Multi-degree-of-freedom spraying manipulator

Abstract

The utility model provides a multi-degree-of-freedom spraying manipulator, which belongs to the technical field of locomotive maintenance and comprises a fixed base, a base part, a shoulder part, a big arm part, an elbow part, a small arm part, a wrist and a spraying agent bottle taking and placing mechanism which are connected in sequence, the fixed base, the base part, the shoulder part, the big arm part, the elbow part, the small arm part, the wrist and the spraying agent bottle taking and placing mechanism are rotationally connected. By arranging the fixed base, the base part, the shoulder part, the large arm part, the elbow part, the small arm part, the wrist and the spraying agent bottle taking and placing mechanism which are connected in sequence, a spraying agent bottle can be automatically taken and placed, and the wheel can be sprayed.

Description

Technical Field

[0001] The utility model relates to the technical field of locomotive maintenance, in particular to a spraying robot with multiple degrees of freedom. Background Art

[0002] In a train maintenance depot, it is usually necessary to spray molybdenum disulfide on parts such as wheels. In the related art, the spraying of molybdenum disulfide on wheels is mainly carried out manually. That is, after the wheels are disassembled, they are sent to the spraying area, and the operators hold spraying equipment to spray the wheels to meet the spraying requirements.

[0003] However, manual spraying takes a long time. Due to the large weight and volume of the wheels, manual spraying is extremely inconvenient, cannot ensure uniform spraying and full coverage, and there are certain safety hazards. These will lead to a significant reduction in spraying efficiency and reliability. Summary of the Utility Model

[0004] The utility model provides a spraying robot with multiple degrees of freedom to solve the defects of manual spraying in the prior art and realize the improvement of the spraying efficiency of wheels in a train maintenance depot.

[0005] The utility model provides a spraying robot with multiple degrees of freedom, including a fixed base, a base component, a shoulder component, a large arm component, an elbow component, a small arm component, a wrist and a spraying agent bottle picking and placing mechanism connected in sequence; the fixed base, the base component, the shoulder component, the large arm component, the elbow component, the small arm component, the wrist and the spraying agent bottle picking and placing mechanism are all rotatably connected.

[0006] According to the spraying robot with multiple degrees of freedom provided by the utility model, the fixed base includes an upper bottom plate, a lower bottom plate and a middle bearing component; the lower bottom plate is used for being fixedly connected with the ground.

[0007] According to the spraying robot with multiple degrees of freedom provided by the utility model, the base component is installed between the fixed base and the shoulder component; the middle part of the base component is a disc-shaped structure and is threadedly connected with the bottom of the shoulder component; a square groove is opened on the side of the middle part of the base component, and a switch button and a control button are installed; the bottom surface of the base component is bolted to the base component.

[0008] According to the spraying robot with multiple degrees of freedom provided by the utility model, the lower end of the shoulder component is installed on the base component, and the upper end of the shoulder component is connected with the large arm component; the middle part and the upper end of the shoulder component are equipped with a first motor.

[0009] According to the spraying robot with multiple degrees of freedom provided by the utility model, one end of the large arm component is connected with the shoulder component; the large arm component includes two rotating handle wheels and a robotic arm.

[0010] According to a multi-degree-of-freedom spraying robot arm provided by the present utility model, both ends of the elbow component are connected to the upper arm component and the forearm component, and a second motor is installed on the elbow component.

[0011] According to a multi-degree-of-freedom spraying robot arm provided by the present utility model, the upper end of the forearm component is connected to the elbow component, and the lower end of the forearm component is connected to the wrist.

[0012] According to a multi-degree-of-freedom spraying robot arm provided by the present utility model, the upper end of the wrist is connected to the forearm component, and the lower end of the wrist is connected to the spraying agent bottle picking and placing mechanism.

