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CN109732560A - an inkjet robot - Google Patents

an inkjet robot Download PDF

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Publication number
CN109732560A
CN109732560A CN201910193825.2A CN201910193825A CN109732560A CN 109732560 A CN109732560 A CN 109732560A CN 201910193825 A CN201910193825 A CN 201910193825A CN 109732560 A CN109732560 A CN 109732560A
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China
Prior art keywords
elbow
supporting arm
double
support arm
fixedly connected
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Chinese (zh)
Inventor
赵章荣
隋晓梅
孙卫华
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Beijing Wuzi University
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Beijing Wuzi University
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Priority to CN201910193825.2A priority Critical patent/CN109732560A/en
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Abstract

本发明公开了一种喷绘机器人,包括打印部件、活动支撑臂、底座,所述打印部件设置在所述活动支撑臂的上端,所述底座与所述活动支撑臂的上端连接,所述打印部件与控制器之间传输连接,所述控制器与电子版图源之间传输连接。所述打印部件包括基板。所述基板的形状呈长条形。在所述基板的同一面设置有定位检测器、打印头、干燥器。所述定位检测器是定位摄像头。所述打印头是黑白打印头或彩色打印头。所述打印头是喷墨打印头或喷涂料打印头或喷漆打印头。该喷绘机器人可以直接在地面上、墙面上或天花板上以及各种可以挂色的物体上打印,免去了墙纸的使用,免去了固定墙纸和更换墙纸的工序,大大降低了打印成本。

The invention discloses an inkjet robot, comprising a printing part, a movable support arm and a base, the printing part is arranged on the upper end of the movable support arm, the base is connected with the upper end of the movable support arm, and the printing part There is a transmission connection between the controller and the electronic layout source. The printed component includes a substrate. The shape of the substrate is elongated. A positioning detector, a print head, and a dryer are arranged on the same side of the substrate. The positioning detector is a positioning camera. The print head is a black and white print head or a color print head. The print heads are ink jet print heads or paint print heads or paint print heads. The inkjet robot can print directly on the ground, on the wall or on the ceiling, as well as on various objects that can be colored, eliminating the use of wallpaper, eliminating the process of fixing wallpaper and replacing wallpaper, and greatly reducing printing costs.

Description

一种喷绘机器人an inkjet robot

技术领域technical field

本发明涉及一种打印设备,尤其涉及一种喷绘机器人。The invention relates to a printing device, in particular to an inkjet robot.

背景技术Background technique

现有技术中的户外广告喷绘图像是先将图像通过大型喷绘机喷到墙纸上,然后,再将喷绘有图像的墙纸固定在广告墙上,这样一方面会需要大量墙纸,而且,广告过一段时间后需要更换,造成大量的墙纸浪费。另外,大型的户外墙纸的固定安装也费时,成本很大。The outdoor advertising inkjet image in the prior art is to spray the image onto the wallpaper through a large inkjet printer, and then fix the wallpaper with the image on the advertising wall. It needs to be replaced after time, causing a lot of waste of wallpaper. In addition, the fixed installation of large-scale outdoor wallpaper is also time-consuming and costly.

另外对于现在交通路面的标志指示表,现在多使用人工方式刷,有的半机器化的仅仅实现固定形状标志印刷路面。In addition, for the sign indicating table of the current traffic road, it is now mostly brushed manually, and some semi-machined only realize the printing of road surface with fixed shape signs.

再一个现在户内装饰中多采用壁纸来美化家居环境,而且天花板没有办法实现彩色图片装饰。如果采用壁纸,一方面会有环境污染,另外一方面不容易实现立体图的拼接,再有将墙纸贴在墙面上需要工时,也不容易更换。In addition, wallpapers are often used in indoor decoration to beautify the home environment, and there is no way to achieve color picture decoration on the ceiling. If wallpaper is used, on the one hand, there will be environmental pollution, and on the other hand, it is not easy to achieve the splicing of three-dimensional images, and it is not easy to replace the wallpaper because it takes man-hours to stick the wallpaper on the wall.

发明内容SUMMARY OF THE INVENTION

本发明要解决的技术问题是提供一种喷绘机器人,该喷绘机器人可以直接在地面上、墙面上或天花板上以及各种可以挂色的物体上打印,免去了墙纸的使用,免去了固定墙纸和更换墙纸的工序,大大降低了打印成本。The technical problem to be solved by the present invention is to provide an inkjet robot, which can print directly on the ground, on the wall or on the ceiling, as well as on various objects that can be colored, eliminating the use of wallpaper, eliminating the need for The process of fixing the wallpaper and replacing the wallpaper greatly reduces the printing cost.

为了解决上述技术问题,本发明提供了一种喷绘机器人,包括打印部件、活动支撑臂、底座,所述打印部件设置在所述活动支撑臂的上端,所述底座与所述活动支撑臂的上端连接,所述打印部件与控制器之间传输连接,所述控制器与电子版图源之间传输连接。In order to solve the above technical problems, the present invention provides an inkjet robot, including a printing part, a movable support arm, and a base, the printing part is arranged on the upper end of the movable support arm, and the base and the upper end of the movable support arm A transmission connection is made between the printing component and the controller, and a transmission connection is made between the controller and the electronic layout source.

所述打印部件包括基板。The printed component includes a substrate.

所述基板的形状呈长条形。The shape of the substrate is elongated.

在所述基板的同一面设置有定位检测器、打印头、干燥器。A positioning detector, a print head and a dryer are arranged on the same side of the substrate.

所述定位检测器是定位摄像头。The positioning detector is a positioning camera.

所述打印头是黑白打印头或彩色打印头。The print head is a black and white print head or a color print head.

所述打印头是喷墨打印头或喷涂料打印头或喷漆打印头。The print heads are ink jet print heads or paint print heads or paint print heads.

所述检测器与所述控制器电连接。The detector is electrically connected to the controller.

所述打印头与所述控制器电连接。The print head is electrically connected to the controller.

所述干燥器与所述控制器电连接。The dryer is electrically connected to the controller.

所述活动支撑臂包括多个直管支撑臂和多个弯头。The movable support arm includes a plurality of straight pipe support arms and a plurality of elbows.

相邻的两个所述直管支撑臂之间固定连接。或者,相邻的两个所述直管支撑臂之间通过转动驱动部件转动连接。The two adjacent straight pipe support arms are fixedly connected. Alternatively, two adjacent straight pipe support arms are connected in rotation by a rotation driving member.

相邻的两个所述弯头之间固定连接。或者,相邻的两个所述弯头之间通过转动驱动部件转动连接。The two adjacent elbows are fixedly connected. Or, two adjacent elbows are connected in rotation by a rotation driving member.

相邻的所述直管支撑臂和所述弯头之间固定连接。或者,相邻的所述直管支撑臂和所述弯头之间通过转动驱动部件转动连接。The adjacent straight pipe support arms and the elbow are fixedly connected. Alternatively, the adjacent straight pipe support arms and the elbow are rotatably connected by a rotary drive member.

所述固定连接是焊接或螺纹连接或铆接或粘接。The fixed connection is welded or screwed or riveted or glued.

或者,or,

所述活动支撑臂包括多个单弯管支撑臂、多个弯头。或者,The movable support arm includes a plurality of single-bend pipe support arms and a plurality of elbows. or,

所述活动支撑臂包括多个双弯管支撑臂、多个弯头。或者,The movable support arm includes a plurality of double-bend pipe support arms and a plurality of elbows. or,

所述活动支撑臂包括多个单弯管支撑臂、多个双弯管支撑臂、多个弯头。The movable support arm includes a plurality of single-bend pipe support arms, a plurality of double-bend pipe support arms, and a plurality of elbows.

所述单弯管支撑臂、所述双弯管支撑臂、所述弯头之一的一端和与其相邻的所述单弯管支撑臂、所述双弯管支撑臂、所述弯头之一的一端固定连接,所述单弯管支撑臂、所述双弯管支撑臂、所述弯头之一的另一端和与其相邻的所述单弯管支撑臂、所述双弯管支撑臂、所述弯头之一的另一端通过转动驱动部件转动连接。或者,所述单弯管支撑臂、所述双弯管支撑臂、所述弯头之一的一端和与其相邻的所述单弯管支撑臂、所述双弯管支撑臂、所述弯头之一的一端固定连接,所述单弯管支撑臂、所述双弯管支撑臂、所述弯头之一的另一端和与其相邻的所述单弯管支撑臂、所述双弯管支撑臂、所述弯头之一的另一端固定连接。或者,所述单弯管支撑臂、所述双弯管支撑臂、所述弯头之一的一端和与其相邻的所述单弯管支撑臂、所述双弯管支撑臂、所述弯头之一的一端通过转动驱动部件转动连接,所述单弯管支撑臂、所述双弯管支撑臂、所述弯头之一的另一端和与其相邻的所述单弯管支撑臂、所述双弯管支撑臂、所述弯头之一的另一端通过转动驱动部件转动连接。The single elbow support arm, the double elbow support arm, one end of the elbow and the adjacent single elbow support arm, the double elbow support arm, the elbow One end of one elbow is fixedly connected, and the other end of the single elbow support arm, the double elbow support arm, and one of the elbows is adjacent to the single elbow support arm and the double elbow support arm. The other end of the arm and one of the elbows is rotatably connected by a rotary drive member. Alternatively, the single-bend support arm, the double-bend support arm, one end of one of the elbows and the adjacent single-bend support arm, the double-bend support arm, the bend One end of one of the heads is fixedly connected, the single-bend support arm, the double-bend support arm, the other end of one of the bends and the adjacent single-bend support arm, the double-bend support arm The other end of the pipe support arm and one of the elbows is fixedly connected. Alternatively, the single-bend support arm, the double-bend support arm, one end of one of the elbows and the adjacent single-bend support arm, the double-bend support arm, the bend One end of one of the heads is rotatably connected by a rotary drive member, the single-bend support arm, the double-bend support arm, the other end of one of the bends and the adjacent single-bend support arm, The other end of the double elbow support arm and one of the elbows is rotatably connected by a rotary drive member.

所述单弯管支撑臂由一个直管支撑臂和一个弯头构成的一体件。或者,所述单弯管支撑臂由一个直管支撑臂和一个弯头固定连接构成。The single-bend pipe support arm is an integral piece composed of a straight pipe support arm and an elbow. Alternatively, the single-bend pipe support arm is composed of a straight pipe support arm and an elbow fixedly connected.

一个所述弯头位于一个所述直管支撑臂的一端。One of the elbows is located at one end of one of the straight pipe support arms.

所述双弯管支撑臂由一个直管支撑臂和两个弯头构成的一体件。或者,所述双弯管支撑臂由一个直管支撑臂和两个弯头固定连接构成。The double-bend pipe support arm is an integral piece composed of a straight pipe support arm and two elbows. Alternatively, the double-bend pipe support arm is composed of a straight pipe support arm and two elbows fixedly connected.

两个所述弯头分布在一个所述直管支撑臂的两端。The two elbows are distributed at both ends of one of the straight pipe support arms.

所述双弯管支撑臂的两个弯管口朝向相同。The two elbow openings of the double elbow support arm are oriented in the same direction.

所述固定连接是焊接或螺纹连接或铆接或粘接或卡合连接。The fixed connection is a welded or screwed connection or a riveted or glued or snap-fit connection.

所述单弯管支撑臂有两个。There are two single-bend support arms.

所述双弯管支撑臂有两个。There are two double-bend support arms.

所述弯头有两个。There are two elbows.

所述转动驱动部件有三个。There are three rotational drive components.

第一个所述单弯管支撑臂的直管口通过底转动驱动部件与所述底座转动连接。The straight pipe opening of the first single-bend pipe support arm is rotatably connected to the base through a bottom rotation driving part.

第一个所述单弯管支撑臂的弯管口通过第一个所述转动驱动部件与第一个所述双弯管支撑臂的第一个弯管口转动连接。The elbow opening of the first single-bend pipe supporting arm is rotatably connected with the first elbow opening of the first double-bending pipe supporting arm through the first rotating driving member.

