Three-station robot

Abstract

This application relates to a three-station robotic arm, specifically within the technical field of robotic arms. The three-station robotic arm includes a gripping mechanism mounted on a machine body. The gripping mechanism comprises: a sliding base one, slidably mounted on the machine body; a sliding base two, slidably mounted on the sliding base one; a drive assembly for driving the sliding base one and sliding base two to move; a rotating base, rotatably mounted on the sliding base two; a rotating component for driving the rotating base to rotate; and multiple gripping components for gripping and attaching masking paper to the workpiece after it has been tightly packed and then adsorbed. This application achieves this by using gripping components to tightly pack and position the masking paper, thus ensuring that the masking paper is tightly packed before being adhered to the workpiece. Furthermore, the multiple gripping components enable the adhesion of multiple sheets of masking paper, ensuring accurate subsequent spraying and masking, saving time spent on masking paper adhesion, and improving the spraying efficiency and effect on the workpiece.

Description

Technical Field

[0001] This application relates to the technical field of robotic arms, and in particular to a three-station robotic arm. Background Technology

[0002] After the plastic workpiece is injection molded, it needs to be painted. In order to avoid the paint from affecting some key areas, masking tape needs to be applied to cover these areas.

[0003] Traditional operation mode relies heavily on operators to manually complete positioning and attachment. This mode has several inherent pain points: First, the positional consistency of manual attachment is poor, and it is difficult to ensure that the masking paper is in a taut state before sticking it to the workpiece, which may lead to paint leakage or blurring of color separation areas, resulting in masking failure and rework; Second, manual operation is easy to contaminate the adhesive surface of the masking paper, affecting the attachment quality.

[0004] Therefore, it is necessary to develop a robotic arm that can accurately tension multiple pieces of masking tape before attaching them to the workpiece, providing support for accurate subsequent spraying and masking. Summary of the Invention

[0005] In order to ensure that the masking tape is taut before being attached to the workpiece, thus providing support for accurate subsequent spraying and masking and improving spraying efficiency and effect, this application provides a three-station robot.

[0006] This application provides a three-station robotic arm, which adopts the following technical solution:

[0007] A three-station robotic arm includes a gripping mechanism mounted on a body, the gripping mechanism comprising:

[0008] Sliding seat one is horizontally slidably mounted on the machine body;

[0009] Sliding seat two is vertically slidably mounted on sliding seat one;

[0010] Drive components are used to drive slide block one and slide block two to move;

[0011] The rotating seat is rotatably mounted on the sliding seat two.

[0012] Rotating component, used to drive the rotating base to rotate;

[0013] Multiple gripping components are arranged in a circular array on the rotating seat around the axis of rotation direction. They are used to grip and transport the masking paper to the workpiece after it is adsorbed and attached to the workpiece.

[0014] By adopting the above technical solution, the drive component starts the horizontal and vertical movement of the sliding base one, the sliding base two and the gripping component, so that multiple gripping components move above the masking paper. Multiple gripping components grip multiple sheets of masking paper, and the masking paper is gripped tightly before being gripped and adsorbed. Then the masking paper is stuck to the workpiece for positioning, thereby achieving the bonding of multiple sheets of masking paper to the workpiece.

[0015] By using gripping components to tighten and then adsorb the masking paper, it can be firmly attached to the workpiece. Multiple gripping components can be used to attach multiple sheets of masking paper, which ensures accurate subsequent spraying and masking, saves time spent on masking paper attachment, and improves the spraying efficiency and effect of the workpiece.

[0016] Optionally, the grasping component includes:

[0017] The mounting arm is mounted on the rotating base;

[0018] The main suction cup is located at the bottom of the mounting arm;

[0019] Two push arms are rotatably mounted on the mounting arm at their top ends and located on both sides of the main suction cup and connected to each other by a spring mechanism. Under the action of the spring force, the multiple push arms tend to move closer to each other.

[0020] Two push blocks are rotatably mounted on the bottom ends of multiple push arms, and each push block is equipped with a secondary suction cup.

