CN102689311A - Robot arm stretching and swinging driving mechanism assembly - Google Patents
Robot arm stretching and swinging driving mechanism assembly Download PDFInfo
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- CN102689311A CN102689311A CN2012101745864A CN201210174586A CN102689311A CN 102689311 A CN102689311 A CN 102689311A CN 2012101745864 A CN2012101745864 A CN 2012101745864A CN 201210174586 A CN201210174586 A CN 201210174586A CN 102689311 A CN102689311 A CN 102689311A
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Abstract
A robot arm stretching and swinging driving mechanism assembly comprises a stretching driving mechanism and a swinging driving mechanism; the stretching driving mechanism comprises an independent stretching driving motor and an independent stretching transmission mechanism; the swinging driving mechanism comprises an independent swinging driving motor and an independent swinging transmission shaft; the independent swinging transmission shaft is positioned at the center of the independent stretching transmission mechanism; the independent swinging transmission mechanism drives a robot arm swinging bracket to stretch in the axial direction; and the independent swinging transmission shaft drives an actuating mechanism fixed on a swinging bracket rotating shaft to swing. The two sets of independent driving motors and the two sets of transmission mechanisms, which are independent and related, are provided, and the two sets of driving mechanisms are both arranged on the robot arm, so that the purpose that the final controlled objects of the two set of independent driving mechanism are the same actuating mechanism can be achieved.
Description
Affiliated technical field
The present invention relates to the flexible and wobble drive mechanism of a kind of robots arm, particularly a kind of composite driving mechanism of realizing that robots arm's operating mechanism is flexible and swing.
Background technology
Existing automatic spraying equipment has tandem robot, parallel robot and reciprocating type automatic spraying machine, and they realize that robots arm's method flexible and swing has nothing in common with each other.The tandem robot leans on the angle control of big arm and forearm and the control of 3R wrist to realize stretching of robots arm's operating mechanism and swing; Parallel robot is that the synchronous and asynchronous operation through parallel branch mechanism realizes the flexible and swing of robots arm's operating mechanism; Reciprocating type automatic spraying machine structure is more single, does not have the flexible and swing function of robots arm.Tandem robot and parallel robot realize that robots arm's telescopic oscillating function need realize through complicated transmission mechanism and loaded down with trivial details electric programming Control.
Summary of the invention
The present invention provide a kind of simple in structure, control is convenient, the robots arm of dependable performance is flexible and the swing composite driving mechanism, can realize the compound motion of the flexible and swing of robots arm's operating mechanism.
The technical solution adopted for the present invention to solve the technical problems is: it includes telescopic drive mechanism and wobble drive mechanism; Described telescopic drive mechanism and described wobble drive mechanism are co-located on the robots arm.Described telescopic drive mechanism comprises telescopic drive motor, stretching drive mechanism, and described telescopic drive mechanism finally drives robots arm's operating mechanism and does the linear telescopic motion; Described wobble drive mechanism comprises wobble drive motor, swinging transmission mechanism, and the operating mechanism support that described wobble drive mechanism finally drives the robots arm rotates, and operating mechanism rotates with the operating mechanism support.
The invention discloses the flexible and wobble drive mechanism assembly of a kind of robots arm; It comprises telescopic drive mechanism and wobble drive mechanism; Described telescopic drive mechanism comprises independent telescope drive motors and independent telescope transmission mechanism; Described wobble drive mechanism comprises independent wobble drive motor and scalable power transmission shaft, it is characterized in that described scalable power transmission shaft passes the center of described independent telescope transmission mechanism; Described independent telescope transmission mechanism drive machines people arm swing support is done the axial stretching motion, and the operating mechanism of described independent swing power transmission shaft drive fixing on the swinging mounting rotating shaft done oscillating motion.
Described independent telescope transmission mechanism comprises the ball spline sliding pair of screw pair, ball spline axle sleeve and hollow ball spline shaft composition that hollow ball-screw and feed screw nut are formed, and the positive and negative rotation of described independent telescope drive motors finally drives swinging mounting and does stretching motion.
The bevel gear pair that power transmission shaft pair, drive bevel gear and the driven wheel of differential of rectangle splined shaft and outer rectangular spline axle composition were formed in described scalable power transmission shaft comprised, the described operating mechanism of the moving final drive of described independent wobble drive motor positive and inverse is done oscillating motion.
