Spraying equipment tail end pointing device and robot

Abstract

The utility model relates to the technical field of spraying, and aims to solve the problem that the pointing of the tail end of spraying equipment is limited by a joint and a mechanical arm in the workpiece spraying process. The utility model discloses a spraying equipment tail end pointing device and a robot. The spraying equipment tail end pointing device comprises a nozzle, a first swing assembly, a second swing assembly and a base. The nozzle is arranged on the first swing assembly, the first swing assembly is arranged on the second swing assembly, the second swing assembly is arranged on the base, the first swing assembly is arranged to be capable of rotating around a first axis in a reciprocating mode so as to drive the nozzle to swing, and the second swing assembly is arranged to be capable of driving the first swing assembly to rotate around a second axis in a reciprocating mode. According to the utility model, the direction of the spraying equipment in the spraying process is more flexible, and the coverage range is wider, so that the direction of the tail end of the equipment is not limited by a joint, the action range of a robot in the spraying process is reduced, the coverage range is wider, and the spraying effect is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of spraying, in particular to a terminal pointing device of spraying equipment and a robot. Background Art

[0002] Spraying robots are increasingly used and are often used in hardware, furniture, bathroom, construction machinery and other scenarios. When common six-joint robots are used for spraying, the end pointing of the spraying robot is restricted by the joints and robotic arms, and often encounters problems such as singularities or exceeding the joint angle range. Singularities refer to some special positions during the movement of the robot or robot arm, where the robot's movement exhibits abnormal or discontinuous characteristics.

[0003] In actual application scenarios, in order to avoid problems such as singular points, a section of empty track is usually inserted for transition. Inserting an empty track will make the spraying track intermittent, affecting the spraying effect. At the same time, the insertion of an empty track is equivalent to increasing the idle running time of the machine, reducing the overall production efficiency.

[0004] There are also hollow wrist robots used in spraying, which significantly reduces the probability of singular points. However, the hollow wrist requires more precision parts, resulting in higher hardware costs. Utility Model Content

[0005] The utility model aims to provide a device suitable for the end pointing of spraying equipment, so as to solve the problem that the end pointing of the spraying equipment is restricted by the joints and the mechanical arm during the spraying process, thereby causing the occurrence of singular points or exceeding the joint angle range.

[0006] To solve the above problems, the first aspect of an embodiment of the utility model provides an end pointing device of a spraying equipment, including a nozzle, a first swinging assembly, a second swinging assembly and a base; the nozzle is arranged on the first swinging assembly, the first swinging assembly is arranged on the second swinging assembly, the second swinging assembly is arranged on the base, the first swinging assembly is arranged to be able to reciprocate around a first axis and thereby drive the nozzle to swing, and the second swinging assembly is arranged to be able to drive the first swinging assembly to reciprocate around a second axis; wherein, the first axis and the second axis are perpendicular to each other.

[0007] Through such a setting, the nozzle is set on the first swinging assembly to realize the swinging of the nozzle back and forth on the first axis, and the first swinging assembly is driven by the second swinging assembly to realize the swinging of the nozzle back and forth on the second axis. The continuous swinging of the first swinging assembly and the second swinging assembly makes the direction of the nozzle more flexible and the coverage more comprehensive, so that the end direction of the spraying equipment is not restricted by the joint. The first axis and the second axis are set in a vertical state, which is convenient for the control device to judge and record the movement trajectory of the nozzle during the swinging process, and is conducive to the control of the direction of the nozzle during the spraying process.

[0008] Preferably, the first swing assembly includes a first motor, a rotating shaft and a first frame, the first motor is connected to the first frame via the rotating shaft, the first motor is arranged on the base, the rotating shaft is rotatably connected to the second swing assembly, and the nozzle is arranged on the first frame.

[0009] Through such an arrangement, the first motor drives the rotating shaft to rotate, thereby realizing the swing of the first frame to drive the nozzle to swing along the first axis. At the same time, the first motor is arranged on the base so that the first motor is separated from the rotating shaft, thereby reducing the load of the first swinging component during the swinging process, thereby making the first swinging component lighter.

[0010] Preferably, the output shaft of the first motor is connected with a driving bevel gear, the rotating shaft is sleeved with a driven bevel gear, the driving bevel gear and the driven bevel gear are meshed with each other, and the axis of the driving bevel gear and the axis of the driven bevel gear are perpendicular to each other.

