mechanism at the point of rotation, while the counterweight applies a counterclockwise torque τ_counterweight. By adjusting the counterweight mass, τ_counterweight ≈ τ_mechanism. At this point, the actuator only needs to provide a small amount of compensation torque τ_drive to satisfy the balance equation τ_counterweight + τ_drive = τ_mechanism. This design significantly reduces the torque requirement of the actuator, saving energy and improving system stability, making it particularly suitable for robotic arm scenarios requiring long-term hovering or precision operations.

[0066] The slide rail fixing housing 208 fixes the relevant parts of the slide rail, provides a track for the movement of the counterweight box 220, and assists in the balance and stability of the lifting module 2.

[0067] The counterweight slide 210 provides sliding support for the counterweight box 220, enabling the counterweight box 220 to move along the slide rail and balance the weight change when the spraying module 3 is raised and lowered.

[0068] The counterweight slide limit plate 211 restricts the movement range of the counterweight box 220 on the slide rail, preventing the counterweight box 220 from sliding off the slide rail.

[0069] The bottom bearing seat 219 of the lead screw supports the bottom of the ball screw 213, reducing friction and vibration when the ball screw 213 rotates, and ensuring the stable operation of the ball screw 213. The lead screw slide 217 is installed on the bottom bearing seat 219 of the lead screw to provide a travel path for the lead screw nut seat 212 and also to limit the movement. The lead screw nut seat 212 cooperates with the ball screw 213 and moves up and down along the ball screw 213 when the ball screw 213 rotates. The spraying module 3 is lifted and lowered by the mechanical arm base fixing plate 206.

[0070] The robotic arm base fixing plate 206 transmits the lifting motion of the lead screw nut seat 212 to the spraying module 3, thereby realizing the lifting of the spraying module 3.

[0071] The counterweight box 220 balances the weight change of the painting module 3 during lifting by its own weight, making the lifting module 2 operate more smoothly.

[0072] The cover 209 of the counterweight box 220 protects the internal parts of the counterweight box 220 and prevents dust and debris from entering.

[0073] Third embodiment

[0074] according to Figures 7 to 15 As shown, the yaw joint is located below the pitch joint;

[0075] The pitch joint includes a pitch joint base plate 312. A left pitch joint plate 314 is fixedly mounted on one side of the top of the pitch joint base plate 312, and a right pitch joint plate 308 is fixedly mounted on the other side of the top of the pitch joint base plate 312. Parallel support joint shafts 321 are fixedly mounted on the outer sides of both the left pitch joint plate 314 and the right pitch joint plate 308. A pitch motor mounting base 315 is fixedly mounted on the inner side of the left pitch joint plate 314. A pitch motor 302 is fixedly mounted on one side of the pitch motor mounting base 315. A drive gear 307 is fixedly mounted on the output end of the pitch motor 302. A driven gear 309 is meshed on one side of the drive gear 307.

[0076] A driven gear 310 is meshed on one side of the driven gear 309. A driven gear shaft 317 of the pitch joint is rotatably connected between the left side plate 314 and the right side plate 308 of the pitch joint. A driven gear 310 is fixedly installed on the outside of the driven gear shaft 317 of the pitch joint. The driven gear 310 is located on one side of the driven gear shaft 317 of the pitch joint. The driven gear 310 meshes with the driven gear 309. A carbon fiber sleeve 311 of the pitch joint is fixedly installed on the outside of the driven gear shaft 317 of the pitch joint. A fixed pulley shaft 318 is fixedly installed inside the bottom end of the fixed carbon fiber sleeve 311 of the pitch joint. A fixed pulley 316 of the pitch joint is fixedly installed on the outside of the fixed pulley shaft 318.

[0077] The yaw joint includes a yaw motor mounting base 313, which is located below the pitch joint base plate (312) and is fixedly connected to the pitch joint base plate (312). A yaw motor 301 is fixedly mounted on the inner side of the yaw motor mounting base 313, and a yaw joint top plate 323 is located on the outer side of the yaw motor 301. A yaw motor sleeve 325 is fixedly mounted at the bottom of the yaw joint top plate 323. The yaw motor 301 is located inside the yaw motor sleeve 325 and is bolted to the yaw motor sleeve 325. A right yaw joint plate 322 is fixedly mounted on one side of the yaw joint top plate 323, and a left yaw joint plate 324 is fixedly mounted on the other side of the yaw joint top plate 323.