Described scalable power transmission shaft passes described hollow ball-screw center and described hollow ball spline shaft center.Described hollow ball spline shaft slides in described ball spline axle sleeve center.
Described telescopic drive mechanism comprises ball spline axle sleeve, hollow ball spline shaft, hollow ball-screw, first gland, the first swelling cover, Connection Block, feed screw nut, expansion link overcoat, bearing block, bearing, support, telescopic drive belt pulley, conveyer belt, flexible driven pulley, second gland, second swelling cover and the swinging mounting; It is characterized in that; Described hollow ball-screw and feed screw nut are formed screw pair; Described ball spline axle sleeve and described hollow ball spline shaft are formed the ball spline transmission, through described first gland, the first swelling cover, Connection Block, second gland, second swelling cover described feed screw nut, Connection Block, hollow ball spline shaft, swinging mounting are formed a common follower.
Described telescopic drive motor bearings is fixed on the described support; Described telescopic drive motor output shaft links to each other with the telescopic drive belt pulley with locking nut through connecting key; Described telescopic drive belt pulley drives flexible described driven pulley through described driving-belt and rotates, and rotates thereby drive described hollow ball-screw.
Described independent swinging transmission mechanism comprises the rotating shaft and the operating mechanism of outer rectangular spline cover, swing driven pulley, driving-belt, wobble drive belt pulley, planetary reducer, wobble drive motor, interior rectangle splined shaft, drive bevel gear, driven wheel of differential, operating mechanism support; It is characterized in that described outer rectangular spline cover and described interior rectangle splined shaft are formed scalable power transmission shaft pair, described drive bevel gear and described driven wheel of differential and formed bevel gear pair.
Described wobble drive motor drives the wobble drive belt pulley and rotates after planetary reducer slows down; Driving the swing driven pulley through driving-belt rotates; And then drive described scalable power transmission shaft and rotate; Through the operation of power transmission belt dynamic bevel gear transmission, final drive and driven wheel of differential are with the rotation of being fixed in the rotating shaft on the operating mechanism support, and operating mechanism rotates thereupon.
Because the not only independent but also related transmission mechanism of two cover independent driving motors and two covers; Therefore; It can realize robots arm's the independent stretching motion of operating mechanism; Also can realize robots arm's the independent oscillating motion of operating mechanism, can realize that more robots arm's operating mechanism stretches and the compound motion of swinging.
Because the not only independent but also related transmission mechanism of two cover independent driving motors and two covers; Therefore simple to the programme-control of two cover independent driving motors; Both can also can control the independent stretching motion control of robots arm's operating mechanism to the independent oscillating motion of robots arm's operating mechanism, more can stretch to robots arm's operating mechanism and the compound motion control of swinging; Both can also can overlap the independent driving motor parallel control to two cover independent driving motor Serial Control to two.
Because the not only independent but also related transmission mechanism of two cover independent driving motors and two covers; Two cover driving mechanisms are co-located on the robots arm; So robots arm is rotatablely moved for it and linear telescopic motion set is one, and the transferring elements that rotatablely moves places in the linear telescopic motion transferring elements, through optimal design; Do not influence overall dimensions the time simple for structure, the design size and the robot that can reduce the entire machine people simultaneously greatly take up room.
Because the not only independent but also related transmission mechanism of two cover independent driving motors and two covers, therefore in case the motion fault occurs, can investigate failure cause fast, be convenient to quick protection and maintenance.
Because the not only independent but also related transmission mechanism of two cover independent driving motors and two covers; Described telescopic drive mechanism comprises telescopic drive motor, stretching drive mechanism, and described telescopic drive mechanism finally drives robots arm's operating mechanism and does the linear telescopic motion; Described wobble drive mechanism comprises wobble drive motor, swinging transmission mechanism, and the operating mechanism support that described wobble drive mechanism finally drives the robots arm rotates, and operating mechanism rotates with the operating mechanism support.After flexible and swing composite driving mechanism is installed on the spray robot arm as the present invention, can control the oscillating motion that spray gun is done stretching motion and ± 90 °, can effectively get rid of the spraying dead angle of workpiece in spraying process, optimize spraying effect.