第一个所述双弯管支撑臂的第二个弯管口与第一个所述弯头的第一个弯管口之间固定连接。The second elbow opening of the first double elbow support arm is fixedly connected with the first elbow opening of the first elbow.

第一个所述弯头的第二个弯管口通过第二个所述转动驱动部件与第二个所述单弯管支撑臂的弯管口转动连接。The second elbow opening of the first elbow is rotatably connected with the elbow opening of the second single elbow support arm through the second rotation driving part.

第二个所述单弯管支撑臂的直管口与第二个所述弯头的第一个弯管口之间固定连接。The straight pipe opening of the second single-bend pipe support arm is fixedly connected with the first curved pipe opening of the second elbow.

第二个所述弯头的第二个弯管口通过第三个所述转动驱动部件与第二个所述双弯管支撑臂的第一个弯管口转动连接。The second elbow opening of the second elbow is rotatably connected with the first elbow opening of the second double elbow support arm through the third rotation driving part.

第二个所述双弯管支撑臂的第二个弯管口通过顶转动驱动部件与所述打印部件的基板转动连接。The second elbow opening of the second double elbow supporting arm is rotatably connected with the base plate of the printing part through the top rotation driving part.

第一个所述双弯管支撑臂的第一个弯管口侧壁高度大于第一个所述双弯管支撑臂的第二个弯管口侧壁高度。The height of the side wall of the first elbow opening of the first one of the double elbow support arms is greater than the height of the side wall of the second elbow opening of the first double elbow support arm.

第二个所述双弯管支撑臂的第一个弯管口侧壁高度小于第二个所述双弯管支撑臂的第二个弯管口侧壁高度。The height of the side wall of the first elbow opening of the second double elbow support arm is smaller than the height of the second elbow opening of the second double elbow support arm.

所述单弯管支撑臂的管口形状呈圆形或椭圆形或正方形或长方形。The shape of the nozzle of the single-bend pipe support arm is a circle or an ellipse, a square or a rectangle.

所述双弯管支撑臂的管口形状呈圆形或椭圆形或正方形或长方形。The shape of the nozzle of the double-bend pipe support arm is circular or oval, square or rectangular.

所述弯头的管口形状呈圆形或椭圆形或正方形或长方形。The shape of the nozzle of the elbow is circular or oval, square or rectangular.

所述活动支撑臂的形状呈弯曲的柱状。或者,The shape of the movable support arm is a curved column. or,

所述活动支撑臂的形状呈下粗上细的弯曲锥状。The shape of the movable support arm is a curved cone with a thick bottom and a thin top.

所述转动驱动部件包括固定盘总成、驱动电机、减速机、端盖、轴向套筒总成、联轴器、轴承、连接轴。The rotating drive component includes a fixed plate assembly, a drive motor, a reducer, an end cover, an axial sleeve assembly, a coupling, a bearing, and a connecting shaft.

所述驱动电机与所述固定盘总成固定连接。The drive motor is fixedly connected with the fixed plate assembly.

所述固定盘总成的形状呈圆形或椭圆形或正方形或长方形。The shape of the fixed plate assembly is circular or oval, square or rectangular.

所述固定盘总成的边缘沿周向分布有多个固定耳。A plurality of fixing ears are distributed along the circumference of the edge of the fixing disc assembly.

多个所述固定耳分别设置有螺纹固定孔。A plurality of the fixing ears are respectively provided with threaded fixing holes.

所述固定盘总成与所述活动支撑臂的内壁固定连接。The fixed plate assembly is fixedly connected with the inner wall of the movable support arm.

所述减速机的输入轴与所述驱动电机的转动轴传动连接。The input shaft of the reducer is in driving connection with the rotating shaft of the drive motor.

所述减速机的壳体和所述驱动电机的壳体固定连接。The casing of the reducer is fixedly connected with the casing of the driving motor.

所述连接轴的一端通过所述联轴器与所述减速机的输出轴同轴固定连接。One end of the connecting shaft is coaxially and fixedly connected with the output shaft of the reducer through the coupling.

所述端盖通过所述轴承与所述连接轴的中部转动连接。The end cover is rotatably connected with the middle part of the connecting shaft through the bearing.

所述端盖的形状呈圆形或椭圆形或正方形或长方形。The shape of the end cap is circular or oval or square or rectangular.

所述端盖的板面上沿周上分布有多个固定孔。A plurality of fixing holes are distributed along the circumference of the plate surface of the end cover.

所述端盖与所述活动支撑臂的端面固定连接。The end cover is fixedly connected with the end face of the movable support arm.

所述轴向套筒总成与所述连接轴的另一端固定连接。The axial sleeve assembly is fixedly connected with the other end of the connecting shaft.

所述轴向套筒总成包括端盖和两个支撑盘。The axial sleeve assembly includes an end cap and two support discs.

所述端盖和两个所述支撑盘同轴地连为一体。The end cap and the two support discs are coaxially connected as a whole.

两个所述支撑盘与所述活动支撑臂的内壁之间过渡配合。The transition fit between the two support discs and the inner wall of the movable support arm.

所述端盖的板面上沿周上分布有多个固定孔。A plurality of fixing holes are distributed along the circumference of the plate surface of the end cover.

所述端盖的板面设置有加强筋。The plate surface of the end cover is provided with reinforcing ribs.

所述端盖与所述活动支撑臂的端面固定连接。The end cover is fixedly connected with the end face of the movable support arm.

所述底座包括座板和座盖。The base includes a seat plate and a seat cover.

所述座板的形状呈等边三角形。The shape of the seat plate is an equilateral triangle.

所述座盖的形状呈等边三角形。The shape of the seat cover is an equilateral triangle.

所述座盖和座板固定连接。The seat cover and the seat plate are fixedly connected.

所述座板的中央与所述底转动驱动部件连接。The center of the seat plate is connected to the bottom rotation driving member.

所述底转动驱动部件包括底驱动电机和底连接部件。The bottom rotation driving part includes a bottom driving motor and a bottom connecting part.

所述底驱动电机的壳体与所述座板的顶面中央固定连接。The casing of the bottom driving motor is fixedly connected with the center of the top surface of the seat plate.

所述底驱动电机的转动轴穿过所述座盖的中央与所述底连接部件同轴传动连接。The rotating shaft of the bottom driving motor passes through the center of the seat cover and is coaxially connected to the bottom connecting member.

所述底连接部件与所述活动支撑臂的底端固定连接。The bottom connecting part is fixedly connected with the bottom end of the movable support arm.

所述底座配置有三个行走轮组件。The base is configured with three traveling wheel assemblies.

三个所述行走轮组件分布在所述底座的三个角上。The three traveling wheel assemblies are distributed on three corners of the base.

所述行走轮组件包括麦克姆轮、连接件、轮驱动电机。The traveling wheel assembly includes a mammoth wheel, a connecting piece, and a wheel drive motor.

所述轮驱动电机固定在所述座板上。The wheel drive motor is fixed on the seat plate.

所述轮驱动电机的轴线指向所述座板的中心线上。The axis of the wheel drive motor points to the centerline of the seat plate.

所述轮驱动电机的转动轴通过所述连接件与所述麦克姆轮连接。The rotating shaft of the wheel drive motor is connected with the Macomb wheel through the connecting piece.

所述控制器设置在所述座板的顶面上。The controller is arranged on the top surface of the seat plate.

所述座板的顶面设置有电池、供墨驱动泵、墨箱。The top surface of the seat plate is provided with a battery, an ink supply driving pump, and an ink tank.

墨箱通过所述供墨驱动泵与所述打印头连通。An ink tank communicates with the print head through the ink supply drive pump.

所述顶转动驱动部件包括顶驱动电机和顶连接部件。The top rotation driving part includes a top driving motor and a top connecting part.

所述顶驱动电机的壳体与所述活动支撑臂的顶端固定连接。The casing of the top drive motor is fixedly connected with the top end of the movable support arm.

所述顶驱动电机的转动轴通过所述顶连接部件与所述基板连接。The rotating shaft of the top driving motor is connected to the base plate through the top connecting member.

所述电池与所述控制器电连接。The battery is electrically connected to the controller.

所述供墨驱动泵与所述控制器电连接。The ink supply drive pump is electrically connected to the controller.

所述驱动电机与所述控制器电连接。The drive motor is electrically connected to the controller.

所述顶驱动电机与所述控制器电连接。The top drive motor is electrically connected to the controller.

所述底驱动电机与所述控制器电连接。The bottom drive motor is electrically connected to the controller.

所述轮驱动电机与所述控制器电连接。The wheel drive motor is electrically connected to the controller.

所述座盖的顶面设置有双目摄像头。The top surface of the seat cover is provided with a binocular camera.

所述双目摄像头与所述控制器电连接。The binocular camera is electrically connected to the controller.

本发明的喷绘机器人与现有技术相比具有以下有益效果。Compared with the prior art, the inkjet robot of the present invention has the following beneficial effects.

1、本技术方案由于采用了所述打印部件设置在所述活动支撑臂的上端,所述底座与所述活动支撑臂的上端连接,所述打印部件与控制器之间传输连接,所述控制器与电子版图源之间传输连接的技术手段,所以,该喷绘机器人可以直接在地面上、墙面上或天花板上以及各种可以挂色的物体上打印,免去了墙纸的使用,免去了固定墙纸和更换墙纸的工序,大大降低了打印成本。1. In this technical solution, the printing part is arranged on the upper end of the movable support arm, the base is connected with the upper end of the movable support arm, the printing part is connected with the controller, and the control Therefore, the inkjet robot can print directly on the ground, on the wall or on the ceiling, as well as on various objects that can be colored, eliminating the use of wallpaper, eliminating the need for The process of fixing the wallpaper and replacing the wallpaper is eliminated, which greatly reduces the printing cost.

2、本技术方案由于采用了所述打印部件包括基板;所述基板的形状呈长条形;在所述基板的同一面设置有定位检测器、打印头、干燥器;所述定位检测器是定位摄像头;所述打印头是黑白打印头或彩色打印头;所述打印头是喷墨打印头或喷涂料打印头或喷漆打印头;所述检测器与所述控制器电连接;所述打印头与所述控制器电连接;所述干燥器与所述控制器电连接的技术手段,所以,有利于对图面的正确打印,可防止液滴下流。2. In this technical solution, the printing part includes a substrate; the shape of the substrate is a long strip; a positioning detector, a printing head, and a dryer are arranged on the same side of the substrate; the positioning detector is positioning camera; the print head is a black and white print head or a color print head; the print head is an ink jet print head or a paint spray print head or a paint print head; the detector is electrically connected to the controller; the printing The head is electrically connected with the controller; the dryer is electrically connected with the controller by technical means, so it is conducive to the correct printing of the drawing surface and can prevent droplets from flowing down.

3、本技术方案由于采用了所述活动支撑臂包括多个直管支撑臂和多个弯头;相邻的两个所述直管支撑臂之间固定连接。或者,相邻的两个所述直管支撑臂之间通过转动驱动部件转动连接;相邻的两个所述弯头之间固定连接。或者,相邻的两个所述弯头之间通过转动驱动部件转动连接;相邻的所述直管支撑臂和所述弯头之间固定连接。或者,相邻的所述直管支撑臂和所述弯头之间通过转动驱动部件转动连接;所述固定连接是焊接或螺纹连接或铆接或粘接的技术手段,所以,有利于设计和制造。3. In this technical solution, the movable support arm includes a plurality of straight pipe support arms and a plurality of elbows; two adjacent straight pipe support arms are fixedly connected. Alternatively, the two adjacent straight pipe support arms are rotationally connected by a rotary drive member; and the adjacent two adjacent elbows are fixedly connected. Or, the two adjacent elbows are connected in rotation by a rotary drive member; the adjacent straight pipe support arms and the elbows are fixedly connected. Alternatively, the adjacent straight pipe support arms and the elbows are connected by a rotating drive component; the fixed connection is a technical means of welding or screwing or riveting or bonding, so it is beneficial to design and manufacture. .

