Paint spraying robot and mechanical arm thereof
Through the combined use of two sets of balance cylinders, the existing six-axis robotic arms need to overcome large dynamic loads when the main arm is straightened, and the stable balance and structural compactness of the robotic arms are achieved, and dynamic performance and end trajectory accuracy are improved.
Patent Information
- Application Number
- CN202421751237.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-23
- Publication Date
- 2025-06-20
- Estimated Expiration
- 2034-07-23
AI Technical Summary
When the main arm is extended, the existing six-axis robotic arms need to overcome dynamic loads such as self-weight, weight load, inertial force and centripetal force, which leads to the J2-axis motor that needs to provide very large torque, and the output force of the balance cylinder is relatively large. Cylinders with larger cylinder bores are selected, and the structural compactness and dynamic performance are insufficient.
Two sets of balance cylinders (first balance cylinder and second balance cylinder) are used to cooperate. Through the use of the first balance cylinder and the second balance cylinder, the output force of each balance cylinder is reduced, the balance cylinder with smaller specifications is selected, and the rear connecting rod mechanism is cancelled to improve the dynamic performance of the system.
The stable balance of the robot during rotation is achieved, the output force of the balance cylinder is reduced, and the use of smaller size balance cylinders is selected to improve the compactness and dynamic performance of the structure, extend the service life of the J2-axis motor, and improve the end track accuracy.
Smart Images
Figure CN223000598U_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of robotic arms, and in particular to a painting robot and a robotic arm thereof. Background Art
[0002] At present, for the six-axis robot arm of the painting robot, when its upper arm is straightened, the J2-axis motor needs to overcome the load composed of most of the deadweight of the entire six-axis robot arm, the load, the inertia force and centripetal force generated during movement and other dynamic loads to maintain the balance of the robot arm. Usually, the balance of the robot arm is maintained by the "brake" torque and output torque of the J2-axis motor. In this case, the torque parameter of the J2-axis motor needs to be greater than the load torque of the J2 axis. When the load is large, if only the J2-axis motor is driven, a motor with very large torque will be required, and a motor with large torque is often larger in size and more expensive in price.
[0003] Thus, the existing six-axis robot arm generally adopts a single balance cylinder structure, as shown in the attached Figure 1 As shown, the annular lifting ears at both ends of the balancing cylinder 11 are respectively fixed near the joints of the J2 axis 12 and the J3 axis 13, and a connecting rod mechanism 14 is added between the joints of the J2 axis 12 and the J3 axis 13 to balance the load, thereby reducing the burden of the balancing cylinder 11, and its force balance condition is mgLcosβ=F1L1sinψ (such as Figure 2 As shown). However, in order to balance the load, the output force F1 provided by the balancing cylinder 11 is relatively large, and a cylinder with a larger cylinder diameter needs to be selected. In addition, the balancing cylinder 11 is located at the joint of the J2 axis 12 and the J3 axis 13, and the distance is relatively long, so the stroke required by the balancing cylinder 11 is relatively large. In addition, since the mounting surfaces of the balancing cylinder 11 and the J2 axis motor are not on the same plane, the supporting force of the balancing cylinder 11 will generate an overturning moment on the mounting surface of the J2 axis motor, thereby placing higher requirements on the bending moment stiffness when selecting the J2 axis motor. Utility Model Content
[0004] Based on this, it is necessary to provide a mechanical arm that can overcome the above problems, and also provide a painting robot having the mechanical arm.
[0005] A robotic arm, comprising a J2 component, a J2 axis, a large arm, a J3 axis, a first support, a second support, a first balance cylinder and a second balance cylinder; one end of the large arm is rotatably connected to the J2 component through the J2 axis, and the other end is rotatably connected to the J3 axis; the first support is fixedly connected to the J2 component and has a first connection position and a second connection position arranged at intervals, the second support is fixedly connected to the large arm and has a third connection position and a fourth connection position, and the distance between the first connection position and the third connection position and the distance between the second connection position and the fourth connection position are both smaller than the distance between the J2 axis and the J3 axis; two ends of the first balance cylinder are respectively rotatably connected to the first connection position and the third connection position, and two ends of the second balance cylinder are respectively rotatably connected to the second connection position and the fourth connection position; the first balance cylinder and the second balance cylinder cooperate together to support the large arm.
