Six-degree-of-freedom spraying robot mechanical arm

Abstract

The utility model belongs to the technical field of mechanical arms, and particularly relates to a six-degree-of-freedom spraying robot mechanical arm which comprises a base, a first rotating arm is rotatably arranged on the base, a first swinging arm is rotatably arranged on the first rotating arm, a second swinging arm is rotatably arranged on the first swinging arm, and a first rotating arm is rotatably arranged on the second swinging arm. A second rotating arm is rotatably arranged on the second swinging arm, a first rotating roller is arranged on the second rotating arm, a mounting seat is fixedly arranged on the first rotating roller, a second rotating roller is fixedly arranged in the mounting seat, a hydraulic telescopic rod is fixedly arranged on the second rotating roller, and a spray gun is arranged at the telescopic end of the hydraulic telescopic rod; and a spray head is arranged on the spray gun. According to the spraying device, the three rotating rollers which operate independently are arranged on the last rotating arm and used for controlling the spraying guns with the three different nozzles to rotate, then the hydraulic telescopic rods control the spraying heads on the two sides to stretch out and draw back, spraying work is conducted at the same time in cooperation with the spraying head in the middle, and spraying work on the surface of a large-area instrument is faster.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arms, in particular to a six-degree-of-freedom spray robot mechanical arm. Background Art

[0002] The six-degree-of-freedom spray robot arm is a complex system with high precision, multi-input and multi-output, high nonlinearity, and strong coupling. It can complete any action in three-dimensional space and has six degrees of freedom. These six degrees of freedom represent the rotational freedom of three coordinate axes, allowing the robot arm to move flexibly in all directions.

[0003] However, existing robotic arms can usually only hold one spray gun for spraying. If encountering corners or other places that are difficult to reach, other types of nozzles or spray guns need to be replaced. Moreover, a single spray gun cannot meet the requirements of spraying a large area of ​​mechanical surface. Therefore, multiple spray guns are needed to cooperate with each other to speed up the completion of the work.

[0004] In order to solve the above problems, this application proposes a six-degree-of-freedom spray robot arm. Utility Model Content

[0005] In order to solve the above technical problems, the utility model provides a six-degree-of-freedom spray robot mechanical arm, including a base, a first rotating arm is rotatably provided on the base, a first swing arm is rotatably provided on the first rotating arm, a second swing arm is rotatably provided on the first swing arm, a second rotating arm is rotatably provided on the second swing arm, a first rotating roller is fixedly installed on the second rotating arm, a mounting seat is fixedly provided on the output shaft of the first rotating roller, a second rotating roller is fixedly installed in the mounting seat, a hydraulic telescopic rod is fixedly provided on the output shaft of the second rotating roller, a spray gun is fixedly provided on the telescopic end of the hydraulic telescopic rod, and a spray head is fixedly provided on the spray gun.

[0006] Preferably, a motor and a gear are fixedly disposed inside the base, and the bottom of the first rotating arm is meshed with the gear.

[0007] Preferably, two ends of the first swing arm are rotatably connected to the first rotating arm and the second swing arm respectively, and a terminal end of the second swing arm is rotatably connected to the second rotating arm.

[0008] Preferably, a notch is provided at the end of the second rotating arm, a rotating roller is rotatably installed in the notch, a fixing seat is fixedly connected to the rotating roller, and a spray gun is sleeved on the fixing seat.

[0009] Preferably, the three nozzles have different shapes: the nozzle on the left is cylindrical, the nozzle in the middle is funnel-shaped, and the nozzle on the right is flat-mouthed.

[0010] Preferably, the three spray guns do not contact each other when rotating.

[0011] The above technical solution of the utility model has the following beneficial technical effects:

[0012] The utility model arranges three independently operating rotating rollers on the last rotating arm to control the rotation of three spray guns with different nozzles, and then controls the extension and retraction of the nozzles on both sides through the hydraulic telescopic rod, and cooperates with the nozzle in the middle to spray at the same time, so that the spraying work of a large area of ​​the surface of the equipment is faster. At the same time, the three spray guns can realize six-degree-of-freedom swing, so that when the device encounters corners or other places that are difficult to penetrate, it can drive spray guns with other types of nozzles to spray, and quickly realize the switching of nozzles, so that the device can complete more types of work, and endow the device with applicability to a variety of scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a schematic diagram of the front view structure of the utility model;

[0014] Figure 2 This is a side view of the structure of the utility model;

[0015] Figure 3 It is a schematic diagram of the structure of the utility model from top view.

[0016] Reference numerals:

[0017] 1. Base; 2. First rotating arm; 201. First swing arm; 202. Second swing arm; 203. Second rotating arm; 3. First rotating roller; 301. Mounting seat; 4. Second rotating roller; 5. Hydraulic telescopic rod; 6. Spray gun; 601. Spray head. DETAILED DESCRIPTION

[0018] 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.

[0019] It should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present invention.

[0020] A six-degree-of-freedom spray robot manipulator arm provided by some embodiments of the utility model will be described below in conjunction with the accompanying drawings.

