CN107283414B - A kind of driving mechanism making stable oscillation before and after pivoted arm in spray robot - Google Patents
A kind of driving mechanism making stable oscillation before and after pivoted arm in spray robot Download PDFInfo
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- CN107283414B CN107283414B CN201710623819.7A CN201710623819A CN107283414B CN 107283414 B CN107283414 B CN 107283414B CN 201710623819 A CN201710623819 A CN 201710623819A CN 107283414 B CN107283414 B CN 107283414B
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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
A kind of driving mechanism making stable oscillation before and after pivoted arm in spray robot；Including two axis wobble components and three axis wobble components, the two axis wobble component and three axis wobble components are mounted on two or three axis mounting bases；Two or the three axis mounting base includes left side mounting plate, right side mounting plate and middle connecting plate, the left side mounting plate and the right side mounting plate are arranged in parallel, and the two is vertically fixed on the turntable, the both ends of the middle connecting plate are separately fixed at the left side mounting plate and the right side mounting plate.It is arranged in parallel in same level height with Three-axis drive motor by the way that two axis driving motors are mounted side by side in two or three axis mounting bases, the two can be used as two independent modules and mount and dismount respectively, it will not be interfered when working to avoid two axis driving motors with Three-axis drive motor, structure is simple, easy for installation.
Description
Technical field
The present invention relates to spray robot apparatus field, especially one kind to make pivoted arm front and back stable oscillation in spray robot
Driving mechanism.
Background technique
In the production technology of ceramic product, need directly to spray by surface of the front operator to ceramic product
Glaze, and existing hand spray has that construction efficiency is low, large labor intensity, construction quality not can guarantee, and to applying
For worker person, working under painting environments for a long time, there are strong influences to own bodies health.And robot is automatic
The installations of repeated work are executed, it can not only receive mankind commander, but also can run the program of preparatory layout, according to people
The principle program that work intellectual technology is formulated executes operation.Design and operation is stablized, and spray robot with high accuracy is artificial right to replace
Ceramic product completes spraying process, is field technical staff always in the research of progress.
In the spray robot of the prior art, the driving device of pivoted arm generally comprises two axial brake devices and Three-axis drive dress
It sets, the actuating station of two axial brake devices and triaxial driving apparatus is connect with pivoted arm respectively, and the actuating station of the two is in same power
Under the action of source, pivoted arm is driven to make swing, and Liang Tao executing agency is driven by same set of power source, in actual use
It is easy to generate unbalanced torque on device.
Summary of the invention
In view of the foregoing drawbacks, it is an object of the invention to propose a kind of to make stable oscillation before and after pivoted arm in spray robot
Driving mechanism.
To achieve this purpose, the present invention adopts the following technical scheme:
A kind of driving mechanism making stable oscillation before and after pivoted arm in spray robot；It is put including two axis wobble components and three axis
Dynamic component, the two axis wobble component and three axis wobble components are mounted on two or three axis mounting bases；
Two or the three axis mounting base includes left side mounting plate, right side mounting plate and middle connecting plate, the left side mounting plate
It is arranged in parallel with the right side mounting plate, and the two is vertically fixed on turntable, the both ends of the middle connecting plate are solid respectively
It is scheduled on the left side mounting plate and the right side mounting plate；
The two axis wobble component includes that two axis swing arms, two axis driving motors, two axis follow-up connecting rods and two axis are servo-actuated cylinder,
The two axis driving motor is mounted on the outside of the left side mounting plate, and two axis is servo-actuated cylinder and is mounted on the right side installation
The outside of plate, the lower end of the two axis swing arm are inserted between the left side mounting plate and the right side mounting plate, two axis
The drive shaft of driving motor sequentially passes through after the left side mounting plate, the two axis swing arm and the right side mounting plate with described two
One end of axis follow-up connecting rod is fixedly connected, and the drive shaft of the two axis driving motor is installed in rotation on the left side installation
Plate and the right side mounting plate, and the two axis swing arm is fixedly mounted on the drive shaft of the two axis driving motor, two axis
The other end of follow-up connecting rod and the telescopic rod that two axis is servo-actuated cylinder are hinged；The upper end of the two axis swing arm is hinged on installation four
The front end of four axis mounting bases of axis pivoted arm；
The three axis wobble component includes three axis swing arms, three axis connecting rods, Three-axis drive motor, three axis follow-up connecting rods and three axis
Servo-actuated cylinder；The Three-axis drive motor is mounted on the outside of the left side mounting plate, and with the two axis driving motor same
Arranged in parallel in one level height, three axis is servo-actuated the outside that cylinder is mounted on the right side mounting plate, the three axis connecting rod
Front end be inserted between the left side mounting plate and the right side mounting plate, the drive shaft of the Three-axis drive motor is successively worn
Cross the fixed company in one end after the left side mounting plate, the three axis connecting rod and the right side mounting plate with the three axis follow-up connecting rod
It connects, and the drive shaft of the Three-axis drive motor is installed in rotation on the left side mounting plate and the right side mounting plate, and
The three axis connecting rod is fixedly mounted on the drive shaft of the three axis follow-up connecting rod, the other end of the three axis follow-up connecting rod with it is described
The telescopic rod that three axis are servo-actuated cylinder is hinged；The three axis connecting rod extends to the rear of two or the three axis mounting base, its rear end and institute
The lower end for stating three axis swing arms is hinged；The upper end of the three axis swing arm is hinged on the rear end of four axis mounting bases of four axis pivoted arms of installation.