[0078] Parallel support joint shafts 321 are fixedly provided on the outer sides of both the right side plate 322 and the left side plate 324 of the yaw joint. A yaw motor fixed pulley shaft 320 is rotatably provided between the right side plate 322 and the left side plate 324 of the yaw joint. A yaw joint fixed pulley 326 is fixedly provided on the outer side of the yaw motor fixed pulley shaft 320. A yaw joint carbon fiber sleeve 319 is fixedly provided on the outer side of the yaw motor fixed pulley shaft 320. The yaw joint carbon fiber sleeve 319 is located in the middle of the yaw motor fixed pulley shaft 320, and the yaw joint fixed pulley 326 is located in the middle of the yaw joint carbon fiber sleeve 319.

[0079] In the spraying module 3, a nozzle fixing seat 305 is provided on the top of the yaw joint at one end of the serpentine robotic arm, and a nozzle 306 is fixedly provided on one side of the nozzle fixing seat 305.

[0080] An upper parallel support 303 is provided between the pitch joint and the yaw joint. One end of the upper parallel support 303 is rotatably connected to the parallel support joint shaft 321 fixedly connected to the left side plate 314 and the right side plate 308 of the pitch joint. The other end of the upper parallel support 303 is rotatably connected to the parallel support joint shaft 321 fixedly connected to the left side plate 324 and the right side plate 322 of the yaw joint. A carbon fiber tube 304 is provided at the bottom of the upper parallel support 303. One end of the carbon fiber tube 304 is located inside the carbon fiber sleeve 311 of the pitch joint, and the other end of the carbon fiber tube 304 is located inside the carbon fiber sleeve 319 of the yaw joint.

[0081] A parallelogram mechanism maintains the parallelism of its two links throughout motion, ensuring that the load distribution above it does not affect the magnitude of the torque applied to the mechanism. When the mechanism rotates by an angle θ, the relative position changes of different positions A and B above its front end relative to the support point O are dp1 and dp2, respectively. However, regardless of whether the load is applied at point A or point B, the mechanism's response to torque remains consistent due to the geometric properties of the parallelogram. This characteristic gives parallelogram mechanisms a significant advantage in robotic arm design, ensuring the motion stability of the end effector while simplifying force analysis and control strategies.

[0082] Once the robot has positioned itself precisely and the lifting module 2 has raised the painting module 3 to the appropriate position, the serpentine robotic arm in the painting module 3 begins to work. The pitch motor 302 on the pitch motor mounting bracket 315 in the pitch joint is activated.

[0083] The pitch motor 302 drives the drive gear 307 to rotate, providing power for the rotation of the pitch joint.

[0084] Since the output end of the pitch motor 302 is directly connected to the drive gear 307, it provides rotational power to the drive gear 307. Then the drive gear 307 meshes with the driven gear 309, and the driven gear 309 meshes with the passive gear 310.

[0085] The driving gear 307 transmits the rotational motion of the pitch motor 302 to the driven gear 309, realizing the transmission of power. The driven gear 309 transmits the power of the driving gear 307 to the driven gear 310, further transmitting power and changing the transmission direction. The driven gear shaft 317 of the pitch joint supports the driven gear 310 and other parts, enabling the driven gear 310 to rotate around its axis, realizing the rotation function of the pitch joint. The driven gear 310 receives the power of the driven gear 309 and drives the driven gear shaft 317 of the pitch joint to rotate, thereby realizing the pitch motion of the pitch joint.

[0086] The passive gear 310 has a bearing inside, and is axially positioned by a screw and a sleeve. The screw is fixed to the right side plate 308 of the pitch joint.

[0087] Therefore, the passive gear 310 drives the passive gear shaft 317 of the pitch joint to rotate, which in turn causes the carbon fiber sleeve 311 of the pitch joint and the fixed pulley 316 of the pitch joint to rotate, thereby realizing the movement of the robotic arm in the pitch direction.