[0021] In the initial state, the multiple push blocks extend below the main suction cup under the elastic force of the elastic mechanism. The mounting arm moves down, driving the main suction cup, push blocks, and auxiliary suction cup to approach the masking tape. The push blocks first press against the masking tape and move on the masking tape as the mounting arm continues to move, keeping the masking tape in a taut state. Finally, the multiple push blocks move to both ends of the masking tape, and the main suction cup and auxiliary suction cup are attached to the masking tape for positioning.

[0022] By adopting the above technical solution, the mounting arm drives the main suction cup, two push arms, and two push blocks to approach the masking tape. The two push blocks first contact the masking tape, and under the action of the masking tape, the push blocks rotate to be parallel to the masking tape and move against the masking tape. The two push blocks move away from each other, driving the two push arms to move away from each other and pulling the elastic mechanism. Under the action of the elastic mechanism, a force is generated between the push blocks and the masking tape. This force pushes the masking tape to a taut state until the main suction cup touches the masking tape. The two auxiliary suction cups are also attached to both ends of the masking tape. The main suction cup adsorbs and positions the masking tape, and the two auxiliary suction cups also adsorb and position the masking tape at both ends.

[0023] Two push blocks tether the masking tape to a taut state, while the main suction cup and two auxiliary suction cups adsorb and position it. This ensures the masking tape is taut before being adsorbed and positioned, reducing the risk of the masking tape shifting when the main suction cup applies force, thus improving the coating efficiency and effect. Simultaneously, a spring mechanism causes multiple push blocks to tilt and exert pressure towards the masking tape, further enhancing the adsorption and positioning effect of the main and auxiliary suction cups. Compared to a single suction cup, the main and auxiliary suction cups can adsorb and position larger sizes of masking tape, further improving the coating efficiency and effect.

[0024] Optionally, the elastic mechanism includes:

[0025] Two columns are respectively mounted on two push arms;

[0026] The tension spring is positioned by hooks at both ends onto two columns.

[0027] Two support blocks are mounted on the mounting arm, and the two push arms are positioned by pressing against the two support blocks under the action of tension springs.

[0028] By adopting the above technical solution, two tension springs pull the two push arms closer to each other and abut against the opposite ends of the two support blocks for positioning.

[0029] Optionally, the support block has a support surface that is inclined and abuts against the push arm, and the column has a positioning groove for positioning the tension spring.

[0030] By adopting the above technical solution, the support surface makes the push arm more stable in the initial state, and the positioning groove can improve the stability of the tension spring, thereby making the elastic mechanism more stable when it exerts force on the two push arms, further ensuring accurate subsequent spraying and masking, and improving the spraying efficiency and effect of the workpiece.

[0031] Optionally, the push block is rotatably mounted on the push arm via a rotating column. Two limiting blocks are spaced apart on the push block. When the push block rotates, it rotates between the two blocking blocks, and after the push arm contacts the limiting blocks, it prevents the push block from rotating to a vertical state.

[0032] By adopting the above technical solution, the blocking block can limit the rotation range of the pushing block and prevent the pushing block from rotating to a vertical state, reducing the risk that the pushing block will come into contact with the masking paper and fail to achieve correct rotation. This improves the tightness of the masking paper and the effect of subsequent adsorption and positioning, further improving the spraying efficiency and effect of the workpiece.

[0033] Optionally, the rotating seat has an annular rotating groove on its side wall, which is coaxial with the axis of rotation of the rotating seat, and the rotating seat has a mounting hole communicating with the rotating groove; the plurality of mounting arms are connected to the rotating seat through a connecting mechanism, the connecting mechanism including:

[0034] A connecting block is mounted on the mounting arm and slidably mounted on the rotating groove. The connecting block is mounted onto the rotating groove through a mounting hole, or the connecting block is removed from the mounting hole.

