CN101081509A - Load equalization mechanism of mechanical arm for jet printing - Google Patents
Load equalization mechanism of mechanical arm for jet printing Download PDFInfo
- Publication number
- CN101081509A CN101081509A CN 200610027076 CN200610027076A CN101081509A CN 101081509 A CN101081509 A CN 101081509A CN 200610027076 CN200610027076 CN 200610027076 CN 200610027076 A CN200610027076 A CN 200610027076A CN 101081509 A CN101081509 A CN 101081509A
- Authority
- CN
- China
- Prior art keywords
- machinery
- wrist
- arm
- mechanical arm
- jet printing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Spray Control Apparatus (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to balance mechanism of jet printing machine, and is especially one kind of mechanical arm load balancing mechanism for jet printing machine. The mechanical arm load balancing mechanism includes one upper mechanical arm unit, one middle mechanical arm unit, one lower mechanical arm unit and one jet printing wrist unit. The upper mechanical arm unit is connected to jet printing erector, the middle mechanical arm unit has one end connected to the lower mechanical arm unit and the jet printing wrist unit and the other end connected to the upper mechanical arm unit, and the upper mechanical arm unit, the lower mechanical arm unit and the jet printing wrist unit are located separately on two sides of the erector to constitute balanced mechanical arm. The present invention has relatively balanced load, raised bearing capacity of the robot, raised jet printing flexibility and stability, greatly raised bearing capacity of the mechanical arm.
Description
Technical field: the present invention relates to a kind of balanced controls of spray printing machine, particularly a kind of load equalization mechanism of mechanical arm for jet printing.
Background technology:
Spray printing equipment is by computer-controlled full-automatic aspect system, directly forms label on the side surface of coil of strip and top surface by the specking battle array.At present, the mode that the hot rolling line of domestic and international iron and steel enterprise is used for hot coil of strip label generally mostly is coating dot matrix spray printing, and the one-tenth word principle of this mode is: a plurality of spray guns are arranged side by side, and the constant speed walking, ejection point-like coating on desired location is with a composition literal.Because the spray printing machine also includes sensor, quality is bigger, so the spray printing machine adopts respectively control separately mostly to the side spray of coil of strip side surface with to the top spray of coil of strip top surface.
That a kind of scheme adopts is the revolute robot of 6 interlocks, and it successively pushes up spray and side spray to coil of strip, though only need a cover spray printing machine, because the spray printing cycle surpasses the rolling cycle of coil of strip, causes the rhythm of steel rolling can be subjected to certain restriction.What also have a kind of scheme employing is two spray printing machines, and its side spray and top spraying equipment are arranged at the both sides of conveyer chain respectively, and two parts carry out simultaneously when spray printing.
At present, along with the continuous miniaturization of spray printing machine, the scheme that has occurred a kind of side spray arm and the shared robot of top spray arm, but its top spray arm can only spray printing at the coil of strip top near the position of inner ring, this now clashes in this situation of inner ring with the coil of strip turriform beginning again, so defective that just exists coil of strip to reprocess in a large number, and this scheme needs 2 robot arms to carry out side spray and top spray motion respectively, make spray printing machine complex structure, control also comparatively loaded down with trivial detailsly, increased the repair rate of device greatly.
Because the spray printing machine all adopts the robot mechanical arm control operation at present, is the maintaining body balance, generally adopts the balancing weight balance mode, but increase balancing weight, certainly will increase extra heavy burden, make the flexibility and the stability decreases of mechanical arm, and can produce the weightlessness of robot.
Summary of the invention:
The purpose of this invention is to provide a kind of load equalization mechanism of mechanical arm for jet printing that can guarantee spray printing machine mechanical arm balance.Mainly solve unidirectional weightlessness of present robot and the less technical problem of heavy burden ability.The present invention utilizes the reasonable distribution of spray printing machine mechanical arm to realize the relative equilibrium of loading, be the reasonable setting of used for spray printing machine robot arm of the present invention by motor, joint, it is pivot that relative equilibrium is distributed in the elevating mechanism, can effectively avoid weightless, can improve simultaneously the weight capacity of robot greatly, avoid increasing extra heavy burden, when improving spray printing flexibility and stability, improve the heavy burden ability of spray printing mechanical arm greatly.