[0011] Through such an arrangement, the active bevel gear connected to the first motor drives the driven bevel gear on the rotating shaft, thereby realizing the rotation of the rotating shaft being controlled by the first motor, and the axes of the active bevel gear and the driven bevel gear are arranged to be perpendicular to each other, so that the driving effect of the first motor and the meshing effect between the active bevel gear and the driven bevel gear are better.

[0012] Preferably, the second swing assembly includes a second motor and a second frame, the output shaft of the second motor is connected to the second frame, the second motor is arranged on the base, the second frame is rotatably connected to the base, and the rotating shaft is rotatably connected to the second frame.

[0013] Through such an arrangement, the second motor is arranged on the base, the second frame is rotatably connected to the base, the second motor drives the second frame to rotate on the base, and the rotating shaft is connected to the second frame at the same time, so that the rotating shaft and the second frame can rotate along the second axis, thereby driving the nozzle to reciprocate on the second axis.

[0014] Preferably, an axis of the first motor and an axis of the second motor coincide with or are parallel to each other.

[0015] Through such an arrangement, the first motor and the second motor are arranged on the same axis or parallel to each other, which is convenient for saving space. At the same time, the first motor and the second motor do not swing with the first frame and the second frame, making the pointing device lighter and improving controllability.

[0016] Preferably, the base includes a first bracket and a second bracket connected to each other, the second bracket is arranged between the first bracket and the second bracket, the first motor is arranged on the first bracket or the base, and the second motor is arranged on the second bracket or the base.

[0017] Through such an arrangement, the second frame is arranged between the first bracket and the second bracket to form a space for the second frame to rotate. At the same time, the outer sides of the first bracket and the second bracket provide installation space for the first motor and the second motor, and can also provide a fixed bracket for the transmission shafts of the first motor and the second motor.

[0018] Preferably, the first motor is located at the outside of the first bracket, the output shaft of the first motor passes through the first bracket and the second frame in sequence to be connected to the active bevel gear, and the second motor is located at the outside of the second bracket, and the output shaft of the second motor passes through the second bracket to be connected to the second frame; or, the first motor is located at the outside of the first bracket and below the base, the output shaft of the first motor is connected to the first transmission shaft on the first frame through a gear pair or a pulley pair, and the first transmission shaft passes through the first bracket and the second frame in sequence to be connected to the active bevel gear; the second motor is located at the outside of the second bracket and below the base, the output shaft of the second motor is connected to the second transmission shaft on the second frame through a gear pair or a pulley pair, and the second transmission shaft passes through the second bracket to be connected to the second frame.

[0019] Through such an arrangement, the first motor and the second motor are arranged outside the first bracket and the second bracket or below the base, the output shaft or transmission shaft of the first motor passes through the first bracket and the second frame, and is connected to the active bevel gear to control the rotation of the shaft, thereby realizing the swing of the first frame on the first axis; the output shaft or transmission shaft of the second motor passes through the second bracket and is connected to the second frame to control the swing of the second frame, thereby driving the first frame to swing on the second axis. When the first motor and the second motor are arranged on the first bracket and the second bracket, the first motor and the second motor are on the same straight line and symmetrically arranged on both sides of the seats, which is conducive to the stability of the pointing device during installation and operation; when the first motor and the second motor are arranged below the base, the swing control of the pointing device is realized through a gear pair or a pulley pair.

[0020] Preferably, the end pointing device of the spraying equipment also includes a third motor, the third motor is arranged on the first frame, the nozzle is connected to the output shaft of the third motor, and the third motor drives the nozzle to rotate around a third axis; wherein the first axis, the second axis and the third axis are perpendicular to each other and intersect at one point.

[0021] Through such an arrangement, a third motor is arranged on the first frame, and the nozzle is rotated around the third axis by the third motor. The first axis, the second axis and the third axis are arranged to be perpendicular to each other and relative to a point, so that the nozzle pointing is more flexible and the overall structure is more compact, saving space.

[0022] Preferably, the nozzle of the nozzle has an angle with the third axis; and / or, the protruding end of the nozzle is provided with a posture sensor for detecting the posture of the nozzle.

[0023] Through such an arrangement, when the third motor controls the rotation of the nozzle, an angle exists between the nozzle outlet and the third axis, so that the spraying coverage is wider and the pointing device is more flexible to control; a posture sensor is arranged at the protruding end of the nozzle, which can monitor the swing position of the nozzle along the first axis and the second axis and the rotation angle along the third axis, and then determine the specific direction of the nozzle and monitor the spraying range of the nozzle.