[0035] Locking assembly for locking the position of the mounting arm;

[0036] Sealing components are used to seal mounting holes;

[0037] The blocking assembly is located on the opposite side wall of two adjacent mounting arms and is used to block the rotating slot and is in a retractable state.

[0038] By adopting the above technical solution, the sealing component opens the mounting hole, and then the connecting block can be removed from the mounting hole, thereby realizing the removal of the gripping component. Alternatively, the connecting block can be installed from the mounting hole onto the rotating groove. The connecting block slides and is installed on the rotating groove. After it is moved to the designated position, the locking component positions the mounting arm, thereby realizing the installation of multiple mounting arms. Finally, the sealing component seals the mounting hole, thereby preventing the connecting block from detaching from the rotating groove.

[0039] Therefore, the number and position of the gripping components can be installed as needed, thereby achieving better adhesion of the masking tape. This allows the masking tape to move along a more optimized path during the application process and can meet the gripping and adhesion needs of various sizes of masking tape, saving the time spent on masking tape adhesion and improving the spraying efficiency and effect of the workpiece.

[0040] Meanwhile, the blocking component blocks the rotating groove, reducing the entry of dust and other impurities into the rotating groove, thus making it more convenient and accurate to adjust the position of the gripping component later.

[0041] Optionally, the locking component includes:

[0042] A locking ring is mounted on a rotating base and supported on multiple mounting arms for positioning.

[0043] The locking screw is threaded onto the mounting arm and presses against the locking ring for positioning.

[0044] By adopting the above technical solution, the locking ring can support multiple mounting arms, and the locking screw presses against the locking ring for positioning, so that the mounting arm presses against the rotating groove for positioning, thereby enabling stepless adjustment of the mounting arm and improving the adjustment range and convenience of the mounting arm.

[0045] Optionally, the blocking assembly includes;

[0046] The slide is mounted on the rotating seat and has a moving groove.

[0047] The sealing column is slidably and rotatably mounted on the movable groove;

[0048] The sealing block is set on the sealing column and inserted into the sealing mounting hole on the rotating seat;

[0049] A blocking block is provided on the mounting arm, and the blocking block located on one of the mounting arms abuts against the sealing block and prevents the sealing block from disengaging from the rotating seat; when it is necessary to unlock the mounting hole, the mounting arm drives the blocking block to rotate to the outside of the sealing block, and after the sealing block disengages from the rotating seat, it drives the sealing column to move on the moving groove, so that the sealing block rotates and moves to the outside of the mounting hole and unlocks the mounting hole.

[0050] By adopting the above technical solution, it is necessary to unlock the mounting hole. That is, when it is necessary to replace the gripping component, the mounting arm that abuts against the blocking block is unlocked, so that the blocking block is separated from the blocking block. At this time, the blocking block can be moved, pulling the blocking block away from the mounting hole, so that the blocking column moves to the end of the moving groove closest to the mounting hole. Then the blocking block moves away from the mounting hole and the blocking column moves on the moving groove away from the mounting hole, so that the blocking block can be moved and rotated to the outside of the mounting hole, and then the gripping component can be replaced.

[0051] After the component replacement is completed, the sealing block rotates and moves back, causing it to abut against the rotating seat and seal the mounting hole. Then, the sealing block is pushed to insert and install itself on the rotating seat for positioning. Next, the mounting arm closest to the sealing block is moved so that the blocking block abuts against the sealing block for positioning. The mounting arm is moved to the required position, and the locking component positions the mounting arm. Thus, the locking component can simultaneously position the mounting arm and the sealing component, which greatly improves the stability of the above mechanism during operation and improves the spraying efficiency and effect of the workpiece.

[0052] Optionally, the blocking component includes:

[0053] Two mounting plates are detachably mounted on the mounting arm;

[0054] The corrugated plate is set on two mounting plates, blocks the rotating groove, and extends and retracts as the mounting arm moves.

