Manipulator spraying machine

Abstract

A manipulator spraying machine relates to the technical field of mechanical spraying and comprises a base, a rotating frame and a spraying manipulator, a bearing seat is arranged at one end of the rotating frame, and a plurality of vertical columns used for fixing upright products are rotatably arranged on the bearing seat. The bearing seat and / or the rotating frame are / is provided with a driving assembly used for driving the multiple vertical stand columns to rotate synchronously. The driving assembly comprises a plurality of first belt wheels correspondingly arranged on the vertical stand columns in a sleeving mode, a second belt wheel rotationally arranged on the bearing base or the rotating frame, a transmission belt wound between the first belt wheels and the second belt wheel, and a driving motor used for driving the second belt wheel to rotate. By the adoption of the technical scheme, through cooperation of the driving motor, the first belt wheel, the second belt wheel and the transmission belt, the control precision of the vertical stand column is improved, the maintenance cost is reduced, practicability is high, and market popularization is facilitated.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical spraying technical field, concretely relates to a mechanical hand spraying machine. BACKGROUND

[0002] The spraying machine is a kind of coating equipment widely used in building, aviation, automobile, furniture and other fields, mainly used to spray coating to the surface of object to be coated at high speed, and form uniform, smooth coating.

[0003] In the related art, such as the patent for invention with publication number CN106423664B discloses a kind of spraying mechanical hand device that can be turned, including platform support, one horizontal support table is arranged horizontally on platform support, and product fixed steering device for fixing upright product is arranged at one end of horizontal support table.

[0004] However, the product fixed steering device in the related art is realized by the extension of cylinder group to realize rotation. The clockwise and counterclockwise rotation of product support seat is controlled by upper steering cylinder and lower steering cylinder of cylinder group respectively, so as to realize the steering of product. The driving mode of this cylinder group exists the problems of poor force control accuracy, and the air tightness of cylinder group and pneumatic element needs to be checked regularly, which increases the maintenance cost. UTILITY MODEL CONTENTS

[0005] The utility model aims at solving the problems of slow response speed, poor force control accuracy and high maintenance cost in the product fixed steering device of prior art, and provides a kind of mechanical hand spraying machine.

[0006] The technical scheme adopted by the utility model is: a kind of mechanical hand spraying machine, including base, rotating frame and spraying mechanical hand, one end of the rotating frame is provided with bearing seat, a plurality of vertical columns for fixing upright product are rotationally arranged on the bearing seat, and driving assembly for driving a plurality of vertical columns to rotate synchronously is arranged on the bearing seat and / or rotating frame;

[0007] The driving assembly includes a plurality of first pulleys corresponding to the sleeve on a plurality of vertical columns, a second pulley rotationally arranged on the bearing seat or the rotating frame, a transmission belt wound between a plurality of first pulleys and second pulleys, and a driving motor for driving the second pulley to rotate.

[0008] Optionally, the driving assembly further includes at least one tensioning pulley rotationally arranged on the bearing seat, the tensioning pulley is arranged between the first pulley and the second pulley, and the outer side of the tensioning pulley and the transmission belt abuts.

[0009] Optionally, the bearing seat is provided with a tension force adjusting assembly for adjusting the position of the tensioning wheel relative to the bearing seat to adjust the tension force of the transmission belt.

[0010] Optionally, the tension force adjusting assembly comprises a waist-shaped groove opened on the bearing seat, a supporting column for supporting the tensioning wheel, and an adjusting bolt and an adjusting nut for fixing the supporting column at the waist-shaped groove, the tensioning wheel is fixedly installed at the top end of the supporting column, the bottom end of the supporting column is located at the upper groove of the waist-shaped groove, and the width of the bottom end of the supporting column is greater than the width of the waist-shaped groove, the top end of the adjusting bolt passes through the waist-shaped groove upward and is fixedly connected to the supporting column, and the adjusting nut is screwed at the bottom end of the adjusting bolt and abuts against the lower groove of the waist-shaped groove.

[0011] Optionally, the tension force adjusting assembly further comprises a push rod, the push rod is arranged along the direction perpendicular to the length of the supporting column, and one end of the push rod is fixedly connected to the side wall of the supporting column.