4、本技术方案由于采用了所述活动支撑臂包括多个单弯管支撑臂、多个弯头;或者,所述活动支撑臂包括多个双弯管支撑臂、多个弯头;或者,所述活动支撑臂包括多个单弯管支撑臂、多个双弯管支撑臂、多个弯头的技术手段,所以,有利于安装。4. In this technical solution, the movable support arm includes a plurality of single-bend support arms and a plurality of elbows; or, the movable support arm includes a plurality of double-bend support arms and a plurality of elbows; or, The movable support arm includes the technical means of a plurality of single-bend pipe support arms, a plurality of double-bend pipe support arms, and a plurality of elbows, so it is convenient for installation.

5、本技术方案由于采用了所述单弯管支撑臂、所述双弯管支撑臂、所述弯头之一的一端和与其相邻的所述单弯管支撑臂、所述双弯管支撑臂、所述弯头之一的一端固定连接,所述单弯管支撑臂、所述双弯管支撑臂、所述弯头之一的另一端和与其相邻的所述单弯管支撑臂、所述双弯管支撑臂、所述弯头之一的另一端通过转动驱动部件转动连接。或者,所述单弯管支撑臂、所述双弯管支撑臂、所述弯头之一的一端和与其相邻的所述单弯管支撑臂、所述双弯管支撑臂、所述弯头之一的一端固定连接,所述单弯管支撑臂、所述双弯管支撑臂、所述弯头之一的另一端和与其相邻的所述单弯管支撑臂、所述双弯管支撑臂、所述弯头之一的另一端固定连接。或者,所述单弯管支撑臂、所述双弯管支撑臂、所述弯头之一的一端和与其相邻的所述单弯管支撑臂、所述双弯管支撑臂、所述弯头之一的一端通过转动驱动部件转动连接,所述单弯管支撑臂、所述双弯管支撑臂、所述弯头之一的另一端和与其相邻的所述单弯管支撑臂、所述双弯管支撑臂、所述弯头之一的另一端通过转动驱动部件转动连接;所述单弯管支撑臂由一个直管支撑臂和一个弯头构成的一体件。或者,所述单弯管支撑臂由一个直管支撑臂和一个弯头固定连接构成;一个所述弯头位于一个所述直管支撑臂的一端;所述双弯管支撑臂由一个直管支撑臂和两个弯头构成的一体件。或者,所述双弯管支撑臂由一个直管支撑臂和两个弯头固定连接构成;两个所述弯头分布在一个所述直管支撑臂的两端;所述双弯管支撑臂的两个弯管口朝向相同;所述固定连接是焊接或螺纹连接或铆接或粘接或卡合连接的技术手段,所以,可根据不同客户的需求制造出多种喷绘机器人。5. This technical solution adopts the single-bend support arm, the double-bend support arm, one end of one of the elbows and the adjacent single-bend support arm and the double-bend support arm. One end of the support arm and one of the elbows is fixedly connected, and the single elbow support arm, the double elbow support arm, the other end of one of the elbows and the adjacent single elbow support The other end of one of the arm, the double-bend pipe support arm, and the elbow is rotatably connected by a rotary drive member. Alternatively, the single-bend support arm, the double-bend support arm, one end of one of the elbows and the adjacent single-bend support arm, the double-bend support arm, the bend One end of one of the heads is fixedly connected, the single-bend support arm, the double-bend support arm, the other end of one of the bends and the adjacent single-bend support arm, the double-bend support arm The other end of the pipe support arm and one of the elbows is fixedly connected. Alternatively, the single-bend support arm, the double-bend support arm, one end of one of the elbows and the adjacent single-bend support arm, the double-bend support arm, the bend One end of one of the heads is rotatably connected by a rotary drive member, the single-bend support arm, the double-bend support arm, the other end of one of the bends and the adjacent single-bend support arm, The double-bend pipe support arm and the other end of one of the elbows are rotatably connected by a rotary drive component; the single-bend pipe support arm is an integral piece composed of a straight pipe support arm and an elbow. Or, the single-bend pipe support arm is formed by a straight pipe support arm and an elbow fixedly connected; one of the elbows is located at one end of the straight pipe support arm; the double-bend pipe support arm is composed of a straight pipe A single piece of support arm and two elbows. Or, the double-bend pipe support arm is composed of a straight pipe support arm and two elbows fixedly connected; the two elbows are distributed at both ends of the straight pipe support arm; the double-bend pipe support arm The two pipe bends of the two pipes have the same orientation; the fixed connection is a technical means of welding or screwing or riveting or bonding or snapping, so a variety of inkjet robots can be manufactured according to the needs of different customers.

6、本技术方案由于采用了所述单弯管支撑臂有两个;所述双弯管支撑臂有两个;所述弯头有两个;所述转动驱动部件有三个;第一个所述单弯管支撑臂的直管口通过底转动驱动部件与所述底座转动连接;第一个所述单弯管支撑臂的弯管口通过第一个所述转动驱动部件与第一个所述双弯管支撑臂的第一个弯管口转动连接;第一个所述双弯管支撑臂的第二个弯管口与第一个所述弯头的第一个弯管口之间固定连接;第一个所述弯头的第二个弯管口通过第二个所述转动驱动部件与第二个所述单弯管支撑臂的弯管口转动连接;第二个所述单弯管支撑臂的直管口与第二个所述弯头的第一个弯管口之间固定连接;第二个所述弯头的第二个弯管口通过第三个所述转动驱动部件与第二个所述双弯管支撑臂的第一个弯管口转动连接;第二个所述双弯管支撑臂的第二个弯管口通过顶转动驱动部件与所述打印部件的基板转动连接的技术手段,所以,可实现对活动支撑臂的优化设计。6. In this technical solution, there are two single-bend support arms; two double-bend support arms; two elbows; three rotating drive components; The straight pipe opening of the single-bend pipe support arm is rotatably connected to the base through the bottom rotation driving part; The first elbow opening of the double elbow support arm is rotatably connected; between the second elbow opening of the first double elbow support arm and the first elbow opening of the first elbow Fixed connection; the second elbow opening of the first elbow is rotatably connected with the elbow opening of the second single elbow support arm through the second rotating drive part; the second single elbow The straight nozzle of the elbow support arm is fixedly connected with the first elbow of the second elbow; the second elbow of the second elbow is driven by the rotation of the third elbow The component is rotatably connected with the first elbow opening of the second double elbow support arm; the second elbow opening of the second double elbow support arm is connected with the printing component through the top rotation drive component. The technical means of rotating connection of the base plate can realize the optimal design of the movable support arm.

7、本技术方案由于采用了第一个所述双弯管支撑臂的第一个弯管口侧壁高度大于第一个所述双弯管支撑臂的第二个弯管口侧壁高度;第二个所述双弯管支撑臂的第一个弯管口侧壁高度小于第二个所述双弯管支撑臂的第二个弯管口侧壁高度的技术手段,所以,有利于活动支撑臂最大限度地弯转,有利于减小占地空间。7. In this technical solution, the height of the side wall of the first elbow of the first double-bend support arm is greater than that of the second elbow of the first double-bend support arm; The technical means that the height of the side wall of the first elbow opening of the second double elbow support arm is smaller than the height of the second elbow opening of the second double elbow support arm, so it is conducive to the movement The support arm flexes as much as possible, which helps to reduce the floor space.

8、本技术方案由于采用了所述单弯管支撑臂的管口形状呈圆形或椭圆形或正方形或长方形;所述双弯管支撑臂的管口形状呈圆形或椭圆形或正方形或长方形;所述弯头的管口形状呈圆形或椭圆形或正方形或长方形的技术手段,所以,可根据实际情况制造出多种喷绘机器人。8. In this technical solution, the shape of the nozzle of the single-bend support arm is circular or oval, square or rectangular; the shape of the nozzle of the double-bend support arm is circular or oval or square or Rectangle; the shape of the nozzle of the elbow is a technical means of circular or oval or square or rectangular, so a variety of inkjet robots can be manufactured according to the actual situation.

9、本技术方案由于采用了所述活动支撑臂的形状呈弯曲的柱状(活动支撑臂的强度较均匀);或者,所述活动支撑臂的形状呈下粗上细的弯曲锥状(活动支撑臂的稳定性较好)的技术手段,所以,可根据不同的客户需求和实际情况制造出多种喷绘机器人。9. In this technical solution, the shape of the movable support arm is a curved columnar shape (the strength of the movable support arm is relatively uniform); Therefore, a variety of inkjet robots can be manufactured according to different customer needs and actual conditions.

10、本技术方案由于采用了所述转动驱动部件包括固定盘总成、驱动电机、减速机、端盖、轴向套筒总成、联轴器、轴承、连接轴;所述驱动电机与所述固定盘总成固定连接;所述固定盘总成的形状呈圆形或椭圆形或正方形或长方形;所述固定盘总成的边缘沿周向分布有多个固定耳;多个所述固定耳分别设置有螺纹固定孔;所述固定盘总成与所述活动支撑臂的内壁固定连接;所述减速机的输入轴与所述驱动电机的转动轴传动连接;所述减速机的壳体和所述驱动电机的壳体固定连接;所述连接轴的一端通过所述联轴器与所述减速机的输出轴同轴固定连接;所述端盖通过所述轴承与所述连接轴的中部转动连接;所述端盖的形状呈圆形或椭圆形或正方形或长方形;所述端盖的板面上沿周上分布有多个固定孔;所述端盖与所述活动支撑臂的端面固定连接;所述轴向套筒总成与所述连接轴的另一端固定连接;所述轴向套筒总成包括端盖和两个支撑盘;所述端盖和两个所述支撑盘同轴地连为一体;两个所述支撑盘与所述活动支撑臂的内壁之间过渡配合;所述端盖的板面上沿周上分布有多个固定孔;所述端盖的板面设置有加强筋;所述端盖与所述活动支撑臂的端面固定连接的技术手段,所以,可提高活动支撑臂的安装精度。10. This technical solution adopts the rotating drive components including the fixed plate assembly, the drive motor, the reducer, the end cover, the axial sleeve assembly, the coupling, the bearing, and the connecting shaft; the drive motor and the The fixed disk assembly is fixedly connected; the shape of the fixed disk assembly is circular or oval, square or rectangular; the edge of the fixed disk assembly is distributed with a plurality of fixing ears along the circumferential direction; The lugs are respectively provided with threaded fixing holes; the fixing plate assembly is fixedly connected with the inner wall of the movable support arm; the input shaft of the reducer is drivingly connected with the rotating shaft of the drive motor; the casing of the reducer It is fixedly connected with the casing of the drive motor; one end of the connecting shaft is fixedly connected to the output shaft of the reducer through the coupling; the end cover is connected to the connecting shaft through the bearing. The middle part is rotated and connected; the shape of the end cover is circular or oval, square or rectangular; the plate surface of the end cover is distributed with a plurality of fixing holes along the circumference; The end face is fixedly connected; the axial sleeve assembly is fixedly connected with the other end of the connecting shaft; the axial sleeve assembly includes an end cover and two support discs; the end cover and the two supports The disks are coaxially connected as a whole; the two support disks are in transition fit with the inner wall of the movable support arm; a plurality of fixing holes are distributed along the circumference on the plate surface of the end cover; The plate surface is provided with a reinforcing rib; the technical means of fixed connection between the end cover and the end surface of the movable support arm can improve the installation accuracy of the movable support arm.

10、本技术方案由于采用了所述底座包括座板和座盖;所述座板的形状呈等边三角形;所述座盖的形状呈等边三角形;所述座盖和座板固定连接的技术手段,所以,有利于减小底座的占用空间。10. This technical solution adopts the base including a seat plate and a seat cover; the shape of the seat plate is an equilateral triangle; the shape of the seat cover is an equilateral triangle; the seat cover and the seat plate are fixedly connected. Therefore, it is beneficial to reduce the occupied space of the base.