[0055] By adopting the above technical solution, the corrugated plate can adapt to two mounting arms at different distances, thus blocking the rotating groove and reducing the risk of dust and other impurities entering the rotating groove. This makes it easier and more accurate to adjust the position of the subsequent gripping component. Furthermore, the detachable connection between the mounting plate and the mounting arm makes the blocking component, as a vulnerable part, easier to replace.

[0056] Optionally, the mounting plate is inserted and positioned on the side wall of the mounting arm.

[0057] By adopting the above technical solution, the installation and removal of the blocking components can be achieved.

[0058] In summary, this application includes at least one of the following beneficial technical effects:

[0059] 1. By using gripping components to tighten and then adsorb the masking paper, it can be firmly adhered to the workpiece. At the same time, multiple gripping components can be used to adhere multiple sheets of masking paper, which can ensure accurate subsequent spraying and masking, and also save the time spent on masking paper adhesion, thereby improving the spraying efficiency and effect of the workpiece.

[0060] 2. Two push blocks tether the masking tape to a taut state, while the main suction cup and two auxiliary suction cups adsorb and position it. This ensures the masking tape is taut before being adsorbed and positioned, reducing the risk of the masking tape shifting when the main suction cup applies force, thus improving the coating efficiency and effect. Simultaneously, a spring mechanism causes multiple push blocks to tilt and exert pressure towards the masking tape, further enhancing the adsorption and positioning effect of the main and auxiliary suction cups. Compared to a single suction cup, the main and auxiliary suction cups can adsorb and position larger sizes of masking tape, further improving the coating efficiency and effect.

[0061] 3. By adjusting the number and position of the gripping components as needed, the adhesion of masking tape can be improved. This allows the masking tape to move along a more optimized path during the application process and can accommodate various sizes of masking tape, saving time spent on masking tape adhesion and improving the spraying efficiency and effect of the workpiece.

[0062] 4. By using a blocking component to block the rotating groove, the entry of dust and other impurities into the rotating groove is reduced, making it more convenient and accurate to adjust the position of the gripping component later. Attached Figure Description

[0063] Figure 1 This is a schematic diagram of the three-dimensional structure of a three-station robotic arm;

[0064] Figure 2 This is a partial structural diagram of a three-station robotic arm;

[0065] Figure 3 This is a structural schematic diagram of the sealing component in a three-station robot hand. The sealing component is in an open state, and a partial cross-section of the slide sidewall is shown.

[0066] Figure 4 This is a schematic diagram of the gripping component in a three-station robotic arm.

[0067] Reference numerals: 1. Body; 11. Movable seat; 12. Support arm; 2. Gripping mechanism; 21. Sliding seat one; 22. Sliding seat two; 23. Drive assembly; 24. Rotating seat; 25. Rotating component; 26. Rotating shaft; 27. Rotating groove; 28. Mounting hole; 3. Gripping assembly; 31. Mounting arm; 32. Main suction cup; 33. Push arm; 34. Push block; 35. Rotating shaft; 36. Rotating column; 37. Limiting block; 38. Mounting groove; 39. Secondary suction cup; 4. Connecting mechanism; 41. Connecting block; 42. Locking assembly; 43. Locking ring; 44. Locking screw; 5. Sealing assembly; 51. Slide rail; 52. Sealing post; 53. Sealing block; 54. Blocking block; 55. Moving groove; 57. Insertion groove; 58. Insertion post; 6. Blocking assembly; 61. Mounting plate; 62. Corrugated plate; 71. Column; 72. Tension spring; 73. Support block; 74. Positioning groove; 75. Support surface. Detailed Implementation

[0068] The following provides a further detailed description of this application.

[0069] This application discloses a three-station robotic arm.

[0070] Reference Figure 1 The three-station robotic arm includes a gripping mechanism 2 mounted on the body 1, which grips and adheres masking tape to the workpiece.

