Spraying manipulator
By optimizing the connection structure and hydraulic cylinder drive, the problems of poor positioning performance of the spray robot and the complexity of the multi-stage gear reducer are solved, and a more efficient driving structure and a lower energy consumption spray robot are achieved, which improves the degree of automation of spray processing.
Patent Information
- Application Number
- CN202420909021.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-04-28
- Publication Date
- 2024-12-31
- Estimated Expiration
- 2034-04-28
AI Technical Summary
The servo motor of the spray robot has poor positioning performance when resisting loads, which is prone to insufficient locking torque and jitter. The multi-stage gear reducer is complex, which increases the risk of system failure and manufacturing difficulty, and limits the degree of automation of spray processing.
The optimized connection structure design and hydraulic cylinder drive are adopted. When the hydraulic cylinder is running, the driving main arm drives flexibly in the left and right and up and down directions, simplifying the driving structure, avoiding the complexity of the multi-stage gear reducer, and reducing the quality of the entire machine.
The drive structure is simplified, energy consumption is reduced, the flexibility and automation of the robot are improved, stress concentration is avoided, and the quality of the whole machine and manufacturing difficulty is significantly reduced.
Smart Images
Figure CN222267571U_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of spraying technology, and in particular to a spraying robot. Background Art
[0002] The spraying robot is a device that uses CNC technology and automation control theory. It is widely used in many industries, such as automobile manufacturing, furniture manufacturing, and architectural decoration. Its working principle is based on pre-set spraying parameters, such as spraying speed, spraying pressure, spraying angle, and spraying distance. The robot makes corresponding adjustments and controls according to these parameters, and then automatically sprays according to the preset path and speed. At the same time, the sensor detects parameters such as coating thickness and color in real time to ensure the consistency and stability of the coating quality.
[0003] In the related art, the servo motor of the spray robot has poor positioning performance when resisting loads, and is prone to insufficient locking torque and jitter during positioning. There is also a risk of damaging the motor if the positioning is prolonged. Secondly, the multi-stage gear reducer has a complex gear train and a large overall mass, which increases the risk of system failure and causes the base and the entire machine to have a large mass, increasing the difficulty of manufacturing and assembly. Therefore, the drive structure design of the spray robot in the related art largely restricts the degree of automation of the spray process. Utility Model Content
[0004] In order to solve or partially solve the problems existing in the related art, the present application provides a spraying robot, which can simplify the driving mechanism of the spraying robot.
[0005] The first aspect of the present application provides a spraying robot, comprising:
[0006] A machine base, wherein a first rotating connection portion and a second rotating connection portion are provided on the machine base, and the first rotating connection portion and the second rotating connection portion are arranged spaced apart in a vertical direction;
[0007] A main arm, the main arm is arranged at one side of the machine base, and a spraying assembly is arranged at one end of the main arm away from the machine base; a third rotating connection part and a fourth rotating connection part are arranged on the main arm, and the third rotating connection part and the fourth rotating connection part are arranged at intervals, wherein the first rotating connection part and the third rotating connection part are connected by an upper support arm, and the second rotating connection part and the fourth rotating connection part are connected by a lower support arm;
[0008] The hydraulic cylinder is provided with a base and a telescopic part, wherein the base is rotatably connected to the machine base, and the telescopic part is rotatably connected to the fourth rotating connection part.
[0009] In some embodiments, the base of the hydraulic cylinder is rotatably connected to the first rotating connection portion.
[0010] In some embodiments, the first rotating connection portion is disposed on the base at a side close to the main arm, and the second rotating connection portion is disposed on the base at a side away from the main arm;
[0011] The first rotating connection part and the second rotating connection part have a first distance on the base in the vertical direction, and the first rotating connection part and the second rotating connection part have a second distance in the horizontal direction, and the first distance is greater than the second distance.
[0012] In some embodiments, the base includes a bottom plate, two vertical plates fixedly mounted on the bottom plate, the two vertical plates are spaced apart, and the two vertical plates are fixedly connected at a side away from the main arm.