[0024] Correspondingly, another aspect of an embodiment of the utility model provides a robot, wherein the robot comprises the above-mentioned end pointing device of the spraying equipment.

[0025] The above-mentioned spray equipment end pointing device is set on the robot, so that the spray equipment end pointing is restricted by the joints and the mechanical arm during the process of spraying the workpiece, reducing the movement range of the robot during the spraying process, making the spray end pointing more flexible, covering a wider range, and achieving better spraying effect.

[0026] To sum up, the utility model provides a terminal pointing device and a robot for spraying equipment. On the one hand, through the terminal pointing device of the spraying equipment, the pointing of the nozzle of the spraying equipment during the spraying process is more flexible and the coverage is wider, so that the terminal pointing of the spraying equipment is not restricted by the joints; on the other hand, by arranging the terminal pointing device on the spraying robot, the terminal pointing of the spraying equipment of the robot is restricted by the joints and the mechanical arm during the process of spraying the workpiece, thereby reducing the movement amplitude of the robot during the spraying process, and thus the terminal pointing of the spraying is more flexible, the coverage is wider, and the spraying effect is better. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a structural schematic diagram of a terminal pointing device of a spraying device provided by an embodiment of the utility model;

[0028] Figure 2 It is a schematic diagram of the arrangement of the first motor and the second motor of the end pointing device of the spraying equipment provided by an embodiment of the utility model.

[0029] List of reference numerals:

[0030] 1. Nozzle; 2. First swing assembly; 21. First motor; 22. Rotating shaft; 23. First frame; 231. First transmission shaft; 24. Active bevel gear; 25. Driven bevel gear; 26. Third motor; 3. Second swing assembly; 31. Second motor; 32. Second frame; 321. Second transmission shaft; 4. Base; 41. First bracket; 42. Second bracket; 5. Attitude sensor. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solution and advantages of the utility model clearer, the utility model is further described in detail below in combination with specific implementation methods and with reference to the accompanying drawings. It should be understood that these descriptions are only exemplary and are not intended to limit the scope of the utility model. In addition, in the following description, the description of well-known structures and technologies is omitted to avoid unnecessary confusion of the concept of the utility model.

[0032] In the description of the present invention, it should be noted that the terms "first", "second" and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0033] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0034] The present invention will be described in more detail below with reference to the accompanying drawings. In each of the accompanying drawings, the same elements are represented by similar reference numerals. For the sake of clarity, the various parts in the accompanying drawings are not drawn to scale.

[0035] The technical solution of the utility model is described in detail below with reference to the accompanying drawings. According to one embodiment of the utility model, a spraying equipment end pointing device is provided, such as Figure 1As shown, the end pointing device of the spraying equipment includes a nozzle 1, a first swinging assembly 2, a second swinging assembly 3 and a base 4; the nozzle 1 is arranged on the first swinging assembly 2, the first swinging assembly 2 is arranged on the second swinging assembly 3, and the second swinging assembly 3 is arranged on the base 4. The first swinging assembly 1 is arranged to be able to reciprocate around the first axis X to drive the nozzle 1 to swing, and the second swinging assembly 3 is arranged to be able to drive the first swinging assembly 2 to reciprocate around the second axis Y, thereby making the pointing of the nozzle 1 more flexible and covering a more comprehensive range, so that the end pointing of the spraying equipment is not restricted by the joint; wherein the first axis X and the second axis Y are perpendicular to each other, which is convenient for the control device to judge and record the movement trajectory of the nozzle 1 during the swinging process, and is conducive to the control of the pointing of the nozzle 1 during the spraying process.