[0012] Optionally, the rotating frame is fixedly installed with a protective cover, the first pulley, the second pulley, the tensioning wheel, the transmission belt, the waist-shaped groove, the push rod, and the driving motor are all accommodated in the protective cover, and the top ends of the vertical columns all vertically extend upward and out of the protective cover.

[0013] Optionally, the driving assembly further comprises a plurality of transmission wheels, the plurality of transmission wheels are sequentially arranged between adjacent two first pulleys, and the plurality of transmission wheels all abut against the outer side of the transmission belt.

[0014] Optionally, the bearing seat is fixedly provided with a plurality of mounting seats, a connecting column is rotatably arranged on each of the mounting seats, the plurality of first pulleys are correspondingly sleeved on the connecting columns, and the vertical column is detachably connected to the connecting column.

[0015] Optionally, one end of the connecting column away from the mounting seat is fixedly provided with a connecting seat, and the connecting seat is opened with a mounting groove for inserting the vertical column.

[0016] Optionally, a plurality of jacks are uniformly arranged in the connecting seat along a direction perpendicular to the mounting groove, the jacks are provided with top beads at the end portions and extend into the mounting groove, and the bottom end of the vertical column is opened with an annular clamping groove matched with the top beads.

[0017] After the above technical scheme is adopted, the utility model has the beneficial effects that:

[0018] The application drives the second belt pulley to rotate through the driving motor, drives the transmission belt and the first belt pulley to rotate, thereby driving a plurality of vertical columns to rotate, that is, driving the vertical products arranged on the vertical columns to rotate synchronously, and further realizing 360° rotary spraying of the vertical products, improving the spraying effect of the products, and driving the vertical columns to rotate through the driving motor, the first belt pulley, the second belt pulley and the transmission belt, improving the control precision of the vertical columns, realizing high-precision spraying of the products, and being low in maintenance cost, high in practicability and wide in application range. BRIEF DESCRIPTION OF DRAWINGS

[0019] 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 needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0020] Figure 1 is a schematic diagram of the overall structure of the embodiment;

[0021] Figure 2 is a partial exploded view of the embodiment after the spraying manipulator;

[0022] Figure 3 is a schematic diagram of the position relationship between the driving assembly, the tension adjusting assembly and the bearing seat;

[0023] Figure 4 is a partial sectional view of Figure 3 ;

[0024] Figure 5 is an enlarged view of A part in Figure 4 ;

[0025] Figure 6 is a schematic diagram of the assembly relationship between the vertical column and the connecting seat.

[0026] Marked: 10, base; 20, rotating frame; 21, protective cover; 30, spraying manipulator; 40, bearing seat; 41, mounting seat; 42, connecting column; 43, connecting seat; 431, mounting groove; 432, top column; 433, top bead; 50, vertical column; 51, annular clamping groove; 60, driving assembly; 61, first belt pulley; 62, second belt pulley; 63, transmission belt; 64, driving motor; 65, tension pulley; 66, transmission pulley; 70, tension adjusting assembly; 71, waist-shaped groove; 72, supporting column; 73, adjusting bolt; 74, adjusting nut; 75, push rod. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application Figures 1-6 It is obvious that the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0028] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative positional relationship, movement condition, etc. between the components in a certain specific posture (as shown in the drawings), and if the specific posture changes, the directional indications also change accordingly.

[0029] In addition, if the embodiments of the present application involve descriptions of "first", "second", etc., the descriptions of "first", "second", etc. are only for description purposes, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first" and "second" can explicitly or implicitly include at least one of the features. In addition, the meaning of "and / or" appearing throughout the text is that it includes three parallel schemes, for example, "A and / or B" includes A scheme, or B scheme, or A and B schemes. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of the ordinary skill in the art, and when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, and is not within the scope of protection required by the present application.

[0030] The present embodiment relates to a mechanical hand spraying machine, referring to Figures 1-6 , comprising a base 10, a rotating frame 20 and a spraying mechanical hand 30, wherein the base 10 is arranged in a substantially cuboid shape, the spraying mechanical hand 30 is a six-axis mechanical hand, the spraying mechanical hand 30 is rotatably arranged at the middle part of the rotating frame 20, and a plurality of spraying heads for spraying are arranged on the spraying mechanical hand 30.