[0013] In some embodiments, the two vertical plates are fixedly connected by a connecting plate on a side away from the main arm, the connecting plate is arranged close to the second rotating connection portion, and the connecting plate is connected to the side edges of the two vertical plates.
[0014] In some embodiments, a hydraulic slide is further included. The hydraulic slide is fixed relative to an external fixed body. A slider is provided on the hydraulic slide, and the machine base is fixed to the slider.
[0015] In some implementations, further comprising:
[0016] The hydraulic control system is connected to the hydraulic cylinder and the hydraulic slide, and is used to control the operation of the hydraulic cylinder and the hydraulic slide.
[0017] In some embodiments, the base includes a bottom plate and two vertical plates fixed on the bottom plate, the two vertical plates are spaced apart and fixedly connected on a side away from the main arm; two mounting holes are provided between the two vertical plates, the rotating shafts of the first rotating connection part and the second rotating connection part are passed through the corresponding mounting holes, and the rotating shafts are pressed by end covers on the outside of the mounting holes; the two vertical plates are fixedly connected by a connecting plate on a side away from the main arm, the connecting plate is provided close to the second rotating connection part, and the connecting plate is connected to the sides of the two vertical plates.
[0018] The technical solution provided by this application may have the following beneficial effects:
[0019] The spraying robot provided in the present application optimizes the design of the connection structure and cooperates with the hydraulic cylinder drive. When the hydraulic cylinder is in operation, it can drive the main arm to move flexibly in the left and right directions and the up and down directions, thereby simplifying the driving structure and avoiding the complex defects of the multi-stage gear reducer in the related technology. It can simplify the structure of the driving mechanism and reduce the weight of the whole machine.
[0020] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS
[0021] The above and other objects, features and advantages of the present application will become more apparent through a more detailed description of exemplary embodiments of the present application in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments of the present application.
[0022] Figure 1 It is a structural schematic diagram of a spraying robot shown in an embodiment of the present application;
[0023] Figure 2 yes Figure 1 A schematic diagram of the connection of the base of the spraying robot shown in the embodiment;
[0024] Figure 3 It is a structural schematic diagram of a machine base of a spraying robot shown in an embodiment of the present application;
[0025] Figure numerals: 100, machine base; 200, main arm; 300, upper support arm; 400, lower support arm; 500, hydraulic cylinder; 600, hydraulic slide; 700, atomizer; 800, copper tube group; 101, first rotating connection part; 102, second rotating connection part; 103, third rotating connection part; 104, fourth rotating connection part; 210, rotating shaft; 211, end cover. DETAILED DESCRIPTION
[0026] The preferred embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the preferred embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to make the present application more thorough and complete, and to fully convey the scope of the present application to those skilled in the art.
[0027] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.
[0028] It should be understood that although the terms "first", "second", "third", etc. may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.
[0029] In the description of the present application, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.
[0030] Unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.
[0031] In the related art, the servo motor of the spray robot has poor positioning performance when resisting loads, and is prone to insufficient locking torque and jitter during positioning. There is also a risk of damaging the motor if the positioning is prolonged. Secondly, the multi-stage gear reducer has a complex gear train and a large overall mass, which increases the risk of system failure and causes the base and the entire machine to have a large mass, increasing the difficulty of manufacturing and assembly. Therefore, the structural design of the spray robot in the related art largely restricts the degree of automation of the spray process.
[0032] In order to solve the above problems, an embodiment of the present application provides a spraying robot, which can simplify the driving mechanism of the spraying robot.
[0033] The technical solution of the embodiments of the present application is described in detail below with reference to the accompanying drawings.
[0034] Figure 1 It is a schematic diagram of the structure of the spraying robot shown in the embodiment of the present application.
