CN108421668B

CN108421668B - Mechanical arm equipment with adjustable work area

Info

Publication number: CN108421668B
Application number: CN201810222474.9A
Authority: CN
Inventors: 周磊; 何永伦; 朱凤兰; 曹永军
Original assignee: Guangdong Institute of Intelligent Manufacturing; South China Robotics Innovation Research Institute
Current assignee: Guangdong Institute of Intelligent Manufacturing; South China Robotics Innovation Research Institute
Priority date: 2018-03-19
Filing date: 2018-03-19
Publication date: 2020-07-03
Anticipated expiration: 2038-03-19
Also published as: CN108421668A

Abstract

The invention provides mechanical arm equipment with an adjustable working area. The mechanical arm equipment with the adjustable working area arranges the driving element of the mechanical arm module on the platform at the bottom, and the first arm and the second arm have no extra weight except the self weight and the matched connecting rod weight; the first arm and the second arm are adjustable in length and have good adaptability to different working area sizes; the paint spraying head of the paint spraying equipment has a pressure maintaining measure, so that paint can be continuously sprayed for a period of time according to the conditions of accidental material breakage and the like, and accidents such as paint spraying stop and the like caused by material breakage are avoided; the paint spraying head has a heating function, can heat the paint vehicle, makes the paint vehicle have higher power and pressure, when increasing the atomization effect of the paint vehicle, can make the temperature rise for the paint vehicle speed of drying.

Description

Mechanical arm equipment with adjustable work area

Technical Field

The invention relates to the technical field of robots, in particular to mechanical arm equipment with an adjustable working area.

Background

Robots can be classified into parallel robots and series robots, wherein a common type of series robot is an articulated robot. In a conventional articulated robot, a driving element of each arm is mounted on a joint connected to a forearm, and as the number of arms increases, a load of each arm increases accordingly, which causes problems such as an increase in the volume of a driving power element of the arm, a decrease in the movement speed of the arm, and a decrease in the precision of the arm, and is not favorable for the high-speed and miniaturization of the articulated robot. On the other hand, the arm length of most multi-joint robots is not adjustable, and is not beneficial to change aiming at the working environment.

The operation of spraying paint is carried out at the robot application comparatively commonly by utilizing the robot, and at the in-process of spraying paint, if take place accident such as disconnected material and lead to the paint vehicle to supply absolutely, even the operation of spraying paint is carried out again to spare part in the operation, because the paint vehicle dries the time difference, new paint vehicle and old paint vehicle juncture can produce inhomogeneous transition vestige, spare part can only scrap or secondary treatment, comparatively extravagant cost.

Disclosure of Invention

In order to overcome the existing problems, the invention provides a mechanical arm device with an adjustable working area, which comprises a mechanical arm module and a paint spraying module;

the mechanical arm module comprises a platform, a first arm, a second arm, a first connecting rod, a second connecting rod, a first arm driving assembly and a first connecting rod driving assembly, wherein the first arm and/or the second arm are/is a telescopic arm;

the platform is parallel to the xy plane, and a base rotating shaft is fixed above the x direction of the platform based on a base rotating shaft connecting piece;

the starting end of the first arm is hinged to the base rotating shaft, and the tail end of the first arm is hinged to the starting end of the second arm;

the starting end of the first connecting rod is hinged to the base rotating shaft, and the tail end of the first connecting rod is hinged to the starting end of the second connecting rod;

the tail end of the second connecting rod is hinged to the middle part or the tail end of the second arm;

the first arm, the second arm, the first connecting rod and the second connecting rod form a four-bar linkage;

the first arm driving assembly is arranged on the platform and used for driving the first arm to rotate around the base rotating shaft;

the first connecting rod driving assembly is arranged on the platform and used for driving the first connecting rod to rotate around the base rotating shaft;

the module of spraying paint includes the paint spray head, the paint spray head install in the second arm is terminal.