[0071] The gripping mechanism 2 includes a sliding seat 21, a sliding seat 22, a drive assembly 23, a rotating seat 24, a rotating component 25, and multiple gripping components 3. The sliding seat 21 is horizontally slidably mounted on the machine body 1 and reciprocates along the direction from the workpiece to the masking paper, so that the sliding seat 21 moves to the workpiece or the masking paper. The sliding seat 22 is vertically slidably mounted on the side wall of the sliding seat 21. There are two drive assemblies 23, which are located on the machine body 1 and the sliding seat 21 respectively, to drive the sliding seat 21 to move in the horizontal plane and simultaneously drive the sliding seat 22 to move vertically. The drive assembly 23 adopts the structure in the prior art, and the drive assembly 23 can be an electric actuator or a motor screw nut structure, etc.

[0072] Reference Figures 1-3The bottom of the sliding seat 22 is rotatably mounted on the vertical rotating shaft 26, and the rotating seat 24 is coaxially fixedly mounted on the bottom end of the rotating shaft 26, thereby realizing the rotating seat 24 rotatably mounted on the sliding seat 22; the rotating component 25 is a servo motor, which is fixedly mounted on the upper surface of the sliding seat 22 and its output shaft is connected to the rotating shaft 26, thereby driving the rotating seat 24 to rotate; multiple gripping components 3 are arranged in a circumferential array around the axis of the rotating shaft 26, and a rotating groove 27 is coaxially opened on the side wall of the rotating seat 24, and a mounting hole 28 communicating with the rotating groove 27 is opened on the top of the rotating seat 24.

[0073] The gripping component 3 includes a mounting arm 31, which is connected to the rotating seat 24 via a connecting mechanism 4. The connecting mechanism 4 includes a connecting block 41, a locking component 42, a sealing component 5, and a blocking component 6. The rotating groove 27 has a wedge-shaped or T-shaped cross-section. The connecting block 41 can slide and be installed onto the rotating groove 27 through the mounting hole 28, allowing the connecting block 41 to slide and move around the axis of the rotating seat 24 without disengaging from the rotating groove 27. The mounting arm 31 is vertically downward and has a support arm 12 fixedly mounted at its top. The support arm 12 is radially arranged along the rotating seat 24 and fixedly connected to the connecting block 41. A movable seat 11 is vertically slidably mounted on each mounting arm 31, and an electric push rod or cylinder for driving the movable seat 11 to move vertically is fixedly mounted on the movable seat 11.

[0074] The locking assembly 42 is used to lock the position of the mounting arm 31. The locking assembly 42 includes a locking ring 43 and a locking screw 44. The locking ring 43 is coaxially fixed on the side wall of the rotating seat 24, and the support arm 12 is positioned against the locking ring 43. The locking screw 44 is threadedly connected to the support arm 12 and presses against the locking ring 43 for positioning, and causes the connecting block 41 to press against the rotating groove 27 for positioning, thereby realizing the positioning of the gripping assembly 3. After the locking screw 44 is disengaged from the locking ring 43, the position of the gripping assembly 3 can be adjusted by rotating the support arm 12. After the adjustment is completed, the locking screw 44 is screwed against the locking ring 43 for positioning.

[0075] The sealing assembly 5 is used to seal the mounting hole 28 to prevent the connecting block 41 from detaching from the mounting hole 28. The sealing assembly 5 includes a slide 51, a sealing post 52, a sealing block 53, and a blocking block 54. The slide 51 is fixedly mounted on the upper surface of the rotating seat 24, and the slide 51 has radially formed moving grooves 55 on its opposite side walls along the rotating seat 24. The sealing post 52 is horizontal and its two ends are slidably mounted on the moving grooves 55, and the sealing post 52 is rotatably mounted on the moving grooves 55. The outer side wall of the rotating seat 24 is spaced apart with... Two insertion slots 57 are provided. A sealing block 53 is fixedly installed on a sealing post 52. The sealing block 53 is rotatably mounted on the top of the rotating seat 24. Insertion posts 58 are fixedly installed at intervals on the side wall of the sealing block 53. Pulling the sealing block 53 causes the sealing post 52 to move on the moving slot 55, so that the sealing post 52 abuts against the end of the moving slot 55 near the mounting hole 28 for positioning, and the sealing block 53 blocks the mounting hole 28. Then the sealing block 53 moves back, so that the insertion post 58 can be inserted and installed on the insertion slot 57 for positioning.