[0035] See also Figure 1 , the spraying robot of the present application comprises:
[0036] A machine base 100, wherein a first rotating connection portion 101 and a second rotating connection portion 102 are provided on the machine base 100, wherein the first rotating connection portion 101 and the second rotating connection portion 102 are spaced apart in a vertical direction;
[0037] A main arm 200, the main arm is arranged at one side of the machine base 100, and a spraying assembly is arranged at one end of the main arm 200 away from the machine base 100; a third rotating connection part 103 and a fourth rotating connection part 104 are arranged on the main arm 200, and the third rotating connection part 103 and the fourth rotating connection part 104 are arranged at intervals, wherein the first rotating connection part 101 and the third rotating connection part 103 are connected by an upper support arm 300, and the second rotating connection part 102 and the fourth rotating connection part 104 are connected by a lower support arm 400;
[0038] The hydraulic cylinder 500 is provided with a base and a telescopic portion, wherein the base is rotatably connected to the machine base 100 , and the telescopic portion is rotatably connected to the fourth rotating connection portion 104 .
[0039] In the present application, the first, second, third and fourth rotation connection parts may be rotating shafts.
[0040] The spraying robot provided in the present application optimizes the design of the connection structure and cooperates with the hydraulic cylinder 500 to drive the main arm 200 to move flexibly in the left and right directions and the up and down directions when the hydraulic cylinder 500 is in operation, thereby simplifying the driving structure and avoiding the complex defects of the multi-stage gear reducer in the related technology, which can save costs and reduce the quality of the whole machine.
[0041] In some embodiments, the telescopic part of the hydraulic cylinder 500 is a telescopic rod, and the base is a cylindrical base. The telescopic rod can be telescopic relative to the cylindrical base. The base of the hydraulic cylinder 500 is rotatably connected to the first rotating connection part 101, for example, connected to the first rotating connection part 101 through an earring, so that the hydraulic cylinder is connected to the first rotating connection part 101 and the fourth rotating connection part 104, and the hydraulic cylinder is supported on the rotating shaft of the first rotating connection part 101. The telescopic rod of the hydraulic cylinder applies thrust to the fourth rotating connection part, so that the main arm moves in the left and right and up and down directions. This not only simplifies the installation of the hydraulic cylinder, but also has a higher utilization rate of the driving force, which is conducive to reducing energy consumption. After experimental testing, it is found that the energy consumption per unit time of the driving method of the present application is only 40% of that of the driving method of the related technology. Therefore, for a die-casting manipulator with larger specifications, the energy saving effect is better.
[0042] When the same load is applied, the stress distribution on the main arm of the present application is more uniform. Experimental tests have shown that the maximum stress of the main arm of the present application is less than half of the maximum stress in the related art, and the difference between the maximum stress and the minimum stress is significantly reduced, avoiding the safety hazard that the stress of the mechanical arm of the related art is mainly concentrated near the shaft end.
[0043] In some embodiments, the first rotating connection part 101 is arranged on the side of the base 100 close to the main arm 200, and the second rotating connection part 102 is arranged on the side of the base 100 away from the main arm 200; the first rotating connection part 101 and the second rotating connection part 102 have a first distance in the vertical direction on the base 100, and the first rotating connection part 101 and the second rotating connection part 102 have a second distance in the horizontal direction, and the first distance is greater than the second distance. After such arrangement, the main arm 200 has a larger range of motion in the vertical direction, and at the same time, when the robot arm is in operation, the space occupied by the entire robot arm can be reduced.
[0044] Figure 2 yes Figure 1 A schematic diagram of the connection of a base 100 of a spraying robot is shown in the embodiment.
[0045] See also Figure 2 In some embodiments, the main arm 200, the lower support arm 400 and the earrings of the telescopic part of the hydraulic cylinder 500 are sequentially connected through the rotating shaft 210, and there is no interference between the earrings of the main arm 200, the lower support arm 400 and the telescopic part of the hydraulic cylinder 500. The lower support arm 400 is arranged between the earrings of the telescopic part of the main arm 200 and the hydraulic cylinder 500, and the earrings of the telescopic part of the main arm 200 and the hydraulic cylinder 500 are connected to the rotating shaft 210 through a radial thrust bearing, and the lower support arm 400 is connected to the rotating shaft 210 through a thrust bearing, and the thrust bearing can position the earrings that rotate relatively.
