Painting robot

Abstract

The application discloses a pulling and painting robot, which comprises a base, a mechanical arm is arranged at the upper end of the base, a clamping jaw shaft is arranged at the end of the mechanical arm, a clamping jaw cylinder is connected with the clamping jaw shaft, the clamping jaw cylinder drives the opening and closing of clamping fingers, a guide mechanism is arranged at the front end of the clamping jaw cylinder, the center of the guide mechanism is provided with a center rod which is longer than the clamping length of the clamping fingers, and a clamping guide groove is arranged at the corresponding position of the clamping fingers. The center rod of the guide mechanism is inserted into the cavity of a rod material, the clamping fingers clamp the outer wall of the rod material, the center rod cooperates with the clamping fingers, the clamping length of the clamping fingers can be reduced, the pulling and painting operation is less, and when the clamping fingers are loosened during the placement of the rod material, the center rod internally supports the rod material, and the placement operation is more reliable.

Description

Technical Field

[0001] This utility model belongs to the technical field of paint-pulling equipment, specifically relating to a paint-pulling robot. Background Technology

[0002] In the painting process of rods (fishing rods, trekking poles, ski poles), the work of painting workers is arduous, their bodies covered in paint, and they spend all day facing the paint at close range. This results in low efficiency, inconsistent product quality, and increased production costs. Furthermore, because the paint fumes are toxic, prolonged painting work poses health risks. While some specialized painting equipment has replaced manual painting, current equipment uses a gripper mechanism to hold the rod material. This grip requires holding a relatively long section to ensure stability, leaving the gripped section unpainted. This results in an excessively long unpainted portion of the rod material, affecting subsequent processing and product quality. Utility Model Content

[0003] The purpose of this invention is to provide a paint-pulling robot for holding rods, performing paint-pulling on the rods, and transferring the painted rods to a material cart. It has high stability in holding the rods while having a short gripping part.

[0004] To achieve the above objectives, the technical solution adopted in this application is as follows:

[0005] A paint-pulling robot includes a base, a robotic arm mounted on the upper end of the base, a gripper shaft mounted on the end of the robotic arm, a gripper cylinder connected to the gripper shaft, the gripper cylinder driving the gripping fingers to open and close, a guide mechanism provided at the front end of the gripper cylinder, the guide mechanism having a central rod extending beyond the gripping length of the gripping fingers, and a gripping guide groove provided at the corresponding position of the gripping fingers.

[0006] The clamping fingers are four in number, arranged in pairs opposite each other.

[0007] The clamping finger includes a connector and a clamping member. The connector is L-shaped, with its bottom surface connected to the clamping jaws of the clamping jaw cylinder and its front surface connected to the clamping member.

[0008] The clamping member has a guide portion and a clamping portion. The guide portion is located inside the clamping guide groove, and the clamping portion is located outside the clamping guide groove and extends towards the center rod.

[0009] The robotic arm includes a first arm, a second arm, a third arm, a fourth arm, a fifth arm, and a sixth arm. The first arm is rotatably connected to the base. The second arm is mounted on the first arm and rotates around the first arm as its rotation center. The third arm is mounted on the second arm and rotates around the first arm as its rotation center. The fourth arm is mounted on the third arm and rotates around the third arm as its rotation center. The fifth arm is mounted on the fourth arm and rotates around the fourth arm as its rotation center. The sixth arm is mounted on the fifth arm and rotates around the fifth arm as its rotation center. A gripper shaft is connected to the sixth arm.

[0010] The beneficial effects of this utility model are: the central rod of the guide mechanism is inserted into the cavity of the rod material, and the clamping fingers clamp the outer wall of the rod material. The cooperation between the central rod and the clamping fingers can reduce the clamping length of the clamping fingers, and the unpainted part is reduced during the paint pulling operation. During the placement of the rod material, when the clamping fingers release the rod material, the central rod provides internal auxiliary support for the rod material, making the placement operation more reliable. Attached Figure Description

[0011] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 This is a structural diagram of a paint-pulling robot.

[0013] Figure 2 This is a schematic diagram of the structure of the gripper cylinder.

[0014] Figure 3 This is a schematic diagram of the guide mechanism.

[0015] Figure 4 This is a schematic diagram of the guiding mechanism and clamping finger structure.

[0016] Figure 5 This is a schematic diagram of a single clamping finger structure.

