Five-axis profiling automatic spraying manipulator

Abstract

The utility model relates to the technical field of spraying equipment, in particular to a five-axis profiling automatic spraying manipulator which comprises a spraying gun, an X-direction moving mechanism, a Y-direction moving mechanism, a Z-direction moving mechanism, a horizontal rotating mechanism, a vertical rotating mechanism and a rack, the X-direction moving mechanism is arranged on the rack, the Y-direction moving mechanism is arranged on the X-direction moving mechanism, and the Z-direction moving mechanism is arranged on the vertical rotating mechanism. The Z-direction moving mechanism is arranged on the Y-direction moving mechanism, and the horizontal rotating mechanism is arranged on the Z-direction moving mechanism. The spray gun can move in five degrees of freedom under the action of the X-direction moving mechanism, the Y-direction moving mechanism, the Z-direction moving mechanism, the horizontal rotating mechanism and the vertical rotating mechanism, all-directional free movement can be achieved, the spraying effect is improved, all-directional automatic spraying of various complex parts is achieved, and the all-directional automatic spraying device is low in manufacturing cost and low in use cost.

Description

Technical Field

[0001] This utility model belongs to the field of spraying equipment technology, and specifically relates to a five-axis contour automatic spraying robot. Background Technology

[0002] Spray painting is a common coating method that uses specialized equipment, such as spray guns, to atomize paint and evenly coat it onto the surface of an object. This technology is widely used in many fields, including automobile manufacturing, furniture production, and building decoration.

[0003] The market for skilled operators is increasingly strained due to a high demand, coupled with already high and continuously rising comprehensive human resource costs including salaries, benefits, recruitment, training, and management. Many enterprises, especially SMEs, experience high turnover rates among their skilled workers, creating an urgent need for equipment that can replace manual labor. While general-purpose robotic arms are versatile, they require significant investment and extremely high levels of maintenance, largely relying on manufacturers and potentially disrupting production continuity. Furthermore, the increasing demands for processing quality and complexity in domestic manufacturing sectors mean that many skilled operators are no longer sufficient to meet these requirements. Based on a comprehensive comparison of advantages, enterprises urgently need specialized equipment to replace manual labor, thereby improving processing quality and reducing costs (reducing human capital investment). Therefore, the market potential is enormous, especially given the current economic pressures and the resulting surge in demand.

[0004] Therefore, the high efficiency and harm to the human body caused by manual spraying, as well as the high cost of general-purpose robotic spraying, have become urgent technical problems that need to be solved. Utility Model Content

[0005] Purpose of the utility model: In order to overcome the above shortcomings, this utility model provides a five-axis contour automatic spraying robot, which has a simple structure, reasonable design, can move freely in all directions to improve the spraying effect, and has a low cost.

[0006] Technical solution: To achieve the above objectives, this utility model provides a five-axis contour-following automatic spraying robot, including a spray gun, an X-axis moving mechanism, a Y-axis moving mechanism, a Z-axis moving mechanism, a horizontal rotation mechanism, a vertical rotation mechanism, and a frame. The X-axis moving mechanism is mounted on the frame, the Y-axis moving mechanism is mounted on the X-axis moving mechanism, the Z-axis moving mechanism is mounted on the Y-axis moving mechanism, and the horizontal rotation mechanism is mounted on the Z-axis moving mechanism.

[0007] The horizontal rotation mechanism includes a rotating bracket and a horizontal rotating motor. The horizontal rotating motor is mounted on the Z-axis moving mechanism. The rotating bracket is rotatably mounted on the rotating bracket and connected to the horizontal rotating motor. A set of support legs is provided at the lower part of the rotating bracket. The spray gun is rotatably mounted between the support legs. The vertical rotation mechanism includes a vertical rotating motor. The vertical rotating motor is located on the outside of the support legs and connected to the spray gun.

[0008] The spray gun, as an end effector, can move in three directions: X, Y, and Z. Under the action of the horizontal and vertical rotation mechanisms, it can rotate in both horizontal and vertical directions, achieving omnidirectional movement and angle changes.

[0009] Furthermore, the vertical rotation mechanism also includes a transmission gear set and a rotating shaft. The rotating shaft is rotatably mounted on the support legs. The rotating shaft is connected to the vertical rotation motor through the transmission gear set. The spray gun is fixed to the rotating shaft by a pair of clamps.