[0006] In one embodiment, the large arm rotates relative to the J2 component around a rotation center axis, and the first connection position and the second connection position are respectively located on opposite sides of the rotation center axis; the large arm extends in a direction from the J2 axis to the J3 axis and has a length direction, and the third connection position and the fourth connection position are arranged at intervals along the length direction.
[0007] In one embodiment, the first connection position and the second connection position are arranged at intervals in the vertical direction, and the second connection position is located below the first connection position; the fourth connection position is located on a side of the third connection position away from the J2 axis.
[0008] In one embodiment, the first balance cylinder applies a thrust or a pull force to the large arm, and the second balance cylinder applies a thrust to the large arm.
[0009] In one embodiment, the second support is located at a middle position of a connection line between the J2 axis and the J3 axis.
[0010] In one embodiment, the large arm has a first side surface connected to the J2 axis and a second side surface facing away from the J2 axis; the first connection position, the second connection position, the third connection position and the fourth connection position are all located on one side of the second side surface.
[0011] In one embodiment, the first support is in an "L" shape and includes a first connection portion and a second connection portion connected to the first connection portion. One end of the first connection portion away from the second connection portion is connected to the J2 component, and the second connection portion is located on one side of the second side surface; the first connection position and the second connection position are both located on the second connection portion.
[0012] In one embodiment, the second support includes a third connecting portion and a reinforcing plate. The third connecting portion is fixedly connected to the second side surface and has a flat plate structure parallel to the extending direction of the boom. The reinforcing plate connects the second side surface and the third connecting portion. There are a plurality of reinforcing plates, and the plurality of reinforcing plates are arranged at intervals around the third connecting portion. Both the third connecting position and the fourth connecting position are located on the third connecting portion.
[0013] In one embodiment, the robotic arm includes a plurality of socket head cap shoulder screws. The first support forms the first connecting position and the second connecting position by forming two first U-shaped grooves. The first balance cylinder and the second balance cylinder are both rotatably connected to the first U-shaped grooves through the socket head cap shoulder screws. The second support forms the third connecting position and the fourth connecting position by forming two second U-shaped grooves. The first balance cylinder and the second balance cylinder are both rotatably connected to the second U-shaped grooves through the socket head cap shoulder screws.
[0014] A painting robot includes the above-mentioned robotic arm.
[0015] In the above robotic arm, by jointly cooperating the first balance cylinder and the second balance cylinder, the total load composed of the boom, other components connected to the J3 axis, and the load can be balanced, so that the boom can stably maintain at the required position during the rotation relative to the J2 component along the A-A direction. In this way, the first balance cylinder and the second balance cylinder only need to provide relatively small output forces respectively to jointly balance a relatively large total load, so that two balance cylinders with relatively small specifications and dimensions can be selected. In addition, since the first support is arranged on the J2 component and the second support is arranged on the boom, both ends of the two balance cylinders are connected between the first support and the second support. Therefore, the distance between the first connection position and the third connection position and the distance between the second connection position and the fourth connection position are both smaller than the distance between the J2 axis and the J3 axis, so that the first balance cylinder and the second balance cylinder with relatively small strokes can be selected. At the same time, the use of the first balance cylinder and the second balance cylinder can well eliminate the use of the rear connecting rod mechanism in the conventional robotic arm, making the structure of the robotic arm more compact. Moreover, compared with the use of a single balance cylinder, the combined use of the first balance cylinder and the second balance cylinder in this application can improve the dynamic performance of the system, so as to achieve better accuracy and response. In addition, the directions of the tipping moments generated by the first balance cylinder and the second balance cylinder at the J2 axis are opposite and can cancel each other out, so that the J2 axis motor can work within the limited bending moment range, ensuring the service life and reliability of the motor, and at the same time reducing the selection requirements. Further, under the action of the thrust applied by one of the two balance cylinders, the deformation amount of the end of the boom is relatively small, which can improve the accuracy of the end trajectory. In addition, compared with the layout method of the conventional single balance cylinder, the layout method of the robotic arm in this application can enable the J2 axis to have a larger range of movement angles. Description of the Drawings