Preferably, two axis is servo-actuated cylinder and three axis is servo-actuated cylinder according to staggered position distribution, and institute up and down
It states two axis and is servo-actuated the top that cylinder is installed on the servo-actuated cylinder of three axis.
Preferably, the top of the left side mounting plate is equipped with thickening part, and the thickening part is by the left side mounting plate
Upper end outwardly protrudes and integrally-formed；Motor installing hole there are two being set in the thickening part, the two axis driving motor and three
Axis driving motor passes through two motor installing holes respectively and is fixed on the left side mounting plate.
Preferably, the lower section of the thickening part is equipped with ribs, and the side wall of the ribs is fixed on the left side installation
The lower end surface for being fixed on the thickening part is accepted in the lateral wall of plate, the upper end.
Preferably, the quantity of the middle connecting plate is two, and two middle connecting plates are arranged in parallel, so that under it
Side is the cable tray passed through for cable.
Preferably, the rear end of the four axis pivoted arm is installed in rotation on the four axis mounting base, the four axis mounting base
Outside be equipped with four axis driving motors, the four axis driving motor is provided by electric slip ring for the rotation of the four axis pivoted arm dynamic
Power.
Preferably, the lateral wall of the two axis swing arm is equipped with moveable hinge connector, is equipped with ripple on the moveable hinge connector
Pipe；Enter the bellows after being pierced by the four axis mounting base to the cable that the four axis driving motor is powered, and along institute
It states that bellows is downward, the cable tray of the four axis mounting base is entered after being pierced by the bellows, then is logical by the cabling
It is connected behind road with extraneous power supply.
Preferably, the outer cup button of the four axis driving motor is equipped with four axis outer covers.
Preferably, the four axis mounting base is cylinder hollow structure, and the four axis outer cover is fixed on the four axis mounting base
Rear end.
Beneficial effects of the present invention: by the way that two axis driving motors and Three-axis drive electricity are mounted side by side in two or three axis mounting bases
Machine is arranged in parallel in same level height, and the two can be used as two independent modules and mount and dismount respectively, to avoid two axis
Driving motor will not interfere when working with Three-axis drive motor, and structure is simple, easy for installation.
Detailed description of the invention
Fig. 1 is the perspective view of the right back angle of one embodiment of the present of invention；
Fig. 2 is the perspective view at the left back visual angle of one embodiment of the present of invention；
Fig. 3 is the perspective view of one embodiment of two or three axis mounting bases in the present invention.
Wherein: two axis wobble components 3, two axis swing arms 31, two axis driving motors 32, two axis follow-up connecting rods 33, two axis are servo-actuated
Cylinder 34；Three axis wobble components 4, three axis swing arms 41, three axis connecting rods 42, Three-axis drive motor 43, three axis follow-up connecting rods 44, three axis
Servo-actuated cylinder 45；Four axis runner assemblies 5, four axis pivoted arms 51, four axis mounting bases 52, four axis driving motors 53；Two or three axis mounting bases
7, left side mounting plate 71, thickening part 711, ribs 712, otic placode 713, right side mounting plate 72, middle connecting plate 73, motor installation
Hole 77, cable tray 78；Moveable hinge connector 9.