[0036] Combination Figure 1 Preferably, the first swing assembly 2 includes a first motor 21, a rotating shaft 22 and a first frame 23, the first motor 21 is connected to the first frame 23 through the rotating shaft 22, the first motor 21 is arranged on the base 4, the rotating shaft 22 is rotatably connected to the second swing assembly 3, and the nozzle 4 is arranged on the first frame 23; the output shaft of the first motor 21 is connected to the active bevel gear 24, the rotating shaft 22 is sleeved with a driven bevel gear 25, the active bevel gear 24 and the driven bevel gear 25 are meshed with each other, the axis of the active bevel gear 24 and the axis of the driven bevel gear 25 are perpendicular to each other, and the nozzle 4 is arranged on the first frame 23; the output shaft of the first motor 21 is connected to the active bevel gear 24, the driven bevel gear 25 is sleeved on the rotating shaft 22, the active bevel gear 24 and the driven bevel gear 25 are meshed with each other, and the axis of the active bevel gear 24 and the axis of the driven bevel gear 25 are perpendicular to each other. The first motor 21 drives the rotating shaft 22 to rotate, thereby realizing the swing of the first frame 23 to drive the nozzle 1 to swing along the first axis X. At the same time, the first motor 21 is arranged on the base 4, so that the first motor 21 is separated from the rotating shaft 22, reducing the load of the first swing assembly 2 during the swinging process, thereby making the first swing assembly 2 lighter; it should be noted that the active bevel gear 24 and the driven bevel gear 25 are preferably perpendicular to each other, so that the driving effect of the first motor 21 and the meshing effect between the active bevel gear 24 and the driven bevel gear 25 are better. Preferably, the second swing assembly 3 includes a second motor 31 and a second frame 32, the output shaft of the second motor 31 is connected to the second frame 32, the second motor 31 is arranged on the base 4, the second frame 32 is rotatably connected to the base 4, the rotating shaft 22 is rotatably connected to the second frame, and the second motor 31 is used to drive the second frame 32 to rotate on the base 4, so that the rotating shaft 22 and the second frame 32 rotate along the second axis Y.

[0037] In a preferred case, the end pointing device of the spraying equipment further includes a third motor 26, which is arranged on the first frame 23, and the nozzle 1 is connected to the output shaft of the third motor 26. The third motor 26 drives the nozzle 1 to rotate around the third axis Z. When the third motor 26 controls the rotation of the nozzle 1, there is an angle between the nozzle of the nozzle 1 and the third axis Z, so that the coverage of the spraying is wider and the control of the pointing device is more flexible; preferably, the first axis X, the second axis Y and the third axis Z are perpendicular to each other and intersect at one point, so that the nozzle 1 is more flexible in pointing, and the overall structure is more compact, saving space. Preferably, the nozzle of the nozzle 1 has an angle with the third axis Z, and the protruding end of the nozzle 1 is provided with a posture sensor 5 for detecting the posture of the nozzle. It should be noted that the posture sensor 5 plays a role in monitoring the real-time position and deflection angle of the end of the nozzle 1, so as to facilitate the acquisition of the coverage of the nozzle 1 during the entire spraying process, so that the spraying effect meets the requirements.

[0038] Combination Figure 1 In an optional case, the axis of the first motor 21 and the axis of the second motor 31 coincide with each other, which is convenient for saving space. At the same time, the first motor 21 and the second motor 31 do not swing with the first frame 23 and the second frame 32, making the pointing device lighter and improving the maneuverability. Preferably, the base 4 includes a first bracket 41 and a second bracket 42 connected to each other, the second frame 32 is arranged between the first bracket 41 and the second bracket 42, the first motor 21 is arranged on the first bracket 41 or the base 4, and the second motor 31 is arranged on the second bracket 42 or the base 4, forming a space for the second frame 32 to rotate, and providing installation space for the first motor 21 and the second motor 31. Preferably, the first motor 21 is located outside the first bracket 41, and the output shaft of the first motor 21 passes through the first bracket 41 and the second frame 32 in sequence to be connected to the active bevel gear 24, and the second motor 31 is located outside the second bracket 42, and the output shaft of the second motor 31 passes through the second bracket 42 to be connected to the second frame 32.

[0039] Combination Figure 2 In another case, the axis of the first motor 21 and the axis of the second motor 31 are parallel to each other, the first motor 21 is located outside the first bracket 41 and below the base 4, the output shaft of the first motor 21 is connected to the first transmission shaft 231 on the first frame 23 through a pulley pair, the first transmission shaft 231 passes through the first bracket 41 and the second frame 32 in sequence and is connected to the active bevel gear 24; the second motor 31 is located outside the second bracket 42 and below the base 4, the output shaft of the second motor 31 is connected to the second transmission shaft 321 on the second frame 32 through a gear pair or a pulley pair, the second transmission shaft 321 passes through the second bracket 42 and is connected to the second frame 32.

[0040] It should be noted that the first motor 21 and the second motor 31 can also be arranged at other positions of the base 4, and the main purpose is to drive the first frame 23 and the second frame 32 to swing; at the same time, the structure of the first bracket 41 and the second bracket 42 arranged on the base 4 is not limited to that shown in the figure, that is, it is sufficient to form a swing space for the second frame 32 on the base 4. Accordingly, the first motor 21 and the second motor 31 can be arranged by other means such as a gear pair, as long as they can drive the first frame 23 and the second frame 32 to swing along the first axis X and the second axis Y.