[0010] Furthermore, the X-axis moving mechanism includes an X-axis lead screw, a feed frame, a set of vertical plates, and an X-axis motor. The X-axis motor is mounted on the frame, and the X-axis lead screw is rotatably mounted on the frame and connected to the X-axis motor. The feed frame has a threaded sleeve in the middle connected to the X-axis lead screw, and both ends of the feed frame are connected to the vertical plates. The X-axis motor converts its rotational momentum into linear kinetic momentum through the X-axis lead screw.

[0011] Furthermore, the X-axis moving mechanism also includes an X-axis guide rod, which is mounted on the frame. A guide block is provided at the bottom of the vertical plate, and the guide block passes through the X-axis guide rod. The X-axis guide rod guides the movement of the X-axis moving mechanism.

[0012] Furthermore, the Y-axis moving mechanism includes a Y-axis lead screw, a moving plate, and a Y-axis motor. The Y-axis lead screw is rotatably mounted on the upper part of the vertical plate, and the Y-axis motor is mounted on the upper part of the vertical plate. The Y-axis motor is connected to the Y-axis lead screw, and the moving plate is provided with a threaded sleeve that cooperates with the Y-axis lead screw.

[0013] It also includes a Y-direction guide rod, the two ends of which are located on the upper part of the vertical plate, and a guide block is provided on the movable plate, the guide block passing through the Y-direction guide rod.

[0014] Furthermore, the Z-axis moving mechanism includes a Z-axis moving plate, a Z-axis motor, and a Z-axis lead screw. The Z-axis moving plate has end plates on its upper and lower sides. The Z-axis lead screw is rotatably mounted between the end plates. The Z-axis motor is mounted on the upper end plate and connected to the Z-axis lead screw. The moving plate has a threaded sleeve that cooperates with the Z-axis lead screw.

[0015] A Z-direction guide rod is also provided between the end plates. The Z-direction guide rod passes through the movable plate, and the movable plate is provided with a guide block that cooperates with the Z-direction guide rod.

[0016] Furthermore, the horizontal rotary motor is located on the top surface of the lower end plate of the Z-axis moving plate, the rotating bracket is rotatably located on the bottom surface of the lower end plate, and the output shaft of the horizontal rotary motor passes through the end plate and is connected to the rotating bracket.

[0017] As can be seen from the above technical solution, this utility model has the following beneficial effects:

[0018] This utility model provides a five-axis contour-following automatic spraying robot. Under the action of the X-axis moving mechanism, Y-axis moving mechanism, Z-axis moving mechanism, horizontal rotation mechanism, and vertical rotation mechanism, the spray gun can achieve five degrees of freedom of movement, which can realize omnidirectional free movement to improve the spraying effect, meet the needs of omnidirectional automatic spraying of various complex parts, and its cost is low. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of a five-axis contour-following automatic spraying robot according to the present invention;

[0020] Figure 2 This is a front view of a five-axis contour-following automatic spraying robot according to the present invention.

[0021] Figure 3 This is a schematic diagram of the horizontal rotation mechanism and the vertical rotation mechanism described in this utility model.

[0022] In the diagram: 1-Spray gun, 2-X-direction moving mechanism, 21-X-direction lead screw, 22-Feed frame, 23-Vertical plate, 24-X-direction motor, 25-X-direction guide rod, 3-Y-direction moving mechanism, 31-Y-direction lead screw, 32-Moving plate, 33-Y-direction motor, 34-Y-direction guide rod, 4-Z-direction moving mechanism, 41-Z-direction moving plate, 42-Z-direction motor, 43-Z-direction lead screw, 44-Z-direction guide rod, 5-Horizontal rotation mechanism, 51-Rotating bracket, 511-Support leg, 52-Horizontal rotation motor, 6-Vertical rotation mechanism, 61-Vertical rotation motor, 62-Transmission gear set, 63-Rotating shaft. Detailed Implementation

[0023] It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention.

[0024] like Figure 1-3As shown, a five-axis contour-following automatic spraying robot includes a spray gun 1, an X-axis moving mechanism 2, a Y-axis moving mechanism 3, a Z-axis moving mechanism 4, a horizontal rotation mechanism 5, a vertical rotation mechanism 6, and a frame 7. The X-axis moving mechanism 2 is mounted on the frame 7, the Y-axis moving mechanism 3 is mounted on the X-axis moving mechanism 2, the Z-axis moving mechanism 4 is mounted on the Y-axis moving mechanism 3, and the horizontal rotation mechanism 5 is mounted on the Z-axis moving mechanism 4.