[0017] In the diagram: 1. Base; 2. Robotic arm; 21. First arm; 22. Second arm; 23. Third arm; 24. Fourth arm; 25. Fifth arm; 26. Sixth arm; 3. Gripper shaft; 4. Gripper cylinder; 41. Gripper; 5. Gripper finger; 51. Connector; 52. Gripper; 521. Guide part; 522. Gripper part; 6. Guide mechanism; 61. Center rod; 62. Gripper guide groove. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0019] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0020] like Figure 1 , Figure 2 and Figure 3 As shown, the paint-pulling robot of this utility model includes a base 1, a robotic arm 2 mounted on the upper end of the base 1, a gripper shaft 3 mounted on the end of the robotic arm 2, a gripper cylinder 4 connected to the gripper shaft 3, and the gripper cylinder 4 driving the gripping fingers 5 to open and close. A guide mechanism 6 is provided at the front end of the gripper cylinder 4, and the guide mechanism 6 has a central rod 61 extending beyond the gripping length of the gripping fingers 5, with gripping guide grooves 62 corresponding to the gripping fingers 5. There are four gripping fingers 5, arranged in pairs opposite each other. When gripping the material, the central rod 61 is inserted into the material cavity first, and the gripping fingers 5 gradually approach and grip the outer wall of the material. The gripping stability is achieved by using four gripping fingers 5 arranged in pairs opposite each other.

[0021] The clamping finger 5 includes a connector 51 and a clamping member 52. The connector 51 is L-shaped, with its bottom surface connected to the jaw 41 of the gripper cylinder 4 and its front surface connected to the clamping member 52. The clamping member 52 can be made of polyurethane, which is less likely to damage the rod material. The clamping member 52 has a guide portion 521 and a clamping portion 522. The guide portion 521 is located within the clamping guide groove 62, and the clamping portion 522 is located outside the clamping guide groove 62 and extends towards the central rod 61. The jaw 41 of the gripper cylinder 4 drives the clamping finger 5 to open and close, the guide portion 521 moves within the guide groove, and the clamping portion 522 extending out of the guide groove clamps the rod material.

[0022] The robotic arm 2 includes a first arm 21, a second arm 22, a third arm 23, a fourth arm 24, a fifth arm 25, and a sixth arm 26. The first arm 21 is rotatably connected to the base 1. The second arm 22 is mounted on the first arm 21, and the first arm 21 drives the second arm 22 to rotate around the first arm 21. The third arm 23 is mounted on the second arm 22, and the second arm 22 drives the third arm 23 to rotate. The fourth arm 24 is mounted on the third arm 23, and the third arm 23 drives the fourth arm 24 to rotate. The fifth arm 25 is mounted on the fourth arm 24, and the fourth arm 24 drives the fifth arm 25 to rotate around the fourth arm 24. The sixth arm 26 is mounted on the fifth arm 25, and the fifth arm 25 drives the sixth arm 26 to rotate. The gripper shaft 3 is connected to the sixth arm 26. This six-arm robotic arm is flexible and can complete the paint-painting operation, directly placing the painted rods onto a material cart, thus improving processing efficiency.

[0023] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A paint-pulling robot, comprising a base, wherein a robotic arm is mounted on the upper end of the base, characterized in that: The end of the robotic arm is equipped with a gripper shaft, and a gripper cylinder is connected to the gripper shaft. The gripper cylinder drives the gripping fingers to open and close. A guide mechanism is provided at the front end of the gripper cylinder. The guide mechanism has a central rod that exceeds the gripping length of the gripping fingers, and a gripping guide groove is provided at the position corresponding to the gripping fingers.

2. The paint-pulling robot according to claim 1, characterized in that: The clamping fingers are four in number, arranged in pairs opposite each other.

3. The paint-pulling robot according to claim 1, characterized in that: The clamping finger includes a connector and a clamping member. The connector is L-shaped, with its bottom surface connected to the clamping jaws of the clamping jaw cylinder and its front surface connected to the clamping member.

4. The paint-pulling robot according to claim 3, characterized in that: The clamping member has a guide portion and a clamping portion. The guide portion is located inside the clamping guide groove, and the clamping portion is located outside the clamping guide groove and extends towards the center rod.

5. The paint-pulling robot according to claim 1, characterized in that: The robotic arm includes a first arm, a second arm, a third arm, a fourth arm, a fifth arm, and a sixth arm. The first arm is rotatably connected to the base. The second arm is mounted on the first arm and rotates around the first arm as its rotation center. The third arm is mounted on the second arm and rotates around the first arm as its rotation center. The fourth arm is mounted on the third arm and rotates around the third arm as its rotation center. The fifth arm is mounted on the fourth arm and rotates around the fourth arm as its rotation center. The sixth arm is mounted on the fifth arm and rotates around the fifth arm as its rotation center. A gripper shaft is connected to the sixth arm.

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