[0076] The blocking block 54 is fixedly installed on the support arm 12. One of the gripping components 3 is located at the mounting hole 28. After the support arm 12 is positioned by the locking screw 44, the blocking block 54 on the support arm 12 located at the mounting hole 28 abuts against the sealing block 53 to prevent the sealing block 53 from disengaging from the insertion slot 57. When it is necessary to unlock the mounting hole 28, the support arm 12 is unlocked and rotated, causing the blocking block 54 to disengage from the sealing block 53. Pulling the sealing block 53 causes the insertion post 58 to disengage from the insertion slot 57. Rotating the sealing block 53 upwards and away from the insertion slot 57 further facilitates the process. The rotating seat 24 moves away from the mounting hole 28, causing the sealing block 53 to rotate to the outside of the mounting hole 28, so that the connecting block 41 can be replaced with the gripping component 3 through the mounting hole 28. After the replacement is completed, the sealing block 53 continues to rotate and abut against the rotating seat 24, and the plug post 58 is inserted and installed on the plug groove 57 for positioning, thereby sealing the mounting hole 28. At the same time, after the support arm 12 located at the mounting hole 28 is locked, the blocking block 54 abuts against the sealing block 53 for positioning, working together to position the gripping component 3.

[0077] The blocking assembly 6 is disposed on the opposite side wall of two adjacent mounting arms 31 and is used to block the rotating groove 27. It is telescopic. The blocking assembly 6 includes two mounting plates 61 and a corrugated plate 62. The two mounting plates 61 are inserted and mounted on the two support arms 12 for positioning. The corrugated plate 62 is fixedly mounted on the opposite side walls of the two mounting plates 61. The corrugated plate 62 is telescopic, so as to adapt to the distance between the two support arms 12 at different distances. It is used to block the rotating groove 27 and prevent dust and other impurities from entering the rotating groove 27.

[0078] Reference Figure 2 , Figure 4The gripping component 3 also includes a main suction cup 32, two push arms 33, and two push blocks 34. The main suction cup 32 is fixedly installed on the bottom of the movable base 11. Horizontal rotating shafts 35 are fixedly installed on the opposite side walls of the movable base 11. The axis of the rotating shafts 35 is parallel to the length direction of the masking paper to be gripped. The two push arms 33 are rotatably installed on the two rotating shafts 35, and the two push arms 33 are mirror-symmetrically arranged about the center line of the movable base 11, so that the two push arms 33 are spaced apart along the length direction of the masking paper to be gripped. The bottom ends of the two push arms 33 are inclined downwards, and rotating columns 36 are fixedly installed at the bottom ends of the two push arms 33. The axes of the rotating columns 36 and the rotating shafts 35 are parallel.

[0079] Two push arms 33 are connected to each other by a spring mechanism, and the two push arms 33 are positioned against the movable seat 11 under the action of the spring force. The spring mechanism includes two columns 71, a tension spring 72 and two support blocks 73. The two columns 71 are fixedly installed on the side walls of the two push arms 33, and the axes of the columns 71 and the rotating shaft 35 are parallel. The two ends of the tension spring 72 are hooked on the two columns 71, and the two columns 71 are provided with positioning grooves 74 for positioning the two ends of the tension spring 72. The two support blocks 73 are fixedly installed on the opposite side walls of the mounting arms 31, and the opposite ends of the two support blocks 73 are provided with inclined support surfaces 75. The two push arms 33 are positioned against the two support surfaces 75 under the action of the tension of the tension spring 72.