11、本技术方案由于采用了所述座板的中央与所述底转动驱动部件连接;所述底转动驱动部件包括底驱动电机和底连接部件;所述底驱动电机的壳体与所述座板的顶面中央固定连接;所述底驱动电机的转动轴穿过所述座盖的中央与所述底连接部件同轴传动连接;所述底连接部件与所述活动支撑臂的底端固定连接的技术手段,所以,有利于活动支撑臂平衡和稳定。11. In this technical solution, the center of the seat plate is connected to the bottom rotation driving part; the bottom rotation driving part includes a bottom driving motor and a bottom connecting part; the casing of the bottom driving motor is connected to the seat The center of the top surface of the plate is fixedly connected; the rotating shaft of the bottom driving motor passes through the center of the seat cover and is coaxially connected with the bottom connecting part; the bottom connecting part is fixed with the bottom end of the movable support arm The technical means of connection, therefore, are conducive to the balance and stability of the movable support arm.

12、本技术方案由于采用了所述底座配置有三个行走轮组件的技术手段,所以,有利于打印宽幅面的图。12. Since the technical solution adopts the technical means that the base is equipped with three traveling wheel assemblies, it is beneficial to print wide-format pictures.

13、本技术方案由于采用了三个所述行走轮组件分布在所述底座的三个角上;所述行走轮组件包括麦克姆轮、连接件、轮驱动电机;所述轮驱动电机固定在所述座板上;所述轮驱动电机的轴线指向所述座板的中心线上;所述轮驱动电机的转动轴通过所述连接件与所述麦克姆轮连接的技术手段,所以,有利于实现较高精度的位移运动。13. In this technical solution, the three walking wheel assemblies are distributed on three corners of the base; the walking wheel The seat plate; the axis of the wheel drive motor points to the center line of the seat plate; the technical means of connecting the rotating shaft of the wheel drive motor to the Macomb wheel through the connecting piece, so there are Conducive to the realization of higher precision displacement movement.

14、本技术方案由于采用了所述控制器设置在所述座板的顶面上;所述座板的顶面设置有电池、供墨驱动泵、墨箱;墨箱通过所述供墨驱动泵与所述打印头连通;所述顶转动驱动部件包括顶驱动电机和顶连接部件;所述顶驱动电机的壳体与所述活动支撑臂的顶端固定连接;所述顶驱动电机的转动轴通过所述顶连接部件与所述基板连接;所述电池与所述控制器电连接;所述供墨驱动泵与所述控制器电连接;所述驱动电机与所述控制器电连接;所述顶驱动电机与所述控制器电连接;所述底驱动电机与所述控制器电连接;所述轮驱动电机与所述控制器电连接;所述座盖的顶面设置有双目摄像头;所述双目摄像头与所述控制器电连接的技术手段,所以,有利于降低喷绘机器人的整体重心。14. In this technical solution, the controller is arranged on the top surface of the seat plate; the top surface of the seat plate is provided with a battery, an ink supply driving pump, and an ink tank; the ink tank is driven by the ink supply The pump communicates with the print head; the top rotation driving part includes a top driving motor and a top connecting part; the casing of the top driving motor is fixedly connected with the top end of the movable support arm; the rotating shaft of the top driving motor The top connecting part is connected with the substrate; the battery is electrically connected with the controller; the ink supply driving pump is electrically connected with the controller; the drive motor is electrically connected with the controller; The top drive motor is electrically connected to the controller; the bottom drive motor is electrically connected to the controller; the wheel drive motor is electrically connected to the controller; the top surface of the seat cover is provided with a binocular camera ; The technical means of electrically connecting the binocular camera and the controller, so it is beneficial to reduce the overall center of gravity of the inkjet robot.

附图说明Description of drawings

下面结合附图和具体实施方式对本发明的喷绘机器人作进一步的详细描述。The inkjet robot of the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

图1为本发明的喷绘机器人展开后的立体结构示意图。FIG. 1 is a schematic diagram of the three-dimensional structure of the inkjet robot of the present invention after deployment.

图2为本发明的喷绘机器人折叠后的立体结构示意图。FIG. 2 is a schematic diagram of the three-dimensional structure of the inkjet robot of the present invention after being folded.

图3为本发明的喷绘机器人中转动驱动部件组装后的立体结构示意图。FIG. 3 is a schematic three-dimensional structural diagram of the assembled rotating drive components of the inkjet robot of the present invention.

图4为本发明的喷绘机器人中转动驱动部件分解后的立体结构示意图。FIG. 4 is a schematic diagram of the three-dimensional structure of the rotary drive component of the inkjet robot of the present invention after decomposition.

图5为本发明的喷绘机器人中底座的立体结构示意图。FIG. 5 is a schematic three-dimensional structural diagram of the base in the inkjet robot of the present invention.

图6为本发明的喷绘机器人中座板的俯视结构示意图。FIG. 6 is a schematic top-view structure diagram of the middle seat plate of the inkjet robot of the present invention.

图7为本发明的喷绘机器人中控制器与各元器件之间的连接结构示意图。7 is a schematic diagram of the connection structure between the controller and each component in the inkjet robot of the present invention.

附图标记说明如下。Reference numerals are explained below.

1~打印部件;1~Print parts;

1-1~基板;1-1~Substrate;

1-2~打印头;1-2~print head;

1-3~干燥器;1-3~Dryer;

1-4~定位检测器;1-4~Location detector;

2~活动支撑臂;2. Active support arm;

2-0~直管支撑臂;2-0~straight pipe support arm;

2-1~单弯管支撑臂;2-1~Single elbow support arm;

2-2~双弯管支撑臂;2-2~Double elbow support arm;

2-3~弯头;2-3~elbow;

2-4~转动驱动部件;2-4~Rotate the drive part;

2-4-1~固定盘总成;2-4-1~Fixed plate assembly;

2-4-2~驱动电机;2-4-2~drive motor;

2-4-3~减速机;2-4-3~Reducer;

2-4-4~端盖;2-4-4~end cap;

2-4-5~轴向套筒总成;2-4-5~Axial sleeve assembly;

2-4-6~联轴器;2-4-6~Coupling;

2-4-7~轴承;2-4-7~Bearing;

2-4-8~连接轴;2-4-8~connecting shaft;

2-5~顶转动驱动部件;2-5~ Top rotating drive parts;

2-5-1~顶驱动电机;2-5-1~Top drive motor;

2-5-2~顶连接部件;2-5-2~Top connecting parts;

2-6~底转动驱动部件;2-6~Bottom rotating drive parts;

2-6-1~底驱动电机;2-6-1~Bottom drive motor;

2-6-2~底连接部件;2-6-2 ~ Bottom connecting parts;

3~底座;3 ~ base;

3-1~座板;3-1~seat plate;

3-2~座盖;3-2~seat cover;

4~行走轮组件;4~ Travel wheel assembly;

4-1~麦克姆轮;4-1 ~ Macomb Wheel;

4-2~连接件;4-2~connector;

4-3~轮驱动电机;4-3~wheel drive motor;

5~控制器;5~controller;

6~电池;6~Battery;

7~供墨驱动泵;7~Ink supply drive pump;

8~墨箱;8~ink tank;

9~双目摄像头。9~ Binocular camera.

具体实施方式Detailed ways

如图1至图7所示,本发明提供一种喷绘机器人,包括打印部件1、活动支撑臂2、底座3,所述打印部件1设置在所述活动支撑臂2的上端,所述底座3与所述活动支撑臂2的上端连接,所述打印部件1与控制器5之间传输连接,所述控制器5与电子版图源之间传输连接。As shown in FIG. 1 to FIG. 7 , the present invention provides an inkjet robot, which includes a printing part 1 , a movable support arm 2 and a base 3 , the printing part 1 is arranged on the upper end of the movable support arm 2 , and the base 3 Connected with the upper end of the movable support arm 2, the printing part 1 is connected with the controller 5, and the controller 5 is connected with the electronic layout source.

本实施方式由于采用了所述打印部件设置在所述活动支撑臂的上端,所述底座与所述活动支撑臂的上端连接,所述打印部件与控制器之间传输连接,所述控制器与电子版图源之间传输连接的技术手段,所以,该喷绘机器人可以直接在地面上、墙面上或天花板上以及各种可以挂色的物体上打印,免去了墙纸的使用,免去了固定墙纸和更换墙纸的工序,大大降低了打印成本。In this embodiment, the printing part is arranged on the upper end of the movable support arm, the base is connected to the upper end of the movable support arm, the printing part is connected with the controller, and the controller is connected to the upper end of the movable support arm. The technical means of transmission and connection between electronic layout sources, so the inkjet robot can print directly on the ground, on the wall or on the ceiling, and on various objects that can be colored, eliminating the use of wallpaper and fixing The process of wallpaper and replacement of wallpaper greatly reduces printing costs.

如图1至图7所示,所述打印部件1包括基板1-1。As shown in FIGS. 1 to 7 , the printing part 1 includes a substrate 1 - 1 .

所述基板1-1的形状呈长条形。The shape of the substrate 1-1 is elongated.

在所述基板1-1的同一面设置有定位检测器1-4、打印头1-2、干燥器1-3。A positioning detector 1-4, a print head 1-2, and a dryer 1-3 are provided on the same surface of the substrate 1-1.

所述定位检测器1-4是定位摄像头。The positioning detectors 1-4 are positioning cameras.

所述打印头1-2是黑白打印头或彩色打印头。The print heads 1-2 are black and white print heads or color print heads.

所述打印头1-2是喷墨打印头或喷涂料打印头或喷漆打印头。The print heads 1-2 are ink jet print heads or paint-spray print heads or paint-spray print heads.

所述检测器1-4与所述控制器5电连接。The detectors 1 - 4 are electrically connected to the controller 5 .

所述打印头1-2与所述控制器5电连接。The print heads 1 - 2 are electrically connected to the controller 5 .

所述干燥器1-3与所述控制器5电连接。The dryers 1 - 3 are electrically connected to the controller 5 .

本实施方式由于采用了所述打印部件包括基板;所述基板的形状呈长条形;在所述基板的同一面设置有定位检测器、打印头、干燥器;所述定位检测器是定位摄像头;所述打印头是黑白打印头或彩色打印头;所述打印头是喷墨打印头或喷涂料打印头或喷漆打印头;所述检测器与所述控制器电连接;所述打印头与所述控制器电连接;所述干燥器与所述控制器电连接的技术手段,所以,有利于对图面的正确打印,可防止液滴下流。In this embodiment, the printing part includes a substrate; the substrate is elongated; a positioning detector, a printing head, and a dryer are arranged on the same surface of the substrate; the positioning detector is a positioning camera ; The print head is a black and white print head or a color print head; The print head is an ink jet print head or a paint print head or a paint print head; The detector is electrically connected to the controller; The print head is connected to the The controller is electrically connected; the dryer is electrically connected to the controller by a technical means, so it is beneficial to the correct printing of the drawing surface and can prevent droplets from flowing down.

如图1至图7所示,所述活动支撑臂2包括多个直管支撑臂2-0和多个弯头2-3。As shown in FIG. 1 to FIG. 7 , the movable support arm 2 includes a plurality of straight pipe support arms 2-0 and a plurality of elbows 2-3.

相邻的两个所述直管支撑臂2-0之间固定连接。或者,相邻的两个所述直管支撑臂2-0之间通过转动驱动部件2-4转动连接。The two adjacent straight pipe support arms 2-0 are fixedly connected. Alternatively, the two adjacent straight pipe support arms 2-0 are connected in rotation through a rotation driving member 2-4.

相邻的两个所述弯头2-3之间固定连接。或者,相邻的两个所述弯头2-3之间通过转动驱动部件2-4转动连接。The two adjacent elbows 2-3 are fixedly connected. Or, two adjacent elbows 2-3 are connected in rotation by a rotation driving member 2-4.

