Spraying robot tail end joint

Abstract

The utility model belongs to the technical field of instrument spraying equipment, and discloses a spraying robot tail end joint which comprises a base, a first mounting seat is rotatably mounted at the top of the base, a first rotating arm is fixedly mounted on the outer wall of the first mounting seat, a second mounting seat is rotatably mounted on the first rotating arm, and a second rotating arm is fixedly mounted on the second mounting seat. And a third mounting base is fixedly mounted on the outer wall of the second mounting base, a fourth mounting base is rotatably mounted on the inner wall of the outer wall of the third mounting base, and a spraying pen is fixedly mounted on the outer wall of the fourth mounting base. The tail end joint of the spraying robot can achieve high-precision motion control of the spraying pen under multiple degrees of freedom, the spraying pen can conduct fine spraying according to the preset track and angle through the synergistic effect of the first motor and the second motor in combination with precise positioning and rotating installation of the first rotating arm, the second rotating arm and all levels of installation bases, and the spraying efficiency is improved. And the efficiency and the accuracy of spraying operation are improved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of apparatus spraying equipment, and specifically is a spraying robot end joint. BACKGROUND

[0002] Industrial robots have been fully penetrated into all walks of life of industrial production, and become the preferred tool to replace traditional manual labor, especially in the field of spraying, because the working environment is complex and harsh, industrial robots are expected to become the main force in this field, however, imported spraying robots are high in price and make people hesitate, therefore, there is an urgent need in the market for a spraying robot with high cost performance and excellent quality.

[0003] With the wide application of spraying robots in various fields, the performance requirements of users are also increasing, lightweight design, modular structure and larger arm range have become the most urgent needs in the current development of spraying robots, however, most of the existing spraying robot products adopt vertical six-axis structure, and servo motors are mostly installed in the internal space of the robot rotating seat and elbow casting, this design causes the servo motor of the end 456 axis to be far away from the rotation axis, the transmission structure is abnormally complex, which not only increases the assembly difficulty, but also is difficult to ensure the consistency and stability of the product, and further increases the assembly cost.

[0004] In addition, this design also increases the design difficulty, increases the types and quantity of parts, and causes the material cost to rise, because the transmission part adopts high-precision gear, spline or belt wheel and other transmission elements, higher requirements are put forward for the technical level of the supplier, thereby further increasing the production cost, more importantly, the stacking of numerous parts greatly increases the weight of the whole small arm and wrist part, which not only increases the production cost, but also limits the arm range of the robot, therefore, it needs to be improved and optimized. CONTENT OF THE UTILITY MODEL

[0005] To solve the problems in the above background art, the utility model provides a spraying robot end joint,

[0006] To achieve the above purpose, the utility model provides the following technical scheme: a spraying robot end joint, comprising a base, a mounting seat one is rotationally installed on the top of the base, a rotating arm one is fixedly installed on the outer wall of the mounting seat one, a mounting seat two is rotationally installed on the rotating arm one, a mounting seat three is fixedly installed on the outer wall of the mounting seat two, a mounting seat four is rotationally installed on the outer wall of the mounting seat three, and a spraying pen is fixedly installed on the outer wall of the mounting seat four.

[0007] Preferably, a motor one is fixedly installed on the outer wall of the mounting seat one, and the top of the base is circularly designed and matched with the bottom of the mounting seat one.

[0008] Preferably, the outer wall of the mounting base two is provided with a motor two and a rotating arm two, the output shaft of the motor two is fixedly connected with the mounting base two, the output shaft of the motor two is rotationally connected with the rotating arm one, and the end of the rotating arm two is fixedly connected with the outer wall of the mounting base three.

[0009] Preferably, the outer wall of the mounting base three is designed in a shape of a Chinese character 'fang', a mounting base is rotationally arranged in the Chinese character 'fang', and the mounting base four is fixedly connected with the mounting base.

[0010] Preferably, the bottom of the mounting base four is fixedly provided with a rectangular plate, the top of the rectangular plate is designed with a buckle, and the spraying pen is fixedly connected with the mounting base four through the buckle.

[0011] Preferably, the diameters of the two ends of the rotating arm one are different, and the diameter of the lower end of the rotating arm one is greater than that of the upper end.

[0012] Preferably, the outer wall of one end of the rotating arm two connected with the mounting base three is provided with a plurality of reinforcing ribs, and the plurality of reinforcing ribs are designed to be distributed at equal distances in a circle.

