Multi-degree-of-freedom mechanical arm structure of a paint spraying robot

Abstract

This utility model discloses a multi-degree-of-freedom robotic arm structure for a painting robot, belonging to the field of robotic arms. The utility model includes a first movable arm, with a first fixing clamp base mounted on one side of the outer surface of the first movable arm. A first fixing clamp is mounted on the first fixing clamp base, and a first servo motor is mounted at one end of the first movable arm. This utility model solves the problem that in existing robotic arms, the paint hose is usually simply tied or suspended outside the robotic arm. This traditional arrangement has the drawback that during the complex movements of a multi-degree-of-freedom robotic arm, the externally suspended paint hose is prone to entanglement, collision, and interference with the robotic arm itself, the workpiece, or surrounding equipment, affecting the accuracy of the spraying path and potentially causing task interruption. Furthermore, the trajectory of a loosely suspended paint hose is unpredictable, and for safety reasons, it is sometimes necessary to restrict the range of motion of the robotic arm, reducing the robot's operational flexibility.

Description

Technical Field

[0001] This utility model relates to the field of robotic arms, specifically a multi-degree-of-freedom robotic arm structure for a painting robot. Background Technology

[0002] Multi-degree-of-freedom articulated painting robots have been widely used in automated painting operations in industries such as automobiles, furniture, and building materials. Traditional painting robots typically consist of a robot body, a control cabinet, and a painting system (including paint pumps, paint pipes, and spray guns).

[0003] In existing technologies, the paint delivery hoses on robotic arms are usually simply tied or suspended outside the robotic arm. This traditional arrangement means that during the complex movements of multi-degree-of-freedom robotic arms, the externally attached paint hoses are prone to entanglement, collision, and interference with the robotic arm itself, the workpiece, or surrounding equipment, affecting the accuracy of the spraying path and potentially causing task interruption. The movement trajectory of loosely suspended paint hoses is unpredictable. For safety reasons, it is sometimes necessary to limit the range of motion of the robotic arm, reducing the robot's work flexibility.

[0004] Therefore, there is an urgent need for a device that is simple in structure, can effectively manage paint pipes, and avoids the above-mentioned problems. Utility Model Content

[0005] The purpose of this utility model is to provide a multi-degree-of-freedom robotic arm structure for a painting robot. This device does not change the original mechanical structure and control system of the robot body. It only adds a simple follow-up mechanism to achieve orderly guidance and protection of the paint tube, effectively preventing entanglement and interference, and solving the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a multi-degree-of-freedom robotic arm structure for a painting robot, comprising a first movable arm, a first fixing clamp base mounted on one side of the outer surface of the first movable arm, a first fixing clamp mounted on the first fixing clamp base, a first servo motor mounted at one end of the first movable arm, a connecting arm mounted on the movable end of the first servo motor, and a second servo motor mounted on the connecting arm at the end away from the first servo motor, a second movable arm mounted on the movable end of the second servo motor, a second fixing clamp base mounted on one side of the outer surface of the second movable arm, a second fixing clamp mounted on the second fixing clamp base, and a spray nozzle mounted on the end of the second movable arm away from the second servo motor. Bolts are provided through both the first and second fixing clamps, and the bolts serve to tighten the fixing clamps.

[0007] Furthermore, a paint supply pipe connecting flange is installed at one end of the nozzle, and the paint supply pipe connecting flange is welded to the nozzle. The paint supply pipe connecting flange is provided so that a hose connected to the paint storage device at one end can be connected to the nozzle by bolts or threaded heads.

[0008] Furthermore, bolt holes are provided on the outer surface of the second movable arm on one side of the second fixed clamp base. The positions of the bolt holes correspond to the positions of the holes on the second fixed clamp base. The second fixed clamp base is connected to the second movable arm by bolts. The setting of bolt holes can not only adjust the installation position of the second fixed clamp on the second movable arm, but also prevent the paint delivery pipe from sagging in the middle if the length is long. Therefore, an additional fixed clamp can be added to fix the paint delivery pipe at multiple points.

[0009] Furthermore, a dust cover is installed on the side of the first movable arm away from the first servo motor. The dust cover can prevent external dust from entering the connection between the first movable arm and the connecting base.

[0010] Furthermore, the first movable arm has a connecting base mounted on the end away from the first servo motor, and the first movable arm is bolted to the connecting base.

[0011] Furthermore, a rotary bearing is installed at the lower end of the connecting base, and the inner ring of the rotary bearing is bolted to the connecting base.