[0041] Correspondingly, another aspect of an embodiment of the utility model provides a robot, which includes a spraying equipment end pointing device, so that the pointing of the spraying equipment end of the robot is restricted by joints and mechanical arms during the process of spraying workpieces, thereby reducing the movement amplitude of the robot during the spraying process, making the spraying end pointing more flexible, covering a wider range, and achieving better spraying effect.

[0042] It should be understood that the above specific embodiments of the present invention are only used to illustrate or explain the principles of the present invention, and do not constitute a limitation on the present invention. Therefore, any modifications, equivalent substitutions, improvements, etc. made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. In addition, the claims attached to the present invention are intended to cover all changes and modifications that fall within the scope and boundaries of the attached claims, or the equivalent forms of such scope and boundaries.

Claims

1. A spraying equipment end pointing device, characterized in that: The end pointing device of the spraying equipment comprises: a nozzle, a first swing component, a second swing component and a base; The nozzle is arranged on the first swinging assembly, the first swinging assembly is arranged on the second swinging assembly, the second swinging assembly is arranged on the base, the first swinging assembly is arranged to be able to reciprocate around a first axis to drive the nozzle to swing, and the second swinging assembly is arranged to be able to drive the first swinging assembly to reciprocate around a second axis; Wherein, the first axis and the second axis are perpendicular to each other.

2. The spraying equipment end pointing device according to claim 1, characterized in that: The first swing assembly includes a first motor, a rotating shaft and a first frame, the first motor is connected to the first frame via the rotating shaft, the first motor is arranged on the base, the rotating shaft is rotatably connected to the second swing assembly, and the nozzle is arranged on the first frame.

3. The spraying equipment end pointing device according to claim 2, characterized in that: The output shaft of the first motor is connected with an active bevel gear, the rotating shaft is sleeved with a driven bevel gear, the active bevel gear and the driven bevel gear are meshed with each other, and the axis of the active bevel gear and the axis of the driven bevel gear are perpendicular to each other.

4. The spraying equipment end pointing device according to claim 3, characterized in that: The second swing assembly includes a second motor and a second frame, the output shaft of the second motor is connected to the second frame, the second motor is arranged on the base, the second frame is rotatably connected to the base, and the rotating shaft is rotatably connected to the second frame.

5. The spraying equipment end pointing device according to claim 4, characterized in that: An axis of the first motor and an axis of the second motor coincide with or are parallel to each other.

6. The spraying equipment end pointing device according to claim 4, characterized in that: The base includes a first bracket and a second bracket connected to each other, the second bracket is arranged between the first bracket and the second bracket, the first motor is arranged on the first bracket or the base, and the second motor is arranged on the second bracket or the base.

7. The spraying equipment end pointing device according to claim 6, characterized in that: The first motor is located outside the first bracket, and the output shaft of the first motor passes through the first bracket and the second bracket in sequence to be connected to the active bevel gear; the second motor is located outside the second bracket, and the output shaft of the second motor passes through the second bracket to be connected to the second bracket; or, The first motor is located outside the first bracket and below the base, the output shaft of the first motor is connected to the first transmission shaft on the first frame through a gear pair or a pulley pair, and the first transmission shaft passes through the first bracket and the second frame in sequence and is connected to the active bevel gear; The second motor is located outside the second bracket and below the base. The output shaft of the second motor is connected to the second transmission shaft on the second frame through a gear pair or a pulley pair. The second transmission shaft passes through the second bracket and is connected to the second frame.

8. The spraying equipment end pointing device according to claim 2, characterized in that: The spraying equipment end pointing device further comprises a third motor, the third motor is arranged on the first frame, the nozzle is connected to the output shaft of the third motor, and the third motor drives the nozzle to rotate around a third axis; The first axis, the second axis and the third axis are perpendicular to each other and intersect at one point.

9. The spraying equipment end pointing device according to claim 8, characterized in that: The nozzle orifice of the nozzle has an angle with the third axis; and / or, The protruding end of the nozzle is provided with a posture sensor for detecting the posture of the nozzle.

10. A robot, characterized in that: The robot comprises the spraying equipment end pointing device according to any one of claims 1 to 9.

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