相邻的所述直管支撑臂2-0和所述弯头2-3之间固定连接。或者,相邻的所述直管支撑臂2-0和所述弯头2-3之间通过转动驱动部件2-4转动连接。The adjacent straight pipe support arms 2-0 and the elbows 2-3 are fixedly connected. Alternatively, the adjacent straight pipe support arms 2-0 and the elbows 2-3 are rotatably connected by a rotary drive member 2-4.

所述固定连接是焊接或螺纹连接或铆接或粘接。The fixed connection is welded or screwed or riveted or glued.

本实施方式由于采用了所述活动支撑臂包括多个直管支撑臂和多个弯头;相邻的两个所述直管支撑臂之间固定连接。或者,相邻的两个所述直管支撑臂之间通过转动驱动部件转动连接;相邻的两个所述弯头之间固定连接。或者,相邻的两个所述弯头之间通过转动驱动部件转动连接;相邻的所述直管支撑臂和所述弯头之间固定连接。或者,相邻的所述直管支撑臂和所述弯头之间通过转动驱动部件转动连接;所述固定连接是焊接或螺纹连接或铆接或粘接的技术手段,所以,有利于设计和制造。In this embodiment, the movable support arm includes a plurality of straight pipe support arms and a plurality of elbows; two adjacent straight pipe support arms are fixedly connected. Alternatively, the two adjacent straight pipe support arms are rotationally connected by a rotary drive member; and the adjacent two adjacent elbows are fixedly connected. Or, the two adjacent elbows are connected in rotation by a rotary drive member; the adjacent straight pipe support arms and the elbows are fixedly connected. Alternatively, the adjacent straight pipe support arms and the elbows are connected by a rotating drive component; the fixed connection is a technical means of welding or screwing or riveting or bonding, so it is beneficial to design and manufacture. .

如图1至图7所示,所述活动支撑臂2包括多个单弯管支撑臂2-1、多个弯头2-3。或者,As shown in FIG. 1 to FIG. 7 , the movable support arm 2 includes a plurality of single-bend pipe support arms 2-1 and a plurality of elbows 2-3. or,

所述活动支撑臂2包括多个双弯管支撑臂2-2、多个弯头2-3。或者,The movable support arm 2 includes a plurality of double-bend pipe support arms 2-2 and a plurality of elbows 2-3. or,

所述活动支撑臂2包括多个单弯管支撑臂2-1、多个双弯管支撑臂2-2、多个弯头2-3。The movable support arm 2 includes a plurality of single-bend pipe support arms 2-1, a plurality of double-bend pipe support arms 2-2, and a plurality of elbows 2-3.

本实施方式由于采用了所述活动支撑臂包括多个单弯管支撑臂、多个弯头;或者,所述活动支撑臂包括多个双弯管支撑臂、多个弯头;或者,所述活动支撑臂包括多个单弯管支撑臂、多个双弯管支撑臂、多个弯头的技术手段,所以,有利于安装。In this embodiment, the movable support arm includes a plurality of single-bend pipe support arms and a plurality of elbows; alternatively, the movable support arm includes a plurality of double-bend pipe support arms and a plurality of elbows; or, the The movable support arm includes the technical means of a plurality of single-bend pipe support arms, a plurality of double-bend pipe support arms, and a plurality of elbows, so it is convenient for installation.

如图1至图7所示,所述单弯管支撑臂2-1、所述双弯管支撑臂2-2、所述弯头2-3之一的一端和与其相邻的所述单弯管支撑臂2-1、所述双弯管支撑臂2-2、所述弯头2-3之一的一端固定连接,所述单弯管支撑臂2-1、所述双弯管支撑臂2-2、所述弯头2-3之一的另一端和与其相邻的所述单弯管支撑臂2-1、所述双弯管支撑臂2-2、所述弯头2-3之一的另一端通过转动驱动部件2-4转动连接。或者,所述单弯管支撑臂2-1、所述双弯管支撑臂2-2、所述弯头2-3之一的一端和与其相邻的所述单弯管支撑臂2-1、所述双弯管支撑臂2-2、所述弯头2-3之一的一端固定连接,所述单弯管支撑臂2-1、所述双弯管支撑臂2-2、所述弯头2-3之一的另一端和与其相邻的所述单弯管支撑臂2-1、所述双弯管支撑臂2-2、所述弯头2-3之一的另一端固定连接。或者,所述单弯管支撑臂2-1、所述双弯管支撑臂2-2、所述弯头2-3之一的一端和与其相邻的所述单弯管支撑臂2-1、所述双弯管支撑臂2-2、所述弯头2-3之一的一端通过转动驱动部件2-4转动连接,所述单弯管支撑臂2-1、所述双弯管支撑臂2-2、所述弯头2-3之一的另一端和与其相邻的所述单弯管支撑臂2-1、所述双弯管支撑臂2-2、所述弯头2-3之一的另一端通过转动驱动部件2-4转动连接。As shown in FIG. 1 to FIG. 7 , one end of the single elbow support arm 2-1, the double elbow support arm 2-2, one of the elbows 2-3 and the adjacent single elbow One end of one of the elbow support arm 2-1, the double elbow support arm 2-2, and the elbow 2-3 is fixedly connected, the single elbow support arm 2-1, the double elbow support arm 2-1, the double elbow support Arm 2-2, the other end of one of the elbows 2-3 and the adjacent single elbow support arm 2-1, the double elbow support arm 2-2, the elbow 2- The other end of one of the 3 is rotatably connected by a rotary drive member 2-4. Alternatively, one end of the single-bend pipe support arm 2-1, the double-bend pipe support arm 2-2, one of the elbows 2-3 and the adjacent single-bend pipe support arm 2-1 , One end of the double-bend pipe support arm 2-2 and the elbow 2-3 is fixedly connected, the single-bend pipe support arm 2-1, the double-bend pipe support arm 2-2, the The other end of one of the elbows 2-3 is fixed with the other end of the adjacent single elbow support arm 2-1, the double elbow support arm 2-2, and the elbow 2-3 connect. Alternatively, one end of the single-bend pipe support arm 2-1, the double-bend pipe support arm 2-2, one of the elbows 2-3 and the adjacent single-bend pipe support arm 2-1 , One end of the double elbow support arm 2-2 and one of the elbows 2-3 is rotatably connected by a rotary drive member 2-4, the single elbow support arm 2-1, the double elbow support Arm 2-2, the other end of one of the elbows 2-3 and the adjacent single elbow support arm 2-1, the double elbow support arm 2-2, the elbow 2- The other end of one of the 3 is rotatably connected by a rotary drive member 2-4.

所述单弯管支撑臂2-1由一个直管支撑臂2-0和一个弯头构成的一体件。或者,所述单弯管支撑臂2-1由一个直管支撑臂2-0和一个弯头固定连接构成。The single-bend pipe support arm 2-1 is an integral piece composed of a straight pipe support arm 2-0 and an elbow. Alternatively, the single-bend pipe support arm 2-1 is constituted by a straight pipe support arm 2-0 and an elbow fixedly connected.

一个所述弯头位于一个所述直管支撑臂2-0的一端。One of the elbows is located at one end of one of the straight pipe support arms 2-0.

所述双弯管支撑臂2-2由一个直管支撑臂2-0和两个弯头构成的一体件。或者,所述双弯管支撑臂2-2由一个直管支撑臂2-0和两个弯头固定连接构成。The double-bend pipe support arm 2-2 is an integral piece composed of a straight pipe support arm 2-0 and two elbows. Alternatively, the double-bend pipe support arm 2-2 is constituted by a straight pipe support arm 2-0 and two elbows being fixedly connected.

两个所述弯头分布在一个所述直管支撑臂2-0的两端。The two elbows are distributed at both ends of one of the straight pipe support arms 2-0.

所述双弯管支撑臂2-2的两个弯管口朝向相同。The two elbow openings of the double elbow support arm 2-2 are oriented in the same direction.

所述固定连接是焊接或螺纹连接或铆接或粘接或卡合连接。The fixed connection is a welded or screwed connection or a riveted or glued or snap-fit connection.

本实施方式由于采用了所述单弯管支撑臂、所述双弯管支撑臂、所述弯头之一的一端和与其相邻的所述单弯管支撑臂、所述双弯管支撑臂、所述弯头之一的一端固定连接,所述单弯管支撑臂、所述双弯管支撑臂、所述弯头之一的另一端和与其相邻的所述单弯管支撑臂、所述双弯管支撑臂、所述弯头之一的另一端通过转动驱动部件转动连接。或者,所述单弯管支撑臂、所述双弯管支撑臂、所述弯头之一的一端和与其相邻的所述单弯管支撑臂、所述双弯管支撑臂、所述弯头之一的一端固定连接,所述单弯管支撑臂、所述双弯管支撑臂、所述弯头之一的另一端和与其相邻的所述单弯管支撑臂、所述双弯管支撑臂、所述弯头之一的另一端固定连接。或者,所述单弯管支撑臂、所述双弯管支撑臂、所述弯头之一的一端和与其相邻的所述单弯管支撑臂、所述双弯管支撑臂、所述弯头之一的一端通过转动驱动部件转动连接,所述单弯管支撑臂、所述双弯管支撑臂、所述弯头之一的另一端和与其相邻的所述单弯管支撑臂、所述双弯管支撑臂、所述弯头之一的另一端通过转动驱动部件转动连接;所述单弯管支撑臂由一个直管支撑臂和一个弯头构成的一体件。或者,所述单弯管支撑臂由一个直管支撑臂和一个弯头固定连接构成;一个所述弯头位于一个所述直管支撑臂的一端;所述双弯管支撑臂由一个直管支撑臂和两个弯头构成的一体件。或者,所述双弯管支撑臂由一个直管支撑臂和两个弯头固定连接构成;两个所述弯头分布在一个所述直管支撑臂的两端;所述双弯管支撑臂的两个弯管口朝向相同;所述固定连接是焊接或螺纹连接或铆接或粘接或卡合连接的技术手段,所以,可根据不同客户的需求制造出多种喷绘机器人。This embodiment adopts the single-bend pipe support arm, the double-bend pipe support arm, one end of one of the elbows, and the single-bend pipe support arm and the double-bend pipe support arm adjacent to it. , One end of one of the elbows is fixedly connected, the single elbow support arm, the double elbow support arm, the other end of one of the elbows and the adjacent single elbow support arm, The other end of the double elbow support arm and one of the elbows is rotatably connected by a rotary drive member. Alternatively, the single-bend support arm, the double-bend support arm, one end of one of the elbows and the adjacent single-bend support arm, the double-bend support arm, the bend One end of one of the heads is fixedly connected, the single-bend support arm, the double-bend support arm, the other end of one of the bends and the adjacent single-bend support arm, the double-bend support arm The other end of the pipe support arm and one of the elbows is fixedly connected. Alternatively, the single-bend support arm, the double-bend support arm, one end of one of the elbows and the adjacent single-bend support arm, the double-bend support arm, the bend One end of one of the heads is rotatably connected by a rotary drive member, the single-bend support arm, the double-bend support arm, the other end of one of the bends and the adjacent single-bend support arm, The double-bend pipe support arm and the other end of one of the elbows are rotatably connected by a rotary drive component; the single-bend pipe support arm is an integral piece composed of a straight pipe support arm and an elbow. Or, the single-bend pipe support arm is formed by a straight pipe support arm and an elbow fixedly connected; one of the elbows is located at one end of the straight pipe support arm; the double-bend pipe support arm is composed of a straight pipe A single piece of support arm and two elbows. Or, the double-bend pipe support arm is composed of a straight pipe support arm and two elbows fixedly connected; the two elbows are distributed at both ends of the straight pipe support arm; the double-bend pipe support arm The two pipe bends of the two pipes have the same orientation; the fixed connection is a technical means of welding or screwing or riveting or bonding or snapping, so a variety of inkjet robots can be manufactured according to the needs of different customers.