Because the not only independent but also related transmission mechanism of two cover independent driving motors and two covers; Two cover driving mechanisms are co-located on the robots arm; Independent part is: its transmission motion of doing realizes through two sets of transmission mechanism; Related part is: its final control is to liking same operating mechanism; Robots arm's telescopic drive mechanism drives the motion of swinging mounting axial stretching, and robots arm's driving operations mechanism of wobble drive mechanism swings in the certain angle scope, thereby realizes that the final control of two cover independent driving mechanisms is to liking same operating mechanism.So robots arm is rotatablely moved for it and linear telescopic motion set is one; The transferring elements that rotatablely moves places in the linear telescopic motion transferring elements; Because it is rational in infrastructure, reduced investment, operating cost are low; Can realize the side of workpiece (is example with the coachbuilt body) and the spraying operation of top and bottom arc transition section have been guaranteed the quality of the surperficial spray treatment of vehicle body effectively.Because of its structure rotation combines with Telescopic, overall dimensions is less again, can reduce the design size in spray room greatly, plays the purpose of industry energy-conserving and environment-protective simultaneously.
Description of drawings
Fig. 1 is the paint-spray robot sketch map of band telescopic oscillating driving mechanism of the present invention;
Fig. 2 is the sketch map of telescopic oscillating driving mechanism assembly of the present invention;
Fig. 3 be among Fig. 2 A to telescopic oscillating driving mechanism assembly end view;
Fig. 4 is an E-E cross-sectional view among Fig. 2;
Fig. 5 A-5D is the sketch map of telescopic drive of the present invention mechanism retracted mode;
Fig. 5 B-5D is respectively the I shown in Fig. 5 A, II, III partial enlarged drawing;
Fig. 6 A is the sketch map of telescopic drive of the present invention mechanism extended configuration;
Fig. 6 B-6C is respectively H-H among Fig. 6 A, the G-G cutaway view;
Fig. 7 A is the sketch map of wobble drive of the present invention mechanism;
Fig. 7 B-7C is respectively I-I among Fig. 7 A, the J-J cutaway view;
Fig. 8 A-8C be respectively B among Fig. 7 to the different amplitude of oscillation angle of wobble drive operating mechanism sketch map;
Wherein Reference numeral is represented respectively as follows: 101 are the lowering or hoisting gear of paint-spray robot arm; 102 is the move left and right device of paint-spray robot arm; 103 is the whirligig of paint-spray robot arm; 104 is the flexible and wobble drive mechanism assembly of paint-spray robot arm; 105 is the cable and the transmission pipe road support of paint-spray robot; 106 is the electric-control system of paint-spray robot; 107 is the defeated paint system of paint-spray robot; 1 is outer rectangular spline cover; 2 is the ball spline axle sleeve; 3 is hollow ball spline shaft; 4 is hollow ball-screw; 5 is first gland; 6 is the first swelling cover; 7 is Connection Block; 8 is feed screw nut; 9 is the expansion link overcoat; 10 is bearing block; 11 is bearing; 12 is the telescopic drive motor; 13 is support; 14 is the telescopic drive belt pulley; 15 is conveyer belt; 16 are flexible driven pulley; 17 is bearing; 18 are the swing driven pulley; 19 is driving-belt; 20 is the wobble drive belt pulley; 21 is planetary reducer; 22 is the wobble drive motor; 23 is interior rectangle splined shaft; 24 is second gland; 25 is the second swelling cover; 26 is the drive bevel gear bearing; 27 is swinging mounting; 28 is drive bevel gear; 29 is driven wheel of differential; 30 is rotating shaft; 31 is the driven wheel of differential bearing; 32 is the operating mechanism support; 33 is operating mechanism; 34 is the belt pulley connecting key; 35 is the belt pulley locking nut.
The specific embodiment
Below in conjunction with accompanying drawing and specific embodiment operation principle of the present invention is elaborated.
As shown in Figure 1; Fig. 1 shows the paint-spray robot of band telescopic oscillating driving mechanism of the present invention, and wherein paint-spray robot comprises the defeated paint system 107 of electric-control system 106, the paint-spray robot of cable and transmission pipe road support 105, the paint-spray robot of flexible and wobble drive mechanism assembly 104, the paint-spray robot of whirligig 103, the paint-spray robot arm of move left and right device 102, the paint-spray robot arm of lowering or hoisting gear 101, the paint-spray robot arm of paint-spray robot arm.Wherein paint-spray robot is installed in painting workshop streamline both sides, and 107 pairs of paints of defeated paint system of paint-spray robot are carried out Based Intelligent Control with defeated lacquer.The electric-control system 106 of paint-spray robot is implemented Based Intelligent Control to all drive motors of the flexible and wobble drive mechanism 104 of the whirligig 103 of the move left and right device 102 of the lowering or hoisting gear 101 of paint-spray robot arm, paint-spray robot arm, paint-spray robot arm, paint-spray robot arm respectively.For the cable that prevents paint-spray robot and the mutual winding of transmission pipe line, be provided with the cable and the transmission pipe road support 105 of paint-spray robot for the rear end of paint-spray robot arm.