[0080] Two push blocks 34 are rotatably mounted on two rotating columns 36, and two limiting blocks 37 are fixedly mounted on the push blocks 34 at intervals around the axis of the rotating columns 36. When the push blocks 34 rotate, they drive the two limiting blocks 37 to rotate. When the push arm 33 contacts one of the limiting blocks 37, it prevents the push block 34 from rotating to a vertical position. An installation groove 38 is opened on the lower surface of the push block 34, and a secondary suction cup 39 is fixedly mounted on the installation groove 38. When the push arm 33 abuts against the support surface 75 for positioning, the lower surface of the push block 34 extends below the main suction cup 32. The secondary suction cup 39 and the main suction cup 32 are controlled by the control component to adsorb or unlock the masking paper.

[0081] Mounting arm 31 moves the main suction cup 32, two push arms 33, and two push blocks 34 closer to the masking tape. The two push blocks 34 first contact the masking tape, and under the action of the masking tape, the push blocks 34 rotate to be horizontal with the masking tape and move against the masking tape. The two push blocks 34 move away from each other, driving the two push arms 33 to move away from each other, which pulls the tension spring 72 to extend. Under the tension of the tension spring 72, a force is generated between the push blocks 34 and the masking tape. This force pushes the masking tape to be in a taut state until the main suction cup 32 abuts against the masking tape. The two push blocks 34 move to both ends of the masking tape, and the main suction cup 32 is attached to the masking tape. At the same time, the two auxiliary suction cups 39 are attached to both ends of the masking tape for positioning.

[0082] The working principle of this application embodiment is as follows:

[0083] The sliding base 21 drives the rotating base 24 and multiple gripping components 3 to move above the masking paper. The sliding base 22 moves down, driving the rotating base 24 to move closer to the masking paper. This brings the main suction cup 32, two push arms 33, and two push blocks 34 closer to the masking paper. The two push blocks 34 first contact the masking paper, causing them to move on the masking paper and push it to be in a tensioned state until the main suction cup 32 abuts against the masking paper. At the same time, the main suction cup 32 and the two auxiliary suction cups 39 are all attached to the masking paper for positioning. The sliding base 21 and the sliding base 22 move down, driving the masking paper to the workpiece, so that the masking paper adheres to the workpiece. After the main suction cup 32 and the two auxiliary suction cups 39 are unlocked, they move away from the masking paper. Then, the suction and gripping of other masking papers are repeated, thus completing the adhesion of multiple masking papers to the workpiece. This improves the adhesion accuracy and efficiency of the masking paper, and improves the spraying efficiency and effect.

[0084] Tighten the locking screw 44 to disengage from the locking ring 43, move the support arm 12 to adjust the position of the gripping component 3, and after adjustment, tighten the locking screw 44 to press against the locking ring 43 for positioning, so that multiple gripping components 3 can better adapt to the gripping and bonding of masking paper in different positions, further improving the spraying efficiency and effect.

[0085] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A three-station robotic arm, characterized in that: Includes a gripping mechanism (2) for mounting on the body (1), the gripping mechanism (2) comprising: Sliding seat 1 (21) is horizontally slidably mounted on the body (1); Sliding seat two (22) is vertically slidably mounted on sliding seat one (21); Drive assembly (23) for driving slide seat one (21) and slide seat two (22) to move; Rotary seat (24) is rotatably mounted on sliding seat two (22); Rotating component (25) is used to drive rotating seat (24) to rotate; Multiple gripping components (3) are arranged in a circular array around the axis of rotation of the rotating seat (24) and are used to grip the masking paper after it is adsorbed and transported to the workpiece. The crawling component (3) includes: Mounting arm (31) is mounted on rotating seat (24); The main suction cup (32) is located at the bottom of the mounting arm (31); Two push arms (33) are rotatably mounted on the mounting arm (31) and located on both sides of the main suction cup (32) and connected to each other by a spring mechanism. Under the action of the spring force, the multiple push arms (33) tend to move closer to each other. Two push blocks (34) are respectively rotatably mounted on the bottom ends of multiple push arms (33), and each push block (34) is provided with a secondary suction cup (39). In the initial state, the multiple push blocks (34) extend below the main suction cup (32) under the elastic force of the elastic mechanism. The mounting arm (31) moves down to drive the main suction cup (32), push blocks (34) and auxiliary suction cup (39) to approach the masking paper. The push blocks (34) first press against the masking paper and move on the masking paper as the mounting arm (31) continues to move, so that the masking paper is in a taut state. Finally, the multiple push blocks (34) move to both ends of the masking paper and the main suction cup (32) and auxiliary suction cup (39) are attached to the masking paper for positioning. The elastic mechanism includes: Two columns (71) are respectively mounted on two push arms (33); The tension spring (72) is hooked at both ends onto two columns (71) for positioning; Two support blocks (73) are set on the mounting arm (31), and the two push arms (33) are respectively pressed against the two support blocks (73) for positioning under the action of tension spring (72).