Technical scheme of the present invention is: a kind of load equalization mechanism of mechanical arm for jet printing, comprise arm assembly, mechanical little arm assembly and four parts of spray printing wrist device in the big arm assembly of machinery, the machinery, the big arm assembly of described machinery connects with the spray printing crane realizes synchronization lifting, the big arm assembly of this machinery comprises the big arm of machinery, servomotor and middle shoulder joint, middle shoulder joint is fixed on the big arm of machinery, middle shoulder joint connects servomotor, realizes the rotation of arm in the machinery; The servomotor that is comprised, middle shoulder joints etc. are realized the counterweight function of whole spray printing mechanical arm from escheat, arm assembly comprises arm in the machinery in the described machinery, servomotor and little shoulder joint, during arm assembly is fixed in the machinery on the shoulder joint; the forearm arthrodesis is in machinery on the arm; forearm articulation servomotor; realize machinery " Z " the rotation of type forearm, the little arm assembly of described machinery comprises machinery " Z " type forearm, servomotor and wrist joint, machinery " Z " type forearm one end is fixed on the little shoulder joint, machinery " Z " type forearm other end is wrist joint fixedly, wrist joint connects servomotor, realize the rotation of little shoulder joint, in the rotation of forearm joint on the arm, its wrist joint can be realized the rotation of wrist to this wrist simultaneously under servomotor control in machinery; Described spray printing wrist device comprises wrist and jet printing appts, wrist is fixed on the wrist joint, is fixed with the jet printing appts of sealing on the wrist, and jet printing appts and coil of strip outer surface are vertical configuration, can avoid spray printing character distortion or fuzzy, to obtain clear spray printing required spray printing plumbness and track.In the middle shoulder joint rotation of arm on the big arm of machinery, its little shoulder joint can be realized the rotation of mechanical forearm simultaneously under servomotor control in the machinery; Arm crosses at spray printing crane top with machinery " Z " type forearm and connects in the machinery, its little shoulder joint and wrist joint distribute and realize the rotation of machinery " Z " type forearm and spray printing wrist, realize required spray printing track and function by the jet printing appts that seals on the wrist.
The invention has the beneficial effects as follows: the present invention utilizes the reasonable distribution of spray printing machine mechanical arm to realize the relative equilibrium of loading, and avoids increasing extra heavy burden, when improving spray printing flexibility and stability, improves the heavy burden ability of spray printing mechanical arm greatly.
Description of drawings:
Accompanying drawing is a spray printing provided by the invention balancing the load formula mechanical arm mechanism structural representation;
Among the figure: 1 machinery " Z " type forearm, 2 wrist joints, 3 screws, 4 screws, 5 screws, 6 wrist interfaces, 7 locking nuts, 8 wrists, 9 screws, 10 jet printing appts, 11 servomotors, 12 body covers, the big arm of 13 machineries, 14 screws, 15 screws, 16 little shoulder joints, 17 servomotors, 18 interfaces, arm in 19 machineries, 20 screws, shoulder joint in 21,22 interfaces, 23 screws, 24 servomotors, 25 power interfaces, 26 encoder interfaces, 27 sliding rail frames, 28 cranes.
The specific embodiment:
Below with reference to the accompanying drawings, a kind of preferred forms of the present invention is described.
As shown in drawings, be a kind of load equalization mechanism of mechanical arm for jet printing provided by the invention, comprise in the big arm assembly of machinery, the machinery arm assembly, mechanical little arm assembly and spray printing wrist device totally four parts; The big arm assembly of described machinery connects with the spray printing crane, an end connected mechanical forearm device and spray printing wrist device above arm assembly was positioned at the spray printing crane in the machinery, the other end connects with the big arm assembly of machinery, and big arm assembly of machinery and mechanical little arm assembly and spray printing wrist device lay respectively at the crane both sides and constitute the mechanical arm balance.
Big arm assembly of described machinery and spray printing crane 28 synchronization liftings, the big arm assembly of this machinery comprises the big arm 13 of machinery, servomotor 24 and middle shoulder joint 21, should be fixed on the big arm 13 of machinery by middle shoulder joint 21, under servomotor 24 controls, realize the rotation of arm 19 in the machinery; The big arm 13 of machinery is fixed on the sliding rail frame 27.