[0013] Compared with the prior art, the utility model has the advantages that:

[0014] The utility model discloses a multi-stage rotating structure and a motor driving system are arranged, the end joint of the spraying robot can realize high-precision motion control of the spraying pen under multiple degrees of freedom, the cooperation of the motor one and the motor two, the accurate positioning and the rotation installation of the rotating arm one, the rotating arm two and various mounting bases make the spraying pen can be fine spraying according to the predetermined trajectory and angle, improve the efficiency and accuracy of the spraying operation, enhance the flexibility and application scope of the spraying robot, can satisfy the demand of complex workpieces and fine spraying process. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is the structure schematic diagram of the utility model;

[0016] Figure 2 It is the explosion structure schematic diagram of the utility model;

[0017] Figure 3 It is the back structure schematic diagram of the utility model;

[0018] Figure 4 It is the rotating arm one structure schematic diagram of the utility model;

[0019] Figure 5 It is the side structure schematic diagram of the utility model.

[0020] In the diagram: 1. Base; 2. Mounting base one; 201. Motor one; 3. Rotating arm one; 4. Mounting base two; 401. Motor two; 402. Rotating arm two; 5. Mounting base three; 6. Mounting base four; 7. Spray paint pen. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0022] like Figures 1 to 5 As shown, this utility model provides an end effector joint for a painting robot, including a base 1, a mounting seat 2 rotatably mounted on the top of the base 1, a rotating arm 3 fixedly mounted on the outer wall of the mounting seat 2, a mounting seat 4 rotatably mounted on the rotating arm 3, a mounting seat 5 fixedly mounted on the outer wall of the mounting seat 4, a mounting seat 6 rotatably mounted on the inner wall of the outer wall of the mounting seat 5, a spray pen 7 fixedly mounted on the outer wall of the mounting seat 6, and a motor 201 fixedly mounted on the outer wall of the mounting seat 2. The top of the base 1 is circular and adapted to the bottom of the mounting seat 2.

[0023] By designing a circular groove on the top of the base 1 that matches the bottom of the mounting base 2, the mounting base 2 can be smoothly and precisely rotated and installed on the base 1, facilitating the precise positioning and installation of subsequent components. A rotating arm 3 is fixedly installed on the outer wall of the mounting base 2. Through the rotation of the rotating arm 3, the mounting base 4 can rotate relative to the mounting base 2. The mounting base 5 ensures that the entire end joint remains compact and lightweight while possessing powerful functionality and flexibility. The mounting base 6 is rotatably mounted on the outer and inner walls of the mounting base 5, allowing for flexible rotation and adjustment within the range of the mounting base 5. Through the precise positioning and rotation of each mounting base, the spray pen 7 can achieve multi-degree-of-freedom, high-precision spraying operations.

[0024] like Figures 1 to 5 As shown, a motor 401 and a rotating arm 402 are provided on the outer wall of the second mounting base 4. The output shaft of the second motor 401 is fixedly connected to the second mounting base 4, and the output shaft of the second motor 401 is rotatably connected to the first rotating arm 3. The end of the second rotating arm 402 is fixedly connected to the outer wall of the third mounting base 5.

[0025] The output shaft of the motor two 401 is fixedly connected with the mounting base two 4, so that the motor two 401 can stably provide power for the rotating arm one 3 during operation, and the output shaft of the motor two 401 is rotatably connected with the rotating arm one 3, so that the rotating arm one 3 can rotate flexibly under the driving of the motor two 401, thereby meeting the accurate control requirements of the angle and direction in the spraying operation.

[0026] The movement control and operation requirements of the spraying robot are fully considered through the design of the mounting base two 4 and the related components, the accurate control of the position and angle of the spraying pen 7 is realized through the driving of the motor two 401 and the rotatable connection of the rotating arm one 3 and the rotating arm two 402, and powerful support is provided for efficient and accurate spraying operation.

[0027] As shown in Figures 1 to 5 The outer wall of the mounting base three 5 is designed in a shape of a Chinese character 'fang', the mounting base is rotatably installed in the Chinese character 'fang', the mounting base four 6 is fixedly connected with the mounting base, the rectangular plate is fixedly installed at the bottom of the mounting base four 6, the buckle is designed at the top of the rectangular plate, the spraying pen 7 is fixedly connected with the mounting base four 6 through the buckle, the diameters of the two ends of the rotating arm one 3 are different, the diameter of the lower end of the rotating arm one 3 is larger than that of the upper end, the plurality of reinforcing ribs are arranged on the outer wall of one end of the mounting base three 5 to which the rotating arm two 402 is connected, and the plurality of reinforcing ribs are arranged in a circumferentially equidistant distribution manner.