Specific embodiment
To further illustrate the technical scheme of the present invention below with reference to the accompanying drawings and specific embodiments.
As shown in Figure 1, Figure 2 and Figure 3, a kind of driving mechanism making stable oscillation before and after pivoted arm in spray robot；Including
Two axis wobble components 3 and three axis wobble components 4, the two axis wobble component 3 and three axis wobble components 4 are mounted on the installation of two or three axis
Seat 7；
Two or the three axis mounting base 7 includes left side mounting plate 71, right side mounting plate 72 and middle connecting plate 73, the left side
Mounting plate 71 and the right side mounting plate 72 are arranged in parallel, and the two is vertically fixed on the turntable, the middle connecting plate 73
Both ends be separately fixed at the left side mounting plate 71 and the right side mounting plate 72；
The two axis wobble component 3 include two axis swing arms 31, two axis driving motors 32, two axis follow-up connecting rods 33 and two axis with
It takes offence cylinder 34, the two axis driving motor 32 is mounted on the outside of the left side mounting plate 71, and two axis, which is servo-actuated cylinder 34, pacifies
Mounted in the outside of the right side mounting plate 72, the lower end of the two axis swing arm 31 is inserted into the left side mounting plate 71 and the right side
Between side mounting plate 72, the drive shaft of the two axis driving motor 32 sequentially passes through the left side mounting plate 71, two axis pendulum
It is fixedly connected after arm 31 and the right side mounting plate 72 with one end of the two axis follow-up connecting rod 33, and the two axis driving motor
32 drive shaft is installed in rotation on the left side mounting plate 71 and the right side mounting plate 72, and the two axis swing arm 31 is solid
Dingan County is mounted in the drive shaft of the two axis driving motor 32, and the other end of the two axis follow-up connecting rod 33 and two axis are with taking offence
The telescopic rod of cylinder 34 is hinged；The upper end of the two axis swing arm 31 is hinged on the front end of four axis mounting bases of four axis pivoted arms of installation；
The three axis wobble component 4 includes three axis swing arms 41, three axis connecting rods 42, Three-axis drive motor 43, the servo-actuated company of three axis
Bar 44 and three axis are servo-actuated cylinder 45；The Three-axis drive motor 43 is mounted on the outside of the left side mounting plate 71, and with it is described
Two axis driving motors 32 are arranged in parallel in same level height, and three axis is servo-actuated cylinder 45 and is mounted on the right side mounting plate
The front end in 72 outside, the three axis connecting rod 42 is inserted between the left side mounting plate 71 and the right side mounting plate 72, institute
The drive shaft for stating Three-axis drive motor 43 sequentially passes through the left side mounting plate 71, the three axis connecting rod 42 and right side installation
It is fixedly connected after plate 72 with one end of the three axis follow-up connecting rod 44, and the drive shaft of the Three-axis drive motor 43 is rotationally
Be mounted on the left side mounting plate 71 and the right side mounting plate 72, and the three axis connecting rod 42 be fixedly mounted on three axis with
The drive shaft of dynamic connecting rod 44, the telescopic rod that the other end and three axis of the three axis follow-up connecting rod 44 are servo-actuated cylinder 45 are hinged；
The three axis connecting rod 42 extends to the rear of two or the three axis mounting base 7, and its rear end and the lower end of the three axis swing arm 41 are hinged；
The upper end of the three axis swing arm 41 is hinged on the rear end of four axis mounting bases of four axis pivoted arms of installation.
In spray robot, while four axis pivoted arm 51 can be with respect to four axis 52 rotations of mounting base, moreover it is possible in two axis swing arms 31
Swing under drive with three axis swing arms 41.Wherein, the upper end of two axis swing arms 31 and three axis swing arms 41 is hinged with pivoted arm respectively,
The lower end of two axis swing arms 31 is fixed on the rotation axis of two axis driving motors 32, and under the drive of two axis driving motors 32 before and after work
It swings；The lower end of three axis swing arms 41 and the rear end of the three axis connecting rod 42 are hinged, and the front end of the three axis connecting rod 42 is fixed on three
The rotation axis of axis driving motor 43, so that before and after three axis swing arms 41 are made under the drive of Three-axis drive motor 43 and three axis connecting rods 42
It swings；
The two itself is caused to generate in order to avoid the variation of the swing angle of two axis swing arms 31 and three axis swing arms 41 uneven
Power, so influence pivoted arm kinematic accuracy, the opposite side of two axis driving motors 32 and Three-axis drive motor 43, be respectively set two axis with
Take offence cylinder 34 and two axis driving motors 32 it is hinged, it is hinged with Three-axis drive motor 43 that three axis are servo-actuated cylinder 45.Toward two axis with
Take offence cylinder 34 and three axis are servo-actuated the high pressure gas that constant air pressure is injected in the cylinder barrel of cylinder 45, in the two axis swing arm 31 and three axis
Swing arm 41 is toward when swing, and two axis is servo-actuated cylinder 34 and three axis are servo-actuated the piston rod stretching retraction of cylinder 45, has more
High pressure gas enter in cylinder barrel, enable the piston rod will not be because of the two axis swing arm 31 and three axis swing arms, 41 swing angle
Change and there is a phenomenon where piston rods to retract in cylinder barrel.Two axis is servo-actuated cylinder 34 and three axis are servo-actuated cylinder 45 to described two
Axis swing arm 31 and three axis swing arms 41 generate a torque, direction and the two axis swing arm 31 and three axis swing arms 41 itself are uneven
The torque of power is on the contrary, to facilitate the two axis driving motor 32 and Three-axis drive motor 43 to drive the two axis swing arm 31 respectively
With three axis swing arms, 41 swing.
In the technical program, two axis driving motors 32 and Three-axis drive motor 43 are mounted side by side on two or three axis mounting bases 7
Left side mounting plate 71 outside, two axis, which are servo-actuated cylinder 34 and three axis and are servo-actuated cylinder 45, is separately mounted to two or three axis mounting bases 7
The front end of the outside of right side mounting plate 72, the lower end of two axis swing arms 31 and three axis connecting rods 42 is inserted into left side 71 He of mounting plate respectively
Between right side mounting plate 72.
When installation, the rotation axis of two axis driving motors 32 sequentially passes through the left side bearing mounting hole of left side mounting plate 71, two
After the right side bearing mounting hole of axis swing arm 31 and right side mounting plate 72, then pass through two axis follow-up connecting rods 33 and the servo-actuated cylinder 34 of two axis
Connection, and (outer ring of two bearings is separately fixed at can left side bearing by bearing for the rotation axis of the two axis driving motor 32
In mounting hole and right side bearing mounting hole, the inner ring of two bearings is separately fixed at the rotation axis both ends of two axis driving motors 32)
It is installed in rotation on the left side mounting plate 71 and the right side mounting plate 72, and the two axis swing arm 31 is fixedly mounted on institute
State the medium position of the drive shaft of two axis driving motors 32；Two axis is servo-actuated cylinder 34 and is installed on the servo-actuated cylinder 45 of three axis
Top.
And the rotation axis of Three-axis drive motor 43 sequentially pass through left side mounting plate 71 on another left side bearing mounting hole,
After another right side bearing mounting hole on the front end and right side mounting plate 72 of three axis connecting rods 42, then pass through three axis follow-up connecting rods 44
It is servo-actuated cylinder 45 with three axis to connect, and the rotation axis of the Three-axis drive motor 43 passes through bearing (the outer ring difference of two bearings
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 rotation axis both ends) it is installed in rotation on the left side mounting plate 71 and the right side mounting plate 72, and three axis 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 axis
The rear of seat 7 extends, and the lower end of the three axis swing arm 41 and the rear end of three axis connecting rods 42 are hinged, and three axis are servo-actuated the cylinder body of cylinder 45
It is fixedly mounted below the bearing mounting hole of right side.
In the technical program, by the way that two axis driving motors 32 and Three-axis drive electricity are mounted side by side in two or three axis mounting bases 7
Machine 43 is arranged in parallel in same level height, and the two can be used as two independent modules and mount and dismount respectively, to avoid two
Axis driving motor 32 will not interfere when working with Three-axis drive motor 43, and structure is simple, easy for installation.
Two axis is servo-actuated cylinder 34 and three axis is servo-actuated cylinder 45 and is separately mounted to the servo-actuated cylinder of two axis
34, and two axis is servo-actuated cylinder 34 and is installed on the top that three axis is servo-actuated cylinder 45.