[0013] According to a multi-degree-of-freedom spraying robot arm provided by the present utility model, the spraying agent bottle picking and placing mechanism is connected to the wrist; the spraying agent bottle picking and placing mechanism includes a large-diameter open clamp, a circulating ball type precision slide table cylinder, a speed regulator joint, and a chassis; the spraying agent bottle picking and placing mechanism is used to pick and place a spraying agent bottle for spraying operations on the wheels; the chassis is an overall load-bearing structure, and the large-diameter open clamp is used to clamp the spraying agent bottle; the speed regulator joint is installed on the circulating ball type precision slide table cylinder for adjusting the pneumatic speed.

[0014] The multi-degree-of-freedom spraying robot arm provided by the present utility model can automatically pick and place the spraying agent bottle and spray the wheels by arranging a fixed base, a base component, a shoulder component, an upper arm component, an elbow component, a forearm component, a wrist, and a spraying agent bottle picking and placing mechanism that are connected in sequence. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present application. For those skilled in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0016] Figure 1 is a schematic structural diagram of the multi-degree-of-freedom spraying robot arm provided by the present utility model;

[0017] Figure 2 is a schematic structural diagram of the fixed base provided by the present utility model;

[0018] Figure 3 is a schematic structural diagram of the base component provided by the present utility model;

[0019] Figure 4 is a schematic structural diagram of the shoulder component provided by the present utility model;

[0020] Figure 5It is a schematic structural diagram of the boom component provided by the present utility model;

[0021] Figure 6 It is a schematic structural diagram of the elbow component provided by the present utility model;

[0022] Figure 7 It is a schematic structural diagram of the forearm component provided by the present utility model;

[0023] Figure 8 It is a schematic structural diagram of the wrist provided by the present utility model;

[0024] Figure 9 It is a schematic structural diagram of the spraying agent bottle picking and placing mechanism provided by the present utility model.

[0025] Reference numerals:

[0026] 1, fixed base;

[0027] 101, upper bottom plate; 102, lower bottom plate; 103, middle bearing member;

[0028] 2, base component;

[0029] 201, cake-shaped structure;

[0030] 3, shoulder component;

[0031] 4, boom component;

[0032] 401, turning handle wheel; 402, robotic arm;

[0033] 5, elbow component;

[0034] 6, forearm component;

[0035] 7, wrist;

[0036] 8, spraying agent bottle picking and placing mechanism;

[0037] 801, large-diameter opening clip; 802, circulating ball type precision slide cylinder; 803, speed regulator joint; 804, chassis. Detailed implementation manners

[0038] To make the objectives, technical solutions and advantages of the present utility model clearer, the technical solutions in the present utility model will be clearly and completely described below with reference to the accompanying drawings in the present utility model. Obviously, the described embodiments are part of the embodiments of the present utility model, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present utility model without making creative efforts shall fall within the protection scope of the present utility model.

[0039] In the description of the present utility model, it should be understood that the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present utility model, the meaning of "a plurality" is two or more, unless otherwise specifically defined.

[0040] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom", etc. is usually based on Figure 1 the orientation and position when the multi-degree-of-freedom spraying robot arm shown is placed normally, and it is only for the convenience of describing the present utility model and simplifying the description. Without contrary description, these orientation words do not indicate and imply that the indicated device or component must have a specific orientation or be constructed and operated in a specific orientation, and thus cannot be construed as a limitation on the protection scope of the present utility model; the orientation words "inside, outside" refer to the inside and outside relative to the contour of each component itself.

[0041] It should be noted that, without conflict, the embodiments in the present utility model and the features in the embodiments can be combined with each other.

[0042] The present utility model provides a multi-degree-of-freedom spraying robot arm, which includes a fixed base 1, a base component 2, a shoulder component 3, a large arm component, an elbow component 5, a small arm component 6, a wrist 7 and a spraying agent bottle picking and placing mechanism 8 that are connected in sequence; the fixed base 1, the base component 2, the shoulder component 3, the large arm component, the elbow component 5, the small arm component 6, the wrist 7 and the spraying agent bottle picking and placing mechanism 8 are all rotatably connected.