[0012] Furthermore, a robotic arm base is mounted on the lower end of the rotary bearing.

[0013] Furthermore, connecting blocks are installed around the outer surface of the robotic arm base.

[0014] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0015] This invention features fixed clamps on the two movable arms of a robotic arm. These clamps form a defined "virtual channel" that moves with the robotic arm, forcing the paint delivery pipe to always move along the back of the robotic arm. This makes the movement trajectory controllable and predictable, completely avoiding interference with the workspace in front of the robotic arm and preventing entanglement. The fixed clamps are made of lightweight materials such as aluminum alloy and engineering plastics, having a negligible impact on the robotic arm's motion performance and load capacity. Furthermore, the fixed clamps are suitable for various models of multi-joint robotic arms, requiring only adjustment of the fixed clamp base's position. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall external structure of this utility model;

[0017] Figure 2 This is a schematic diagram of the overall external front view structure of this utility model;

[0018] Figure 3 This is a schematic diagram of the overall left-side structure of this utility model;

[0019] Figure 4 This is an enlarged structural diagram of point A of this utility model.

[0020] In the diagram: 1. Robotic arm base; 101. Connecting block; 102. Rotary bearing; 103. Connecting base; 2. First movable arm; 201. Dust cover; 202. First servo motor; 203. First fixing clamp base; 204. First fixing clamp; 3. Connecting arm; 301. Second servo motor; 4. Second movable arm; 401. Second fixing clamp base; 402. Second fixing clamp; 403. Bolt hole; 5. Spray nozzle; 501. Paint delivery pipe connecting flange. 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] To address the problem that in existing technologies, the paint delivery hoses on robotic arms are typically simply tied or suspended outside the arm, this traditional arrangement presents several issues. During the complex movements of multi-degree-of-freedom robotic arms, the externally attached paint hoses are prone to entanglement, collisions, and interference with the robotic arm itself, the workpiece, or surrounding equipment, affecting the accuracy of the spraying path and potentially causing task interruption. Furthermore, the unpredictable trajectory of loosely suspended paint hoses necessitates limiting the robotic arm's range of motion for safety reasons, reducing the robot's operational flexibility. This embodiment provides the following technical solution:

[0023] Example 1: As Figures 1-4As shown, the device of this utility model includes a robotic arm base 1, which is fixedly connected to an external support structure via connecting blocks 101 around its perimeter. A rotary bearing 102 is installed on the upper end of the robotic arm base 1, and the inner ring of the rotary bearing 102 is fastened to the connecting base 103 above it by bolts. A first movable arm 2 is installed on the upper end of the connecting base 103 by bolts. A first servo motor 202 is installed at one end of the first movable arm 2, and its movable end drives the connecting arm 3 to rotate. A first fixing clamp base 203 is installed on one side of the outer surface of the first movable arm 2, and a first fixing clamp 204 is fastened to the first fixing clamp base 203 by bolts. A second servo motor 301 is installed at the end of the connecting arm 3 away from the first servo motor 202, and the movable end of the second servo motor 301 drives the second movable arm 4 to move. A second fixing clamp base 401 is installed on one side of the outer surface of the second movable arm 4, and a second fixing clamp 402 is fastened to the second fixing clamp base 401 by bolts. The second movable arm 4 is equipped with a nozzle 5 at its end, and a paint supply pipe connecting flange 501 is welded to one end of the nozzle 5 for connecting a paint supply hose. Bolt holes 403 are also provided on the surface of the second movable arm 4 on one side of the second fixed clamp base 401 for adjusting and fixing the installation position of the second fixed clamp base 401. A dust cover 201 is also installed on the side of the first movable arm 2 away from the first servo motor 202 to prevent dust from entering the connection area.

[0024] During operation, the first servo motor 202 and the second servo motor 301 drive the connecting arm 3 and the second movable arm 4 to perform multi-degree-of-freedom coordinated movements according to control commands. The paint delivery hose is introduced from the rear end of the robotic arm, passes through the first fixed clamp 204 and the second fixed clamp 402 in sequence, and is connected to the spray head 5 through the paint delivery pipe connecting flange 501. The two fixed clamps restrict the hose to a specific side or back area of ​​the robotic arm, so that it moves synchronously with the movement of the robotic arm, avoiding the hose from dangling, swaying, or getting tangled, colliding, or interfering with the robotic arm body or surrounding equipment, thereby ensuring the accuracy of the spraying path and operational safety.