[0016] Figure 1 is a schematic structural diagram of a conventional robotic arm;
[0017] Figure 2 is Figure 1 the force analysis diagram of the shown robotic arm;
[0018] Figure 3 is a schematic structural diagram of the robotic arm of this application;
[0019] Figure 4 is Figure 3 the enlarged schematic diagram of the partial structure of the shown robotic arm;
[0020] Figure 5 is Figure 3 the state diagram of the boom in the first position of the shown robotic arm;
[0021] Figure 6 is Figure 5 the force analysis diagram of the boom in the first position;
[0022] Figure 7 is Figure 3 a schematic diagram of the state of the boom in the second position in the shown robotic arm;
[0023] Figure 8 is Figure 7 a force analysis diagram of the boom in the second position shown;
[0024] Figure 9 is Figure 3 a schematic diagram of the tipping moment of the first balance cylinder and the second balance cylinder on the J2 axis in the shown robotic arm;
[0025] Description of reference numerals:
[0026] 20. Robotic arm; 21. J2 component; 22. J2 axis; 23. Boom; 231. First side; 232. Second side; 24. J3 axis; 25. First support; 251. First connection position; 252. Second connection position; 253. First connection part; 254. Second connection part; 26. Second support; 261. Third connection position; 262. Fourth connection position; 263. Third connection part; 264. Reinforcing plate; 27. First balance cylinder; 28. Second balance cylinder. Detailed implementation manners
[0027] To make the above objects, features, and advantages of the present application more obvious and understandable, the following describes the detailed implementation manners of the present application with reference to the accompanying drawings. Many specific details are set forth in the following description to fully understand the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present application. Therefore, the present application is not limited by the specific embodiments disclosed below.
[0028] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying 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 construed as a limitation of the present application.
[0029] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of this application, "a plurality of" means at least two, such as two, three, etc., unless otherwise specifically defined.
[0030] In this application, unless otherwise clearly specified and defined, terms such as "installed", "connected", "linked", "fixed", etc. shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements or the interaction relationship between two elements, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.
[0031] In this application, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "below" and "beneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.
[0032] It should be noted that when an element is referred to as "fixed to" or "disposed on" another element, it may be directly on the other element or there may also be an intermediate element. When an element is considered to be "connected" to another element, it may be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation.
[0033] Combine Figures 3 to 9As shown in the figure, the present application protects a robotic arm 20, which includes a J2 component 21, a J2 axis 22, a large arm 23, a J3 axis 24, a first support 25, a second support 26, a first balance cylinder 27, and a second balance cylinder 28. Among them, one end of the large arm 23 is rotatably connected to the J2 component 21 through the J2 axis 22, and the other end is rotatably connected to the J3 axis 24. The first support 25 is fixedly connected to the J2 component 21 and has a first connection position 251 and a second connection position 252 arranged at intervals. The second support 26 is fixedly connected to the large arm 23 and has a third connection position 261 and a fourth connection position 262. The distances between the first connection position 251 and the third connection position 261, and between the second connection position 252 and the fourth connection position 262 are both smaller than the distance between the J2 axis 22 and the J3 axis 24. Both ends of the first balance cylinder 27 are rotatably connected to the first connection position 251 and the third connection position 261 respectively, and both ends of the second balance cylinder 28 are rotatably connected to the second connection position 252 and the fourth connection position 262 respectively. The first balance cylinder 27 and the second balance cylinder 28 cooperate together to support the large arm 23.