Shown in Fig. 2-4, Fig. 2 shows telescopic oscillating driving mechanism assembly 104 of the present invention, and Fig. 3 is that A is to telescopic oscillating driving mechanism assembly end view among Fig. 2, and Fig. 4 is an E-E cross-sectional view among Fig. 2.This telescopic oscillating driving mechanism assembly 104 comprises telescopic drive mechanism and wobble drive mechanism.
Like Fig. 5 A-5D, shown in the 6A-6C, Fig. 5 A-5D shows telescopic drive of the present invention mechanism retracted mode, and Fig. 6 A-6C shows telescopic drive of the present invention mechanism extended configuration.Described telescopic drive mechanism comprises that ball spline axle sleeve 2, hollow ball spline shaft 3, hollow ball-screw 4, first gland 5, first swelling cover 6, Connection Block 7, feed screw nut 8, expansion link overcoat 9, bearing block 10, bearing 11, telescopic drive motor 12, support 13, telescopic drive belt pulley 14, conveyer belt 15, flexible driven pulley 16, second gland 24, second swelling cover 25 and swinging mounting 27,34 are the belt pulley locking nut for belt pulley connecting key, 35.
Above-mentioned telescopic drive mechanism parts annexation is: telescopic drive motor 12 bearing fixing are on support 13; Telescopic drive motor 12 output shafts link to each other with telescopic drive belt pulley 14 with locking nut through connecting key; Flexible driven pulley 16 is fixedly connected on the hollow ball-screw 4 through belt pulley connecting key 34 and belt pulley locking nut 35; Hollow ball-screw 4 is formed screw pair with feed screw nut 8; Ball spline axle sleeve 2 is formed the ball spline transmission with hollow ball spline shaft 3; Both are cascaded through Connection Block 7, Connection Block 7 and feed screw nut 8 through bolt be connected fixing, overlap 6 with hollow ball spline shaft 3 through first swelling and be connected with first gland 5 and fix (shown in Fig. 5 C); It is an integral body that expansion link overcoat 9 is fixedly connected with bearing block 10, and ball spline axle sleeve 2 is fixed on the expansion link overcoat 9, and hollow ball-screw 4 is the strong point through four bearings 11, and four bearings 11 place in the bearing block 10; Swinging mounting 27 is through the other end Joint of second swelling cover, 25 and second gland 24 with hollow ball spline shaft 3.
The stretching, extension kind of drive of described telescopic drive mechanism is: after power is just transferring out from telescopic drive motor 12; Through telescopic drive belt pulley 14 with conveyer belt 15, export flexible driven pulley 16 to; Hollow ball-screw 4 is through four bearing 11 fixed supports, and the one of which end is connected with driven pulley 16.The driving force of flexible driven pulley 16 drive hollow ball-screw 4 do just transport moving; Feed screw nut 8 and Connection Block 7 are connected through bolt; Connection Block 7 is through the end Joint of first swelling cover, 6, the first glands 5 with hollow ball spline shaft 3, and hollow ball spline shaft 3 other ends are through second gland 24, second swelling cover 25 and swinging mounting 27 Joints; Hollow ball-screw 4 is just being transported moving; Limit sliding action because ball spline axle sleeve 2 is formed the ball spline sliding pair with hollow ball spline shaft 3, therefore driving hollow ball spline shaft 3 does stretching routine at ball spline axle sleeve 2, extends to position shown in Fig. 6 A from position shown in the 5A.Thereby telescopic drive motor 12 is just changeing final drive swinging mounting 27 does stretching routine.
The withdrawal kind of drive of described telescopic drive mechanism is: power is after the 12 counter-rotating outputs of telescopic drive motor; Through telescopic drive belt pulley 14 with conveyer belt 15, export flexible driven pulley 16 to; Hollow ball-screw 4 supports through bearing 11, and the one of which end is connected with driven pulley 16.Driving force drives hollow ball-screw 4 and does the counter-rotating rotation; Feed screw nut 8 and feed screw nut 8 and Connection Block 7 are connected through bolt; Connection Block 7 is through first swelling cover 6; First gland 5 and hollow ball spline shaft 3 one end Joints, hollow ball spline shaft 3 is done contractile motion at ball spline axle sleeve 2, and hollow ball spline shaft 3 other ends are through second gland 24, second swelling cover 25 and swinging mounting 27 Joints; Hollow ball-screw 4 return motions; Limit sliding action because ball spline axle sleeve 2 is formed the ball spline sliding pair with hollow ball spline shaft 3, therefore driving hollow ball spline shaft 3 does retraction movement at ball spline axle sleeve 2, is retracted to position shown in Fig. 5 A from position shown in the 6A.Thereby the final swinging mounting 27 that drives of telescopic drive motor 12 counter-rotatings is done retraction movement.
Shown in Fig. 7 A-7C and Fig. 8 A-8C, Fig. 7 A-7C 7 is the sketch map of wobble drive of the present invention mechanism, Fig. 8 A-8C be respectively B among Fig. 7 to the sketch map of the different amplitude of oscillation angles of wobble drive operating mechanism.
Described wobble drive mechanism comprises outer rectangular spline cover 1, belt pulley bearing 17, swing driven pulley 18, driving-belt 19, wobble drive belt pulley 20, planetary reducer 21, wobble drive motor 22, interior rectangle splined shaft 23, drive bevel gear bearing 26, drive bevel gear 28, driven wheel of differential 29, rotating shaft 30, driven wheel of differential bearing 31, operating mechanism support 32 and operating mechanism 33.
The above-mentioned parts annexation is: wobble drive motor 22 bearing fixing are on support 13; Wobble drive motor 22 provides driving force; Drive wobble drive belt pulley 20 and rotate, wobble drive belt pulley 20 drives swing driven pulley 18 through driving-belt 19 and rotates, and swing driven pulley 18 is connected with outer rectangular spline axle 1 through gland; Outer rectangular spline axle 1 is fixed in the hollow ball-screw 4 through belt pulley bearing 17; In the rectangular spline axle 1, interior rectangle splined shaft 23 and the scalable power transmission shaft of outer rectangular spline axle 1 composition are with described stretching drive mechanism synchronization telescope outside for interior rectangle splined shaft 23 1 ends.Interior rectangle splined shaft 23 other ends are connected with drive bevel gear 28; Drive bevel gear 28 drives driven wheel of differential 29 rotations; Driven wheel of differential 29 is connected with rotating shaft 30 keys, and rotating shaft 30 is connected with operating mechanism support 32 keys, does swing thereby finally drive operating mechanism 33.Outer rectangular spline cover 1 is formed the spline transmission with interior rectangle splined shaft 23, and drive bevel gear 28 is secondary with driven wheel of differential 29 composition Bevel Gear Transmission, and wherein drive bevel gear 28 is fixedly connected with interior rectangle splined shaft 23; Outer rectangular spline cover 1 is that the strong point places in the hollow ball-screw 4 with belt pulley bearing 17, and interior rectangle splined shaft 23 is that the strong point is connected with swinging mounting 27 with drive bevel gear bearing 26; Driven wheel of differential 29 is fixed on the rotating shaft 30, and rotating shaft 30 is that the strong point is connected with swinging mounting 27 with driven wheel of differential bearing 31; Operating mechanism 33 is fixed on the operating mechanism support 32, and operating mechanism support 32 is fixed on the rotating shaft 30.
The forward kind of drive of described wobble drive mechanism is: after power is just transferring out from wobble drive motor 22; Wobble drive motor 22 drives wobble drive belt pulley 20 and rotates after planetary reducer 21 slows down; Thereby driving swing driven pulley 18 through driving-belt 19 rotates; And then drive spline transmission rotates; Through the operation of power transmission belt dynamic bevel gear transmission, final drive and driven wheel of differential 29 rotate with the operating mechanism support 32 that is fixed on the rotating shaft 30, and operating mechanism 33 also rotates thereupon.
The reverse drive mode of described wobble drive mechanism is: power is after the 22 counter-rotating outputs of wobble drive motor; Wobble drive motor 22 drives wobble drive belt pulley 20 and rotates after planetary reducer 21 slows down; Thereby driving swing driven pulley 18 through driving-belt 19 rotates; And then drive spline transmission rotates; Through the operation of power transmission belt dynamic bevel gear transmission, final drive and driven wheel of differential 29 rotate with the operating mechanism support 32 that is fixed on the rotating shaft 30, and operating mechanism 33 also rotates thereupon.
Described telescopic drive mechanism and wobble drive mechanism, it stretches spacing and swings spacing all is to be controlled by the electric switch of electric-control system 106.
Flexible and the wobble drive mechanism of a kind of robots arm of the present invention; With the spray gun is example; But be not limited to this; Can be extensively with fields such as welding robot, transfer robots, owing to can drive the oscillating motion that operating mechanism 33 is done linear telescopic motion and ± 90 °, can be to the side of workpiece (is example with the coachbuilt body) and the spraying operation of top and bottom arc transition section; Effectively avoided of the influence of the irregular outer surface of vehicle body, guaranteed the quality of the surperficial spray treatment of vehicle body effectively spraying operation; And the present invention is rational in infrastructure, be easy to make, be convenient to operation, reduced the expense of equipment input and operation, maintenance effectively.
Should be appreciated that the present invention is not limited to above-mentioned preferred implementation, essence of the present invention two cover independent driving motors and two covers are independent but also related transmission mechanism not only; Two cover driving mechanisms are co-located on the robots arm; The scalable power transmission shaft of wobble drive mechanism passes the center of the independent telescope transmission mechanism of telescopic drive mechanism, and independent telescope transmission mechanism drive machines people arm swing support is done the axial stretching motion, and the operating mechanism of independent swing power transmission shaft drive fixing on the swinging mounting rotating shaft done oscillating motion; Therefore; Above-mentioned preferred implementation has many variant, as, the ball spline sliding pair that ball spline axle sleeve 2 and hollow ball spline shaft 3 are formed can be arranged between Connection Block 7 and the expansion link overcoat 9 in conversion; Above-mentioned spline also can replace to singly-bound, has needed only the rotary stopper effect; In like manner interior rectangle splined shaft 23 also can be provided with singly-bound with outer rectangular spline axle 1 connected mode and be connected, and other scalable slip also can be set and the power transmission shaft that do not rotate.The kind of drive and concrete structure thereof also can have many variant between telescopic drive motor 12 and the flexible driven pulley 16; The present invention is exemplified as the band transmission; But it can also be chain drive, Timing Belt transmission; Timing chain, change-speed gearing transmission or the like, the kind of drive and concrete structure thereof are also like this between wobble drive motor 22 and the swing driven pulley 18.The fixed connection mode that feed screw nut, Connection Block 7, hollow ball spline shaft 3, swinging mounting 27 are formed a common follower also has many modification.
Claims (9)
1. a robots arm stretches and the wobble drive mechanism assembly; It comprises telescopic drive mechanism and wobble drive mechanism; Described telescopic drive mechanism comprises independent telescope drive motors and independent telescope transmission mechanism; Described wobble drive mechanism comprises independent wobble drive motor and scalable power transmission shaft, it is characterized in that described scalable power transmission shaft passes the center of described independent telescope transmission mechanism; Described independent telescope transmission mechanism drive machines people arm swing support is done the axial stretching motion, and the operating mechanism of described independent swing power transmission shaft drive fixing on the swinging mounting rotating shaft done oscillating motion.
2. the flexible and wobble drive mechanism assembly of robots arm as claimed in claim 1; It is characterized in that; Described independent telescope transmission mechanism comprises the ball spline sliding pair of screw pair, ball spline axle sleeve and hollow ball spline shaft composition that hollow ball-screw and feed screw nut are formed, and the positive and negative rotation of described independent telescope drive motors finally drives swinging mounting and does stretching motion.
3. the flexible and wobble drive mechanism assembly of robots arm as claimed in claim 2; It is characterized in that; The bevel gear pair that flexible power transmission shaft pair, drive bevel gear and the driven wheel of differential of rectangle splined shaft and outer rectangular spline axle composition were formed in described independent swinging transmission mechanism comprised, the oscillating motion of the described operating mechanism of the moving final drive of described independent wobble drive motor positive and inverse.
4. the flexible and wobble drive mechanism assembly of robots arm as claimed in claim 3 is characterized in that described scalable power transmission shaft passes described hollow ball-screw center and described hollow ball spline shaft center.
5. the flexible and wobble drive mechanism assembly of robots arm as claimed in claim 4 is characterized in that described hollow ball spline shaft slides in described ball spline axle sleeve center.
6. the flexible and wobble drive mechanism assembly of robots arm as claimed in claim 1; Described telescopic drive mechanism comprises ball spline axle sleeve, hollow ball spline shaft, hollow ball-screw, first gland, the first swelling cover, Connection Block, feed screw nut, expansion link overcoat, bearing block, bearing, support, telescopic drive belt pulley, conveyer belt, flexible driven pulley, second gland, second swelling cover and the swinging mounting; It is characterized in that; Described hollow ball-screw and feed screw nut are formed screw pair; Described ball spline axle sleeve and described hollow ball spline shaft are formed the ball spline transmission, through described first gland, the first swelling cover, Connection Block, second gland, second swelling cover described feed screw nut, Connection Block, hollow ball spline shaft, swinging mounting are formed a common follower.
7. the flexible and wobble drive mechanism assembly of robots arm as claimed in claim 6; Described telescopic drive motor bearings is fixed on the described support; Described telescopic drive motor output shaft links to each other with the telescopic drive belt pulley with locking nut through connecting key; Described telescopic drive belt pulley drives flexible described driven pulley through described driving-belt and rotates, and rotates thereby drive described hollow ball-screw.
8. the flexible and wobble drive mechanism assembly of robots arm as claimed in claim 1; Described independent swinging transmission mechanism comprises the rotating shaft and the operating mechanism of outer rectangular spline cover, belt pulley bearing, swing driven pulley, driving-belt, wobble drive belt pulley, planetary reducer, wobble drive motor, interior rectangle splined shaft, drive bevel gear, driven wheel of differential, operating mechanism support; It is characterized in that it is secondary that described outer rectangular spline cover and described interior rectangle splined shaft are formed scalable power transmission shaft pair, described drive bevel gear, driven wheel of differential is formed Bevel Gear Transmission.
9. the flexible and wobble drive mechanism assembly of robots arm as claimed in claim 8; Described wobble drive motor drives the wobble drive belt pulley and rotates after planetary reducer slows down; Drive the swing driven pulley through driving-belt and rotate, and then drive described scalable power transmission shaft rotation, move through power transmission belt dynamic bevel gear transmission; Final drive and driven wheel of differential are with the rotation of being fixed in the rotating shaft on the operating mechanism support, and operating mechanism rotates thereupon.
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| CN2012101745864A CN102689311A (en) | 2012-05-31 | 2012-05-31 | Robot arm stretching and swinging driving mechanism assembly |
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| CN2012101745864A CN102689311A (en) | 2012-05-31 | 2012-05-31 | Robot arm stretching and swinging driving mechanism assembly |
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| CN103495971A (en) * | 2013-06-06 | 2014-01-08 | 合肥工业大学 | Five degree-of-freedom combined robot platform |
| CN105881526A (en) * | 2016-05-28 | 2016-08-24 | 东莞市联洲知识产权运营管理有限公司 | Light six-shaft all-purpose robot with extension arm |
| CN106142101A (en) * | 2016-08-15 | 2016-11-23 | 江苏鑫涂机械有限公司 | A kind of pipe inner-wall spraying robot |
| CN106622791A (en) * | 2016-11-24 | 2017-05-10 | 北京建筑大学 | Spray mechanical arm system |
| CN107088566A (en) * | 2017-06-22 | 2017-08-25 | 北京石油化工学院 | A kind of reactor cleaning positioning telescopic boom device |
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| CN108892054A (en) * | 2018-09-20 | 2018-11-27 | 安徽工程大学 | Power assisted manual crane |
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| CN111111976A (en) * | 2020-01-16 | 2020-05-08 | 合肥工业大学 | Robot lifting cradle head for surface spraying of large equipment |
| CN111496841A (en) * | 2020-03-31 | 2020-08-07 | 中电科西北集团有限公司 | Lifting mechanism |
| CN114454186A (en) * | 2022-01-15 | 2022-05-10 | 西安电子科技大学 | High-load multi-joint robot and control method thereof |
| CN116518257A (en) * | 2023-05-25 | 2023-08-01 | 广东嘀嗒酷显柔性显示技术股份有限公司 | Lifting rotary support and multimedia equipment |
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Application publication date: 20120926 |