Multi-axis linkage spraying mechanism of spraying robot

Abstract

The utility model relates to the technical field of spraying robots, and discloses a multi-axis linkage spraying mechanism of a spraying robot, which is characterized in that a bottom plate is fixedly connected with a translation module, the bottom plate is fixedly connected with a groove type photoelectric device I, the translation module is fixedly connected with a 400W servo motor I, the translation module is fixedly connected with a movable rib plate, and the movable rib plate is fixedly connected with a groove type photoelectric device II; the translation module is fixedly connected with an Rz index plate fixing plate, the translation module is fixedly connected with a translation module moving bottom plate, and the translation module is fixedly connected with translation module moving bottom plate reinforcing ribs. According to the multi-axis linkage full-angle rotating mechanism of the spraying mechanism of the spraying robot, the cost of the spraying robot is reduced, meanwhile, it is guaranteed that the spraying mechanism has enough movement space, the spraying requirements of various wall surfaces are met, and the multi-axis linkage full-angle rotating mechanism has wide practicability and convenience and is easy to install and debug.

Description

Technical Field

[0001] The utility model relates to the technical field of spraying robots, in particular to a multi-axis linkage spraying mechanism of a spraying robot. Background Art

[0002] At present, the painting of walls and roofs in the construction industry is basically done manually. The paint has a peculiar smell and is toxic, which will cause irreversible effects on the human body. The labor cost of painters is huge, and there are relatively few types of paint jobs, which is very tight for the budget. In recent years, with the continuous advancement of science and technology, more and more indoor wall painting robots have begun to enter the market. This kind of robot can realize indoor wall painting through the control program, which can greatly improve the spraying efficiency, and can achieve precise spraying and improve the construction quality. Although the robotic arm has a multi-degree-of-freedom articulated structure, has a large motion space, and can perform complex trajectory movements, the robotic arm is expensive, which increases the cost of the spraying robot. Although the three-axis module structure is cheap, it cannot achieve free movement, the movement space is insufficient, and the movement trajectory is single, which cannot meet the spraying work of the walls of various scenes. Utility Model Content

[0003] The utility model aims to solve the shortcomings in the prior art and proposes a multi-axis linkage spraying mechanism for a spraying robot.

[0004] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: a translation module is fixedly connected to the base plate, a slot-type photoelectric is fixedly connected to the base plate, a 400W servo motor is fixedly connected to the translation module, a movable rib plate is fixedly connected to the translation module, an Rz-dividing plate fixedly connected to the translation module, a translation module moving base plate is fixedly connected to the translation module, and the translation module is fixedly connected to the translation module with translation module moving base plate reinforcement ribs.

[0005] As a further description of the above technical solution:

[0006] The translation module moving base plate is fixedly connected with Rz1 dividing plate, the Rz1 dividing plate driving part has 400W servo motor 2, the Rz1 dividing plate is fixedly connected with Rz1 dividing plate fixing plate, one side of the Rz1 dividing plate is fixedly connected with the translation module fixing plate, and the Rz2 dividing plate extension rod is fixedly connected to the Rz1 dividing plate fixing plate.

[0007] As a further description of the above technical solution:

[0008] A driver protection cover is fixedly connected in the middle of the Rz two-dividing disk extension rod, a connecting vertical shaft is fixedly connected in the middle of the Rz two-dividing disk extension rod, a Rz two-dividing disk fixing plate is fixedly connected to the upper part of the Rz two-dividing disk extension rod, a Rz two-dividing disk is fixedly connected to the Rz two-dividing disk fixing plate, a Rz two-dividing disk is fixedly connected to the Rz two-rotating plates on the Rz two-rotating plates, and a Rz two-rotating vertical plates are fixedly connected to the Rz two-rotating plates.

[0009] As a further description of the above technical solution:

[0010] The side of the second rotating vertical plate of Rz is fixedly connected with a 100W servo motor connecting line, the side of the second rotating vertical plate of Rz is fixedly connected with a 100W servo motor, and the side of the second rotating vertical plate of Rz is fixedly connected with a 1:5 reducer.

[0011] As a further description of the above technical solution:

[0012] A groove-shaped photoelectric II is fixedly connected in front of the Rz II rotating vertical plate, a spraying fixed plate is fixedly connected on the 1:5 reducer, a spray gun is fixedly connected in front of the spraying fixed plate, and an induction sheet is fixedly connected on the other side of the spraying fixed plate.

[0013] The utility model has the following beneficial effects:

[0014] 1. In the present invention, the rotating mechanism reduces the cost of the spraying robot while ensuring that the spraying mechanism has sufficient movement space to meet the spraying needs of various wall surfaces;

[0015] 2. The utility model has wide practicability and convenience and is easy to install and debug. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of a multi-axis linkage full-angle rotation mechanism of a spray robot spray gun module proposed by the utility model.