Arm assembly comprises arm 19 in the machinery in the described machinery, servomotor 17 and forearm joint 16, arm 19 is positioned at body cover 12 tops in the machinery, arm 19 is fixing by screw 20 with middle shoulder joint in the machinery, in the installing ring of shoulder joint 21 fixing with the big arm 13 of machinery by screw 23; forearm joint 16 is fixed in the machinery on the arm 19; realize machinery " Z under servomotor 17 controls " the rotation of type forearm 1, in middle shoulder joint 21 rotations of arm 21 on the big arm 13 of machinery, its forearm joint 16 can be realized the rotation of machinery " Z " type forearm 1 simultaneously under servomotor 17 controls in this machinery;
The little arm portion of described machinery comprises machinery " Z " type forearm 1, servomotor 11 and wrist joint 2, this wrist joint 2 is fixed on machinery " Z " the type forearm 1, machinery " Z " type forearm 1 is fastening by screw 3 with wrist joint 2, under servomotor 11 controls, realize the rotation of wrist joint 2, in 16 rotations of forearm joint on the arm 19, its wrist joint 2 can be realized the rotation of wrist 8 to this wrist 8 simultaneously under servomotor 11 controls in machinery; Servomotor 17 supports are fixing by screw 14 with machinery " Z " type forearm 1, and the installation ring seat of little shoulder joint is fixing by screw 15 with machinery " Z " type forearm 1,
Described spray printing wrist portion branch comprises wrist 8, servomotor 11 and jet printing appts 10, servomotor 11 supports and wrist 8 are fixing by screw 4, the installation ring seat of wrist joint and wrist 8 are fixing by screw 5, under servomotor 11 controls, realize the rotation of mechanical wrist 8, this wrist 8 also comprises the jet printing appts 10 of sealing, jet printing appts 10 is fixed on the wrist 8 by screw 9, to guarantee that jet printing appts is vertical configuration with the coil of strip outer surface all the time, avoid spray printing character distortion or fuzzy, the wrist other end then links to each other with jet printing appts to obtain clear spray printing required spray printing plumbness and track.
Described servomotor 11, servomotor 17 and servomotor 24 have 25 power interfaces and 26 encoder interfaces respectively, to realize connection and control;
In addition, being respectively equipped with wrist interface 6, interface 22 and interface 18 on wrist 8, the big arm 13 of machinery and machinery " Z " type forearm 1 upper end closed chamber connects with the cold gas interface.Wrist interface 6 is fixing by locking nut 7 with wrist 8.
The big arm assembly of machinery connects with the spray printing crane realizes synchronization lifting, the rotation of arm in the machinery is realized in its joint, the servomotors that comprised etc. are realized the counterweight function of whole spray printing mechanical arm from escheat, arm realizes that with machinery " Z " type forearm is common whole mechanical arm connects crossing of spray printing crane top in the described machinery, its little shoulder joint and wrist joint distribute and realize the rotation of machinery " Z " type forearm and spray printing wrist, realize required spray printing track and function by the jet printing appts that seals on the wrist;
The present invention not only can be used for the spray printing machine, also can be used for the balance of other machines people's mechanical arm.
Claims (3)
1, a kind of load equalization mechanism of mechanical arm for jet printing, it is characterized in that comprising arm assembly, mechanical little arm assembly and spray printing wrist device in the big arm assembly of machinery, the machinery, the big arm assembly of described machinery connects with the spray printing crane, an end connected mechanical forearm device and spray printing wrist device above arm assembly was positioned at the spray printing crane in the machinery, the other end connects with the big arm assembly of machinery, and big arm assembly of machinery and mechanical little arm assembly and spray printing wrist device lay respectively at the crane both sides and constitute the mechanical arm balance.
2, a kind of load equalization mechanism of mechanical arm for jet printing according to claim 1, it is characterized in that the big arm assembly of machinery comprises the big arm of machinery, servomotor and middle shoulder joint, middle shoulder joint is fixed on the big arm of machinery, middle shoulder joint connects servomotor, arm assembly comprises arm in the machinery in the described machinery, servomotor and little shoulder joint, during arm assembly is fixed in the machinery on the shoulder joint; the forearm arthrodesis is in machinery on the arm; forearm articulation servomotor; the little arm assembly of described machinery comprises machinery " Z " the type forearm, servomotor and wrist joint, machinery " Z " type forearm one end is fixed on the little shoulder joint, machinery " Z " type forearm other end is wrist joint fixedly, wrist joint connects servomotor, described spray printing wrist device comprises wrist and jet printing appts, and wrist is fixed on the wrist joint, is fixed with the jet printing appts of sealing on the wrist, jet printing appts and coil of strip outer surface are vertical configuration, and arm crosses at spray printing crane top with machinery " Z " type forearm and connects in the machinery.