[0088] In the pitch joint, the pitch joint base plate 312 provides an installation platform for other parts of the pitch joint and supports the entire pitch joint structure. The pitch joint left side plate 314, the pitch joint right side plate 308, and the pitch joint base plate 312 together form the frame structure of the pitch joint, providing installation positions and support for other parts. The pitch motor mounting bracket 315 fixes the pitch motor 302 and ensures the stable operation of the pitch motor 302. The pitch joint carbon fiber sleeve 311 protects the pitch joint driven gear shaft 317 and provides an installation position for the fixed pulley shaft 318, reducing the weight of the joint and improving the flexibility of the joint. The fixed pulley shaft 318 supports the pitch joint fixed pulley 316, allowing the fixed pulley to rotate around its axis. The pitch joint fixed pulley 316 may be used to change the direction of force or transmit motion, assisting in the motion control of the pitch joint.

[0089] Subsequently, the yaw motor 301 inside the yaw motor mounting bracket 313 in the yaw joint is started.

[0090] The yaw motor mounting bracket 313 secures the yaw motor 301, ensuring its stable operation. The yaw motor 301 drives the rotation of the yaw joint, providing power to the yaw joint.

[0091] The fixed pulley shaft 320 of the yaw motor is driven to rotate, which in turn drives the fixed pulley shaft 320 of the yaw motor and the carbon fiber sleeve 319 of the yaw joint to rotate, thereby realizing the left or right movement of the robotic arm in the horizontal direction.

[0092] The upper parallel support 303, carbon fiber tube 304, pitch joint, and yaw joint together form a parallelogram mechanism to ensure the stability of the robotic arm's movement.

[0093] The single-segment snake-like robotic arm consists of a pitch joint, a yaw joint, a parallel support, and a carbon fiber tube 304.

[0094] The nozzle 306 on the nozzle mounting base 305 at the top of the yaw joint at one end of the snake-shaped robotic arm begins to spray paint. By precisely controlling the movement of the pitch and yaw joints, as well as the design of the rotating nozzle 306, the rotation speed and angle of the nozzle 306 can be precisely controlled to ensure uniform coating thickness and high-quality painting of the car body, solving the problem of insufficient corner coverage of traditional painting robots.

[0095] In confined spaces such as car interiors, the flexibility of the snake-like robotic arm is fully utilized, enabling it to penetrate deep into the cavities for painting operations and solving the problem of insufficient coverage of edges and corners in traditional painting robots. Through a vision recognition system, the surface condition of the car body is monitored in real time, and an adaptive algorithm automatically adjusts painting parameters, such as the rotation speed, angle, and paint flow rate of the 306 nozzle, ensuring uniform coating thickness, avoiding defects such as runs and orange peel, and improving painting quality.

[0096] In the yaw joint, the top plate 323 of the yaw joint protects the yaw motor 301 and provides an installation platform for other parts of the yaw joint. The yaw motor sleeve 325 further fixes and protects the yaw motor 301, reducing vibration and noise during motor operation. The right side plate 322 and the left side plate 324 of the yaw joint, together with the top plate 323 of the yaw joint, constitute the frame structure of the yaw joint, providing installation positions and support for other parts.

[0097] The parallel support joint shaft 321 serves as the connecting shaft of the upper parallel support 303, enabling the connection and rotation of the upper parallel support 303 and the yaw joint. The yaw motor fixed pulley shaft 320 supports the yaw joint fixed pulley 326 and the yaw joint carbon fiber sleeve 319, allowing them to rotate around their axis. The yaw joint fixed pulley 326 may be used to change the direction of force or transmit motion, assisting in the motion control of the yaw joint. The yaw joint carbon fiber sleeve 319 protects the yaw motor fixed pulley shaft 320, reduces the weight of the joint, and improves the flexibility of the joint.

[0098] The upper parallel bracket 303 connects the pitch joint and the yaw joint, enhancing the structural stability between the joints, while also providing an installation position for the carbon fiber tube 304.