[0031] One end of the rotating frame 20 is provided with a bearing seat 40, a plurality of vertical columns 50 for fixing upright products are rotatably arranged on the bearing seat 40, and the bearing seat 40 and / or the rotating frame 20 are provided with a driving assembly 60 for driving the plurality of vertical columns 50 to rotate synchronously.

[0032] It should be noted that in the present embodiment, the number of bearing seats 40 is two, the two bearing seats 40 are symmetrically arranged at the two ends of the rotating frame 20, and a plurality of vertical columns 50 for fixing the vertical products are arranged on the two bearing seats 40. In this way, the spraying amount of the vertical products can be improved, thereby improving the spraying efficiency. Of course, in other embodiments, structures for fixing other shaped products (such as horizontal products) can also be arranged on the two bearing seats 40, which are not limited here.

[0033] Further, referring to Figure 2 and Figure 3 , the driving assembly 60 comprises a plurality of first pulleys 61 corresponding to the plurality of vertical columns 50, a second pulley 62 rotatably arranged on the bearing seat 40 or the rotating frame 20, a transmission belt 63 arranged between the plurality of first pulleys 61 and the second pulley 62, and a driving motor 64 for driving the second pulley 62 to rotate. The first pulley 61 is fixedly sleeved on the bottom end of the vertical column 50, the second pulley 62 is located on the rotating frame 20 and is in the same plane as the first pulley 61, the transmission belt 63 is an annular conveyor belt, the first pulley 61 and the second pulley 62 are in abutment with the inner side of the transmission belt 63, and the driving motor 64 is fixedly installed on the rotating frame 20, and the output shaft of the driving motor 64 is fixedly connected to the second pulley 62.

[0034] The driving motor 64 drives the second pulley 62 to rotate, drives the transmission belt 63 and the plurality of first pulleys 61 to rotate, thereby driving the plurality of vertical columns 50 to rotate synchronously, i.e. driving the plurality of vertical products to rotate synchronously, and further realizing 360° rotation of the vertical products, thereby improving the spraying effect and spraying quality. Compared with the driving mode of the cylinder group in the prior art, the present scheme improves the control accuracy of the vertical column 50 by cooperation of the driving motor 64, the first pulley 61, the second pulley 62 and the transmission belt 63, reduces the maintenance cost, has strong practicability, and is beneficial to market promotion.

[0035] Further, the driving assembly 60 further comprises at least one tensioning pulley 65 rotatably arranged on the bearing seat 40, the tensioning pulley 65 is arranged between the first pulley 61 and the second pulley 62, and the tensioning pulley 65 is in abutment with the outer side of the transmission belt 63.

[0036] In the present embodiment, the number of tensioning pulleys 65 is two, the two tensioning pulleys 65 are symmetrically arranged on the bearing seat 40, and in other embodiments, the number of tensioning pulleys 65 can also be increased or decreased accordingly according to actual conditions, which is not limited here.

[0037] It can be understood that, through the arrangement of the tensioning wheel 65, the transmission belt 63 can maintain appropriate tension, ensuring the stability of the transmission of the transmission belt 63, and effectively avoiding the situation that the transmission belt 63 falls off the first belt wheel 61 and / or the second belt wheel 62.

[0038] Further, referring to Figure 3 , Figure 4 and Figure 5 , the carrier seat 40 is provided with a tension force adjusting assembly 70 for adjusting the position of the tensioning wheel 65 relative to the carrier seat 40 to adjust the tension of the transmission belt 63.

[0039] Specifically, the tension force adjusting assembly 70 includes a waist-shaped groove 71 opened on the carrier seat 40, a support column 72 for supporting the tensioning wheel 65, and an adjusting bolt 73 and an adjusting nut 74 for fixing the support column 72 at the waist-shaped groove 71, wherein the waist-shaped groove 71 has an upper slot and a lower slot, the tensioning wheel 65 is fixedly installed at the top end of the support column 72, the bottom end of the support column 72 abuts against the upper slot of the waist-shaped groove 71, and the width of the bottom end of the support column 72 is greater than the width of the waist-shaped groove 71. In this embodiment, the cross section of the support column 72 is a regular hexagon, and in other embodiments, the cross section of the support column 72 can also be square, prismatic, circular or other shapes, which are not limited here. The top end of the adjusting bolt 73 passes through the waist-shaped groove 71 upward and is fixedly connected to the bottom end of the support column 72, and the adjusting nut 74 is screwed to the bottom end of the adjusting bolt 73 and abuts against the lower slot of the waist-shaped groove 71.