如图1至图7所示,所述单弯管支撑臂2-1有两个。As shown in FIG. 1 to FIG. 7 , there are two single-bend pipe support arms 2-1.

所述双弯管支撑臂2-2有两个。There are two double-bend support arms 2-2.

所述弯头2-3有两个。There are two elbows 2-3.

所述转动驱动部件2-4有三个。There are three rotational drive members 2-4.

第一个所述单弯管支撑臂2-1的直管口通过底转动驱动部件2-6与所述底座3转动连接。The straight pipe opening of the first single-bend pipe support arm 2-1 is rotatably connected to the base 3 through a bottom rotation driving member 2-6.

第一个所述单弯管支撑臂2-1的弯管口通过第一个所述转动驱动部件2-4与第一个所述双弯管支撑臂2-2的第一个弯管口转动连接。The elbow opening of the first single-bend support arm 2-1 passes through the first rotation driving member 2-4 and the first elbow opening of the double-bend support arm 2-2 Turn the connection.

第一个所述双弯管支撑臂2-2的第二个弯管口与第一个所述弯头2-3的第一个弯管口之间固定连接。The second elbow opening of the first double elbow support arm 2-2 is fixedly connected with the first elbow opening of the first elbow 2-3.

第一个所述弯头2-3的第二个弯管口通过第二个所述转动驱动部件2-4与第二个所述单弯管支撑臂2-1的弯管口转动连接。The second elbow opening of the first elbow 2-3 is rotatably connected to the elbow opening of the second single elbow support arm 2-1 through the second rotating driving component 2-4.

第二个所述单弯管支撑臂2-1的直管口与第二个所述弯头2-3的第一个弯管口之间固定连接。The straight pipe opening of the second single-bend pipe support arm 2-1 is fixedly connected with the first curved pipe opening of the second elbow 2-3.

第二个所述弯头2-3的第二个弯管口通过第三个所述转动驱动部件2-4与第二个所述双弯管支撑臂2-2的第一个弯管口转动连接。The second elbow opening of the second elbow 2-3 passes through the third rotation driving part 2-4 and the first elbow opening of the second double elbow supporting arm 2-2 Turn the connection.

第二个所述双弯管支撑臂2-2的第二个弯管口通过顶转动驱动部件2-5与所述打印部件1的基板1-1转动连接。The second curved pipe opening of the second double curved pipe supporting arm 2-2 is rotatably connected with the base plate 1-1 of the printing part 1 through the top rotation driving part 2-5.

本实施方式由于采用了所述单弯管支撑臂有两个;所述双弯管支撑臂有两个;所述弯头有两个;所述转动驱动部件有三个;第一个所述单弯管支撑臂的直管口通过底转动驱动部件与所述底座转动连接;第一个所述单弯管支撑臂的弯管口通过第一个所述转动驱动部件与第一个所述双弯管支撑臂的第一个弯管口转动连接;第一个所述双弯管支撑臂的第二个弯管口与第一个所述弯头的第一个弯管口之间固定连接;第一个所述弯头的第二个弯管口通过第二个所述转动驱动部件与第二个所述单弯管支撑臂的弯管口转动连接;第二个所述单弯管支撑臂的直管口与第二个所述弯头的第一个弯管口之间固定连接;第二个所述弯头的第二个弯管口通过第三个所述转动驱动部件与第二个所述双弯管支撑臂的第一个弯管口转动连接;第二个所述双弯管支撑臂的第二个弯管口通过顶转动驱动部件与所述打印部件的基板转动连接的技术手段,所以,可实现对活动支撑臂的优化设计。In this embodiment, there are two single-bend pipe support arms; two double-bend pipe support arms; two elbows; three rotation driving components; The straight pipe opening of the curved pipe support arm is rotatably connected to the base through the bottom rotation driving part; The first elbow opening of the elbow support arm is rotatably connected; the second elbow opening of the first double elbow support arm is fixedly connected to the first elbow opening of the first elbow ; The second elbow opening of the first said elbow is connected in rotation with the elbow opening of the second said single elbow support arm through the second said rotation driving part; the second said single elbow The straight pipe opening of the support arm is fixedly connected with the first curved pipe opening of the second said elbow; the second curved pipe opening of the second said elbow is connected with the third said rotating driving part The first elbow orifice of the second double-bend support arm is rotatably connected; the second elbow of the second double-bend support arm rotates with the substrate of the printing part through the top rotation driving part Therefore, the optimal design of the movable support arm can be realized.

如图1至图7所示,As shown in Figure 1 to Figure 7,

第一个所述双弯管支撑臂2-2的第一个弯管口侧壁高度大于第一个所述双弯管支撑臂2-2的第二个弯管口侧壁高度。The height of the side wall of the first elbow opening of the first double elbow support arm 2-2 is greater than the height of the side wall of the second elbow opening of the first double elbow support arm 2-2.

第二个所述双弯管支撑臂2-2的第一个弯管口侧壁高度小于第二个所述双弯管支撑臂2-2的第二个弯管口侧壁高度。The height of the side wall of the first elbow opening of the second double elbow support arm 2-2 is smaller than the height of the side wall of the second elbow opening of the second double elbow support arm 2-2.

本实施方式由于采用了第一个所述双弯管支撑臂的第一个弯管口侧壁高度大于第一个所述双弯管支撑臂的第二个弯管口侧壁高度;第二个所述双弯管支撑臂的第一个弯管口侧壁高度小于第二个所述双弯管支撑臂的第二个弯管口侧壁高度的技术手段,所以,有利于活动支撑臂最大限度地弯转,有利于减小占地空间。In this embodiment, the height of the side wall of the first elbow opening of the first double elbow support arm is greater than that of the second elbow opening of the first double elbow support arm; the second elbow A technical means that the height of the side wall of the first elbow of the double-bend support arm is smaller than the height of the side wall of the second elbow of the second double-bend support arm, so it is beneficial to move the support arm The maximum turning is beneficial to reduce the floor space.

如图1至图7所示,所述单弯管支撑臂2-1的管口形状呈圆形或椭圆形或正方形或长方形。As shown in FIG. 1 to FIG. 7 , the shape of the nozzle of the single-bend pipe support arm 2-1 is a circle, an ellipse, a square or a rectangle.

所述双弯管支撑臂2-2的管口形状呈圆形或椭圆形或正方形或长方形。The shape of the mouth of the double-bend pipe support arm 2-2 is circular or oval, square or rectangular.

所述弯头2-3的管口形状呈圆形或椭圆形或正方形或长方形。The shape of the nozzle of the elbow 2-3 is a circle or an ellipse, a square or a rectangle.

本实施方式由于采用了所述单弯管支撑臂的管口形状呈圆形或椭圆形或正方形或长方形;所述双弯管支撑臂的管口形状呈圆形或椭圆形或正方形或长方形;所述弯头的管口形状呈圆形或椭圆形或正方形或长方形的技术手段,所以,可根据实际情况制造出多种喷绘机器人。In this embodiment, the shape of the nozzle of the single-bend support arm is circular or oval, square or rectangular; the shape of the nozzle of the double-bend support arm is circular or oval or square or rectangle; The shape of the nozzle of the elbow is a technical means of a circle or an ellipse or a square or a rectangle, so a variety of inkjet robots can be manufactured according to the actual situation.

如图1至图7所示,所述活动支撑臂2的形状呈弯曲的柱状。或者,As shown in FIG. 1 to FIG. 7 , the shape of the movable support arm 2 is a curved column. or,

所述活动支撑臂2的形状呈下粗上细的弯曲锥状。The shape of the movable support arm 2 is a curved cone shape with a thick bottom and a thin top.

本实施方式由于采用了所述活动支撑臂的形状呈弯曲的柱状(活动支撑臂的强度较均匀);或者,所述活动支撑臂的形状呈下粗上细的弯曲锥状(活动支撑臂的稳定性较好)的技术手段,所以,可根据不同的客户需求和实际情况制造出多种喷绘机器人。In this embodiment, the shape of the movable support arm is a curved column shape (the strength of the movable support arm is relatively uniform); Therefore, a variety of inkjet robots can be manufactured according to different customer needs and actual conditions.

如图1至图7所示,所述转动驱动部件2-4包括固定盘总成2-4-1、驱动电机2-4-2、减速机2-4-3、端盖2-4-4、轴向套筒总成2-4-5、联轴器2-4-6、轴承2-4-7、连接轴2-4-8。As shown in Fig. 1 to Fig. 7 , the rotating driving part 2-4 includes a fixed plate assembly 2-4-1, a driving motor 2-4-2, a reducer 2-4-3, and an end cover 2-4- 4. Axial sleeve assembly 2-4-5, coupling 2-4-6, bearing 2-4-7, connecting shaft 2-4-8.

所述驱动电机2-4-2与所述固定盘总成2-4-1固定连接。The drive motor 2-4-2 is fixedly connected with the fixed plate assembly 2-4-1.

所述固定盘总成2-4-1的形状呈圆形或椭圆形或正方形或长方形。The shape of the fixed plate assembly 2-4-1 is circular, oval, square or rectangular.

所述固定盘总成2-4-1的边缘沿周向分布有多个固定耳。A plurality of fixing ears are distributed along the circumference of the edge of the fixing plate assembly 2-4-1.

多个所述固定耳分别设置有螺纹固定孔。A plurality of the fixing ears are respectively provided with threaded fixing holes.

所述固定盘总成2-4-1与所述活动支撑臂2的内壁固定连接。The fixed plate assembly 2-4-1 is fixedly connected to the inner wall of the movable support arm 2 .

所述减速机2-4-3的输入轴与所述驱动电机2-4-2的转动轴传动连接。The input shaft of the speed reducer 2-4-3 is in driving connection with the rotating shaft of the drive motor 2-4-2.

所述减速机2-4-3的壳体和所述驱动电机2-4-2的壳体固定连接。The casing of the reducer 2-4-3 and the casing of the driving motor 2-4-2 are fixedly connected.

所述连接轴2-4-8的一端通过所述联轴器2-4-6与所述减速机2-4-3的输出轴同轴固定连接。One end of the connecting shaft 2-4-8 is coaxially and fixedly connected to the output shaft of the reducer 2-4-3 through the coupling 2-4-6.

所述端盖2-4-4通过所述轴承2-4-7与所述连接轴2-4-8的中部转动连接。The end cover 2-4-4 is rotatably connected to the middle of the connecting shaft 2-4-8 through the bearing 2-4-7.

所述端盖2-4-4的形状呈圆形或椭圆形或正方形或长方形。The shape of the end caps 2-4-4 is circular or oval, square or rectangular.

所述端盖2-4-4的板面上沿周上分布有多个固定孔。A plurality of fixing holes are distributed along the circumference of the plate surface of the end cover 2-4-4.

所述端盖2-4-4与所述活动支撑臂2的端面固定连接。The end cover 2 - 4 - 4 is fixedly connected with the end face of the movable support arm 2 .

所述轴向套筒总成2-4-5与所述连接轴2-4-8的另一端固定连接。The axial sleeve assembly 2-4-5 is fixedly connected with the other end of the connecting shaft 2-4-8.

所述轴向套筒总成2-4-5包括端盖和两个支撑盘。The axial sleeve assembly 2-4-5 includes end caps and two support discs.

所述端盖和两个所述支撑盘同轴地连为一体。The end cap and the two support discs are coaxially connected as a whole.

两个所述支撑盘与所述活动支撑臂2的内壁之间过渡配合。The two supporting disks are in transition fit with the inner wall of the movable supporting arm 2 .

所述端盖的板面上沿周上分布有多个固定孔。A plurality of fixing holes are distributed along the circumference of the plate surface of the end cover.

所述端盖的板面设置有加强筋。The plate surface of the end cover is provided with reinforcing ribs.

所述端盖与所述活动支撑臂2的端面固定连接。The end cover is fixedly connected to the end face of the movable support arm 2 .