In a preferred embodiment, the first arm driving assembly includes a first arm driving base, a first arm driving motor, a first arm driving lead screw slider, and a first arm driving connecting member;

the first arm driving base is hinged to the x negative direction of the platform;

the first arm driving screw rod and the first arm driving screw rod sliding block are arranged in the first arm driving shell, the first arm driving screw rod sliding block is sleeved on the first arm driving screw rod, and the first arm driving connecting piece is fixedly connected with the first arm driving screw rod sliding block; the first arm driving connecting piece is coaxial with the screw rod and is fixedly connected with the starting end of the first arm;

the first arm driving shell and the first arm driving motor are fixed on the first arm driving base side by side; a rotating shaft of the first arm driving motor and one end of the first arm driving screw rod are in transmission in the first arm driving base based on gear connection;

the first arm driving connecting piece is fixedly connected with the initial end of the first arm and drives the first arm to rotate around the base rotating shaft.

In a preferred embodiment, the first link driving assembly includes a first link driving base, a first link driving motor, a first link driving lead screw slider, and a first link driving connecting member;

the first connecting rod drives the base to be hinged to the x negative direction of the platform;

the first connecting rod driving screw rod and the first connecting rod driving screw rod sliding block are arranged in the first connecting rod driving shell, the first connecting rod driving screw rod sliding block is sleeved on the first connecting rod driving screw rod, and the first connecting rod driving connecting piece is fixedly connected with the first connecting rod driving screw rod sliding block; the first connecting rod driving connecting piece is coaxial with the screw rod and is fixedly connected with the initial end of the first connecting rod;

the first connecting rod driving shell and the first connecting rod driving motor are fixed on the first connecting rod driving base side by side; a rotating shaft of the first connecting rod driving motor and one end of the first connecting rod driving screw rod are in transmission in the first connecting rod driving base based on gear connection;

the first connecting rod driving connecting piece is fixedly connected with the initial end of the first connecting rod and drives the first connecting rod to rotate around the base rotating shaft.

In a preferred embodiment, the first arm comprises a first outer arm and a first inner arm which is slidable inside the first outer wall and which is locked to the first outer arm by means of a catch passing through the first outer arm and the first inner arm.

In a preferred embodiment, the second arm comprises two second sub-arms and a second slider; the two second sub-arms are fixed with each other through a second arm connecting piece, and the second sliding block is clamped between the two second sub-arms and locked on the two second sub-arms based on screws;

and a pulley is arranged on the second sliding block, and the second sliding block can slide on the two second sub-arms along the axial direction based on the pulley under the condition that the screw is loosened.

In a preferred embodiment, the spray head is provided with a paint chamber and a gas chamber;

the paint cavity is communicated with a feeding hole for the high-pressure paint to enter, at least one pressure maintaining hole for the high-pressure liquid to enter and a discharging hole for the atomized high-pressure paint, and a hydraulic piston for isolating the paint is arranged in the pressure maintaining hole;

the gas cavity is communicated with a gas inlet hole and a gas outlet hole for high-pressure gas to enter.

In a preferred embodiment, the paint chamber is located centrally of the spray head; the gas cavity is cylindrical and is positioned on the periphery of the paint cavity.

In a preferred embodiment, a heating ring for heating the high-pressure paint is arranged outside the paint cavity.

In a preferred embodiment, the painting module further comprises a material conveying device for conveying high-pressure paint, a gas conveying device for conveying high-pressure gas and a pressure maintaining device for conveying high-pressure liquid;

the material conveying device is connected with the feeding hole, the gas conveying device is connected with the gas inlet hole, and the pressure maintaining device is connected with the pressure maintaining hole.