[0040] It can be understood that, when it is necessary to adjust the tension of the transmission belt 63, the adjusting nut 74 is first loosened, so that the support column 72 can freely slide relative to the carrier seat 40, and when the support column 72 is moved to the corresponding position, the adjusting nut 74 is tightened again and abuts against the lower slot of the waist-shaped groove 71, thereby fixing the position of the support column 72, and then adjusting the tension of the transmission belt 63, so that the transmission belt 63 can maintain a certain tension to ensure the stability of the transmission.

[0041] In addition, in order to facilitate the movement of the support column 72 relative to the carrier seat 40, the tension force adjusting assembly 70 further includes a push rod 75, which is arranged perpendicular to the length direction of the support column 72, and one end of the push rod 75 is fixedly connected to the side wall of the support column 72.

[0042] Further, in combination with Figure 1 and Figure 2 , the rotating frame 20 is also fixedly installed with a protective cover 21, and the first belt wheel 61, the second belt wheel 62, the tensioning wheel 65, the transmission belt 63, the waist-shaped groove 71, the push rod 75 and the drive motor 64 are all accommodated in the protective cover 21, and the top ends of the plurality of vertical columns 50 vertically extend upward and out of the protective cover 21.

[0043] It can be understood that the first pulley 61, the second pulley 62, the tension pulley 65, the transmission belt 63, the waist-shaped groove 71, the push rod 75 and the driving motor 64 are all accommodated in the protective cover 21, so that the paint sprayed by the spraying manipulator 30 cannot enter the protective cover 21, the entire belt transmission system is not easy to be contaminated by the paint, the stable operation of the entire spraying machine is ensured, and the service life is prolonged.

[0044] Further, the driving assembly 60 further comprises a plurality of transmission pulleys 66, the plurality of transmission pulleys 66 are sequentially arranged between adjacent two first pulleys 61, and the plurality of transmission pulleys 66 are in abutment with the outer side of the transmission belt 63.

[0045] It can be understood that the transmission pulley 66 is arranged between the adjacent two first pulleys 61, so that the connection between the adjacent two first pulleys 61 is closer, thereby effectively avoiding the situation that the transmission belt 63 falls off, and the transmission efficiency and stability of the first pulley 61, the second pulley 62, the tension pulley 65 and the transmission belt 63 are ensured.

[0046] Further, the bearing seat 40 is fixedly provided with a plurality of mounting seats 41, the plurality of mounting seats 41 are all rotatably provided with connecting columns 42, the plurality of first pulleys 61 are one by one correspondingly sleeved on the plurality of connecting columns 42, and the vertical stand column 50 is detachably connected to the connecting column 42.

[0047] It can be understood that the mounting seat 41, the connecting column 42 and the first pulley 61 are matched, so that the vertical stand column 50 can be stably rotated under the driving of the first pulley 61, thereby realizing the full-range spraying of the product.

[0048] Further, referring to Figure 3 , Figure 5 and Figure 6 , the connecting column 42 is fixedly provided with a connecting seat 43 at an end away from the mounting seat 41, and the connecting seat 43 is provided with a mounting groove 431 for inserting the vertical stand column 50.

[0049] Further, the connecting seat 43 is uniformly provided with a plurality of jacks 432 in a direction perpendicular to the mounting groove 431, the plurality of jacks 432 are provided with jacks 433 at the ends and the jacks 433 extend into the mounting groove 431, and the bottom end of the vertical stand column 50 is provided with an annular clamping groove 51 matched with the jacks 433.

[0050] It can be understood that the vertical column 50 is fixed in the mounting groove 431 by inserting the vertical column 50 into the mounting groove 431 and by cooperation between the annular clamping groove 51 and the top bead 433, so that the vertical column 50 can stably rotate when the first pulley 61 rotates, and in turn drive the vertical product to stably rotate. When it is necessary to replace the vertical column 50 of different sizes, the vertical column 50 is pulled out and a new vertical column 50 is inserted, which is simple and convenient to operate, realizes the quick replacement of the vertical column 50 of different sizes, and in turn facilitates the spraying of the vertical product of different sizes.