3, a kind of load equalization mechanism of mechanical arm for jet printing according to claim 2 is characterized in that being respectively equipped with interface on wrist, the big arm of machinery and machinery " Z " type forearm upper end closed chamber connects with the cold gas interface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100270769A CN100519094C (en) | 2006-05-30 | 2006-05-30 | Load equalization mechanism of mechanical arm for jet printing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100270769A CN100519094C (en) | 2006-05-30 | 2006-05-30 | Load equalization mechanism of mechanical arm for jet printing |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101081509A true CN101081509A (en) | 2007-12-05 |
| CN100519094C CN100519094C (en) | 2009-07-29 |
Family
ID=38911404
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2006100270769A Active CN100519094C (en) | 2006-05-30 | 2006-05-30 | Load equalization mechanism of mechanical arm for jet printing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100519094C (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108217216A (en) * | 2018-01-03 | 2018-06-29 | 安溪县雅池茶业有限公司 | A kind of stacking machine with mechanical hand protecting means |
| CN110809426A (en) * | 2018-06-02 | 2020-02-18 | 上海安翰医疗技术有限公司 | Capsule endoscope control system |
-
2006
- 2006-05-30 CN CNB2006100270769A patent/CN100519094C/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108217216A (en) * | 2018-01-03 | 2018-06-29 | 安溪县雅池茶业有限公司 | A kind of stacking machine with mechanical hand protecting means |
| CN108217216B (en) * | 2018-01-03 | 2019-08-23 | 安溪县雅池茶业有限公司 | A kind of stacking machine with mechanical hand protecting means |
| CN110809426A (en) * | 2018-06-02 | 2020-02-18 | 上海安翰医疗技术有限公司 | Capsule endoscope control system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100519094C (en) | 2009-07-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103419189B (en) | A kind of robot drives structure | |
| CN106112980A (en) | A kind of attitude regulating mechanism | |
| CN101973501B (en) | Fan integral installation rotating holding mechanism | |
| CN106743559A (en) | A kind of removable ribbon conveyer with mechanical arm | |
| CN107769497B (en) | The 360 degrees omnidirection lacquer spraying technique of motor housing | |
| CN107127740B (en) | Floating system based on pneumatic muscles Yu cylinder mixed connection | |
| CN100519094C (en) | Load equalization mechanism of mechanical arm for jet printing | |
| WO2022227158A1 (en) | Movable electro-hydraulic composite drive spraying robot with large working space | |
| CN113459853B (en) | Marine wireless charging system | |
| CN2410278Y (en) | Rail-free screw nut servo telescopic jib mechanism | |
| CN108526848A (en) | Base turnover device of wind generating set, yaw system assembly platform and method | |
| CN106078688A (en) | A kind of heavy duty self-balancing 3-freedom parallel mechanism | |
| CN110538745A (en) | Paint spraying device for submerged speed reducer | |
| CN108635046A (en) | Micro-wound operation robot hangs positioning and orientation mechanical arm | |
| CN112847326A (en) | High-load joint type green brick stacking robot | |
| CN206937267U (en) | Assembly line workbench | |
| CN208808650U (en) | A kind of micro-wound operation robot suspension positioning and orientation mechanical arm | |
| CN207373168U (en) | A kind of rail structure applied to SCARA robots | |
| CN207119774U (en) | A kind of multiple-strand caster knockout system | |
| CN201862510U (en) | Combined spraying robot based on planar three-degree-of-freedom parallel mechanism | |
| CN205673981U (en) | A kind of joint of robot arm burnishing device | |
| CN101966504B (en) | Combined spraying robot based on planar three-freedom-degree parallel mechanism | |
| CN109051608A (en) | A kind of air power steering conveyer | |
| CN213131884U (en) | Manned equipment for roller coaster track maintenance | |
| CN108639994B (en) | Sublance rotating lifting gear |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |