CN107283414A - It is a kind of to make the drive mechanism of stable oscillation before and after pivoted arm in spray robot - Google Patents
It is a kind of to make the drive mechanism of stable oscillation before and after pivoted arm in spray robot Download PDFInfo
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- CN107283414A CN107283414A CN201710623819.7A CN201710623819A CN107283414A CN 107283414 A CN107283414 A CN 107283414A CN 201710623819 A CN201710623819 A CN 201710623819A CN 107283414 A CN107283414 A CN 107283414A
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- side installing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
- B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
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Abstract
It is a kind of to make the drive mechanism of stable oscillation before and after pivoted arm in spray robot；Including two axle wobble components and three axle wobble components, the two axles wobble component and three axle wobble components are arranged on two or three axle mounting seats；Two or the three axle mounting seat includes left side installing plate, right side installing plate and middle connecting plate, the left side installing plate and the right side installing plate be arranged in parallel, and both are vertically fixed on the rotating disk, the two ends of the middle connecting plate are separately fixed at the left side installing plate and the right side installing plate.By be mounted side by side in two or three axle mounting seats two axle motors and Three-axis drive motor in same level height it is arranged in parallel, both can be respectively mounted and dismantle as two independent modules, will not be interfered when avoiding two axle motors from being worked with Three-axis drive motor, it is simple in construction, it is easy for installation.
Description
Technical field
Make in spray robot stable oscillation before and after pivoted arm the present invention relates to spray robot apparatus field, particularly one kind
Drive mechanism.
Background technology
, it is necessary to directly be sprayed to the surface of ceramic product by front operating personnel in the production technology of ceramic product
Glaze, and there is the problem of efficiency of construction is low, labor intensity is big, construction quality can not ensure in existing hand spray, and to applying
For workman person, worked under painting environments there is strong influence to own bodies health for a long time.And robot is automatic
The installations of repeated work are performed, it can both receive mankind commander, the program of advance layout can be run again, according to people
The principle guiding principle that work intellectual technology is formulated performs operation.Design and operation is stable, and the high spray robot of precision is artificial right to replace
Ceramic product completion spraying coating process is art personnel always in the research of progress.
In the spray robot of prior art, the drive device of pivoted arm generally comprises two axial brake devices and Three-axis drive dress
Put, the actuating station of two axial brake devices and triaxial driving apparatus is connected with pivoted arm respectively, and the actuating station of the two is in same power
In the presence of source, pivoted arm is driven to make swing, and Liang Tao executing agencies are driven by same set of power source, in actual use
Unbalanced moment of torsion is easily produced on device.
The content of the invention
For drawbacks described above, it is an object of the invention to propose a kind of to make in spray robot stable oscillation before and after pivoted arm
Drive mechanism.
For up to this purpose, the present invention uses following technical scheme：
It is a kind of to make the drive mechanism of stable oscillation before and after pivoted arm in spray robot；Put including two axle wobble components and three axles
Dynamic component, the two axles wobble component and three axle wobble components are arranged on two or three axle mounting seats；
Two or the three axle mounting seat includes left side installing plate, right side installing plate and middle connecting plate, the left side installing plate
It is be arranged in parallel with the right side installing plate, and both are vertically fixed on the rotating disk, the two ends of the middle connecting plate are solid respectively
It is scheduled on the left side installing plate and the right side installing plate；
The two axles wobble component includes two axle swing arms, two axle motors, two axle follow-up connecting rods and two axles and is servo-actuated cylinder,
The two axles motor is arranged on the outside of the left side installing plate, and two axle is servo-actuated cylinder and installed installed in the right side
The outside of plate, the lower end of the two axles swing arm is inserted between the left side installing plate and the right side installing plate, two axle
The drive shaft of motor is sequentially passed through after the left side installing plate, the two axles swing arm and the right side installing plate with described two
One end of axle follow-up connecting rod is fixedly connected, and the drive shaft of the two axles motor is installed in rotation on the left side installation
Plate and the right side installing plate, and the two axles swing arm is fixedly mounted on the drive shaft of the two axles motor, two axle
The expansion link that the other end of follow-up connecting rod is servo-actuated cylinder with two axle is hinged；The upper end of the two axles swing arm is hinged on installation four
The front end of four axle mounting seats of axle pivoted arm；
The three axles wobble component includes three axle swing arms, three axle connecting rods, Three-axis drive motor, three axle follow-up connecting rods and three axles
Servo-actuated cylinder；The Three-axis drive motor is arranged on the outside of the left side installing plate, and with the two axles motor same
Arranged in parallel in one level height, the Three-axis drive motor is arranged on the outside of the right side installing plate, the three axles connecting rod
Front end be inserted between the left side installing plate and the right side installing plate, the drive shaft of the Three-axis drive motor is worn successively
Cross to fix with one end of the three axles follow-up connecting rod after the left side installing plate, the three axles connecting rod and the right side installing plate and connect
Connect, and the drive shaft of the Three-axis drive motor is installed in rotation on the left side installing plate and the right side installing plate, and
The three axles connecting rod is fixedly mounted on the drive shaft of the three axles follow-up connecting rod, the other end of the three axles follow-up connecting rod with it is described
The expansion link that three axles are servo-actuated cylinder is hinged；The three axles connecting rod extends to the rear of two or the three axle mounting seat, its rear end and institute
The lower end for stating three axle swing arms is hinged；The upper end of the three axles swing arm is hinged on the rear end for the four axle mounting seats for installing four axle pivoted arms.