[0043] By providing the fixed base 1, the base component 2, the shoulder component 3, the large arm component, the elbow component 5, the small arm component 6, the wrist 7 and the spraying agent bottle picking and placing mechanism 8 that are connected in sequence, the spraying agent bottle can be automatically picked and placed and the wheel can be sprayed. It has a relatively high degree of freedom and can reach the bottom of the wheel for spraying.

[0044] In one embodiment, the fixed base 1 includes an upper base plate 101, a lower base plate 102 and a middle bearing component 103; the lower base plate 102 is used for fixedly connecting with the ground.

[0045] The fixed base 1 mounts the entire spraying robot arm on the ground, playing a role of fixing and protecting. The lower base plate 102 is connected to the ground. The upper floor is connected to the base component 2. The middle bearing component 103 plays a bearing role.

[0046] In one embodiment, the base member 2 is installed between the fixed base 1 and the shoulder member 3; the middle part of the base member 2 is a pie-shaped structure 201, which is threadedly connected to the bottom of the shoulder member 3; a square groove is provided on the side of the middle part of the base member 2, and a switch button and a control button are installed; the bottom surface of the base member 2 is bolted to the base member 2.

[0047] The base member 2 is installed between the shoulder member 3 and the fixed base 1, playing a role of buffering and accommodating. Electrical components are accommodated inside the pie-shaped structure 201.

[0048] Exemplarily, lifting lugs are installed around the bottom surface of the base member 2 for convenient lifting.

[0049] In one embodiment, the lower end of the shoulder member 3 is installed on the base member 2, and the upper end of the shoulder member 3 is connected to the upper arm member; a first motor is installed in the middle and upper parts of the shoulder member 3.

[0050] The shoulder member 3 can meet the horizontal rotation in the horizontal plane and the lateral rotation in the lateral plane. Lifting lugs are installed around the upper surface of the shoulder member 3 for convenient lifting.

[0051] In one embodiment, one end of the upper arm member is connected to the shoulder member 3; the upper arm member includes two swivel handle wheels 401 and a robotic arm 402.

[0052] The upper arm member can meet the lateral rotation in the lateral plane and play a role in extending the operation range.

[0053] In one embodiment, both ends of the elbow member 5 are connected to the upper arm member and the forearm member 6, and a second motor is installed on the elbow member 5.

[0054] In one embodiment, the upper end of the forearm member 6 is connected to the elbow member 5, and the lower end of the forearm member 6 is connected to the wrist 7.

[0055] The forearm member 6 can meet the lateral rotation in the lateral plane and the longitudinal rotation in the longitudinal plane.

[0056] In one embodiment, the upper end of the wrist 7 is connected to the forearm member 6, and the lower end of the wrist 7 is connected to the paint spray bottle picking and placing mechanism 8.

[0057] The wrist 7 can drive the forearm member 6 to freely rotate longitudinally in the longitudinal plane.

[0058] In one embodiment, the paint spray bottle picking and placing mechanism 8 is connected to the wrist 7; the paint spray bottle picking and placing mechanism 8 includes a large-diameter opening clamp 801, a circulating ball type precision slide cylinder 802, a speed regulator joint 803 and a chassis 804; the paint spray bottle picking and placing mechanism 8 is used to pick and place the paint spray bottle for spraying the wheels; the chassis 804 is an overall load-bearing structure, and the large-diameter opening clamp 801 is used to clamp the paint spray bottle; the speed regulator joint 803 is installed on the circulating ball type precision slide cylinder 802 for adjusting the pneumatic speed.

[0059] The spraying agent bottle picking and placing mechanism 8 is connected to the wrist 7, which can satisfy the horizontal free rotation in the horizontal plane.

[0060] In one embodiment, the multi-degree-of-freedom spraying manipulator further includes a console for controlling the rotation directions and angles of each component.

