Spraying robot side posture rotating mechanism

Abstract

This utility model discloses a side-positioning rotation mechanism for a spraying robot, relating to the field of spraying robot technology. It includes a vertically moving robot, a horizontally rotating cylinder, a vertically rotating side-positioning cylinder, a mounting plate, thin pneumatic fingers, and grippers. The thin pneumatic fingers are fixedly connected to two grippers. Each gripper includes a main gripper plate and a secondary gripper plate. The secondary gripper plate is rotatably positioned in the middle of the main gripper plate. The main gripper plate is inverted L-shaped, and the secondary gripper plate is C-shaped. In this utility model, the movable secondary gripper plate forms a new gripper with the main gripper plate. After the spray gun is clamped on the left and right sides, the secondary gripper plate is lifted. The C-shaped secondary gripper plate limits the bottom side of the spray gun, and the engagement of the locking block and the locking slot ensures stable connection between the secondary gripper plate and the main gripper plate. This prevents the spray gun from tilting or falling due to pulling when adjusting its spraying direction.

Description

Technical Field

[0001] This utility model relates to the field of spraying robot technology, and in particular to the side-posture rotation mechanism of spraying robot. Background Technology

[0002] The side-positioning rotation mechanism of the spraying robot is a key component for achieving multi-angle spraying, mainly used to adjust the posture and angle of the spray gun. Its main structure includes a vertically moving robot arm, a horizontally rotating cylinder, a vertically rotating side-positioning cylinder, a mounting plate, thin pneumatic fingers, and grippers. The grippers are inverted L-shaped with a flat gripping surface. When adjusting the angle after gripping the spray gun, the spray gun is prone to tilting or falling out of the flat grippers due to the pulling motion. Utility Model Content

[0003] The purpose of this utility model is to propose a side-posture rotation mechanism for a spraying robot to solve the above-mentioned problems.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: A side-position rotation mechanism for a painting robot includes a vertically moving robot arm, a horizontal rotating cylinder, a vertical rotating side-position cylinder, a mounting plate, thin pneumatic fingers, and grippers. The vertically moving robot arm is connected to the horizontal rotating cylinder, the horizontal rotating cylinder is connected to the vertical rotating side-position cylinder, and the vertical rotating side-position cylinder is connected to the mounting plate. The bottom surfaces at both ends of the mounting plate are respectively connected to the thin pneumatic fingers. Each thin pneumatic finger is fixedly connected to two grippers. Each gripper includes a main gripper plate and a secondary gripper plate. The secondary gripper plate is rotatably located in the middle of the main gripper plate. The main gripper plate is inverted L-shaped, and the secondary gripper plate is C-shaped.

[0005] As a further description of the above technical solution: The main clamping plate has a movable groove, and a locking block is slidably disposed in the movable groove. The secondary clamping plate has a locking slot, and the locking block is configured to cooperate with the locking slot. A spring is connected between the locking block and the wall of the movable groove.

[0006] As a further description of the above technical solution: The card block has a semi-circular cross-section and an arc-shaped end. The card slot has a semi-circular cross-section, with the arc segment of the semi-circular cross-section facing outwards from the main clamping plate.

[0007] As a further description of the above technical solution: The inner end of the card block is connected to a connecting rope, which passes through the main clamping plate and is connected to a pull block.

[0008] As a further description of the above technical solution: The main clamping plate has a through groove for connecting ropes to pass through.

[0009] As a further description of the above technical solution: The main clamping plate has a groove at the outer end of the through groove, which is used for the pull block to engage.

[0010] In summary, due to the adoption of the above technical solution, the beneficial effects of this utility model are: In this invention, a new clamping claw is formed by the movable secondary clamping plate and the main clamping plate. After the spray gun is clamped on the left and right sides, the secondary clamping plate is lifted up. The C-shaped secondary clamping plate limits the bottom side of the spray gun. The engagement of the locking block and the locking groove ensures stable connection between the secondary clamping plate and the main clamping plate. When adjusting the spraying direction of the spray gun, the spray gun will not be tilted or fall off due to pulling. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram of the gripper structure in this utility model; Figure 3 This is a partial sectional view of the main clamping plate and the auxiliary clamping plate in this utility model when they are not clamping the workpiece; Figure 4 This is a schematic diagram of the internal structure of the main clamping plate and the auxiliary clamping plate when clamping the workpiece in this utility model; Figure 5 This is a front view of the main clamping plate and the auxiliary clamping plate in this utility model when they are not clamping the workpiece; Figure 6 This is a front view of the main clamping plate and the auxiliary clamping plate clamping the workpiece in this utility model.

[0012] Legend: 1. Vertical moving robot arm; 2. Horizontal rotary cylinder; 3. Vertical rotary side posture cylinder; 4. Mounting plate; 5. Thin pneumatic finger; 6. Gripper; 61. Main clamping plate; 62. Secondary clamping plate; 7. Locking block; 8. Locking slot; 9. Spring; 10. Connecting rope; 11. Pulling block. Detailed Implementation

[0013] 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 skilled in the art without creative effort are within the protection scope of the present utility model. Example