[0017] Legend:

[0018] 1. Slot-type photoelectric 1; 2. Bottom plate; 3. Translation module; 4. Moving rib plate; 5. Rz1 indexing plate; 6. Rz1 indexing plate fixing plate; 7. Driver protection cover; 8. Translation module fixing plate; 9. 400W servo motor 1; 10. Connecting vertical axis; 11. 100W servo motor connecting line; 12. 400W servo motor 2; 13. 100W servo motor; 14. 1:5 reducer; 15. Slot-type photoelectric 2; 16. Spraying fixing plate; 17. Rz2 rotating vertical plate; 18. Rz2 rotating plate; 19. Rz2 indexing plate; 20. Rz2 indexing plate fixing plate; 21. Rz2 indexing plate extension rod; 22. Spray gun; 23. Induction sheet; 24. Translation module moving bottom plate; 25. Translation module moving bottom plate reinforcement rib. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0020] Reference Figure 1 The utility model provides an embodiment: a translation module 3 is fixedly connected to the bottom plate 2, a slot-type photoelectric device 1 is fixedly connected to the bottom plate 2, a 400W servo motor 9 is fixedly connected to the translation module 3, a movable rib plate 4 is fixedly connected to the translation module 3, an Rz1 dividing plate fixing plate 6 is fixedly connected to the translation module 3, a translation module movable bottom plate 24 is fixedly connected to the translation module 3, and a translation module movable bottom plate reinforcement rib 25 is fixedly connected to the translation module 3, which reduces the cost of the spray robot while ensuring that the spray mechanism has enough movement space to meet the spraying needs of various wall surfaces.

[0021] The translation module moving bottom plate 24 is fixedly connected with the Rz1 indexing plate 5, and the driving part of the Rz1 indexing plate 5 has a 400W servo motor 12. The Rz1 indexing plate 5 is fixedly connected with the Rz1 indexing plate fixing plate 6, and one side of the Rz1 indexing plate 5 is fixedly connected with the translation module fixing plate 8. The Rz1 indexing plate fixing plate 6 is fixedly connected with the Rz2 indexing plate extension rod 21, and the middle of the Rz2 indexing plate extension rod 21 is fixedly connected with the driver protection cover 7. The middle of the Rz2 indexing plate extension rod 21 is fixedly connected with the connecting vertical shaft 10, and the upper part of the Rz2 indexing plate extension rod 21 is fixedly connected with the Rz2 indexing plate fixing plate 20, and the Rz2 indexing plate fixing plate 20 is fixedly connected with the Rz2 indexing plate 19, Rz The Rz2 rotating plate 18 is fixedly connected to the dividing plate 19, the Rz2 rotating plate 18 is fixedly connected to the Rz2 rotating vertical plate 17, the 100W servo motor connecting line 11 is fixedly connected to the side of the Rz2 rotating vertical plate 17, the 100W servo motor 13 is fixedly connected to the side of the Rz2 rotating vertical plate 17, the 1:5 reducer 14 is fixedly connected to the side of the Rz2 rotating vertical plate 17, the groove-type photoelectric 2 15 is fixedly connected to the front of the Rz2 rotating vertical plate 17, the 1:5 reducer 14 is fixedly connected to the spraying fixed plate 16, the front of the spraying fixed plate 16 is fixedly connected to the spray gun 22, and the other side of the spraying fixed plate 16 is fixedly connected to the induction sheet 23. It has wide practicality and convenience and is easy to install and debug.