The invention provides a mechanical arm device with an adjustable working area. The mechanical arm equipment with the adjustable working area arranges the driving element of the mechanical arm module on the platform at the bottom, and the first arm and the second arm have no extra weight except the self weight and the matched connecting rod weight; the first arm and the second arm are adjustable in length and have good adaptability to different working area sizes; the paint spraying head of the paint spraying equipment has a pressure maintaining measure, so that paint can be continuously sprayed for a period of time according to the conditions of accidental material breakage and the like, and accidents such as paint spraying stop and the like caused by material breakage are avoided; the paint spraying head has a heating function, can heat the paint vehicle, makes the paint vehicle have higher power and pressure, when increasing the atomization effect of the paint vehicle, can make the temperature rise for the paint vehicle speed of drying.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic three-dimensional view of a robot arm apparatus with adjustable working area according to an embodiment of the present invention;

FIG. 2 illustrates a front view of a robotic arm apparatus with adjustable working area in accordance with an embodiment of the present invention;

FIG. 3 illustrates a first arm elevation view of an embodiment of the present invention;

FIG. 4 illustrates a front view of a first link of an embodiment of the present invention;

FIG. 5 illustrates a simplified movement diagram of a robotic arm apparatus with adjustable working area according to an embodiment of the present invention;

FIG. 6 illustrates a perspective view of a first link drive assembly of an embodiment of the present invention;

FIG. 7 shows a radial cross-sectional view of a second arm of an embodiment of the present invention;

FIG. 8 shows an axial cross-sectional view of a first arm of an embodiment of the present invention;

FIG. 9 shows a schematic three-dimensional structure of a spray head according to an embodiment of the invention;

FIG. 10 shows a full cross-sectional view of a spray head of an embodiment of the invention in the feed hole orientation;

FIG. 11 shows a full cross-sectional view of a spray head of an embodiment of the invention in the air inlet aperture orientation;

FIG. 12 shows a full cross-sectional view of a spray head of an embodiment of the invention in a dwell hole orientation;

fig. 13 shows a schematic view of the connection structure of the feed pipe and the holding pressure pipe according to the embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Fig. 1 shows a three-dimensional structure diagram of a robot arm device with adjustable working area according to an embodiment of the present invention. The mechanical arm equipment with the adjustable working area comprises a mechanical arm module and a paint spraying module.

The robot arm module comprises a platform 101, a first arm 102, a second arm 103, a first link 105, a second link 104, a first arm drive assembly 107, a first link 106 drive assembly.

The platform 101 is parallel to the xy plane, and a base shaft 108 is fixed above the x-direction of the platform based on a base shaft connecting piece 109. In a specific implementation, the top surface of the platform 101 is a plane, which is parallel to the xy-plane, and the shape is not unique. Two base rotating shaft connecting pieces 109 which are vertically arranged and used for installing the base rotating shaft 108 are arranged at the positive position of the platform x, and two ends of the base rotating shaft 108 are respectively fixed on the two base rotating shaft connecting pieces 109. The base shaft connector 109 is mainly used to suspend and fix the base shaft to a predetermined height, so that a space is left between the base shaft and the platform for the movement of other components to avoid interference. In an embodiment of the present invention, the axis of base rotation axis 108 is parallel to the y-axis.

Fig. 3 is a front view of the first arm structure of the embodiment of the present invention, and in particular, the first arm 102 may be a hollow structure to reduce its own weight. As can be seen from the overall structure shown in fig. 1, the first arm 102 is hinged at the beginning to the base shaft 108 and at the end to the beginning of the second arm 103; for the mounting connection of the first arm drive assembly 107, the first arm 102 extends in a direction from the beginning and away from the end with a first arm connection, which is articulated with the output of the first arm drive assembly. It should be noted that the first arm connecting member and the first arm are relatively fixed, and the axial length of the first arm connecting member is smaller than the axial length of the first arm, so that the small displacement of the first arm connecting member can be amplified to the large-distance displacement of the end of the first arm through the fulcrum of the base rotating shaft 108 based on the lever principle, which is beneficial to the rapid movement of the end of the first arm.