本实施方式由于采用了所述转动驱动部件包括固定盘总成、驱动电机、减速机、端盖、轴向套筒总成、联轴器、轴承、连接轴;所述驱动电机与所述固定盘总成固定连接;所述固定盘总成的形状呈圆形或椭圆形或正方形或长方形;所述固定盘总成的边缘沿周向分布有多个固定耳;多个所述固定耳分别设置有螺纹固定孔;所述固定盘总成与所述活动支撑臂的内壁固定连接;所述减速机的输入轴与所述驱动电机的转动轴传动连接;所述减速机的壳体和所述驱动电机的壳体固定连接;所述连接轴的一端通过所述联轴器与所述减速机的输出轴同轴固定连接;所述端盖通过所述轴承与所述连接轴的中部转动连接;所述端盖的形状呈圆形或椭圆形或正方形或长方形;所述端盖的板面上沿周上分布有多个固定孔;所述端盖与所述活动支撑臂的端面固定连接;所述轴向套筒总成与所述连接轴的另一端固定连接;所述轴向套筒总成包括端盖和两个支撑盘;所述端盖和两个所述支撑盘同轴地连为一体;两个所述支撑盘与所述活动支撑臂的内壁之间过渡配合;所述端盖的板面上沿周上分布有多个固定孔;所述端盖的板面设置有加强筋;所述端盖与所述活动支撑臂的端面固定连接的技术手段,所以,可提高活动支撑臂的安装精度。Due to the use of the rotating drive components in this embodiment, the fixed disk assembly, the drive motor, the reducer, the end cover, the axial sleeve assembly, the coupling, the bearing, and the connecting shaft are used; the drive motor is connected to the fixed plate assembly. The disk assembly is fixedly connected; the shape of the fixed disk assembly is circular, oval, square or rectangular; the edge of the fixed disk assembly is distributed with a plurality of fixing ears along the circumferential direction; a plurality of the fixing ears are respectively A threaded fixing hole is provided; the fixing plate assembly is fixedly connected with the inner wall of the movable support arm; the input shaft of the reducer is drive-connected with the rotating shaft of the drive motor; the casing of the reducer and the The casing of the drive motor is fixedly connected; one end of the connecting shaft is coaxially fixedly connected to the output shaft of the reducer through the coupling; the end cover rotates with the middle of the connecting shaft through the bearing connection; the shape of the end cover is circular or oval or square or rectangle; a plurality of fixing holes are distributed along the circumference on the plate surface of the end cover; the end cover is fixed with the end surface of the movable support arm connection; the axial sleeve assembly is fixedly connected with the other end of the connecting shaft; the axial sleeve assembly includes an end cover and two support disks; the end cover and the two support disks are the same Axially connected as a whole; transition fit between the two support discs and the inner wall of the movable support arm; a plurality of fixing holes are distributed along the circumference of the plate surface of the end cover; the plate surface of the end cover A reinforcing rib is provided; the end cover is fixedly connected with the end face of the movable support arm, so that the installation accuracy of the movable support arm can be improved.

如图1至图7所示,所述底座3包括座板3-1和座盖3-2。As shown in FIGS. 1 to 7 , the base 3 includes a seat plate 3-1 and a seat cover 3-2.

所述座板3-1的形状呈等边三角形。The shape of the seat plate 3-1 is an equilateral triangle.

所述座盖3-2的形状呈等边三角形。The shape of the seat cover 3-2 is an equilateral triangle.

所述座盖3-2和座板3-1固定连接。The seat cover 3-2 and the seat plate 3-1 are fixedly connected.

本实施方式由于采用了所述底座包括座板和座盖;所述座板的形状呈等边三角形;所述座盖的形状呈等边三角形;所述座盖和座板固定连接的技术手段,所以,有利于减小底座的占用空间。In this embodiment, the base includes a seat plate and a seat cover; the shape of the seat plate is an equilateral triangle; the shape of the seat cover is an equilateral triangle; the technical means for the fixed connection of the seat cover and the seat plate , so it is beneficial to reduce the occupied space of the base.

所述座板3-1的中央与所述底转动驱动部件2-6连接。The center of the seat plate 3-1 is connected to the bottom rotation driving member 2-6.

所述底转动驱动部件2-6包括底驱动电机2-6-1和底连接部件2-6-2。The bottom rotation driving part 2-6 includes a bottom driving motor 2-6-1 and a bottom connecting part 2-6-2.

所述底驱动电机2-6-1的壳体与所述座板3-1的顶面中央固定连接。The casing of the bottom driving motor 2-6-1 is fixedly connected to the center of the top surface of the seat plate 3-1.

所述底驱动电机2-6-1的转动轴穿过所述座盖3-2的中央与所述底连接部件2-6-2同轴传动连接。The rotating shaft of the bottom driving motor 2-6-1 passes through the center of the seat cover 3-2 and is coaxially connected to the bottom connecting member 2-6-2.

所述底连接部件2-6-2与所述活动支撑臂2的底端固定连接。The bottom connecting part 2 - 6 - 2 is fixedly connected with the bottom end of the movable support arm 2 .

本实施方式由于采用了所述座板的中央与所述底转动驱动部件连接;所述底转动驱动部件包括底驱动电机和底连接部件;所述底驱动电机的壳体与所述座板的顶面中央固定连接;所述底驱动电机的转动轴穿过所述座盖的中央与所述底连接部件同轴传动连接;所述底连接部件与所述活动支撑臂的底端固定连接的技术手段,所以,有利于活动支撑臂平衡和稳定。In this embodiment, the center of the seat plate is connected to the bottom rotation driving member; the bottom rotation driving member includes a bottom driving motor and a bottom connecting member; the housing of the bottom driving motor and the seat plate are connected The center of the top surface is fixedly connected; the rotating shaft of the bottom driving motor passes through the center of the seat cover and is coaxially connected to the bottom connecting part; the bottom connecting part is fixedly connected to the bottom end of the movable support arm The technical means, therefore, are conducive to the balance and stability of the movable support arm.

如图1至图7所示,所述底座3配置有三个行走轮组件4。As shown in FIGS. 1 to 7 , the base 3 is configured with three traveling wheel assemblies 4 .

本实施方式由于采用了所述底座配置有三个行走轮组件的技术手段,所以,有利于打印宽幅面的图。Since this embodiment adopts the technical means that the base is configured with three traveling wheel assemblies, it is beneficial to print a wide-format image.

如图1至图7所示,三个所述行走轮组件4分布在所述底座3的三个角上。As shown in FIG. 1 to FIG. 7 , the three traveling wheel assemblies 4 are distributed on three corners of the base 3 .

所述行走轮组件4包括麦克姆轮4-1、连接件4-2、轮驱动电机4-3。The traveling wheel assembly 4 includes a Macomb wheel 4-1, a connecting piece 4-2, and a wheel drive motor 4-3.

所述轮驱动电机4-3固定在所述座板3-1上。The wheel drive motor 4-3 is fixed on the seat plate 3-1.

所述轮驱动电机4-3的轴线指向所述座板3-1的中心线上。The axis of the wheel drive motor 4-3 points to the center line of the seat plate 3-1.

所述轮驱动电机4-3的转动轴通过所述连接件4-2与所述麦克姆轮4-1连接。The rotating shaft of the wheel drive motor 4-3 is connected to the Macomb wheel 4-1 through the connecting piece 4-2.

本实施方式由于采用了三个所述行走轮组件分布在所述底座的三个角上;所述行走轮组件包括麦克姆轮、连接件、轮驱动电机;所述轮驱动电机固定在所述座板上;所述轮驱动电机的轴线指向所述座板的中心线上;所述轮驱动电机的转动轴通过所述连接件与所述麦克姆轮连接的技术手段,所以,有利于实现较高精度的位移运动。In this embodiment, the three traveling wheel assemblies are distributed on three corners of the base; the traveling wheel assemblies include a Macomb wheel, a connecting piece, and a wheel drive motor; the wheel drive motor is fixed on the The seat plate; the axis of the wheel drive motor points to the center line of the seat plate; the technical means of connecting the rotating shaft of the wheel drive motor to the Macomb wheel through the connecting piece, so it is beneficial to realize Higher precision displacement movement.

如图1至图7所示,所述控制器5设置在所述座板3-1的顶面上。As shown in FIGS. 1 to 7 , the controller 5 is disposed on the top surface of the seat plate 3-1.

所述座板3-1的顶面设置有电池6、供墨驱动泵7、墨箱8。The top surface of the seat plate 3-1 is provided with a battery 6, an ink supply driving pump 7, and an ink tank 8.

墨箱8通过所述供墨驱动泵7与所述打印头1-2连通。The ink tank 8 communicates with the print head 1 - 2 through the ink supply driving pump 7 .

所述顶转动驱动部件2-5包括顶驱动电机2-5-1和顶连接部件2-5-2。The top rotation driving part 2-5 includes a top driving motor 2-5-1 and a top connecting part 2-5-2.

所述顶驱动电机2-5-1的壳体与所述活动支撑臂2的顶端固定连接。The casing of the top drive motor 2-5-1 is fixedly connected with the top end of the movable support arm 2.

所述顶驱动电机2-5-1的转动轴通过所述顶连接部件2-5-2与所述基板1-1连接。The rotating shaft of the top driving motor 2-5-1 is connected to the base plate 1-1 through the top connecting member 2-5-2.

所述电池6与所述控制器5电连接。The battery 6 is electrically connected to the controller 5 .

所述供墨驱动泵7与所述控制器5电连接。The ink supply driving pump 7 is electrically connected to the controller 5 .

所述驱动电机2-4-2与所述控制器5电连接。The drive motor 2 - 4 - 2 is electrically connected to the controller 5 .

所述顶驱动电机2-5-1与所述控制器5电连接。The top drive motor 2-5-1 is electrically connected to the controller 5.

所述底驱动电机2-6-1与所述控制器5电连接。The bottom drive motor 2-6-1 is electrically connected to the controller 5.

所述轮驱动电机4-3与所述控制器5电连接。The wheel drive motor 4 - 3 is electrically connected to the controller 5 .

所述座盖3-2的顶面设置有双目摄像头9。The top surface of the seat cover 3 - 2 is provided with a binocular camera 9 .

所述双目摄像头9与所述控制器5电连接。The binocular camera 9 is electrically connected to the controller 5 .

本实施方式由于采用了所述控制器设置在所述座板的顶面上;所述座板的顶面设置有电池、供墨驱动泵、墨箱;墨箱通过所述供墨驱动泵与所述打印头连通;所述顶转动驱动部件包括顶驱动电机和顶连接部件;所述顶驱动电机的壳体与所述活动支撑臂的顶端固定连接;所述顶驱动电机的转动轴通过所述顶连接部件与所述基板连接;所述电池与所述控制器电连接;所述供墨驱动泵与所述控制器电连接;所述驱动电机与所述控制器电连接;所述顶驱动电机与所述控制器电连接;所述底驱动电机与所述控制器电连接;所述轮驱动电机与所述控制器电连接;所述座盖的顶面设置有双目摄像头;所述双目摄像头与所述控制器电连接的技术手段,所以,有利于降低喷绘机器人的整体重心。In this embodiment, the controller is arranged on the top surface of the seat plate; the top surface of the seat plate is provided with a battery, an ink supply driving pump, and an ink tank; the ink tank is connected with the ink supply driving pump through the ink supply driving pump. The print head is communicated; the top rotation driving part includes a top driving motor and a top connecting part; the casing of the top driving motor is fixedly connected with the top end of the movable support arm; the rotating shaft of the top driving motor passes through the The top connecting part is connected with the substrate; the battery is electrically connected with the controller; the ink supply driving pump is electrically connected with the controller; the drive motor is electrically connected with the controller; The drive motor is electrically connected to the controller; the bottom drive motor is electrically connected to the controller; the wheel drive motor is electrically connected to the controller; the top surface of the seat cover is provided with a binocular camera; The technical means of electrically connecting the binocular camera and the controller is beneficial to reduce the overall center of gravity of the inkjet robot.