It is preferred that, two axle, which is servo-actuated cylinder and three axle and is servo-actuated cylinder, is separately mounted to two axles with taking offence
Cylinder, and two axle is servo-actuated the top that cylinder is installed on the servo-actuated cylinder of three axle.
It is preferred that, the top of the left side installing plate is provided with thickening part, and the thickening part is by the left side installing plate
Upper end is outwardly and integrally-formed；Provided with two motor installing holes, the two axles motor and three in the thickening part
Axle motor is fixed on the left side installing plate by two motor installing holes respectively.
It is preferred that, the lower section of the thickening part is provided with ribs, and the side wall of the ribs is fixed on the left side and installed
Accept the lower surface for being fixed on the thickening part in the lateral wall of plate, its upper end.
It is preferred that, the outwardly formation otic placode in right side of the left side installing plate, two axle is servo-actuated cylinder and is arranged on institute
State otic placode.
It is preferred that, the quantity of the middle connecting plate is two, and two middle connecting plates be arranged in parallel so that under it
Side is to be available for the cable tray that cable passes through.
It is preferred that, the rear end of the four axles pivoted arm is installed in rotation on the four axles mounting seat, the four axles mounting seat
Outside be provided with four axle motors, the four axles motor by electric slip ring be the rotation of the four axles pivoted arm provide move
Power.
It is preferred that, the lateral wall of the two axles swing arm, which is provided with moveable hinge joint, the moveable hinge joint, is provided with ripple
Pipe；The cable being powered to the four axles motor, which is passed, enters the bellows after the four axles mounting seat, and along institute
State bellows downwards, the cable tray of the four axles mounting seat is entered after the bellows is passed, then it is logical by the cabling
With extraneous power on behind road.
It is preferred that, the outer cup button of the four axles motor is provided with four axle outer covers.
It is preferred that, the four axles mounting seat is cylinder hollow-core construction, and the four axles outer cover is fixed on the four axles mounting seat
Rear end.
Beneficial effects of the present invention：By the way that two axle motors and Three-axis drive electricity are mounted side by side in two or three axle mounting seats
Machine is arranged in parallel in same level height, and both can be respectively mounted and dismantle as two independent modules, to avoid two axles
Motor will not be interfered when being worked with Three-axis drive motor, simple in construction, easy for installation.
Brief description of the drawings
Fig. 1 is the stereogram of the right back angle of one embodiment of the present of invention；
Fig. 2 is the stereogram at the left back visual angle of one embodiment of the present of invention；
Fig. 3 is the stereogram of one embodiment of two or three axle mounting seats in the present invention.
Wherein：Two axle wobble components 3, two axle swing arms 31, two axle motors 32, two axle follow-up connecting rods 33, two axles are servo-actuated
Cylinder 34；Three axle wobble components 4, three axle swing arms 41, three axle connecting rods 42, Three-axis drive motor 43, three axle follow-up connecting rods 44, three axles
Servo-actuated cylinder 45；Four axle runner assemblies 5, four axle pivoted arms 51, four axle mounting seats 52, four axle motors 53；Two or three axle mounting seats
7, left side installing plate 71, thickening part 711, ribs 712, otic placode 713, right side installing plate 72, middle connecting plate 73, motor is installed
Hole 77, cable tray 78；Moveable hinge joint 9.
Embodiment
Further illustrate technical scheme below in conjunction with the accompanying drawings and by embodiment.
As shown in Figure 1, Figure 2 and Figure 3, it is a kind of to make the drive mechanism of stable oscillation before and after pivoted arm in spray robot；Including
Two axle wobble components 3 and three axle wobble components 4, the two axles wobble component 3 and three axle wobble components 4 are installed installed in two or three axles
Seat 7；
Two or the three axle mounting seat 7 includes left side installing plate 71, right side installing plate 72 and middle connecting plate 73, the left side
Installing plate 71 and the right side installing plate 72 be arranged in parallel, and both are vertically fixed on the rotating disk, the middle connecting plate 73
Two ends be separately fixed at the left side installing plate 71 and the right side installing plate 72；
The two axles wobble component 3 include two axle swing arms 31, two axle motors 32, two axle follow-up connecting rods 33 and two axles with
Take offence cylinder 34, the two axles motor 32 is arranged on the outside of the left side installing plate 71, two axle, which is servo-actuated cylinder 34, pacifies
Mounted in the outside of the right side installing plate 72, the lower end of the two axles swing arm 31 is inserted into the left side installing plate 71 and the right side
Between side installing plate 72, the drive shaft of the two axles motor 32 sequentially passes through the left side installing plate 71, two axle pendulum
One end after arm 31 and the right side installing plate 72 with the two axles follow-up connecting rod 33 is fixedly connected, and the two axles motor
32 drive shaft is installed in rotation on the left side installing plate 71 and the right side installing plate 72, and the two axles swing arm 31 is solid
Dingan County is mounted in the drive shaft of the two axles motor 32, and the other end of the two axles follow-up connecting rod 33 and two axle are with taking offence
The expansion link of cylinder 34 is hinged；The upper end of the two axles swing arm 31 is hinged on the front end for the four axle mounting seats for installing four axle pivoted arms；
The three axles wobble component 4 includes three axle swing arms 41, three axle connecting rods 42, Three-axis drive motor 43, the servo-actuated company of three axles
The axle of bar 44 and three is servo-actuated cylinder 45；The Three-axis drive motor 43 be arranged on the left side installing plate 71 outside, and with it is described
Two axle motors 32 are arranged in parallel in same level height, and the Three-axis drive motor 43 is arranged on the right side installing plate
72 outside, the front end of the three axles connecting rod 42 is inserted between the left side installing plate 71 and the right side installing plate 72, institute
The drive shaft for stating Three-axis drive motor 43 sequentially passes through the left side installing plate 71, the three axles connecting rod 42 and right side installation
One end after plate 72 with the three axles follow-up connecting rod 44 is fixedly connected, and the Three-axis drive motor 43 drive shaft rotationally
Installed in the left side installing plate 71 and the right side installing plate 72, and the three axles connecting rod 42 be fixedly mounted on three axle with
The drive shaft of dynamic connecting rod 44, the expansion link that the other end of the three axles follow-up connecting rod 44 is servo-actuated cylinder 45 with three axle is hinged；
The three axles connecting rod 42 extends to the rear of two or the three axle mounting seat 7, and its rear end and the lower end of the three axles swing arm 41 are hinged；
The upper end of the three axles swing arm 41 is hinged on the rear end for the four axle mounting seats for installing four axle pivoted arms.
In spray robot, while four axle 52 rotation of mounting seat relatively of the energy of four axle pivoted arm 51, moreover it is possible in two axle swing arms 31
Swing under drive with three axle swing arms 41.Wherein, the upper end of two axle swing arms 31 and three axle swing arms 41 is hinged with pivoted arm respectively,
The lower end of two axle swing arms 31 is fixed on the rotary shaft of two axle motors 32, and makees front and rear under the drive of two axle motors 32
Swing；The lower end of three axle swing arms 41 and the rear end of the three axles connecting rod 42 are hinged, and the front end of the three axles connecting rod 42 is fixed on three
The rotary shaft of axle motor 43 so that before and after three axle swing arms 41 are made under the drive of the axle connecting rod 42 of Three-axis drive motor 43 and three
Swing；
Both are caused itself to produce in order to avoid the swing angle change of two axle swing arms 31 and three axle swing arms 41 uneven
Power, and then influence the kinematic accuracy of pivoted arm, the offside of two axle motors 32 and Three-axis drive motor 43, set respectively two axles with
Cylinder 34 of taking offence is hinged with two axle motors 32, and three axles are servo-actuated cylinder 45 and are hinged with Three-axis drive motor 43.Toward two axle with
The axle of cylinder 34 and three of taking offence is servo-actuated the gases at high pressure that constant air pressure is injected in the cylinder barrel of cylinder 45, in the two axles swing arm 31 and three axles
Swing arm 41 is toward during swing, and two axle is servo-actuated the piston rod stretching retraction that the axle of cylinder 34 and three is servo-actuated cylinder 45, there is more
Gases at high pressure enter in cylinder barrel, make the piston rod will not be because of the two axles swing arm 31 and the swing angle of three axle swing arm 41
Change and occur piston rod toward the phenomenon retracted in cylinder barrel.Two axle is servo-actuated the axle of cylinder 34 and three and is servo-actuated 45 pairs described two of cylinder
The axle swing arm 41 of axle swing arm 31 and three produces a torque, and its direction and the two axles swing arm 31 and three axle swing arms 41 itself are uneven
The torque of power is on the contrary, so as to facilitate the two axles motor 32 and Three-axis drive motor 43 to drive the two axles swing arm 31 respectively
With the swing of three axle swing arm 41.
In the technical program, two axle motors 32 and Three-axis drive motor 43 are mounted side by side on two or three axle mounting seats 7
Left side installing plate 71 outside, two axles, which are servo-actuated cylinder 34 and three axle and are servo-actuated cylinder 45, is separately mounted to two or three axle mounting seats 7
The front end of the outside of right side installing plate 72, the lower end of two axle swing arms 31 and three axle connecting rods 42 is inserted into the left side He of installing plate 71 respectively
Between right side installing plate 72.
During installation, the rotary shaft of two axle motors 32 sequentially passes through the left side bearing mounting hole of left side installing plate 71, two
After the right side bearing mounting hole of axle swing arm 31 and right side installing plate 72, then pass through two axle follow-up connecting rods 33 and the servo-actuated cylinder 34 of two axles
Connection, and (outer ring of two bearings is separately fixed at can left side bearing by bearing for the rotary shaft of the two axles motor 32
In mounting hole and right side bearing mounting hole, the inner ring of two bearings is separately fixed at the rotary shaft two ends of two axle motors 32)
The left side installing plate 71 and the right side installing plate 72 are installed in rotation on, and the two axles swing arm 31 is fixedly mounted on institute
State the medium position of the drive shaft of two axle motors 32；Two axle is servo-actuated cylinder 34 and is installed on the servo-actuated cylinder 45 of three axle
Top.
And the rotary shaft of Three-axis drive motor 43 sequentially pass through left side installing plate 71 on another left side bearing mounting hole,
After another right side bearing mounting hole on the front end and right side installing plate 72 of three axle connecting rods 42, then pass through three axle follow-up connecting rods 44
Cylinder 45 is servo-actuated with three axles to be connected, and the rotary shaft of the Three-axis drive motor 43 (is distinguished the outer ring of two bearings by bearing
Be fixed on can left side bearing mounting hole and right side bearing mounting hole in, the inner ring of two bearings is separately fixed at Three-axis drive motor
43 rotary shaft two ends) the left side installing plate 71 and the right side installing plate 72 are installed in rotation on, and three axle connects
The front end of bar 42 is fixedly mounted on the medium position of the drive shaft of the Three-axis drive motor 43, and it is installed to two or three axle
The rear extension of seat 7, the lower end and the rear end of three axle connecting rods 42 of the three axles swing arm 41 are hinged, and three axles are servo-actuated the cylinder body of cylinder 45
It is fixedly mounted on below the bearing mounting hole of right side.
In the technical program, by the way that two axle motors 32 and Three-axis drive electricity are mounted side by side in two or three axle mounting seats 7
Machine 43 is arranged in parallel in same level height, and both can be respectively mounted and dismantle as two independent modules, to avoid two
Axle motor 32 will not be interfered when being worked with Three-axis drive motor 43, simple in construction, easy for installation.
Two axle is servo-actuated cylinder 34 and three axle is servo-actuated cylinder 45 and is separately mounted to the servo-actuated cylinder of two axles
34, and two axle is servo-actuated the top that cylinder 34 is installed on the servo-actuated cylinder 45 of three axle.
Two axles are servo-actuated cylinder 34 and three axle and are servo-actuated cylinder 45 according to position distribution up and down staggeredly, then and, two axles are with taking offence
Cylinder 34 is connected by two axle follow-up connecting rods 33 with the driving the tip of the axis of two axle motors 32, and three axles are servo-actuated cylinder 45 and pass through three
Axle follow-up connecting rod 44 is connected with the driving the tip of the axis of Three-axis drive motor 43；The swing arm 31 of two axles and three axle swing arms 41 are forward
After when swinging, two axles, which are servo-actuated the axle of cylinder 34 and three and are servo-actuated the piston rod of cylinder 45, stretches out retraction without dry between generation
Relate to, improve service efficiency.
The top of the left side installing plate 71 is provided with thickening part 711, and the thickening part 711 is by the left side installing plate 71
Upper end it is outwardly and integrally-formed；Provided with two motor installing holes 77 in the thickening part 711, the two axles driving electricity
Machine 32 and Three-axis drive motor 43 are fixed on the left side installing plate 71 by two motor installing holes 77 respectively.
Two axle motors 32 and Three-axis drive motor 43 are mounted side by side on the left side installing plate 71 of two or three axle mounting seats 7
Outside, and in the present embodiment, the outwardly formation thickening part 711 in upper end of left side installing plate 71, thickening part 711 is interior provided with difference
The motor installing hole 77 of two axle motors 32 and Three-axis drive motor 43 is installed, the hole side wall of the bottom of motor installing hole 77 is two
Axle motor 32 and Three-axis drive motor 43 provide upward support force, to improve stability when the two is installed.
The lower section of the thickening part 711 is provided with ribs 712, and the side wall of the ribs 712 is fixed on the left side peace
The lateral wall of plate 71 is filled, the lower surface for being fixed on the thickening part 711 is accepted in its upper end.
The outwardly formation thickening part 711 in upper end of left side installing plate 71 so that thickening part 711 is in hanging state,
Ribs 712 is set in the lower section of thickening part 711, is that thickening part 711 provides upward support force, to improve its stability, with
And the stability of two axle motors 32 and Three-axis drive motor 43 is further improved, and added thin by ribs 712
The approach of vibration wave when dissipating two axle motors 32 and the operation of Three-axis drive motor 43, so as to strengthen two axle motors 32 and three
Precision when axle motor 43 drives.
The right side of the left side installing plate 71 is outwardly to form otic placode 713, and two axle is servo-actuated cylinder 34 and is arranged on institute
State otic placode 713.
Otic placode 713 adds the space of left side installing plate 71, for setting positioned at the right side bearing mounting hole 75
The cylinder mounting seat of side, to facilitate two axles to be servo-actuated the installation and motion of cylinder 34, optimizes space layout, improves usability
Energy.
The quantity of the middle connecting plate 73 is two, and two middle connecting plates 73 be arranged in parallel so that below
For the cable tray 78 for being available for cable to pass through；Convenient use, improves service efficiency.
The rear end of the four axles pivoted arm 51 is installed in rotation on the four axles mounting seat 52, the four axles mounting seat 52
Outside is provided with four axle motors 53, and rotation of the four axles motor 53 by electric slip ring for the four axles pivoted arm 51 is provided
Power.
Four axle motors 53 drive four axle pivoted arms 51 to be rotated relative to four axle mounting seats 52, and four axle motors 53 pass through electricity
Slip ring is connected with four axle pivoted arms 51, without other intermediate transmission mechanisms, and efficiency high/precision is high, and using the hollow structure of electric slip ring,
Cable is not distorted, and can large rotation and be not concerned about cable influence stroke the problems such as, direct coupled structure install it is very simple
Single, maintenance is easy.
The lateral wall of the two axles swing arm 31 is provided with moveable hinge joint 9, the moveable hinge joint 9 and is provided with bellows；
The cable being powered to the four axles motor 53, which is passed, enters the bellows after the four axles mounting seat 52, and along institute
State bellows downwards, after the bellows is passed enter the four axles mounting seat 52 cable tray 78, then by it is described walk
With extraneous power on after line passage 78.