Fig. 4 shows a front view of the first link structure according to the embodiment of the present invention, and the second arm 103 is composed of two second arm cover plates, and the two second arm cover plates are fixed by one or more second arm fixing members. With reference to the overall structure shown in fig. 1, the first link 105 is hinged at the beginning to the base shaft, and the end is hinged to the beginning of the second link 104; for the installation of the first link driving assembly 103, the first link 105 extends in a direction from the beginning to the end to form a first link connector, which is hinged to the output end of the first link driving assembly 106. It should be noted that the first link connecting piece and the first link are relatively fixed, and the axial length of the first link connecting piece is smaller than that of the first link, so that the small displacement of the first link connecting piece can be amplified to the large-distance displacement of the tail end of the first link through the fulcrum of the base rotating shaft based on the lever principle, and the quick movement of the tail end of the first link is facilitated.

The end of the second link 104 is hinged to the second arm.

Further, the first arm 102 and the second arm 103 may be made of aluminum or an aluminum alloy having a smaller density to further reduce the weight thereof.

Fig. 5 shows a simplified structural diagram of the work area adjustable robot arm arrangement, in combination with the front view of the work area adjustable robot arm arrangement of fig. 2, in which the first arm, the second arm, the first connecting rod and the second connecting rod are respectively replaced by straight lines and the respective pivot points are respectively replaced by circles, wherein the respective pivot points are named as follows: the base rotation axis, i.e. the hinge point between the beginning of the first arm 102 and the beginning of the first link 105 is the first hinge point 121, the hinge point between the end of the first link 105 and the beginning of the second link 104 is the second hinge point 122, the hinge point between the end of the first arm 102 and the beginning of the second arm 103 is the third hinge point 123, the hinge point between the end of the second link 104 and the second arm 103 is the fourth hinge point 124, and the first arm 102, the second arm 103, the first link 105 and the second link 104 form a four-bar linkage.

In a specific implementation, the end of the second arm 103 may be disposed on the fourth hinge point 124, and since the end of the second arm 103 is closer to the fourth hinge point 124, based on the lever principle, the displacement of the end of the second arm 103 relative to the start end of the second arm 103 is reduced, which is beneficial to improving the control accuracy of the end of the second arm 103; however, due to the structural limitation of the four-bar linkage, the arrangement results in a small range of motion of the second arm 103.

Therefore, in the implementation, the length of the second arm can be extended to make the end of the second arm extend out of the fourth hinge point 124, which is beneficial to increase the range of motion of the second arm, so that the second arm is suitable for more working environments.

Further, the first arm 102 and/or the second arm 103 may be configured as a telescopic arm to flexibly adjust the movement range and the movement track of the working end of the mechanical arm device with the adjustable working area.

The telescopic boom structure mainly comprises a sliding telescopic boom and a sleeved telescopic boom.

Fig. 7 shows a schematic radial cross-section of the second arm in a sliding telescopic arm configuration. The sliding telescopic arm is used for realizing the purpose of changing the length of the arm by adjusting the distance between the tail end and the arm. The embodiment of the invention is described by adopting a sliding type telescopic arm structure as the second arm.

The second arm includes two second sub-arms 137 and a second slider 141. The cross section of the second sub-arm 137 is of an L-shaped structure, and the upper ends of the two second sub-arms 137 are fixed with each other through a second arm connecting piece 139; the second sliding block 141 is I-shaped, the waist part of the second sliding block is clamped between the lower ends of the two second sub-arms 137, and the top parts of the second sliding block are respectively locked on the two second sub-arms 137 based on screws 138;

a pulley 140 is mounted on the second slider 141, and the second slider 141 can slide on the two second sub-arms 137 in the axial direction based on the pulley 140 when the screw 138 is loosened.

The paint spraying head 1300 provided by the embodiment of the invention is arranged on the second sliding block 141, and the distance from the working tail end to the starting end of the second arm can be adjusted by adjusting the distance of the second sliding block 141 on the second arm, which is equivalent to adjusting the length of the second arm; in a specific implementation, the extension length of the lower end of the second sliding block 141 is designed according to the requirement of the connected paint spray head.