Claims (10)

1. An inkjet robot which is characterized in that: including printing part (1), activity support arm (2), base (3), printing part (1) sets up the upper end of activity support arm (2), base (3) with the upper end of activity support arm (2) is connected, transmission connection between printing part (1) and controller (5), transmission connection between controller (5) and the electronic version source.
2. The inkjet robot of claim 1, wherein:
the printing part (1) comprises a substrate (1-1);
the substrate (1-1) is in a strip shape;
a positioning detector (1-4), a printing head (1-2) and a dryer (1-3) are sequentially arranged on the same surface of the substrate (1-1) from one end to the other end;
the positioning detector (1-4) is a positioning camera;
the printing head (1-2) is a black and white printing head or a color printing head;
the print head (1-2) is an inkjet print head or a spray paint print head;
the detectors (1-4) are electrically connected with the controller (5);
the printing head (1-2) is electrically connected with the controller (5);
the dryer (1-3) is electrically connected with the controller (5).
3. The inkjet robot of claim 2, wherein:
the movable supporting arm (2) comprises a plurality of straight pipe supporting arms (2-0) and a plurality of elbows (2-3);
two adjacent straight pipe supporting arms (2-0) are fixedly connected; or two adjacent straight pipe supporting arms (2-0) are rotationally connected through a rotational driving part (2-4);
two adjacent elbows (2-3) are fixedly connected; or two adjacent elbows (2-3) are rotationally connected through a rotational driving part (2-4);
the adjacent straight pipe supporting arms (2-0) are fixedly connected with the elbows (2-3); or the adjacent straight pipe supporting arms (2-0) are rotatably connected with the elbows (2-3) through rotating driving parts (2-4);
the fixed connection is welding, threaded connection, riveting or bonding;
or,
the movable supporting arm (2) comprises a plurality of single bent pipe supporting arms (2-1) and a plurality of elbows (2-3); or,
the movable supporting arm (2) comprises a plurality of double-bent-pipe supporting arms (2-2) and a plurality of elbows (2-3); or,
the movable supporting arm (2) comprises a plurality of single bent pipe supporting arms (2-1), a plurality of double bent pipe supporting arms (2-2) and a plurality of elbows (2-3);
one end of one of the single bent pipe support arm (2-1), the double bent pipe support arm (2-2) and the elbow (2-3) is fixedly connected with one end of the adjacent single bent pipe support arm (2-1), the double bent pipe support arm (2-2) and one end of the adjacent elbow (2-3), and the other end of the single bent pipe support arm (2-1), the double bent pipe support arm (2-2) and the other end of the adjacent elbow (2-3), the other end of the adjacent single bent pipe support arm (2-1), the double bent pipe support arm (2-2) and the other end of the adjacent elbow (2-3) are rotatably connected through a rotation driving part (2-4); or one end of one of the single-elbow supporting arm (2-1), the double-elbow supporting arm (2-2) and the elbow (2-3) is fixedly connected with one end of the adjacent single-elbow supporting arm (2-1), the double-elbow supporting arm (2-2) and one end of the adjacent elbow (2-3), and the other end of the single-elbow supporting arm (2-1), the double-elbow supporting arm (2-2) and the other end of the adjacent elbow (2-3), the double-elbow supporting arm (2-2) and the other end of the adjacent single-elbow supporting arm (2-1), the double-elbow supporting arm (2-2) and the other end of the adjacent elbow (2-3) are fixedly connected; or one end of one of the single-elbow supporting arm (2-1), the double-elbow supporting arm (2-2) and the elbow (2-3) is rotatably connected with the adjacent single-elbow supporting arm (2-1), the double-elbow supporting arm (2-2) and one end of one of the elbows (2-3) through a rotation driving part (2-4), and the other end of one of the single-elbow supporting arm (2-1), the double-elbow supporting arm (2-2) and the elbow (2-3) is rotatably connected with the adjacent single-elbow supporting arm (2-1), the double-elbow supporting arm (2-2) and the other end of one of the elbows (2-3) through a rotation driving part (2-4);
the single-bent-pipe supporting arm (2-1) is an integrated piece consisting of a straight-pipe supporting arm (2-0) and an elbow; or the single bent pipe supporting arm (2-1) is formed by fixedly connecting a straight pipe supporting arm (2-0) and an elbow;
one of the elbows is located at one end of one of the straight tube support arms (2-0);
the double-bent-pipe supporting arm (2-2) is an integrated part consisting of a straight-pipe supporting arm (2-0) and two elbows; or the double-bent-pipe supporting arm (2-2) is formed by fixedly connecting a straight-pipe supporting arm (2-0) and two elbows;
the two elbows are distributed at two ends of one straight pipe supporting arm (2-0);
the two elbow pipe openings of the double elbow pipe supporting arms (2-2) are in the same direction;
the fixed connection is welding or threaded connection or riveting or bonding or snap connection.
4. The inkjet robot of claim 3, wherein:
two single bent pipe supporting arms (2-1) are provided;
two double bent pipe supporting arms (2-2) are provided;
two elbows (2-3) are arranged;
three rotary driving components (2-4) are provided;
the straight pipe port of the first single-elbow supporting arm (2-1) is rotatably connected with the base (3) through a bottom rotation driving part (2-6);
the elbow port of the first single elbow supporting arm (2-1) is rotationally connected with the first elbow port of the first double elbow supporting arm (2-2) through the first rotary driving part (2-4);
the second elbow pipe opening of the first double-elbow pipe supporting arm (2-2) is fixedly connected with the first elbow pipe opening of the first elbow (2-3);
the second elbow port of the first elbow (2-3) is rotationally connected with the elbow port of the second single elbow supporting arm (2-1) through the second rotary driving part (2-4);
the straight pipe orifice of the second single-elbow supporting arm (2-1) is fixedly connected with the first elbow pipe orifice of the second elbow (2-3);
the second elbow port of the second elbow (2-3) is rotationally connected with the first elbow port of the second double-elbow supporting arm (2-2) through a third rotation driving part (2-4);
the second elbow pipe opening of the second double-elbow supporting arm (2-2) is rotatably connected with the base plate (1-1) of the printing part (1) through a top rotating driving part (2-5).
5. The inkjet robot of claim 4, wherein:
the height of the first elbow port side wall of the first double-elbow supporting arm (2-2) is greater than that of the second elbow port side wall of the first double-elbow supporting arm (2-2);
the height of the first elbow port side wall of the second double-elbow supporting arm (2-2) is less than that of the second elbow port side wall of the second double-elbow supporting arm (2-2).
6. The inkjet robot of claim 5, wherein:
the shape of the pipe orifice of the single bent pipe supporting arm (2-1) is circular, elliptic, square or rectangular;
the shape of the pipe orifice of the double-bent-pipe supporting arm (2-2) is circular, elliptic, square or rectangular;
the shape of the pipe orifice of the elbow (2-3) is round, oval, square or rectangular.
7. The inkjet robot of claim 6, wherein:
the movable supporting arm (2) is in a bent column shape; or,
the shape of the movable supporting arm (2) is a curved cone with a thick lower part and a thin upper part.
8. The inkjet robot of claim 7, wherein:
the rotary driving component (2-4) comprises a fixed disc assembly (2-4-1), a driving motor (2-4-2), a speed reducer (2-4-3), an end cover (2-4-4), an axial sleeve assembly (2-4-5), a coupler (2-4-6), a bearing (2-4-7) and a connecting shaft (2-4-8);
the driving motor (2-4-2) is fixedly connected with the fixed disk assembly (2-4-1);
the shape of the fixed disk assembly (2-4-1) is circular, oval, square or rectangular;
a plurality of fixing lugs are distributed on the edge of the fixed disk assembly (2-4-1) along the circumferential direction;
the plurality of fixing lugs are respectively provided with a thread fixing hole;
the fixed disc assembly (2-4-1) is fixedly connected with the inner wall of the movable supporting arm (2);
the input shaft of the speed reducer (2-4-3) is in transmission connection with the rotating shaft of the driving motor (2-4-2);
the shell of the speed reducer (2-4-3) is fixedly connected with the shell of the driving motor (2-4-2);
one end of the connecting shaft (2-4-8) is coaxially and fixedly connected with an output shaft of the speed reducer (2-4-3) through the coupler (2-4-6);
the end cover (2-4-4) is rotatably connected with the middle part of the connecting shaft (2-4-8) through the bearing (2-4-7);
the end covers (2-4-4) are circular, oval, square or rectangular in shape;
a plurality of fixing holes are distributed on the periphery of the plate surface of the end cover (2-4-4);
the end cover (2-4-4) is fixedly connected with the end surface of the movable supporting arm (2);
the axial sleeve assembly (2-4-5) is fixedly connected with the other end of the connecting shaft (2-4-8);
the axial sleeve assembly (2-4-5) comprises an end cover and two supporting discs;
the end cover and the two supporting discs are coaxially connected into a whole;
the two supporting discs are in transition fit with the inner wall of the movable supporting arm (2);
a plurality of fixing holes are distributed on the periphery of the plate surface of the end cover;
the plate surface of the end cover is provided with a reinforcing rib;
the end cover is fixedly connected with the end surface of the movable supporting arm (2).
9. The inkjet robot of claim 8, wherein:
the base (3) comprises a seat plate (3-1) and a seat cover (3-2);
the shape of the seat board (3-1) is an equilateral triangle;
the seat cover (3-2) is in an equilateral triangle shape;
the seat cover (3-2) is fixedly connected with the seat plate (3-1);
the center of the seat plate (3-1) is connected with the bottom rotation driving part (2-6);
the bottom rotation driving part (2-6) comprises a bottom driving motor (2-6-1) and a bottom connecting part (2-6-2);
the shell of the bottom driving motor (2-6-1) is fixedly connected with the center of the top surface of the seat plate (3-1);
the rotating shaft of the bottom driving motor (2-6-1) penetrates through the center of the seat cover (3-2) and is coaxially connected with the bottom connecting component (2-6-2) in a transmission way;
the bottom connecting part (2-6-2) is fixedly connected with the bottom end of the movable supporting arm (2);
the base (3) is provided with three walking wheel assemblies (4);
the three walking wheel assemblies (4) are distributed on three corners of the base (3);
the walking wheel assembly (4) comprises a microphone wheel (4-1), a connecting piece (4-2) and a wheel driving motor (4-3);
the wheel driving motor (4-3) is fixed on the seat plate (3-1);
the axis of the wheel driving motor (4-3) points to the central line of the seat plate (3-1);
the rotating shaft of the wheel driving motor (4-3) is connected with the McKem wheel (4-1) through the connecting piece (4-2).
10. The inkjet robot of claim 9, wherein:
the controller (5) is arranged on the top surface of the seat plate (3-1);
the top surface of the seat plate (3-1) is provided with a battery (6), an ink supply driving pump (7) and an ink box (8);
the ink box (8) is communicated with the printing head (1-2) through the ink supply driving pump (7);
the top rotating driving part (2-5) comprises a top driving motor (2-5-1) and a top connecting part (2-5-2);
the shell of the top driving motor (2-5-1) is fixedly connected with the top end of the movable supporting arm (2);
the rotating shaft of the top driving motor (2-5-1) is connected with the base plate (1-1) through the top connecting part (2-5-2);
the battery (6) is electrically connected with the controller (5);
the ink supply driving pump (7) is electrically connected with the controller (5);
the driving motor (2-4-2) is electrically connected with the controller (5);
the top driving motor (2-5-1) is electrically connected with the controller (5);
the bottom driving motor (2-6-1) is electrically connected with the controller (5);
the wheel driving motor (4-3) is electrically connected with the controller (5);
a binocular camera (9) is arranged on the top surface of the seat cover (3-2);
the binocular camera (9) is electrically connected with the controller (5).
CN201910193825.2A 2019-03-14 2019-03-14 an inkjet robot Pending CN109732560A (en)

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Application publication date: 20190510