Avoid the cable of four axle motors 53 from being distorted and wind, and four axle pivoted arms 51 can large rotation and
The problems such as being not concerned about cable influence stroke, easy maintenance.
The outer cup button of the four axles motor 53 is provided with four axle outer covers.
Four axle outer covers avoid the winged liquid produced in the spray robot course of work, winged slag etc. from entering in four axle motors 53
The normal operation of four axle motors 53 is influenceed, service efficiency is improved.
The four axles mounting seat 52 is cylinder hollow-core construction, and the four axles outer cover is fixed on after the four axles mounting seat 52
End.
It is simple and compact for structure, it is easy for installation, improve service efficiency.
The technical principle of the present invention is described above in association with specific embodiment.These descriptions are intended merely to explain the present invention's
Principle, and limiting the scope of the invention can not be construed in any way.Based on explanation herein, the technology of this area
Personnel, which would not require any inventive effort, can associate other embodiments of the present invention, and these modes are fallen within
Within protection scope of the present invention.
Claims (10)
1. a kind of make the drive mechanism of stable oscillation before and after pivoted arm in spray robot, it is characterised in that：Including two axle swing groups
Part and three axle wobble components, the two axles wobble component and three axle wobble components are arranged on two or three axle mounting seats；
Two or the three axle mounting seat includes left side installing plate, right side installing plate and middle connecting plate, the left side installing plate and institute
Right side installing plate is stated to be arranged in parallel, and both are vertically fixed on the rotating disk, the two ends of the middle connecting plate are separately fixed at
The left side installing plate and the right side installing plate；
The two axles wobble component includes two axle swing arms, two axle motors, two axle follow-up connecting rods and two axles and is servo-actuated cylinder, described
Two axle motors are arranged on the outside of the left side installing plate, and two axle is servo-actuated cylinder and is arranged on the right side installing plate
Outside, the lower end of the two axles swing arm is inserted between the left side installing plate and the right side installing plate, the two axles driving
The drive shaft of motor sequentially pass through after the left side installing plate, the two axles swing arm and the right side installing plate with two axle with
One end of dynamic connecting rod is fixedly connected, and the two axles motor drive shaft be installed in rotation on the left side installing plate and
The right side installing plate, and the two axles swing arm is fixedly mounted on the drive shaft of the two axles motor, two axle is servo-actuated
The expansion link that the other end of connecting rod is servo-actuated cylinder with two axle is hinged；The upper end of the two axles swing arm is hinged on four axles of installation and turned
The front end of four axle mounting seats of arm；
It is servo-actuated that the three axles wobble component includes three axle swing arms, three axle connecting rods, Three-axis drive motor, three axle follow-up connecting rods and three axles
Cylinder；The Three-axis drive motor is arranged on the outside of the left side installing plate, and with the two axles motor in same water
Arranged in parallel in flat height, the Three-axis drive motor is arranged on before the outside of the right side installing plate, the three axles connecting rod
End is inserted between the left side installing plate and the right side installing plate, and the drive shaft of the Three-axis drive motor sequentially passes through institute
It is fixedly connected after stating left side installing plate, the three axles connecting rod and the right side installing plate with one end of the three axles follow-up connecting rod,
And the drive shaft of the Three-axis drive motor is installed in rotation on the left side installing plate and the right side installing plate, and it is described
Three axle connecting rods are fixedly mounted on the drive shaft of the three axles follow-up connecting rod, the other end of the three axles follow-up connecting rod and three axle
The expansion link of servo-actuated cylinder is hinged；The three axles connecting rod extends to the rear of two or the three axle mounting seat, its rear end and described three
The lower end of axle swing arm is hinged；The upper end of the three axles swing arm is hinged on the rear end for the four axle mounting seats for installing four axle pivoted arms.
2. drive mechanism according to claim 1, it is characterised in that：Two axle is servo-actuated cylinder and three axle with taking offence
Cylinder is separately mounted to two axles and is servo-actuated cylinder, and two axle is servo-actuated cylinder and is installed on the upper of the servo-actuated cylinder of three axle
Side.
3. drive mechanism according to claim 1, it is characterised in that：The top of the left side installing plate is provided with thickening part,
The thickening part is outwardly and integrally-formed by the upper end of the left side installing plate；Provided with two electricity in the thickening part
Machine mounting hole, the two axles motor and Three-axis drive motor are fixed on the left side by two motor installing holes respectively
Side installing plate.
4. drive mechanism according to claim 3, it is characterised in that：The lower section of the thickening part is provided with ribs, described
The side wall of ribs is fixed on the lateral wall of the left side installing plate, and the lower surface for being fixed on the thickening part is accepted in its upper end.
5. drive mechanism according to claim 3, it is characterised in that：The right side of the left side installing plate is outwardly to be formed
Otic placode, two axle is servo-actuated cylinder and is arranged on the otic placode.
6. drive mechanism according to claim 1, it is characterised in that：The quantity of the middle connecting plate is two, two
The middle connecting plate be arranged in parallel so that the cable tray to be available for cable to pass through below.
7. drive mechanism according to claim 6, it is characterised in that：The rear end of the four axles pivoted arm is installed in rotation on
The four axles mounting seat, the outside of the four axles mounting seat is provided with four axle motors, and the four axles motor is sliding by electricity
Ring is the powered rotation of the four axles pivoted arm.
8. driving structure according to claim 7, it is characterised in that：The lateral wall of the two axles swing arm is provided with and is movably hinged
Bellows is installed on head, the moveable hinge joint；The cable being powered to the four axles motor passes the four axles peace
Fill and enter the bellows after seat, and, four axle installation is entered after the bellows is passed along the bellows downwards
Seat cable tray, then by after the cable tray with extraneous power on.
9. driving structure according to claim 6, it is characterised in that：The outer cup button of the four axles motor is provided with four
Axle outer cover.
10. driving structure according to claim 6, it is characterised in that：The four axles mounting seat is cylinder hollow-core construction, institute
State the rear end that four axle outer covers are fixed on the four axles mounting seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710623819.7A CN107283414B (en) | 2017-07-27 | 2017-07-27 | A kind of driving mechanism making stable oscillation before and after pivoted arm in spray robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710623819.7A CN107283414B (en) | 2017-07-27 | 2017-07-27 | A kind of driving mechanism making stable oscillation before and after pivoted arm in spray robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107283414A true CN107283414A (en) | 2017-10-24 |
| CN107283414B CN107283414B (en) | 2019-07-16 |
Family
ID=60103377
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710623819.7A Active CN107283414B (en) | 2017-07-27 | 2017-07-27 | A kind of driving mechanism making stable oscillation before and after pivoted arm in spray robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107283414B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108127281A (en) * | 2017-12-08 | 2018-06-08 | 安徽维力拓网络科技有限公司 | A kind of automotive sheet welder |
| CN109159145A (en) * | 2018-11-08 | 2019-01-08 | 浙江希望机械有限公司 | A kind of tracking mode bubble cap tray transfer robot arm |
| CN113083554A (en) * | 2021-04-01 | 2021-07-09 | 王梅竹 | Christmas tree snow spraying method and application device |
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| CN1307956A (en) * | 2000-06-30 | 2001-08-15 | 佛山市佛山机器人有限公司 | Hand-in-hand demonstration robot |
| CN102029607A (en) * | 2009-09-29 | 2011-04-27 | 库卡罗伯特有限公司 | Industrial robot with weight balancing system |
| CN104162890A (en) * | 2014-07-04 | 2014-11-26 | 倪立新 | Step-by-step teaching robot based on motor power and control method thereof |
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| GB2109337A (en) * | 1981-09-14 | 1983-06-02 | Univ Surrey | A robotic arm |
| JPH0985674A (en) * | 1995-09-20 | 1997-03-31 | Yaskawa Electric Corp | Drive motor cooling mechanism for articulated robot |
| CN1307956A (en) * | 2000-06-30 | 2001-08-15 | 佛山市佛山机器人有限公司 | Hand-in-hand demonstration robot |
| CN102029607A (en) * | 2009-09-29 | 2011-04-27 | 库卡罗伯特有限公司 | Industrial robot with weight balancing system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108127281A (en) * | 2017-12-08 | 2018-06-08 | 安徽维力拓网络科技有限公司 | A kind of automotive sheet welder |
| CN109159145A (en) * | 2018-11-08 | 2019-01-08 | 浙江希望机械有限公司 | A kind of tracking mode bubble cap tray transfer robot arm |
| CN113083554A (en) * | 2021-04-01 | 2021-07-09 | 王梅竹 | Christmas tree snow spraying method and application device |
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| CN107283414B (en) | 2019-07-16 |
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