Fig. 8 shows a schematic axial cross-sectional view of the first arm in a telescopic arm structure. The telescopic arm is characterized in that the telescopic arm is of a multi-section structure, the rear section structure is sleeved in the front section structure, and the overall length is adjusted through stretching. The embodiment of the invention is introduced by adopting a sleeved telescopic arm structure as the first arm.

The first arm includes a first outer arm 143 and a first inner arm 142; two opposite surfaces of the first inner arm 142 are provided with elongated slots along the axial direction, and the first outer arm 143 is provided with screw holes corresponding to the elongated slots respectively; a quick-release screw 145 is externally sleeved at the head part with a spring 146, and the tail part extends into a screw hole at one end of the first outer arm 143, sequentially passes through two long slots of the first inner arm 142, passes through a screw hole at the other end of the first outer arm 143 and is hinged with a quick-release wrench 144 at the tail part; when the quick release wrench 144 moves clockwise as shown, the first outer arm 143 is pressed to slightly reduce the pipe diameter of the first outer arm 143, and the inner first inner arm 142 is pressed to complete the fastening.

The first inner arm 142 can move along the elongated slot, and after the position is adjusted, the first inner arm 142 and the first outer arm 143 can be quickly fixed by the locking action of the quick-release wrench 144, so that the length adjustment is realized.

Similarly, the second link may also be configured as a telescopic structure like the first arm structure.

The four-bar linkage has two movable links, a first arm 102 and a first link 105, respectively, and by controlling the first arm 102 and the first link 105, the movement of the end of the second arm can be realized.

In specific implementation, although the four-bar linkage with any structure can realize corresponding displacement control of the tail end of the second arm, in order to make control calculation of the tail end of the second arm more convenient, the length of each side of the four-bar linkage of the embodiment of the present invention can be set as the following parameters: the first arm 102 is parallel to and of equal length to the second link 104; said first link 105 is parallel to said second arm 103; at this time, the four-bar linkage according to the embodiment of the present invention is a parallelogram, the postures of the first arm and the second arm 102 are the same as the posture of the second link 104, and the postures of the second arm 103 and the first link 105 are the same, and the calculation of the end can be quickly obtained based on the length of the first link, the length of the first arm, the length of the second arm, and the included angle between the first link and the first arm, so that the software control is simpler.

In the above description of the mechanical structure of the embodiment of the present invention, in the embodiment of the present invention, the four-bar linkage has two movable links, namely the first arm and the first link, and the movement of the end of the second arm can be realized by controlling the first arm and the first link, and the driving of the first arm and the first link will be described below.

It should be noted that the first arm starting end and the first link starting end are respectively hinged to the base rotating shaft, and the base rotating shaft is used as a rotation fulcrum together, but the two ends are relatively independent during direct movement and do not interfere with each other.

Fig. 6 shows a close-up view of the first link drive assembly of an embodiment of the present invention. The first link driving assembly includes a first link driving base 130, a first link driving motor 131, a first link driving connection 133, a first link driving screw 134, and a first link driving slider 135;

the first link driving base 130 is hinged to the platform in the x negative direction, and the first link driving motor 131 is fixed on the first link driving base 130; a rotating shaft of the first link driving motor 131 extends into the first link driving base 130; the first link driving screw 134 and the first link driving screw slider 135 are installed in the first link driving housing 136, the first link driving screw slider 135 is sleeved on the first link driving screw 134, and the first link driving connecting piece 133 is fixedly connected with the first link driving screw slider 135; the first link driving connection member 133 is coaxial with the first link driving screw 134 and is fixedly connected with the start end of the first link 105;

the first link driving housing 136 and the first link driving motor 131 are fixed to the first link driving base 130 side by side; the rotation shaft of the first link driving motor 131 and one end of the first link driving screw 134 are driven in the first link driving base 130 based on gear connection.

In specific implementation, a first connecting rod driving motor drives a first connecting rod to drive a screw rod of a screw rod sliding block mechanism to rotate, and drives a sliding sleeve to drive the screw rod sliding block mechanism to axially move along the first connecting rod; the first connecting rod connecting piece which is connected with the sliding block of the first connecting rod driving screw rod sliding block mechanism into a whole receives driving and rotates around the base rotating shaft, and the first connecting rod is driven to rotate around the base rotating shaft through a lever principle.

Similarly, the structure of the first arm driving assembly is the same as that of the first connecting rod driving assembly, and the description is not repeated.

Fig. 9 is a schematic three-dimensional structure diagram of a painting head according to an embodiment of the present invention, fig. 10 is a full sectional view of the painting head according to the embodiment of the present invention in an orientation of an inlet port, fig. 11 is a full sectional view of the painting head according to the embodiment of the present invention in an orientation of an inlet port, and fig. 12 is a full sectional view of the painting head according to the embodiment of the present invention in an orientation of a pressure maintaining port.

The paint spraying module comprises a paint spraying head 1300, wherein a paint cavity 1308 and a gas cavity 1309 are arranged inside the paint spraying head of the embodiment of the invention, wherein the paint cavity 1308 is arranged in the center of the paint spraying head; the gas cavity 1309 is cylindrical and is positioned at the periphery of the paint cavity; the gas cavity and the paint cabin are not communicated with each other.

Above the paint cavity 1308, a feed hole 1301 and a pressure maintaining hole 1303 are respectively arranged, wherein the pressure maintaining hole 1303 is communicated with the paint cavity 1308 through a long pipe, and a hydraulic piston 1311 is arranged on the long pipe. In actual operation, the feeding hole 1301 is connected with a feeding device for feeding high-pressure paint, such as a plunger pump; the pressure maintaining hole 1303 is connected with a pressure maintaining device for conveying high-pressure liquid, such as a hydraulic pump, and in order to save cost, a one-way valve can be connected between the hydraulic pump and the pressure maintaining hole 1303 to prevent the high-pressure liquid from flowing back; likewise, a non-return valve may be connected between the inlet opening and the plunger pump in order to prevent paint from flowing back. Since the above components are not the subject of the present invention, they are not shown in the drawings, and the detailed structure can be referred to the prior art.

It should be noted that more than one dwell hole 1303 may be provided in order to avoid an excessively long tube length of the dwell hole 1303 while accommodating a sufficient volume of high pressure paint.

At the periphery of paint chamber 1308, heating ring 1307 is provided, heating ring 1307 may actually be formed by winding a resistance wire or by nesting arc-shaped resistance metal. The heating ring 1307 can be used to heat the paint, where the paint temperature is increased and has more kinetic energy for atomization; when the paint mist is sprayed out, part of the kinetic energy is converted into heat energy in the air, so that the temperature of the paint attaching surface is increased, and the airing or drying speed of the paint is shorter.

An air inlet hole 1302 is arranged above the air cavity 1309, and the air inlet hole 1302 is communicated with an air compressor to provide high-pressure air and enhance the paint atomizing effect.

The paint output and gas output are typically controlled by the nozzles 1306 and different spray effects and spray areas can be achieved by changing different nozzles 1306. As can be seen from the above description, the interface between the nozzle 1306 and the spray head 1300 is made up of two parts for connection to the paint cavity 1308 and the gas cavity 1309, respectively. An ejector 1310 is arranged on the axis of the paint spraying head 1300, the upper part of the ejector 1310 extends out of the paint spraying head 1300, the middle part of the ejector 1310 is in threaded connection with the paint spraying head 1300, and the bottom of the ejector 1310 is propped against the atomizing hole of the nozzle 1306. The embodiment of the invention only introduces the specific structure of the design improvement in detail, and the rest of more structures can refer to the prior art.

Fig. 13 is a view showing a connection structure of a feed pipe and a holding pressure pipe according to an embodiment of the present invention. When normal work, pressurizer and feeding device function simultaneously, and feeding device imports the high pressure paint vehicle to the paint vehicle chamber, and pressurizer supports hydraulic piston, and it has the high pressure paint vehicle to fill in the pipeline of hydraulic piston towards paint vehicle chamber one side, considers hydraulic piston's spacing, can add the step in the pipeline and be used for hydraulic piston's spacing. At the moment, the high-pressure paint is atomized and sprayed out through the nozzle; the high-pressure gas is sprayed through the nozzle in the gas cavity based on the gas transmission device, so that the atomization effect of the high-pressure paint can be further enhanced.

When the paint is suddenly cut off, a hydraulic sensor can be arranged on the feeding hole to capture the information, the pressure information of the paint feeding is captured by the hydraulic sensor, when the material is cut off, the hydraulic sensor captures a pressure reduction message of the feeding pipeline, then a signal is sent to the hydraulic pump, the pressure of the hydraulic pump is increased, a hydraulic piston in the pressure maintaining hole is pushed to move, and the high-pressure paint in the paint cavity in the paint spraying head continues to be atomized under the action of the pressure, so that the paint spraying work is completed.

It should be noted that the length of the pressure maintaining hole pipeline is designed to meet the spraying requirement of a single workpiece as much as possible, so that when the material is broken, the paint spraying operation of at least one workpiece can be completed by the paint in the pressure maintaining hole pipeline.

The embodiment of the invention provides mechanical arm equipment with an adjustable working area, wherein a driving element of a mechanical arm module is arranged on a platform at the bottom of the mechanical arm equipment with the adjustable working area, and a first arm and a second arm have no extra weight except the self weight and the weight of a matched connecting rod; the first arm and the second arm are adjustable in length and have good adaptability to different working area sizes; the paint spraying head of the paint spraying equipment has a pressure maintaining measure, so that paint can be continuously sprayed for a period of time according to the conditions of accidental material breakage and the like, and accidents such as paint spraying stop and the like caused by material breakage are avoided; the paint spraying head has a heating function, can heat the paint vehicle, makes the paint vehicle have higher power and pressure, when increasing the atomization effect of the paint vehicle, can make the temperature rise for the paint vehicle speed of drying.

The present invention provides a mechanical arm device with adjustable working area, which is described in detail above, and the principle and the embodiment of the present invention are explained herein by applying specific examples, and the description of the above embodiments is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims

1. The mechanical arm equipment with the adjustable working area is characterized by comprising a mechanical arm module and a paint spraying module;

the first arm comprises a first outer arm and a first inner arm, the first inner arm can slide in the first outer wall and is locked on the first outer arm based on a lock catch penetrating through the first outer arm and the first inner arm;

the second arm comprises two second sub-arms and a second sliding block; the two second sub-arms are fixed with each other through a second arm connecting piece, and the second sliding block is clamped between the two second sub-arms and locked on the two second sub-arms based on screws; a pulley is arranged on the second sliding block, and under the condition that the screw is loosened, the second sliding block can slide on the two second sub-arms along the axial direction based on the pulley;

the paint spraying module comprises a paint spraying head, and the paint spraying head is arranged on the second sliding block;

the paint spraying head is provided with a paint cavity and a gas cavity;

the gas cavity is communicated with a gas inlet hole and a gas outlet hole for high-pressure gas to enter;

the paint cavity is positioned in the center of the paint spraying head; the gas cavity is cylindrical and is positioned on the periphery of the paint cavity;

the pressure maintaining hole is communicated with the paint cavity through a long pipe, and the hydraulic piston is arranged on the long pipe;

a heating ring for heating the high-pressure paint is arranged outside the paint cavity;

the paint spraying module also comprises a material conveying device for conveying high-pressure paint, a gas conveying device for conveying high-pressure gas and a pressure maintaining device for conveying high-pressure liquid;

2. The work area adjustable robotic arm apparatus of claim 1, wherein the first arm drive assembly comprises a first arm drive base, a first arm drive motor, a first arm drive screw slide, and a first arm drive link;

3. The work-zone adjustable robotic arm apparatus of claim 1, wherein the first link drive assembly comprises a first link drive base, a first link drive motor, a first link drive lead screw slide, and a first link drive link;