[0021] Embodiment 1:

[0022] Combination Figure 1-3As shown, the utility model provides a six-degree-of-freedom spraying robot mechanical arm, including a base 1, a first rotating arm 2 is rotatably provided on the base 1, a first swing arm 2 is rotatably provided on the first rotating arm 2, a second swing arm 202 is rotatably provided on the first swing arm 201, a second rotating arm 203 is rotatably provided on the second swing arm 202, a first rotating roller 3 is fixedly installed on the second rotating arm 203, a mounting seat 301 is fixedly provided on the output shaft of the first rotating roller 3, a second rotating roller 4 is fixedly installed in the mounting seat 301, a hydraulic telescopic rod 5 is fixedly provided on the output shaft of the second rotating roller 4, a spray gun 6 is fixedly provided on the telescopic end of the hydraulic telescopic rod 5, and a spray head is fixedly provided on the spray gun 6 601, a motor and a gear are fixedly arranged in the base 1, the bottom of the first rotating arm 2 is meshed with the gear, the two ends of the first swing arm 201 are rotatably connected to the first rotating arm 2 and the second swing arm 202 respectively, the end of the second swing arm 202 is rotatably connected to the second rotating arm 203, a notch is provided at the end of the second rotating arm 203, a rotating roller is rotatably installed in the notch, a fixed seat is fixedly connected to the rotating roller, a spray gun 6 is sleeved on the fixed seat, the three spray heads 601 have different shapes, the left spray head 601 is cylindrical, the middle spray head 601 is funnel-shaped, and the right spray head 601 is flat-mouthed, and the three spray guns 6 do not contact each other when rotating.

[0023] Specifically, the base 1 is fixedly installed on the ground to provide support for all the structures above. At the same time, a motor and a gear are arranged in the base 1, so that the motor can drive the first rotating arm 2 above to rotate when driving the gear to rotate. A first swing arm 201 is rotatably connected to the end of the first rotating arm 2, and a second swing arm 202 is rotatably connected to the other end of the first swing arm 201. A second rotating arm 203 is rotatably connected to the end of the second swing arm 202. A spray gun 6 is connected to the second rotating arm 203, so that the spray gun 6 can achieve six-degree-of-freedom swinging under the cooperation of the first rotating arm 2, the first swing arm 201, the second swing arm 202 and the second rotating arm 203. Two first rotating rollers 3 are fixedly installed in the second rotating arm 203, and a rotating roller is rotatably connected to the end opening of the second rotating arm 203. A mounting seat 301 is fixedly welded at the output end of the first rotating roller 3, so that the first rotating roller 3 can drive the mounting seat 301 to rotate. 01 is fixedly installed with a second rotating roller 4, and a hydraulic telescopic rod 5 is fixedly welded on the output shaft of the second rotating roller 4, so that the second rotating roller 4 can drive the hydraulic telescopic rod 5 to rotate, and a fixed seat is fixedly welded on the telescopic end of the hydraulic telescopic rod 5, and a detachable spray gun 6 is installed in the fixed seat, so that the spray guns 6 on the left and right sides can rotate and retract freely under the cooperation of the first rotating roller 3, the second rotating roller 4 and the hydraulic telescopic rod 5, so that the spray guns 6 between the cooperation can work at the same time to achieve spraying of a large area of ​​the surface of the equipment, and three nozzles 601 of different shapes are fixedly installed on the three spray guns 6, so that when a spray gun 6 works alone, it can switch to other spray guns 6 for spraying when encountering corners or other places that are difficult to penetrate, and each spray gun 6 can be controlled to swing individually, and they do not touch each other when swinging, so that each spray gun 6 can be quickly switched, so that the device has higher adaptability to scene diversity and can meet the needs of diversified work.

[0024] The working principle and use process of the utility model are as follows: first, the control device in the base 1 and the rotating rollers on the first rotating arm 2, the first swing arm 201, the second swing arm 202, and the second rotating arm 203 are used to control the middle spray gun 6 to perform spraying. When a large area of ​​equipment needs to be sprayed, the first rotating roller 3, the second rotating roller 4 and the hydraulic telescopic rod 5 can be used to control the spray guns 6 on both sides to swing, so as to cooperate with the middle spray gun 6 to spray the equipment at different positions, making the spraying rate faster. When encountering corners or other places that are difficult to penetrate, the spray gun 6 with a smaller nozzle 601 can be controlled to perform in-depth spraying, thereby improving the adaptability of the device to the environment and meeting the needs of more users at the same time.

[0025] 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 six-degree-of-freedom spray robot arm, comprising a base (1), characterized in that: A first rotating arm (2) is rotatably provided on the base (1), a first swing arm (201) is rotatably provided on the first rotating arm (2), a second swing arm (202) is rotatably provided on the first swing arm (201), a second rotating arm (203) is rotatably provided on the second swing arm (202), a first rotating roller (3) is fixedly mounted on the second rotating arm (203), a mounting seat (301) is fixedly provided on the output shaft of the first rotating roller (3), a second rotating roller (4) is fixedly mounted in the mounting seat (301), a hydraulic telescopic rod (5) is fixedly provided on the output shaft of the second rotating roller (4), a spray gun (6) is fixedly provided at the telescopic end of the hydraulic telescopic rod (5), and a spray head (601) is fixedly provided on the spray gun (6).

2. A six-degree-of-freedom spray robot arm according to claim 1, characterized in that: A motor and a gear are fixedly arranged inside the base (1), and the bottom of the first rotating arm (2) is meshed with the gear.

3. A six-degree-of-freedom spray robot arm according to claim 1, characterized in that: The two ends of the first swing arm (201) are rotatably connected to the first rotating arm (2) and the second swing arm (202), respectively, and the end of the second swing arm (202) is rotatably connected to the second rotating arm (203).

4. The six-degree-of-freedom spray robot arm according to claim 1, characterized in that: A notch is provided at the end of the second rotating arm (203), a rotating roller is rotatably mounted in the notch, a fixing seat is fixedly connected to the rotating roller, and a spray gun (6) is sleeved on the fixing seat.

5. The six-degree-of-freedom spray robot arm according to claim 1, characterized in that: The three nozzles (601) have different shapes: the nozzle (601) on the left is cylindrical, the nozzle (601) in the middle is funnel-shaped, and the nozzle (601) on the right is flat-mouthed.

6. The six-degree-of-freedom spray robot arm according to claim 1, characterized in that: The three spray guns (6) do not contact each other when rotating.

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