[0034] In the above-mentioned robotic arm 20, by jointly coordinating the first balance cylinder 27 and the second balance cylinder 28, the total load composed of the boom 23, other components connected to the J3 axis 24, and the load can be balanced, so that the boom 23 can stably maintain at the required position during the process of rotating relative to the J2 component 21 along the A-A direction. In this way, the first balance cylinder 27 and the second balance cylinder 28 only need to provide relatively small output forces respectively to jointly balance a relatively large total load, so that two balance cylinders with smaller specification sizes can be selected. In addition, since the first support 25 is arranged on the J2 component 21 and the second support 26 is arranged on the boom 23, both ends of the two balance cylinders are connected between the first support 25 and the second support 26. Therefore, the distance between the first connection position 251 and the third connection position 261, and the distance between the second connection position 252 and the fourth connection position 262 are both smaller than the distance between the J2 axis 22 and the J3 axis 24, so that the first balance cylinder 27 and the second balance cylinder 28 with smaller strokes can be selected. At the same time, the use of the first balance cylinder 27 and the second balance cylinder 28 can well eliminate the use of the rear connecting rod mechanism in the conventional robotic arm, making the structure of the robotic arm 20 more compact. Moreover, compared with the use of a single balance cylinder, the combined use of the first balance cylinder 27 and the second balance cylinder 28 in this application can improve the dynamic performance of the system, so as to achieve better accuracy and response. In addition, the directions of the overturning moments generated by the first balance cylinder 27 and the second balance cylinder 28 at the J2 axis are opposite and can cancel each other out, so that the J2 axis 22 motor can work within the limited bending moment range, ensuring the service life and reliability of the motor, and at the same time reducing the selection requirements. Further, under the action of the thrust applied by one of the two balance cylinders, the deformation amount at the end of the boom 23 is relatively small, which can improve the accuracy of the end trajectory. In addition, compared with the conventional single balance cylinder arrangement method, the arrangement method of the robotic arm in this application can make the J2 axis have a larger movable angle range. It can be understood that the robotic arm 20 further includes a J1 component, a J1 axis, a J3 component, a J4 axis, a J4 component, a J5 axis, a J5 component, and a J6 axis (not marked in the figure). Among them, the J1 component, the J1 axis, and the J2 component 21 are sequentially connected, and the J3 axis 24, the J3 component, the J4 axis, the J4 component, the J5 axis, the J5 component, and the J6 axis are sequentially connected.
[0035] Specifically in this application, the second support 26 is located at the middle position of the connection line between the J2 axis 22 and the J3 axis 24. Such a setting can shorten the distance between the first connection position 251 and the third connection position 261, and the distance between the second connection position 252 and the fourth connection position 262 under the condition of meeting the balance requirements, so that the first balance cylinder 27 and the second balance cylinder 28 with smaller strokes can be selected.
[0036] Combined with Figure 3 、 Figure 4 、 Figure 5 and Figure 7As shown, the boom 23 rotates relative to the J2 component 21 about the rotation center axis. The first connection position 251 and the second connection position 252 are respectively located on opposite sides of the rotation center axis. The boom 23 extends in the direction from the J2 axis 22 to the J3 axis 24 and has a length direction. The third connection position 261 and the fourth connection position 262 are spaced apart along the length direction.
[0037] It can be understood that for the boom 23, the end connected to the J2 axis 22 is defined as the first end, and the end connected to the J3 axis 24 is defined as the second end. Then the direction from the first end to the second end is the length direction of the boom 23, which is also the extension direction of the boom 23. For the boom 23, the rotation axis for its rotation relative to the J2 component 21 is defined as the rotation center axis, and the rotation center axis is also the central axis of the J2 axis 22. It can be understood that the length direction is Figure 5 the same as Figure 7 the direction of the straight line n in Figure 3 and Figure 4 and Figure 5 and Figure 7 the straight line O shown in
[0038] By making the first connection position 251 and the second connection position 252 located on opposite sides of the rotation center axis, and the third connection position 261 and the fourth connection position 262 spaced apart along the extension direction of the boom 23, an angle can be formed between the connection line between the first connection position 251 and the third connection position 261 and the connection line between the second connection position 252 and the fourth connection position 262. In this way, the acting forces exerted on the boom 23 by the first balance cylinder 27 connected between the first connection position 251 and the third connection position 261 and the second balance cylinder 28 connected between the second connection position 252 and the fourth connection position 262 are in different directions, so as to better cooperate to balance the total load.