[0046] Figure 3 It is a schematic diagram of the structure of the base of the spraying robot shown in the embodiment of the present application.
[0047] See also Figure 3 In some embodiments, the base 100 includes a bottom plate 1113, two vertical plates 1111 fixedly mounted on the bottom plate 1113, the two vertical plates 1111 are spaced apart, and the two vertical plates 1111 are fixedly connected on a side away from the main arm 200.
[0048] Two mounting holes are provided between the two vertical plates 1111. The rotating shafts of the first rotating connection part 101 and the second rotating connection part 102 are passed through the corresponding mounting holes. The rotating shafts are pressed on the outside of the mounting holes by the end covers 211, so that the earrings of the telescopic parts of the main arm 200, the lower support arm 400 and the hydraulic cylinder 500 can maintain stable operation under the axial pressing force.
[0049] In some embodiments, the two vertical plates 1111 are fixedly connected at a side away from the main arm 200 by a connecting plate 1112, the connecting plate 1112 is arranged close to the second rotating connection part 102, and the connecting plate 1112 is connected to the sides of the two vertical plates 1111. The connecting plate 1111 not only limits the main arm 200 in the left and right directions, but also improves the stability of the two vertical plates.
[0050] In this embodiment, a hydraulic slide 600 is further included. The hydraulic slide 600 is fixed relative to the external fixed body. A slider is provided on the hydraulic slide 600, and the machine base 100 is fixed to the slider. The sliding direction of the hydraulic slide 600 is perpendicular to the motion plane of the main arm 200 (which can be the front-to-back direction), that is, the sliding direction of the hydraulic slide 600 is perpendicular to the above-mentioned left-right direction, so that the upper spraying assembly of the main arm 200 can run in the up-down direction, the left-to-right direction, and the front-to-back direction, thereby improving the flexibility of the main arm 200.
[0051] In some embodiments, a hydraulic control system is further included, which is connected to the hydraulic cylinder 500 and the hydraulic slide 600 and is used to control the operation of the hydraulic cylinder 500 and the hydraulic slide 600. This can improve the automation level of the spraying robot and simplify the control method.
[0052] In some embodiments, the spray assembly includes an atomizer 700 and a nozzle, the nozzle includes a copper tube group 800, the atomizer 700 is connected to the end of the main arm 200 away from the base 100, the copper tube group 800 is fixed to the atomizer 700, and the atomizer 700 can atomize the paint and then spray it evenly through the copper tube group 800.
[0053] In some implementations, the atomizer 700 and the main arm 200 are rotatably connected, and a rotation control member is provided between the atomizer 700 and the main arm 200. When the main arm 200 moves, the rotation control member can make the atomizer 700 and the copper tube group 800 move in a specific direction. In some embodiments, the rotation control member is a hydraulic member, which is connected to a hydraulic control system. The hydraulic control system is also used to control the operation of the hydraulic member to adjust the rotation angle of the atomizer 700 and the copper tube group 800 relative to the main arm 200.
[0054] In this application, the driving modes of the slide and the main arm are changed to hydraulic drive. The hydraulic cylinder for driving the main arm is connected between the first rotating connection part and the fourth rotating connection part of the main arm. This driving method can not only reduce the energy loss during the driving process, but also improve the rigidity of the manipulator, and at the same time facilitate the installation of the hydraulic cylinder.
[0055] In this embodiment, the distance between the third rotating connection part and the fourth rotating connection part is 400mm-500mm. Since a certain distance needs to be reserved between the pneumatic chain interface used to connect the hydraulic cylinder and the connecting shaft of the main arm, this distance size not only ensures that the overall dimensions of the manipulator do not change too much and ensures the operating performance, but also ensures that the chain interface installation position can be set.