[0025] The horizontal rotation mechanism 5 includes a rotating bracket 51 and a horizontal rotation motor 52. The horizontal rotation motor 52 is mounted on the Z-axis moving mechanism 4. The rotating bracket 51 is rotatably mounted on the rotating bracket 51 and connected to the horizontal rotation motor 52. A set of support legs 511 is provided at the lower part of the rotating bracket 51. The spray gun 1 is rotatably mounted between the support legs 511. The vertical rotation mechanism 6 includes a vertical rotation motor 61. The vertical rotation motor 61 is located outside the support legs 511 and connected to the spray gun 1.

[0026] When the X-axis moving mechanism 2 is in operation, it can drive the Y-axis moving mechanism 3 and its upper components to move synchronously. When the Y-axis moving mechanism 3 moves, it can drive the Z-axis moving mechanism 4 and its upper components to move synchronously. Similarly, when the Z-axis moving mechanism 4 moves, it can drive the horizontal rotating mechanism 5 to move synchronously. The final trajectory end is the spray gun 1, thus realizing the five-axis movement of the spray gun 1.

[0027] The vertical rotation mechanism 6 further includes a transmission gear set 62 and a rotating shaft 63. The rotating shaft 63 is rotatably mounted on the support leg 511 and is connected to the vertical rotation motor 61 via the transmission gear set 62. The spray gun 1 is fixed to the rotating shaft 63 by a pair of clamps. The vertical rotation motor 61 transmits torque to the rotating shaft 63 via the transmission gear set 62, and the rotating shaft 63 drives the spray gun 1 to rotate in the vertical plane.

[0028] Specifically, the X-axis moving mechanism 2 includes an X-axis lead screw 21, a feed frame 22, a set of vertical plates 23, and an X-axis motor 24. The X-axis motor 24 is mounted on the frame 7. The X-axis lead screw 21 is rotatably mounted on the frame 7 and connected to the X-axis motor 24. The feed frame 22 has a threaded sleeve in the middle that connects to the X-axis lead screw 21, and both ends of the feed frame 22 are connected to the vertical plates 23. The operation of the X-axis motor 24 drives the X-axis lead screw 21 to rotate on the frame 7. The feed frame 22, which cooperates with the X-axis lead screw 21, performs linear motion on the X-axis lead screw 21, completing the X-axis movement. The Y-axis moving mechanism 3 and the Z-axis moving mechanism described below operate on the same principle and will not be analyzed in detail.

[0029] Preferably, the X-direction moving mechanism 2 further includes an X-direction guide rod 25, which is mounted on the frame 7. A guide block is provided at the bottom of the vertical plate 23, and the guide block passes through the X-direction guide rod 25.

[0030] In a preferred embodiment, the Y-axis moving mechanism 3 includes a Y-axis lead screw 31, a moving plate 32, and a Y-axis motor 33. The Y-axis lead screw 31 is rotatably mounted on the upper part of the vertical plate 23, and the Y-axis motor 33 is mounted on the upper part of the vertical plate 23. The Y-axis motor 33 is connected to the Y-axis lead screw 31, and the moving plate 32 is provided with a threaded sleeve that cooperates with the Y-axis lead screw 31.

[0031] It also includes a Y-direction guide rod 34, with both ends of the Y-direction guide rod 34 located on the upper part of the vertical plate 23. The movable plate 32 is provided with a guide block, which passes through the Y-direction guide rod 34.

[0032] In a preferred embodiment, the Z-axis moving mechanism 4 includes a Z-axis moving plate 41, a Z-axis motor 42, and a Z-axis lead screw 43. The Z-axis moving plate 41 has end plates on its upper and lower sides. The Z-axis lead screw 43 is rotatably disposed between the end plates. The Z-axis motor 42 is disposed on the upper end plate and connected to the Z-axis lead screw 43. The moving plate 32 is provided with a threaded sleeve that cooperates with the Z-axis lead screw 43.

[0033] A Z-direction guide rod 44 is also provided between the end plates. The Z-direction guide rod 44 passes through the movable plate 32 and is provided with a guide block that cooperates with the Z-direction guide rod 44.

[0034] The horizontal rotary motor 52 is located on the top surface of the lower end plate of the Z-axis moving plate 41, and the rotating bracket 51 is rotatably mounted on the bottom surface of the lower end plate. The output shaft of the horizontal rotary motor 52 passes through the end plate and is connected to the rotating bracket 51. When the horizontal rotary motor 52 is running, it drives the rotating bracket 51 connected to it to rotate in the horizontal plane.

[0035] When in use, this utility model works in conjunction with a PLC control system to plan the movement trajectory of the spray gun 1 according to the shape of the part. The predetermined trajectory of the spray gun 1 is achieved through the cooperation of the X-axis moving mechanism 2, the Y-axis moving mechanism 3, the Z-axis moving mechanism 4, the horizontal rotation mechanism 5, and the vertical rotation mechanism 6, so as to achieve automatic spraying.

