CN222606825U

CN222606825U - A six-degree-of-freedom spray robot arm

Info

Publication number: CN222606825U
Application number: CN202420847509.9U
Authority: CN
Inventors: 杨和平; 邹姝音; 杨亚橙
Original assignee: Jiangsu Bein Robot Technology Co ltd
Current assignee: Jiangsu Bein Robot Technology Co ltd
Priority date: 2024-04-22
Filing date: 2024-04-22
Publication date: 2025-03-14
Anticipated expiration: 2034-04-22

Abstract

The utility model belongs to the technical field of mechanical arms, specifically a six-degree-of-freedom spray robot mechanical arm, including a base, a first rotating arm rotatably provided on the base, a first swing arm rotatably provided on the first rotating arm, a second swing arm rotatably provided on the first swing arm, a second rotating arm rotatably provided on the second swing arm, a first rotating roller provided on the second rotating arm, a mounting seat fixedly provided on the first rotating roller, a second rotating roller fixedly provided in the mounting seat, a hydraulic telescopic rod fixedly provided on the second rotating roller, a spray gun provided at the telescopic end of the hydraulic telescopic rod, and a spray head provided on the spray gun. The utility model arranges three independently operated rotating rollers on the last rotating arm to control the rotation of three spray guns with different nozzles, and then controls the spray heads on both sides to extend and retract through the hydraulic telescopic rod, and cooperates with the spray head in the middle to spray at the same time, so that the spraying work of large-area equipment surfaces is faster.

Description

Six-degree-of-freedom mechanical arm of spraying robot

Technical Field

The utility model relates to the technical field of mechanical arms, in particular to a six-degree-of-freedom spraying robot mechanical arm.

Background

The six-degree-of-freedom spraying robot mechanical arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling, can complete any action in a three-dimensional space, has six degrees of freedom, and represents the rotational degrees of freedom of three coordinate axes, so that the mechanical arm can move flexibly in all directions.

However, the existing mechanical arm usually only can clamp one spray gun for spraying, if corners or other places difficult to go deep are met, other types of spray heads or spray guns need to be replaced, and a single spray gun cannot meet the requirement of spraying with a large-area mechanical surface, so that a plurality of spray guns need to be matched with each other, and the completion speed of work is increased.

In order to solve the problems, the application provides a six-degree-of-freedom spraying robot arm.

Disclosure of utility model

In order to solve the technical problems, the utility model provides a six-degree-of-freedom spraying robot mechanical arm which comprises a base, wherein a first rotating arm is rotatably arranged on the base, a first swinging arm is rotatably arranged on the first rotating arm, a second swinging arm is rotatably arranged on the first swinging arm, a second swinging arm is rotatably arranged on the second swinging arm, a first rotating roller is fixedly arranged on the second swinging arm, an installation seat is fixedly arranged on an output shaft of the first rotating roller, a second rotating roller is fixedly arranged in the installation seat, a hydraulic telescopic rod is fixedly arranged on an output shaft of the second rotating roller, a spray gun is fixedly arranged at a telescopic end of the hydraulic telescopic rod, and a spray nozzle is fixedly arranged on the spray gun.

Preferably, the motor and the gear are fixedly arranged in the base, and the bottom of the first rotating arm is meshed with the gear.

Preferably, two ends of the first swing arm are respectively connected with the first swing arm and the second swing arm in a rotating way, and the tail end of the second swing arm is connected with the second swing arm in a rotating way.

Preferably, the notch is formed in the tail end of the second rotating arm, the rotating roller is rotatably mounted in the notch, a fixing seat is fixedly connected to the rotating roller, and the spray gun is sleeved on the fixing seat.

Preferably, the three spray heads are different in shape, the spray head on the left side is cylindrical, the spray head on the middle is funnel-shaped, and the spray head on the right side is flat.

Preferably, three of said guns do not touch each other when rotated.