[0056] In the present application, since the slide is driven by a hydraulic cylinder, the forward and backward movement of the manipulator can be made more flexible, and the positioning can be made more accurate and rapid. In the manipulator in the related art, since the main arm needs to be provided with a multi-stage reduction gear, the cross-sectional area of the main arm is relatively large. The main arm, upper support arm, lower support arm and machine base of the present application constitute a four-bar linkage. The spraying manipulator driven linearly by a hydraulic cylinder is optimized in terms of driving energy consumption and parallelogram support force. By using a four-bar linkage and hydraulic drive in combination, and optimizing the connection method between the machine base and the hydraulic cylinder, the use of a multi-stage gear reducer in the related art can be avoided, and the cross-sectional area of the main arm is also greatly reduced. This not only saves materials, but also reduces the quality of the entire machine.
[0057] The embodiments of the present application have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.
Claims
1. A spraying robot, characterized in that: include: A machine base, wherein a first rotating connection portion and a second rotating connection portion are provided on the machine base, and the first rotating connection portion and the second rotating connection portion are arranged spaced apart in a vertical direction; A main arm, the main arm is arranged at one side of the machine base, and a spraying assembly is arranged at one end of the main arm away from the machine base; a third rotating connection part and a fourth rotating connection part are arranged on the main arm, and the third rotating connection part and the fourth rotating connection part are arranged at intervals, wherein the first rotating connection part and the third rotating connection part are connected by an upper support arm, and the second rotating connection part and the fourth rotating connection part are connected by a lower support arm; The hydraulic cylinder is provided with a base and a telescopic part, wherein the base is rotatably connected to the machine base, and the telescopic part is rotatably connected to the fourth rotating connection part.
2. The spraying robot according to claim 1, characterized in that: The base of the hydraulic cylinder is rotatably connected to the first rotating connection portion.
3. The spraying robot according to claim 1, characterized in that: The first rotating connection part is arranged on the machine base at a side close to the main arm, and the second rotating connection part is arranged on the machine base at a side away from the main arm; The first rotating connection part and the second rotating connection part have a first distance in the vertical direction on the base, and the first rotating connection part and the second rotating connection part have a second distance in the horizontal direction, and the first distance is greater than the second distance.
4. The spraying robot according to claim 1, characterized in that: The machine base comprises a bottom plate, and two vertical plates fixedly arranged on the bottom plate, wherein the two vertical plates are arranged at intervals, and the two vertical plates are fixedly connected at a side away from the main arm.
5. The spraying robot according to claim 4, characterized in that: The two vertical plates are fixedly connected by a connecting plate at a side away from the main arm. The connecting plate is arranged close to the second rotating connecting portion, and the connecting plate is connected to the side edges of the two vertical plates.
6. The spraying robot according to claim 4, characterized in that: Also includes: A hydraulic slide is fixed relative to an external fixed body, a slider is provided on the hydraulic slide, and the machine base is fixed to the slider.
7. The spraying robot according to claim 6, characterized in that: Also includes: The hydraulic control system is connected to the hydraulic cylinder and the hydraulic slide, and is used to control the operation of the hydraulic cylinder and the hydraulic slide.
8. The spraying robot according to claim 1, characterized in that: Also includes: The machine base includes a bottom plate and two vertical plates fixed on the bottom plate, the two vertical plates are arranged at intervals, and the two vertical plates are fixedly connected on a side away from the main arm; two mounting holes are provided between the two vertical plates, and the rotating shafts of the first rotating connection part and the second rotating connection part are passed through the corresponding mounting holes, and the rotating shafts are pressed by end covers on the outside of the mounting holes; the two vertical plates are fixedly connected by a connecting plate on a side away from the main arm, and the connecting plate is arranged close to the second rotating connection part, and the connecting plate is connected to the sides of the two vertical plates.