[0025] Example 2: Please refer to Figure 1 - Figure 4 Based on Embodiment 1, in order to further improve durability and adaptability, the first fixing clamp 204 and the second fixing clamp 402 can be made of lightweight and wear-resistant materials, such as engineering plastics or anodized aluminum alloy, to reduce additional load and resist hose friction; the inner surface of the fixing clamp can be fitted with a soft bushing made of rubber or polyurethane to reduce wear on the hose and enhance friction when clamping.

[0026] During operation, its tubing guidance mechanism is the same as in Example 1. Material enhancements and detail optimizations enable the device to not only effectively manage the varnish tubing but also adapt to different vibrations, temperature variations, and hose specifications, extending the service life of both the device and the hoses and reducing maintenance requirements.

[0027] The working principle described above can be summarized as follows: The operator first guides the paint delivery hose from the rear end of the robotic arm, through the first fixing clamp 204 and the second fixing clamp 402, and finally reliably connects it to the paint delivery pipe connection flange 501 of the spray head 5. During operation, when the robotic arm performs multi-axis movements, the hose, which was previously in a free state, is now constrained within the continuous channel formed by the clamps, moving with the robotic arm. Its motion trajectory becomes controllable and predictable, completely avoiding interference with the robotic arm's range of motion and eliminating movement limitations caused by disordered hose bundles, significantly improving the reliability and flexibility of the painting robot.

[0028] Based on Embodiments 1 and 2, this utility model, by adding a simple fixing clamp and its mounting base, achieves effective guidance and reliable management of the paint delivery hose without changing the robot's original mechanical structure and control system, thus solving the inherent defects of the traditional suspended pipe laying method.

[0029] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0030] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A multi-degree-of-freedom robotic arm structure for a painting robot, comprising a first movable arm (2), a first fixed clamp base (203) mounted on one side of the outer surface of the first movable arm (2), a first fixed clamp (204) mounted on the first fixed clamp base (203), a first servo motor (202) mounted on one end of the first movable arm (2), and a connecting arm (3) mounted on the movable end of the first servo motor (202); characterized in that It also includes a second servo motor (301), which is installed on the end of the connecting arm (3) away from the first servo motor (202). A second movable arm (4) is installed on the movable end of the second servo motor (301). A second fixing clamp base (401) is installed on one side of the outer surface of the second movable arm (4). A second fixing clamp (402) is installed on the second fixing clamp base (401). A nozzle (5) is installed on the end of the second movable arm (4) away from the second servo motor (301). Bolts are provided through the first fixing clamp (204) and the second fixing clamp (402), and the bolts serve to tighten the fixing clamps.

2. The multi-degree-of-freedom robotic arm structure of a paint spraying robot according to claim 1, characterized in that: The nozzle (5) is equipped with a paint supply pipe connecting flange (501) at one end, and the paint supply pipe connecting flange (501) is welded to the nozzle (5).

3. The multi-degree-of-freedom robotic arm structure of a paint spraying robot according to claim 1, characterized in that: The outer surface of the second movable arm (4) is provided with bolt holes (403) on one side of the second fixed clamp base (401). The position of the bolt holes (403) corresponds to the position of the holes on the second fixed clamp base (401). The second fixed clamp base (401) is connected to the second movable arm (4) by bolts.

4. The multi-degree-of-freedom robotic arm structure of a paint spraying robot according to claim 1, characterized in that: The first movable arm (2) is equipped with a dust cover (201) on the side away from the first servo motor (202).

5. The multi-degree-of-freedom robotic arm structure of a paint spraying robot according to claim 4, characterized in that: The first movable arm (2) has a connecting base (103) mounted on the end away from the first servo motor (202), and the first movable arm (2) is bolted to the connecting base (103).

6. The multi-degree-of-freedom robotic arm structure of a paint spraying robot according to claim 5, characterized in that: A rotary bearing (102) is installed at the lower end of the connecting base (103), and the inner ring of the rotary bearing (102) is bolted to the connecting base (103).

7. The multi-degree-of-freedom robotic arm structure of a paint spraying robot according to claim 6, characterized in that: The lower end of the rotary bearing (102) is equipped with a robotic arm base (1).

8. The multi-degree-of-freedom robotic arm structure of a paint spraying robot according to claim 7, characterized in that: Connecting blocks (101) are installed around the outer surface of the robotic arm base (1).

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