[0039] Specifically, the first connection position 251 and the second connection position 252 are spaced apart in the vertical direction, and the second connection position 252 is located below the first connection position 251. The fourth connection position 262 is located on the side away from the J2 axis 22 of the third connection position 261. Such a setting can ensure that no matter where the boom 23 rotates to, the connection line between the first connection position 251 and the third connection position 261 and the connection line between the second connection position 252 and the fourth connection position 262 will not intersect, so that there is no interference between the first balance cylinder 27 and the second balance cylinder 28, and thus better cooperate to balance the total load. It can be understood that the vertical direction is Figure 5 the same as Figure 7 the direction indicated by the Y axis in
[0040] In this application, the first balance cylinder 27 applies a thrust or a pulling force to the boom 23, and the second balance cylinder 28 applies a thrust to the boom 23. It can be understood that regardless of the position to which the boom 23 rotates, the second balance cylinder 28 is located below the first balance cylinder 27, so that the second balance cylinder 28 can apply a thrust to the boom 23 to provide support for the boom 23, while the first balance cylinder 27 can apply a thrust or a pulling force to the boom 23 according to the position of the boom 23 to better cooperate with the second balance cylinder 28.
[0041] Combined with Figure 5 and Figure 6 shown, it is a schematic diagram of the boom 23 in the first position. At this time, the output force F1 of the first balance cylinder 27 is a pulling force, and the output force F2 of the second balance cylinder 28 is a thrust. Then the force balance condition is:
[0042] mgLcosβ = F1L1cosγsinγ + F2L2cosαsinα
[0043] Wherein, mg is the total load, m is the center of gravity position of the total load on the boom 23, L is the distance between the center of gravity position m and the rotation center axis O, L1 is the distance between the first connection position 251 and the third connection position 261, and L2 is the distance between the second connection position 252 and the fourth connection position 262.
[0044] In addition, as Figure 9 shown, the output force F1 of the first balance cylinder 27 is a pulling force, and the overturning moment generated by it at the J2 axis 22 is M1, while the output force F2 of the second balance cylinder 28 is a thrust, and the overturning moment generated by it at the J2 axis 22 is M2. The directions of the overturning moment M1 and the overturning moment M2 are opposite and cancel each other out, so that the J2 axis motor can work within the limited bending moment range, ensuring the service life and reliability, and also reducing the selection requirements.
[0045] In addition, as Figure 9 shown, the direction indicated by the arrow C is the deformation trend direction of the boom 23 under the action of the thrust F2 applied by the second balance cylinder 28. Under the action of this thrust F2, the deformation amount at the end of the boom 23 is small, which can improve the accuracy of the end trajectory.
[0046] Combined with Figure 7 and Figure 8 shown, it is a schematic diagram of the boom 23 in the second position. At this time, the output force F’1 of the first balance cylinder 27 is a pulling force, and the output force F’2 of the second balance cylinder 28 is a thrust. Then the force balance condition is:
[0047] mgLcosβ’ = F’1L1cosγ’sinγ’ + F’2L2cosα’sinα’
[0048] Wherein, mg is the total load, m is the center of gravity position of the total load on the boom 23, L is the distance between the center of gravity position m and the rotation center axis O, L'1 is the distance between the first connection position 251 and the third connection position 261, and L'2 is the distance between the second connection position 252 and the fourth connection position 262.
[0049] In the present application, both the first balance cylinder 27 and the second balance cylinder 28 are air cylinders. In other embodiments, both the first balance cylinder 27 and the second balance cylinder 28 can also be hydraulic cylinders, or one of the first balance cylinder 27 and the second balance cylinder 28 can be an air cylinder and the other can be a hydraulic cylinder.
[0050] Combined with Figure 3 and Figure 4 As shown, specifically in the present application, the boom 23 has a first side surface 231 connected to the J2 axis 22 and a second side surface 232 facing away from the J2 axis 22. The first connection position 251, the second connection position 252, the third connection position 261, and the fourth connection position 262 are all located on one side of the second side surface 232. By arranging the first connection position 251, the second connection position 252, the third connection position 261, and the fourth connection position 262 on one side of the second side surface 232, it is convenient for the installation of the first balance cylinder 27 and the second balance cylinder 28 between the connection positions. Moreover, during the rotation of the boom 23 relative to the J2 component 21, neither the first balance cylinder 27 nor the second balance cylinder 28 will interfere with the boom 23, the J2 component 21, and the J2 axis 22, which can meet the need for the boom 23 to rotate within a large angular range.