The technical scheme of the utility model has the following beneficial technical effects:

According to the utility model, the three rotating rollers which independently operate are arranged on the last rotating arm and are used for controlling the spray guns of three different nozzles to rotate, then the spray heads on the two sides are controlled by the hydraulic telescopic rod to stretch and retract, and the spray heads in the middle are matched to perform spraying work simultaneously, so that the spraying work on the surface of a large-area instrument is faster, meanwhile, the three spray guns can swing in six degrees of freedom, the spray guns of other types of nozzles can be driven to spray when the device meets corners or other places which are difficult to go deep, the switching of the nozzles is realized rapidly, and therefore, the device can complete more types of work, and the applicability of the device to various scenes is endowed.

Drawings

FIG. 1 is a schematic elevational view of the present utility model;

FIG. 2 is a schematic side view of the present utility model;

fig. 3 is a schematic top view of the present utility model.

Reference numerals:

1. A base; 2, a first rotating arm, 201, a first swinging arm, 202, a second swinging arm, 203, a second rotating arm, 3, a first rotating roller, 301, an installation seat, 4, a second rotating roller, 5, a hydraulic telescopic rod, 6, a spray gun, 601 and a spray head.

Detailed Description

The objects, technical solutions and advantages of the present utility model will become more apparent by the following detailed description of the present utility model with reference to the accompanying drawings. It should be understood that the description is only illustrative and is not intended to limit the scope of the utility model. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present utility model.

It is to be understood that this description is merely exemplary in nature and is not intended to limit the scope of the present utility model.

A six degree of freedom spray robot arm provided by some embodiments of the present utility model is described below with reference to the accompanying drawings.

Embodiment one:

the utility model provides a six-degree-of-freedom spraying robot mechanical arm, which is shown in combination with figures 1-3, and comprises a base 1, wherein a first rotating arm 2 is rotationally arranged on the base 1, a first swinging arm 201 is rotationally arranged on the first swinging arm 2, a second swinging arm 202 is rotationally arranged on the first swinging arm 201, a second swinging arm 203 is rotationally arranged on the second swinging arm 202, a first rotating roller 3 is fixedly arranged on the second swinging arm 203, a mounting seat 301 is fixedly arranged on an output shaft of the first rotating roller 3, a second rotating roller 4 is fixedly arranged in the mounting seat 301, a spray gun 6 is fixedly arranged at the telescopic end of the second rotating roller 4, a spray head 601 is fixedly arranged on the spray gun 6, a motor and a gear are fixedly arranged in the base 1, the bottoms of the first swinging arm 2 are meshed with the gear, two ends of the first swinging arm 201 are respectively in rotational connection with the first swinging arm 2 and the second swinging arm 202, the tail end of the second swinging arm 202 is fixedly arranged at the tail end of the second swinging arm 202, the tail end of the second swinging arm 203 is in different from the first swinging arm 203, a rotary hopper is fixedly arranged at the tail end of the second swinging arm 203, a rotary nozzle 601 is in a different rotary shape, a spray head 601 is fixedly arranged at the tail end of the spray gun 6, and is in a cylindrical spray head 601 is in different rotary shape, and is in a cylindrical spray head 601 is in a shape, and a rotary head 601 is in different rotary shape, and a spray head is in a different rotary shape is in the shape, and a cylindrical shape is in a rotary shape is in a shape.

Specifically, the base 1 is fixedly installed on the ground to provide supporting capability for all structures above, meanwhile, a motor and a gear are arranged in the base 1, so that the motor can drive the first rotating arm 2 above to rotate when driving the gear to rotate, the tail end of the first rotating arm 2 is rotationally connected with a first swinging arm 201, the other end of the first swinging arm 201 is rotationally connected with a second swinging arm 202, the tail end of the second swinging arm 202 is rotationally connected with a second swinging arm 203, the second swinging arm 203 is connected with a spray gun 6, the spray gun 6 can swing in six degrees of freedom under the cooperation of the first swinging arm 2, the first swinging arm 201, the second swinging arm 202 and the second swinging arm 203, two first rotating rollers 3 are fixedly installed in the second swinging arm 203, the tail end opening of the second swinging arm 203 is rotationally connected with a rotating roller, the output end of the first rotating roller 3 is fixedly welded with a mounting seat 301 so that the first rotating roller 3 can drive the mounting seat 301 to rotate, a second rotating roller 4 is fixedly arranged in the mounting seat 301, a hydraulic telescopic rod 5 is fixedly welded on an output shaft of the second rotating roller 4 so that the second rotating roller 4 can drive the hydraulic telescopic rod 5 to rotate, a fixed seat is fixedly welded on the telescopic end of the hydraulic telescopic rod 5, a detachable spray gun 6 is arranged in the fixed seat so that the spray guns 6 on the left side and the right side can freely rotate and stretch under the cooperation of the first rotating roller 3, the second rotating roller 4 and the hydraulic telescopic rod 5, the spray gun 6 between the cooperation can work simultaneously, the spraying work of a large-area instrument surface is realized, three spray heads 601 with different shapes are fixedly arranged on the three spray guns 6, so that when one spray gun 6 works independently, the other spray guns 6 can be switched to spray at corners or other places which are difficult to go deep, each spray gun 6 can independently control swing and is not contacted with each other during swing, so that quick switching can be realized between each spray gun 6, the adaptability of the device to scene diversity is higher, and the device can meet the requirement of diversified work.