[0051] The above is only used to illustrate the technical scheme of the present application, but not limit it, and other modifications or equivalent replacements of the technical scheme of the present application made by those skilled in the art should be covered in the scope of the claims of the present application, as long as they do not deviate from the spirit and scope of the technical scheme of the present application.

Claims

1. A robot painting machine comprising a base (10), a turret (20) and a painting robot (30), characterized in that, One end of the rotating frame (20) is provided with a bearing seat (40), a plurality of vertical columns (50) for fixing upright products are rotatably arranged on the bearing seat (40), and a driving assembly (60) for driving a plurality of vertical columns (50) to rotate synchronously is arranged on the bearing seat (40) and / or the rotating frame (20). The driving assembly (60) comprises a plurality of first pulleys (61) corresponding to the plurality of vertical columns (50), a second pulley (62) rotatably arranged on the bearing seat (40) or the rotating frame (20), a transmission belt (63) wound between the plurality of first pulleys (61) and the second pulley (62), and a driving motor (64) for driving the second pulley (62) to rotate.

2. A robot coater according to claim 1, characterized in that The driving assembly (60) further comprises at least one tensioning pulley (65) rotatably arranged on the bearing seat (40), the tensioning pulley (65) is arranged between the first pulley (61) and the second pulley (62), and the tensioning pulley (65) abuts the outer side of the transmission belt (63).

3. A robot coater according to claim 2, wherein The bearing seat (40) is provided with a tensioning force adjusting assembly (70) for adjusting the position of the tensioning pulley (65) relative to the bearing seat (40) to adjust the tensioning force of the transmission belt (63).

4. A robot coater according to claim 3, wherein The tensioning force adjusting assembly (70) comprises a waist-shaped groove (71) opened on the bearing seat (40), a support column (72) for supporting the tensioning pulley (65), and an adjusting bolt (73) and an adjusting nut (74) for fixing the support column (72) at the waist-shaped groove (71), the tensioning pulley (65) is fixedly installed at the top end of the support column (72), the bottom end of the support column (72) is located at the upper groove of the waist-shaped groove (71), the width of the bottom end of the support column (72) is greater than the width of the waist-shaped groove (71), the top end of the adjusting bolt (73) passes through the waist-shaped groove (71) upwardly and is fixedly connected to the support column (72), and the adjusting nut (74) is screwed on the bottom end of the adjusting bolt (73) and abuts against the lower groove of the waist-shaped groove (71).

5. A robot sprayer according to claim 4, wherein The tensioning force adjusting assembly (70) further comprises a push rod (75), the push rod (75) is arranged perpendicular to the length direction of the support column (72), and one end of the push rod (75) is fixedly connected to the side wall of the support column (72).

6. A robot coater according to claim 5, wherein The rotating frame (20) is fixedly installed with a protective cover (21), the first pulley (61), the second pulley (62), the tensioning pulley (65), the transmission belt (63), the waist-shaped groove (71), the push rod (75), and the driving motor (64) are all accommodated in the protective cover (21), and the top ends of the plurality of vertical columns (50) are vertically upwardly extended and out of the protective cover (21).

7. The robot sprayer of claim 1 wherein, The driving assembly (60) further comprises a plurality of transmission wheels (66), the plurality of transmission wheels (66) are sequentially arranged between adjacent two first pulleys (61), and the plurality of transmission wheels (66) all abut the outer side of the transmission belt (63).

8. The robot sprayer of claim 1 wherein, A plurality of mounting seats (41) are fixedly arranged in the bearing seat (40), a connecting column (42) is rotatably arranged on each of the plurality of mounting seats (41), a plurality of first belt pulleys (61) are correspondingly sleeved on the plurality of connecting columns (42), and the vertical column (50) is detachably connected to the connecting column (42).

9. A robot sprayer according to claim 8, wherein, One end of the connecting column (42) away from the mounting seat (41) is fixedly provided with a connecting seat (43), and the connecting seat (43) is provided with a mounting groove (431) for inserting the vertical column (50).

10. A robot coater according to claim 9, wherein A plurality of jacks (432) are uniformly arranged in the connecting seat (43) in a direction perpendicular to the mounting groove (431), the end of the jack (432) is provided with a top bead (433) which extends into the mounting groove (431), and the bottom end of the vertical column (50) is provided with an annular clamping groove (51) which is clamped with the top bead (433).

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