[0051] Specifically, the first support 25 is in an "L" shape and includes a first connection portion 253 and a second connection portion 254 connected to the first connection portion 253. One end of the first connection portion 253 far from the second connection portion 254 is connected to the J2 component 21, and the second connection portion 254 is located on one side of the second side surface 232. The first connection position 251 and the second connection position 252 are both located on the second connection portion 254. It can be understood that for the first support 25, after the first connection portion 253 is connected to the J2 component 21, a groove for avoiding the J2 axis 22 and the boom 23 will be formed between the J2 component 21, the second connection portion 254, and the first connection portion 253, so that the second connection portion 254 is located on one side of the second side surface 232 of the boom 23 to provide the first connection position 251 and the second connection position 252 for connecting with the first balance cylinder 27 and the second balance cylinder 28.
[0052] Specifically, the first connection position 251 is located on the second connection portion 254 at a position away from the first connection portion 253, while the second connection position 252 is located on the second connection portion 254 at a position close to the first connection portion 253, that is, the first connection position 251 is farther from the first connection portion 253 than the second connection position 252. Since the first connection position 251 is above the second connection position 252, the first connection portion 253 is below the J2 axis 22, so that interference of the first connection portion 253 with the rotation of the boom 23 can be avoided.
[0053] Furthermore, the interior of the first support 25 can be set to be hollow, and the electrical connection line can enter the interior of the boom 23 along the interior of the first support 25, so as to make full use of the space and avoid additionally arranging a wiring structure for the electrical connection line.
[0054] Specifically in this application, the second support 26 includes a third connection portion 263 and a reinforcing plate 264. The third connection portion 263 is fixedly connected to the second side surface 232 and has a flat plate structure parallel to the extending direction of the boom 23. The reinforcing plate 264 connects the second side surface 232 and the third connection portion 263. There are multiple reinforcing plates 264, and the multiple reinforcing plates 264 are arranged at intervals around the third connection portion 263. Both the third connection position 261 and the fourth connection position 262 are located on the third connection portion 263. It can be understood that the arrangement of the multiple reinforcing plates 264 can improve the connection strength between the third connection portion 263 and the boom 23. By setting the third connection portion 263 to have a flat plate structure parallel to the extending direction of the boom 23 (i.e., the length direction of the boom 23), the third connection position 261 and the fourth connection position 262 can both be arranged on the third connection portion 263 at a position close to the J2 axis 22, so that after the first balance cylinder 27 and the second balance cylinder 28 are installed, within the rotation angle range of the boom 23 relative to the J2 component 21, the third connection portion 263 will not interfere with the first balance cylinder 27 and the second balance cylinder 28.
[0055] Specifically in this application, the robotic arm 20 includes a plurality of socket head cap shoulder screws (not labeled in the figure). The first support 25 obtains the first connection position 251 and the second connection position 252 by forming two first U-shaped grooves. Both the first balance cylinder 27 and the second balance cylinder 28 are rotatably connected to the first U-shaped grooves through socket head cap shoulder screws. The second support 26 obtains the third connection position 261 and the fourth connection position 262 by forming two second U-shaped grooves. Both the first balance cylinder 27 and the second balance cylinder 28 are rotatably connected to the second U-shaped grooves through socket head cap shoulder screws.
[0056] It can be understood that the first connection position 251 and the second connection position 252 are two first U-shaped grooves spaced apart on the first support 25, and the third connection position 261 and the fourth connection position 262 are two second U-shaped grooves spaced apart on the second support 26. For the first balance cylinder 27 and the second balance cylinder 28, each of them includes a cylinder block and a piston rod slidably connected to the cylinder block. The cylinder block and the piston rod are both provided with pull rings. The pull ring on the piston rod is placed in the first U-shaped groove, and the pull ring on the cylinder block is placed in the second U-shaped groove. Then, an internal hexagon socket head shoulder screw passes through the pull ring and is connected to the first support 25 or the second support 26. Thus, the pull ring is limited in the first U-shaped groove or the second U-shaped groove and can rotate around the internal hexagon socket head shoulder screw, so as to realize the rotational connection between the two balance cylinders and the first support 25 and the second support 26.