The working principle and the use flow of the utility model are that the spray gun 6 in the middle is controlled by the control device in the base 1 and the first rotating arm 2, the first swinging arm 201, the second swinging arm 202 and the rotating rollers on the second rotating arm 203 to spray, when a large-area instrument is required to be sprayed, the spray guns 6 on two sides can be controlled by the first rotating roller 3, the second rotating roller 4 and the hydraulic telescopic rod 5 to swing, so that the spray gun 6 in the middle is matched with the spray gun 6 in the middle to spray the instrument in different positions, the spray rate is faster, and when corners or other places which are difficult to go deep are encountered, the spray gun 6 with smaller spray head 601 can be controlled to go deep to spray, so that the adaptability of the device to the environment is improved, and the requirements of more users are met.

It is to be understood that the above-described embodiments of the present utility model are merely illustrative of or explanation of the principles of the present utility model and are in no way limiting of the utility model. Accordingly, any modification, equivalent replacement, improvement, etc. made without departing from the spirit and scope of the present utility model should be included in the scope of the present utility model. Furthermore, the appended claims are intended to cover all such changes and modifications that fall within the scope and boundary of the appended claims, or equivalents of such scope and boundary.

Claims

1. The utility model provides a six degrees of freedom's spraying robot arm, includes base (1), its characterized in that, rotate on base (1) and be equipped with first swinging boom (2), rotate on first swinging boom (2) and be equipped with first swinging boom (201), rotate on first swinging boom (201) and be equipped with second swinging boom (202), rotate on second swinging boom (202) and be equipped with second swinging boom (203), fixed mounting has first rotating roll (3) on second swinging boom (203), fixed mounting is equipped with mount pad (301) on the output shaft of first rotating roll (3), fixed mounting has second rotating roll (4) in mount pad (301), fixed being equipped with hydraulic telescoping rod (5) on the output shaft of second rotating roll (4), the flexible end of hydraulic telescoping rod (5) is fixed and is equipped with spray gun (6), fixed being equipped with shower nozzle (601) on spray gun (6).

2. The six-degree-of-freedom spraying robot arm according to claim 1, wherein a motor and a gear are fixedly arranged in the base (1), and the bottom of the first rotating arm (2) is meshed with the gear.

3. The six-degree-of-freedom spraying robot arm according to claim 1, wherein two ends of the first swing arm (201) are respectively rotatably connected with the first swing arm (2) and the second swing arm (202), and the tail end of the second swing arm (202) is rotatably connected with the second swing arm (203).

4. The six-degree-of-freedom spraying robot arm according to claim 1, wherein a notch is formed at the end of the second rotating arm (203), a rotating roller is rotatably mounted in the notch, a fixing seat is fixedly connected to the rotating roller, and a spray gun (6) is sleeved on the fixing seat.

5. The six-degree-of-freedom spray robot arm of claim 1 wherein the three spray heads (601) are of different shapes, the spray head (601) on the left side is cylindrical, the spray head (601) on the middle is funnel-shaped, and the spray head (601) on the right side is flat.

6. A six degree of freedom spray robot arm according to claim 1, characterized in that three of the spray guns (6) do not touch each other when rotated.