[0099] The nozzle holder 305 fixes the nozzle 306, ensuring the stable position of the nozzle 306 during the spraying process. The nozzle 306 sprays out paint to achieve the spraying operation on the object.

[0100] Carbon fiber tubing (304) reduces the weight of the robotic arm, improves its flexibility and rigidity, and may also provide some guidance and support.

[0101] The above are merely specific embodiments of the present invention, but the technical features of the present invention are not limited thereto. Any simple changes, equivalent substitutions, or modifications made based on the present invention to solve essentially the same technical problems and achieve essentially the same technical effects are all covered within the protection scope of the present invention.

Claims

1. A painting robot, characterized in that: It includes a moving module (1), a lifting module (2), and a spraying module (3); The mobile module (1) is used to realize the robot's overall full-degree-of-freedom displacement; the mobile module (1) is equipped with a paint storage tank (201); The lifting module (2) is mounted above the moving module (1), and the spraying module (3) is mounted on the lifting module (2); the lifting module (2) is used to drive the spraying module (3) to move up and down; The spraying module (3) includes a serpentine robotic arm, which includes a pitch joint and a yaw joint; the spraying module (3) is used to obtain paint from the paint storage tank (201) for spraying.

2. The painting robot according to claim 1, characterized in that: The mobile module (1) includes multiple omnidirectional wheels (101), and each of the multiple omnidirectional wheels (101) is provided with a drive motor (102) on one side. A motor connecting plate (103) is provided between the drive motor (102) and the omnidirectional wheel (101). The drive motor (102) is fixedly connected to the motor connecting plate (103). The output end of the drive motor (102) passes through the motor connecting plate (103) and extends to the outside to be fixedly connected to the omnidirectional wheel (101). A base plate (104) is bolted to the top of the motor connecting plate (103), and the motor connecting plate (103) is respectively set at the four corners of the base plate (104).

3. The painting robot according to claim 1, characterized in that: The lifting module (2) includes two paint storage tanks (201), which are bolted to the base plate (104). A lower outer shell (202) is provided between the two paint storage tanks (201). The lower end of the lower outer shell (202) is bolted to a lower outer shell base plate (207), which is bolted to the base plate (104). The upper end of the lower outer shell (202) is bolted to a lower outer shell cover plate (203), and the top of the lower outer shell cover plate (203) is bolted to an upper outer shell (205). The upper outer shell (205) has the same structure as the lower outer shell (202), and the upper end of the upper outer shell (205) is bolted to an upper outer shell cover plate (204).

4. A painting robot according to claim 3, characterized in that: The bottom plate (207) of the lower outer shell is bolted to the top of a slide rail fixing shell (208). A counterweight slide (210) is fixedly mounted on the inner perimeter of the slide rail fixing shell (208). Each of the counterweight slides (210) has a counterweight slide limit plate (211) on its top. The counterweight slide limit plate (211) is fixedly connected to the upper end of the slide rail fixing shell (208). A ball screw base (218) is fixedly mounted on the top of the bottom plate (207). A lead screw motor fixing plate (216) is fixedly provided on the upper side. A lead screw motor (215) is fixedly provided on the top of the lead screw motor fixing plate (216). A ball screw (213) is provided at the bottom of the lead screw motor (215). The ball screw (213) and the lead screw motor (215) are connected by a coupling (214). A lead screw bottom bearing seat (219) is fixedly provided at the bottom of the ball screw base (218). The lower end of the ball screw (213) cooperates with the lead screw bottom bearing seat (219).

5. A painting robot according to claim 4, characterized in that: A screw slide (217) is fixedly provided above the bottom bearing seat (219) of the screw. A screw nut seat (212) is slidably provided on one side of the screw slide (217), and the screw nut seat (212) is located below the coupling (214). The upper end of the ball screw (213) passes through the screw nut seat (212). A robotic arm base fixing plate (206) is fixedly provided on one side of the screw nut seat (212). The spraying module (3) is fixedly connected to the robotic arm base fixing plate (206). A counterweight box (220) is provided inside the slide rail fixing shell (208). The counterweight box (220) is fixedly connected to the counterweight slide (210). A counterweight box (220) cover (209) is fixedly provided on the top of the counterweight box (220).