[0028] The connecting area between the rotating arm two 402 and the mounting base three 5 is effectively reinforced through the circumferentially equidistantly distributed reinforcing ribs, and the bearing capacity of the whole structure is enhanced, and the spraying pen 7 is fixedly connected with the mounting base four 6 through the buckle, so that the spraying pen 7 can not be loosened or deviated due to vibration or external force during operation, thereby ensuring the accuracy and consistency of the spraying operation.

[0029] The working principle and use process of the utility model are as follows:

[0030] The top of the base 1 is designed with a circular groove, which is matched with the bottom of the mounting seat 2, so that the mounting seat 2 can be stably and accurately rotated and mounted on the base 1, the outer wall of the mounting seat 2 is fixedly installed with a rotating arm 3, which provides support and rotation basis for the subsequent components, the rotating arm 3 is rotatably installed with a mounting seat 4, which realizes the rotating movement of the mounting seat 4 relative to the mounting seat 2, the outer wall of the mounting seat 4 is fixedly installed with a mounting seat 5, the outer wall of the mounting seat 5 is designed in a shape of a Chinese character, and an installation base is rotatably installed inside, a mounting seat 6 is fixedly connected with the installation base, forming a multi-stage rotating structure, the bottom of the mounting seat 6 is fixedly installed with a rectangular plate, the rectangular plate is designed with buckles for fixing a spraying pen 7, the outer wall of the mounting seat 2 is fixedly installed with a motor 201, the motor 201 is used for driving the mounting seat 2, the outer wall of the mounting seat 4 is provided with a motor 401, the output shaft of the motor 401 is fixedly connected with the mounting seat 4 and forms a rotating connection with the rotating arm 3, drives the rotating arm 3 and the subsequent components to rotate, the motor 401 drives the rotating arm 1 and a rotating arm 402, realizes the accurate control of the position and angle of the mounting seat 5 and the spraying pen 7, under the driving of the motor 201 and the motor 401, the spraying pen 7 can perform spraying work under the conditions of multiple degrees of freedom and high precision.

[0031] It should be noted that, in the present text, relational terms such as first and second and the like can only be used to distinguish one entity or operation from another entity or operation, without necessarily requiring or implying that there is any such actual relationship or order between these entities or operations. Moreover, the terms "comprises", "comprising", or any other variant thereof are intended to cover non-exclusive inclusions, so that a process, method, article, or apparatus that comprises a list of elements does not only include those elements, but also includes other elements not explicitly listed, or further includes elements inherent in such a process, method, article, or apparatus.

[0032] Although the embodiments of the present application have been shown and described, it should be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. An end-of-arm joint for a painting robot comprising a base (1), characterized in that: The top of the base (1) is rotatably provided with a mounting seat one (2), the outer wall of the mounting seat one (2) is fixedly provided with a rotating arm one (3), the rotating arm one (3) is rotatably provided with a mounting seat two (4), the outer wall of the mounting seat two (4) is fixedly provided with a mounting seat three (5), the inner wall of the outer wall of the mounting seat three (5) is rotatably provided with a mounting seat four (6), and the outer wall of the mounting seat four (6) is fixedly provided with a spraying pen (7).

2. The spray robot end joint of claim 1, wherein: The outer wall of the mounting seat one (2) is fixedly provided with a motor one (201), and the top of the base (1) is circularly designed and matched with the bottom of the mounting seat one (2).

3. The spray robot end joint of claim 1, wherein: The outer wall of the mounting seat two (4) is provided with a motor two (401) and a rotating arm two (402), the output shaft of the motor two (401) is fixedly connected with the mounting seat two (4), the output shaft of the motor two (401) is rotatably connected with the rotating arm one (3), and the end of the rotating arm two (402) is fixedly connected with the outer wall of the mounting seat three (5).

4. The spray robot end joint of claim 1, wherein: The outer wall of the mounting seat three (5) is designed in a shape of, the mounting base is rotatably arranged in the shape, and the mounting seat four (6) is fixedly connected with the mounting base.

5. The spray robot end joint of claim 1, wherein: The bottom of the mounting seat four (6) is fixedly provided with a rectangular plate, the top of the rectangular plate is designed with a buckle, and the spraying pen (7) is fixedly connected with the mounting seat four (6) through the buckle.

6. The spray robot end joint of claim 1, wherein: The diameters of the two ends of the rotating arm one (3) are different, and the diameter of the lower end is greater than that of the upper end.

7. The spray robot end joint of claim 3, wherein: The outer wall of one end of the rotating arm two (402) connected with the mounting seat three (5) is provided with a plurality of reinforcing ribs, and the reinforcing ribs are designed to be distributed at equal distances in a circle.

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