[0022] Working principle: The translation module 3 and the slot photoelectric 1 are fixed on the bottom plate 2, and the 400W servo motor 9 is fixed on the translation module 3. The 400W servo motor 9 provides power. Through the slot photoelectric 1 sensing position, the required moving distance for spraying positioning can be accurately performed. The moving rib plate 4 and the Rz1 indexing plate fixing plate 6 and the translation module moving bottom plate 24 and the translation module moving bottom plate reinforcement rib 25 are fixed on the translation module 3 together. The Rz1 indexing plate 5 is fixed. On the translation module moving base plate 24, a 400W servo motor 12 is fixed to the Rz1 indexing plate 5 driving part, and the 400W servo motor 12 drives the Rz1 indexing plate 5 to rotate, and can swing to any angle of -180° to 180° according to the spraying requirements. The Rz1 indexing plate fixing plate 6 is fixed to the Rz1 indexing plate 5, and the Rz2 indexing plate extension rod 21 is fixed to the Rz1 indexing plate fixing plate 6. The driver protection cover 7 and the connecting vertical shaft 10 are fixed. In the middle of the Rz2 indexing plate extension rod 21, the Rz2 indexing plate extension rod 21 can increase the radius of RZ1 rotation, which is conducive to spraying in place when spraying vertical facades such as bay windows. The Rz2 indexing plate fixing plate 20 is fixed on the Rz2 indexing plate extension rod 21, the Rz2 indexing plate 19 is fixed on the Rz2 indexing plate fixing plate 20, the Rz2 rotating plate 18 is fixed on the Rz2 indexing plate 19, and the Rz2 rotating vertical plate 17 is fixed on the Rz2 rotating plate 18, which can make the extension The long mechanism can work more stably. The 100W servo motor connecting line 11 and the 100W servo motor 13 and the 1:5 reducer 14 are assembled together and fixed on the side of the Rz2 rotating vertical plate 17. The 100W servo motor 13 and the 1:5 reducer 14 are combined to reset the origin through the slot-type photoelectric 2 15 and rotate 360 ​​degrees in all directions. The bottom of the wall and the roof can be sprayed according to specific needs. The slot-type photoelectric 2 15 is fixed in front of the Rz2 rotating vertical plate 17. The spraying fixed plate 16 is fixed on the 1:5 reducer 14, the spray gun 22 is fixed in front of the spraying fixed plate 16, and the induction sheet 23 is fixed on the other side of the spraying fixed plate 16. Combined with the translation, Rz1, Rz2 and the full rotation of the spray gun 22, we can achieve full coverage of the roof, wall, aisle, corner and bottom of the wall of the entire room, and after the operation, the Rz1 axis can automatically rotate and retract to reduce the floor space, which can also reduce the size of the AGV. Spraying at various angles can also be performed through the nozzle connected to the front end of the spray gun 22.

[0023] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A multi-axis linkage spraying mechanism of a spraying robot, comprising a base plate (2), characterized in that: The bottom plate (2) is fixedly connected to a translation module (3), the bottom plate (2) is fixedly connected to a slot-shaped photoelectric device (1), the translation module (3) is fixedly connected to a 400W servo motor (9), the translation module (3) is fixedly connected to a movable rib plate (4), the translation module (3) is fixedly connected to an Rz1 indexing plate fixing plate (6), the translation module (3) is fixedly connected to a translation module movable bottom plate (24), and the translation module (3) is fixedly connected to a translation module movable bottom plate reinforcing rib (25).

2. The multi-axis linkage spraying mechanism of a spraying robot according to claim 1, characterized in that: The translation module moving base plate (24) is fixedly connected to the Rz1 indexing plate (5), the driving part of the Rz1 indexing plate (5) has a 400W servo motor 2 (12), the Rz1 indexing plate (5) is fixedly connected to the Rz1 indexing plate fixing plate (6), one side of the Rz1 indexing plate (5) is fixedly connected to the translation module fixing plate (8), and the Rz1 indexing plate fixing plate (6) is fixedly connected to the Rz2 indexing plate extension rod (21).

3. The multi-axis linkage spraying mechanism of a spraying robot according to claim 2, characterized in that: The middle of the Rz2 indexing disk extension rod (21) is fixedly connected to a driver protection cover (7), the middle of the Rz2 indexing disk extension rod (21) is fixedly connected to a connecting vertical shaft (10), the upper part of the Rz2 indexing disk extension rod (21) is fixedly connected to a Rz2 indexing disk fixing plate (20), the Rz2 indexing disk fixing plate (20) is fixedly connected to a Rz2 indexing disk (19), the Rz2 indexing disk (19) is fixedly connected to a Rz2 rotating plate (18), and the Rz2 rotating plate (18) is fixedly connected to a Rz2 rotating vertical plate (17).

4. The multi-axis linkage spraying mechanism of a spraying robot according to claim 3, characterized in that: A 100W servo motor connection line (11) is fixedly connected to the side of the Rz2 rotating upright plate (17), a 100W servo motor (13) is fixedly connected to the side of the Rz2 rotating upright plate (17), and a 1:5 reducer (14) is fixedly connected to the side of the Rz2 rotating upright plate (17).

5. The multi-axis linkage spraying mechanism of a spraying robot according to claim 4, characterized in that: A slot-shaped photoelectric device (15) is fixedly connected to the front of the Rz2 rotating vertical plate (17), a spraying fixed plate (16) is fixedly connected to the 1:5 reducer (14), a spray gun (22) is fixedly connected to the front of the spraying fixed plate (16), and an induction sheet (23) is fixedly connected to the other side of the spraying fixed plate (16).

Images