6. A painting robot according to claim 1, characterized in that: The yaw joint is located below the pitch joint; The pitch joint includes a pitch joint base plate (312). A left pitch joint plate (314) is fixedly provided on one side of the top of the pitch joint base plate (312), and a right pitch joint plate (308) is fixedly provided on the other side of the top of the pitch joint base plate (312). Parallel support joint shafts (321) are fixedly provided on the outer sides of both the left pitch joint plate (314) and the right pitch joint plate (308). A pitch motor mounting base (315) is fixedly provided on the inner side of the left pitch joint plate (314). A pitch motor (302) is fixedly provided on one side of the pitch motor mounting base (315). A drive gear (307) is fixedly provided at the output end of the pitch motor (302), and a driven gear (309) meshes with one side of the drive gear (307).

7. A painting robot according to claim 6, characterized in that: A driven gear (310) is meshed on one side of the driven gear (309). A pitch joint driven gear shaft (317) is rotatably provided between the left side plate (314) and the right side plate (308) of the pitch joint. A driven gear (310) is fixedly provided on the outside of the pitch joint driven gear shaft (317). The driven gear (310) is located on one side of the pitch joint driven gear shaft (317). The driven gear (310) meshes with the driven gear (309). A pitch joint carbon fiber sleeve (311) is fixedly provided on the outside of the pitch joint driven gear shaft (317). A fixed pulley shaft (318) is fixedly provided inside the bottom end of the fixed pitch joint carbon fiber sleeve (311). A pitch joint fixed pulley (316) is fixedly provided on the outside of the fixed pulley shaft (318).

8. A painting robot according to claim 7, characterized in that: The yaw joint includes a yaw motor mounting base (313), which is located below the pitch joint base plate (312) and is fixedly connected to the pitch joint base plate (312). A yaw motor (301) is fixedly mounted on the inner side of the yaw motor mounting base (313), and a yaw joint top plate (323) is located on the outer side of the yaw motor (301). A yaw motor sleeve (325) is fixedly mounted at the bottom of the yaw joint top plate (323), and the yaw motor (301) is located inside the yaw motor sleeve (325) and bolted to it. A right yaw joint plate (322) is fixedly mounted on one side of the yaw joint top plate (323), and a left yaw joint plate (324) is fixedly mounted on the other side of the yaw joint top plate (323).

9. A painting robot according to claim 8, characterized in that: Parallel support joint shafts (321) are fixedly provided on the outer sides of the right side plate (322) and the left side plate (324) of the yaw joint. A yaw motor fixed pulley shaft (320) is rotatably provided between the right side plate (322) and the left side plate (324) of the yaw joint. A yaw joint fixed pulley (326) is fixedly provided on the outer side of the yaw motor fixed pulley shaft (320). A yaw joint carbon fiber sleeve (319) is fixedly provided on the outer side of the yaw motor fixed pulley shaft (320). The yaw joint carbon fiber sleeve (319) is located in the middle of the yaw motor fixed pulley shaft (320). The yaw joint fixed pulley (326) is located in the middle of the yaw joint carbon fiber sleeve (319).

10. A painting robot according to claim 9, characterized in that: The top of the yaw joint at one end of the serpentine robotic arm in the spraying module (3) is provided with a nozzle fixing seat (305), and a nozzle (306) is fixedly provided on one side of the nozzle fixing seat (305). An upper parallel bracket (303) is provided between the pitch joint and the yaw joint. One end of the upper parallel bracket (303) is rotatably connected to the parallel bracket joint shaft (321) fixedly connected to the left side plate (314) and the right side plate (308) of the pitch joint. The other end of the upper parallel bracket (303) is rotatably connected to the parallel bracket joint shaft (321) fixedly connected to the left side plate (324) and the right side plate (322) of the yaw joint. A carbon fiber tube (304) is provided at the bottom of the upper parallel bracket (303). One end of the carbon fiber tube (304) is located inside the carbon fiber sleeve (311) of the pitch joint, and the other end of the carbon fiber tube (304) is located inside the carbon fiber sleeve (319) of the yaw joint.

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