[0036] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements can be made without departing from the principle of the present utility model, and these improvements should also be considered within the protection scope of the present utility model.

Claims

1. A five-axis contour-following automatic spraying robot, characterized in that, It includes a spray gun (1), an X-axis moving mechanism (2), a Y-axis moving mechanism (3), a Z-axis moving mechanism (4), a horizontal rotating mechanism (5), a vertical rotating mechanism (6), and a frame (7). The X-axis moving mechanism (2) is mounted on the frame (7), the Y-axis moving mechanism (3) is mounted on the X-axis moving mechanism (2), the Z-axis moving mechanism (4) is mounted on the Y-axis moving mechanism (3), and the horizontal rotating mechanism (5) is mounted on the Z-axis moving mechanism (4). The horizontal rotation mechanism (5) includes a rotating bracket (51) and a horizontal rotation motor (52). The horizontal rotation motor (52) is mounted on the Z-axis moving mechanism (4). The rotating bracket (51) is rotatably mounted on the rotating bracket (51) and connected to the horizontal rotation motor (52). A set of legs (511) is provided at the lower part of the rotating bracket (51). The spray gun (1) is rotatably mounted between the legs (511). The vertical rotation mechanism (6) includes a vertical rotation motor (61). The vertical rotation motor (61) is located outside the legs (511) and connected to the spray gun (1).

2. The five-axis contour-following automatic spraying robot according to claim 1, characterized in that, The vertical rotation mechanism (6) also includes a transmission gear set (62) and a rotating shaft (63). The rotating shaft (63) is rotatably mounted on the support leg (511). The rotating shaft (63) is connected to the vertical rotation motor (61) through the transmission gear set (62). The spray gun (1) is fixed on the rotating shaft (63) by a pair of clamps.

3. The five-axis contour-following automatic spraying robot according to claim 1, characterized in that, The X-axis moving mechanism (2) includes an X-axis lead screw (21), a feed frame (22), a set of vertical plates (23) and an X-axis motor (24). The X-axis motor (24) is mounted on the frame (7). The X-axis lead screw (21) is rotatably mounted on the frame (7) and connected to the X-axis motor (24). The feed frame (22) has a threaded sleeve in the middle that is connected to the X-axis lead screw (21). Both ends of the feed frame (22) are connected to the vertical plates (23).

4. The five-axis contour-following automatic spraying robot according to claim 3, characterized in that, The X-direction moving mechanism (2) also includes an X-direction guide rod (25), which is mounted on the frame (7). The bottom of the vertical plate (23) is provided with a guide block, which passes through the X-direction guide rod (25).

5. A five-axis contour-following automatic spraying robot according to claim 4, characterized in that, The Y-axis moving mechanism (3) includes a Y-axis lead screw (31), a moving plate (32), and a Y-axis motor (33). The Y-axis lead screw (31) is rotatably mounted on the upper part of the vertical plate (23), and the Y-axis motor (33) is mounted on the upper part of the vertical plate (23). The Y-axis motor (33) is connected to the Y-axis lead screw (31), and the moving plate (32) is provided with a threaded sleeve that cooperates with the Y-axis lead screw (31). It also includes a Y-direction guide rod (34), the two ends of which are located on the upper part of the vertical plate (23), and a guide block is provided on the movable plate (32), the guide block passing through the Y-direction guide rod (34).

6. A five-axis contour-following automatic spraying robot according to claim 5, characterized in that, The Z-axis moving mechanism (4) includes a Z-axis moving plate (41), a Z-axis motor (42), and a Z-axis lead screw (43). The Z-axis moving plate (41) has end plates on its upper and lower sides. The Z-axis lead screw (43) is rotatably mounted between the end plates. The Z-axis motor (42) is mounted on the upper end plate and connected to the Z-axis lead screw (43). The moving plate (32) has a threaded sleeve that cooperates with the Z-axis lead screw (43). A Z-direction guide rod (44) is also provided between the end plates. The Z-direction guide rod (44) passes through the movable plate (32). The movable plate (32) is provided with a guide block that cooperates with the Z-direction guide rod (44).

7. A five-axis contour-following automatic spraying robot according to claim 6, characterized in that, The horizontal rotary motor (52) is located on the top surface of the lower end plate of the Z-axis moving plate (41), and the rotating bracket (51) is rotatably located on the bottom surface of the lower end plate. The output shaft of the horizontal rotary motor (52) passes through the end plate and is connected to the rotating bracket (51).

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