[0057] This application also protects a painting robot (not shown), which includes the above-mentioned robotic arm 20. The painting robot further includes a paint gun connected to the end of the robotic arm 20. Through the mutual movement of the joints in the robotic arm 20, the paint gun is driven to move to change the painting direction.
[0058] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.
[0059] The above-described embodiments only represent several implementation manners of this application. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent application. It should be noted that for those of ordinary skill in the art, without departing from the concept of this application, several deformations and improvements can still be made, and these all belong to the protection scope of this application. Therefore, the protection scope of this application should be subject to the appended claims.
Claims
1. A robotic arm, characterized in that: It includes a J2 component, a J2 axis, a boom, a J3 axis, a first support, a second support, a first balancing cylinder and a second balancing cylinder; one end of the boom is rotatably connected to the J2 component via the J2 axis, and the other end is rotatably connected to the J3 axis; the first support is fixedly connected to the J2 component, and has a first connecting position and a second connecting position arranged at intervals; the second support is fixedly connected to the boom, and has a third connecting position and a fourth connecting position; the distance between the first connecting position and the third connecting position, and the distance between the second connecting position and the fourth connecting position are both smaller than the distance between the J2 axis and the J3 axis; the two ends of the first balancing cylinder are rotatably connected to the first connecting position and the third connecting position, respectively, and the two ends of the second balancing cylinder are rotatably connected to the second connecting position and the fourth connecting position, respectively; the first balancing cylinder and the second balancing cylinder cooperate with each other to support the boom.
2. The robotic arm according to claim 1, characterized in that: The upper arm rotates around the rotation center axis relative to the J2 component, and the first connection position and the second connection position are respectively located on opposite sides of the rotation center axis; the upper arm extends in the direction from the J2 axis to the J3 axis and has a length direction, and the third connection position and the fourth connection position are spaced apart along the length direction.
3. The robotic arm according to claim 2, characterized in that: The first connection position and the second connection position are spaced apart in the vertical direction, and the second connection position is located below the first connection position; the fourth connection position is located on a side of the third connection position away from the J2 axis.
4. The robotic arm according to claim 3, characterized in that: The first balancing cylinder applies a thrust or a pull to the boom, and the second balancing cylinder applies a thrust to the boom.
5. The robotic arm according to any one of claims 1 to 4, characterized in that: The second support is located in the middle of the line connecting the J2 axis and the J3 axis.
6. The robotic arm according to any one of claims 1 to 4, characterized in that: The upper arm has a first side surface connected to the J2 axis and a second side surface away from the J2 axis; the first connection position, the second connection position, the third connection position and the fourth connection position are all located on one side of the second side surface.
7. The robot arm according to claim 6, characterized in that: The first support is "L"-shaped and includes a first connection portion and a second connection portion connected to the first connection portion, the first connection portion is connected to the J2 component at one end away from the second connection portion, and the second connection portion is located on one side of the second side surface; the first connection position and the second connection position are both located at the second connection portion.
8. The robotic arm according to claim 6, characterized in that: The second support includes a third connecting portion and a reinforcing plate. The third connecting portion is fixedly connected to the second side surface and is a flat plate structure parallel to the extension direction of the upper arm. The reinforcing plate connects the second side surface and the third connecting portion. There are multiple reinforcing plates, and the multiple reinforcing plates are spaced around the third connecting portion. The third connecting position and the fourth connecting position are both located at the third connecting portion.
9. The robotic arm according to claim 1, characterized in that: The robotic arm includes a plurality of hexagon socket head shoulder screws; the first support is formed by forming two first U-shaped grooves to obtain the first connecting position and the second connecting position, and the first balancing cylinder and the second balancing cylinder are both rotatably connected in the first U-shaped groove by the hexagon socket head shoulder screw; the second support is formed by forming two second U-shaped grooves to obtain the third connecting position and the fourth connecting position, and the first balancing cylinder and the second balancing cylinder are both rotatably connected in the second U-shaped groove by the hexagon socket head shoulder screw.
10. A painting robot, characterized in that: A robotic arm comprising any one of claims 1 to 9.