[0061] The specific usage method is as follows: The console overall controls the operation of the motors of each part of the multi-degree-of-freedom spraying manipulator to enable the spraying manipulator to freely rotate in the horizontal plane, longitudinal plane, and transverse plane. When spraying the front side of the wheel, the shoulder component 3 rotates in the horizontal plane to align with the side of the wheel, then the large arm component rotates in the transverse plane and extends towards the wheel. Next, the forearm component 6 slightly lifts and rotates to align the spraying agent bottle picking and placing mechanism 8 with the wheel for spraying. When spraying the back side of the wheel, the forearm component 6 extends to the lower side of the wheel, and the spraying agent bottle picking and placing mechanism 8 lifts to align the mouth of the spraying agent bottle with the lower bottom surface of the wheel for spraying.

[0062] The present utility model provides a multi-degree-of-freedom spraying manipulator that can freely rotate in any direction, has a high degree of freedom, and can perform spraying operations in two directions on the front and back sides without flipping the wheel, significantly reducing the manual work intensity and labor cost, significantly improving the spraying efficiency, and solving the safety hazards in manual spraying of molybdenum disulfide and hoisting.

[0063] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present utility model and are not intended to limit them; although the present utility model has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present utility model.

Claims

1. A multi-degree-of-freedom spraying robot, characterized in that, It includes a fixed base, a base component, a shoulder component, a large arm component, an elbow component, a small arm component, a wrist, and a paint spray bottle picking and placing mechanism that are connected in sequence; The fixed base, the base component, the shoulder component, the large arm component, the elbow component, the small arm component, the wrist, and the paint spray bottle picking and placing mechanism are all rotatably connected.

2. The multi-degree-of-freedom spraying robot according to claim 1, characterized in that, The fixed base includes an upper base plate, a lower base plate, and a middle bearing component; The lower base plate is used for fixedly connecting to the ground.

3. The multi-degree-of-freedom spraying robot according to claim 1, wherein The base component is installed between the fixed base and the shoulder component; The middle part of the base component is a disc-shaped structure and is threadedly connected to the bottom of the shoulder component; A square groove is opened on the side of the middle part of the base component, and a switch button and a control button are installed; The bottom surface of the base component is bolted to the base component.

4. The multi-degree-of-freedom spraying robot according to claim 1, characterized in that, The lower end of the shoulder component is installed on the base component, and the upper end of the shoulder component is connected to the large arm component; A first motor is installed in the middle and upper part of the shoulder component.

5. The multi-degree-of-freedom spraying robot according to claim 1, characterized in that One end of the large arm component is connected to the shoulder component; The large arm component includes two turning handle wheels and a robotic arm.

6. The multi-degree-of-freedom spraying robot according to claim 1, wherein, Both ends of the elbow component are connected to the large arm component and the small arm component, and a second motor is installed on the elbow component.

7. The multi-degree-of-freedom spraying robot according to claim 1, characterized in that, The upper end of the small arm component is connected to the elbow component, and the lower end of the small arm component is connected to the wrist.

8. The multi-degree-of-freedom spraying robot according to claim 1, wherein, The upper end of the wrist is connected to the small arm component, and the lower end of the wrist is connected to the paint spray bottle picking and placing mechanism.

9. The multi-degree-of-freedom spraying robot according to claim 1, wherein, The paint spray bottle picking and placing mechanism is connected to the wrist; The paint spray bottle picking and placing mechanism includes a large-diameter opening clamp, a circulating ball type precision slide cylinder, a speed regulator joint, and a chassis; The paint spray bottle picking and placing mechanism is used to clamp the paint spray bottle to perform spraying operations on the wheels; the chassis is an overall load-bearing structure, and the large-diameter opening clamp is used to clamp the paint spray bottle; the speed regulator joint is installed on the circulating ball type precision slide cylinder and is used to adjust the pneumatic speed.

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