[0014] like Figure 1-6As shown, the side-positioning rotation mechanism of the spraying robot includes a vertically moving robot arm 1, a horizontal rotating cylinder 2, a vertically rotating side-positioning cylinder 3, a mounting plate 4, thin pneumatic fingers 5, and grippers 6. The working principles of the vertically moving robot arm 1, the horizontal rotating cylinder 2, the vertically rotating side-positioning cylinder 3, and the thin pneumatic fingers 5 are existing technologies and will not be elaborated here. The vertically moving robot arm 1 is connected to the horizontal rotating cylinder 2, and the horizontal rotating cylinder 2 is connected to the vertically rotating side-positioning cylinder 3. The cylinder 3 is connected to the mounting plate 4. The bottom surfaces of both ends of the mounting plate 4 are respectively connected to the thin pneumatic fingers 5. Each thin pneumatic finger 5 is fixedly connected to two grippers 6. The grippers 6 include a main gripper 61 and a secondary gripper 62. The secondary gripper 62 is rotatably located in the middle of the main gripper 61. The main gripper 61 is inverted L-shaped, and the secondary gripper 62 is C-shaped. The main gripper 61 has a movable groove, and a locking block 7 is slidably disposed in the movable groove. The secondary gripper 62 has a locking groove 8. The locking block 7 and the locking groove 8 are matched and disposed. A spring 9 connects the main clamping plate 61 to the movable groove wall. The clamping block 7 has a semi-circular cross-section with an arc-shaped end. The groove 8 has a semi-circular cross-section, with the arc segment of the semi-circular cross-section facing outwards from the main clamping plate 61. This ensures that when the auxiliary clamping plate 62 rotates, it will not be restricted when it retracts into the movable groove against the clamping block 7, nor will it automatically deflect. A connecting rope 10 is connected to the inner end of the clamping block 7. The connecting rope 10 passes through the main clamping plate 61 and is connected to a pull block 11. A through groove is provided inside the main clamping plate 61 for the connecting rope 10 to pass through. The clamping plate 61 has a groove at the outer end of the through groove. The groove is used for the pull block 11 to engage. The movable secondary clamping plate 62 and the main clamping plate 61 form a new clamping claw 6. After the spray gun is clamped on the left and right sides, the secondary clamping plate 62 is lifted up. The C-shaped secondary clamping plate 62 limits the bottom side of the spray gun. The engagement of the locking block 7 and the locking groove 8 achieves stable docking between the secondary clamping plate 62 and the main clamping plate 61. When adjusting the spraying direction of the spray gun, the spray gun will not be tilted or fall off due to pulling.

[0015] Working principle: When using the gripper 6 to hold the spray gun, first activate the thin pneumatic finger 5, which brings the two grippers 6 closer together to clamp the left and right sides of the spray gun. The top of the spray gun abuts against the main clamping plate 61, which in turn brings the auxiliary clamping plate 62 closer to the main clamping plate 61 and rotates. The bottom of the auxiliary clamping plate 62 hooks against the bottom side of the spray gun, thus limiting the bottom side of the spray gun. During the rotation of the auxiliary clamping plate 62, the stop block 7 first retracts into the movable groove, and then pops out under the action of the spring 9 and locks into the slot 8, further limiting the position of the auxiliary clamping plate 62, thereby completing the clamping of the spray gun. Then the spraying operation can be carried out. After the spraying is finished and the spray gun is removed, the auxiliary clamping plate 62 and the main clamping plate 61 are restored to their original misaligned state. Specifically, the pull block 11 is pulled through the connecting rope 10 to pull the locking block 7 out of the locking groove 8. Under the action of gravity, the auxiliary clamping plate 62 automatically rotates to the misaligned state with the main clamping plate 61, so that the spray gun can be clamped again.

[0016] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A side-posture rotation mechanism for a spraying robot, comprising a vertically moving robot (1), a horizontal rotating cylinder (2), a vertical rotating side-posture cylinder (3), a mounting plate (4), thin pneumatic fingers (5), and grippers (6), wherein the vertically moving robot (1) is connected to the horizontal rotating cylinder (2), the horizontal rotating cylinder (2) is connected to the vertical rotating side-posture cylinder (3), the vertical rotating side-posture cylinder (3) is connected to the mounting plate (4), the bottom surfaces at both ends of the mounting plate (4) are respectively connected to the thin pneumatic fingers (5), and each thin pneumatic finger (5) is fixedly connected to two grippers (6), characterized in that, The gripper (6) includes a main gripper (61) and a secondary gripper (62). The secondary gripper (62) is rotatably disposed in the middle of the main gripper (61). The main gripper (61) is in the shape of an inverted L, and the secondary gripper (62) is in the shape of a c.

2. The spray robot side posture rotation mechanism according to claim 1, characterized by, The main clamping plate (61) has a movable groove, and a locking block (7) is slidably provided in the movable groove. The secondary clamping plate (62) has a locking groove (8). The locking block (7) is configured to cooperate with the locking groove (8). A spring (9) is connected between the locking block (7) and the wall of the movable groove.

3. The spray robot side pose rotation mechanism according to claim 2, characterized in that, The card block (7) has a semi-circular cross section and an arc-shaped end. The card slot (8) has a semi-circular cross section, and the arc segment of the semi-circular cross section faces the outside of the main clamping plate (61).

4. The spray robot side posture rotation mechanism according to claim 2, characterized by, The inner end of the card block (7) is connected to a connecting rope (10), and the connecting rope (10) passes through the main clamp plate (61) and is connected to a pull block (11).

5. The spray robot side pose rotation mechanism according to claim 4, characterized in that, The main clamping plate (61) has a through groove for the connecting rope (10) to pass through.

6. The spray robot side pose rotation mechanism of claim 4, wherein, The main clamping plate (61) has a groove at the outer end of the through groove, which is used for the pull block (11) to engage.

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