2. The three-station robotic arm according to claim 1, characterized in that: The support block (73) has a support surface (75) that is inclined and abuts against the push arm (33), and the column (71) has a positioning groove (74) for positioning the tension spring (72).

3. A three-station robotic arm according to claim 1, characterized in that: The push block (34) is rotatably mounted on the push arm (33) via the rotating column (36). Two limit blocks (37) are spaced apart on the push block (34). When the push block (34) rotates, it rotates between the two limit blocks (37) and causes the push arm (33) to contact the limit blocks (37) and block the push block (34) from rotating to a vertical state.

4. A three-station robotic arm according to claim 1, characterized in that: The rotating seat (24) has a rotating groove (27) on its side wall that is coaxial with the axis of rotation of the rotating seat (24) and is annular. The rotating seat (24) has a mounting hole (28) that communicates with the rotating groove (27). A plurality of mounting arms (31) are connected to the rotating seat (24) through a connecting mechanism (4). The connecting mechanism (4) includes: A connecting block (41) is provided on the mounting arm (31) and slidably disposed on the rotating groove (27). The connecting block (41) is installed on the rotating groove (27) through the mounting hole (28), or the connecting block (41) is removed from the mounting hole (28). Locking component (42) for locking the position of mounting arm (31); A sealing component (5) is used to seal the mounting hole (28); The blocking assembly (6) is disposed on the opposite side wall of two adjacent mounting arms (31) and is used to block the rotating groove (27) and is in a retractable state.

5. A three-station robotic arm according to claim 4, characterized in that: The locking component (42) includes: A locking ring (43) is mounted on a rotating seat (24) and supported on multiple mounting arms (31) for positioning; The locking screw (44) is threaded onto the mounting arm (31) and presses against the locking ring (43) for positioning.

6. A three-station robotic arm according to claim 4, characterized in that: The sealing assembly (5) includes; The slide (51) is set on the rotating seat (24) and has a moving groove (55); The sealing column (52) is slidably and rotatably mounted on the moving groove (55); The sealing block (53) is set on the sealing column (52) and inserted into the sealing mounting hole (28) on the rotating seat (24). A blocking block (54) is provided on a mounting arm (31), and the blocking block (54) located on one of the mounting arms (31) abuts against a blocking block (53) and prevents the blocking block (53) from disengaging from the rotating seat (24); When it is necessary to unlock the mounting hole (28), the mounting arm (31) drives the blocking block (54) to rotate to the outside of the sealing block (53). After the sealing block (53) is separated from the rotating seat (24), the driving sealing column (52) moves on the moving groove (55), so that the sealing block (53) rotates and moves to the outside of the mounting hole (28) and unlocks the mounting hole (28).

7. A three-station robotic arm according to claim 4, characterized in that: The blocking component (6) includes: Two mounting plates (61) are detachably mounted on the mounting arm (31); The corrugated plate (62) is set on the two mounting plates (61) and blocks the rotating groove (27), and extends and retracts as the mounting arm (31) moves.

8. A three-station robotic arm according to claim 7, characterized in that: The mounting plate (61) is inserted and positioned on the side wall of the mounting arm (31).

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