Two axis are servo-actuated cylinder 34 and three axis and are servo-actuated cylinder 45 according to upper and lower staggered position distribution, then and, two axis are with taking offence
Cylinder 34 is connect by two axis follow-up connecting rods 33 with the driving the tip of the axis of two axis driving motors 32, and three axis are servo-actuated cylinder 45 and pass through three
Axis follow-up connecting rod 44 is connect with the driving the tip of the axis of Three-axis drive motor 43；The two axis swing arm 31 and three axis swing arms 41 are forward
After when swinging, two axis are servo-actuated cylinder 34 and three axis are servo-actuated the piston rod of cylinder 45 and stretch out retraction without dry between occurring
It relates to, improves service efficiency.
The top of the left side mounting plate 71 is equipped with thickening part 711, and the thickening part 711 is by the left side mounting plate 71
Upper end outwardly protrude and integrally-formed；It is set in the thickening part 711 there are two motor installing hole 77, the two axis driving is electric
Machine 32 and Three-axis drive motor 43 are fixed on the left side mounting plate 71 by two motor installing holes 77 respectively.
Two axis driving motors 32 and Three-axis drive motor 43 are mounted side by side on the left side mounting plate 71 of two or three axis mounting bases 7
Outside, and in the present embodiment, the upper end of left side mounting plate 71, which outwardly protrudes, to form thickening part 711, and difference is equipped in thickening part 711
The motor installing hole 77 of two axis driving motors 32 and Three-axis drive motor 43 is installed, the hole side wall of 77 lower part of motor installing hole is two
Axis driving motor 32 and Three-axis drive motor 43 provide upward support force, to improve stability when the two installation.
The lower section of the thickening part 711 is equipped with ribs 712, and the side wall of the ribs 712 is fixed on the left side peace
The lower end surface for being fixed on the thickening part 711 is accepted in the lateral wall of loading board 71, the upper end.
The upper end of left side mounting plate 71 outwardly protrudes to form thickening part 711, so that thickening part 711 is in hanging state,
Ribs 712 is set in the lower section of thickening part 711, provides upward support force for thickening part 711, to improve its stability, with
And the stability of two axis driving motors 32 and Three-axis drive motor 43 is further increased, and increase by ribs 712 thin
The approach of vibration wave when dissipating two axis driving motors 32 and the operation of Three-axis drive motor 43, thus two axis driving motors 32 and three of enhancing
Precision when axis driving motor 43 drives.
The right side of the left side mounting plate 71 outwardly protrudes to form otic placode 713, and two axis is servo-actuated cylinder 34 and is mounted on institute
State otic placode 713.
Otic placode 713 increases the space of left side mounting plate 71, is located at the right side bearing mounting hole 75 for being arranged
The cylinder mounting base of side optimizes space layout to facilitate two axis to be servo-actuated the installation and movement of cylinder 34, improves usability
Energy.
The quantity of the middle connecting plate 73 is two, and two middle connecting plates 73 are arranged in parallel, so that below
For the cable tray 78 passed through for cable；It is convenient to use, improve service efficiency.
The rear end of the four axis pivoted arm 51 is installed in rotation on the four axis mounting base 52, the four axis mounting base 52
Outside is equipped with four axis driving motors 53, and rotation of the four axis driving motor 53 by electric slip ring for the four axis pivoted arm 51 provides
Power.
Four axis driving motors 53 drive four axis pivoted arms 51 to rotate relative to four axis mounting bases 52, and four axis driving motors 53 pass through electricity
Slip ring is connect with four axis pivoted arms 51, and without other intermediate transmission mechanisms, high-efficient/precision is high, and uses the hollow structure of electric slip ring,
Distort cable will not, and can large rotation and be not concerned about cable influence stroke the problems such as, direct coupled structure installation it is very simple
Single, maintenance is easy.
The lateral wall of the two axis swing arm 31 is equipped with moveable hinge connector 9, is equipped with bellows on the moveable hinge connector 9；
Enter the bellows after being pierced by the four axis mounting base 52 to the cable that the four axis driving motor 53 is powered, and along institute
State that bellows is downward, enter the cable tray 78 of the four axis mounting base 52 after being pierced by the bellows, then by it is described walk
It is connected after line passage 78 with extraneous power supply.
Avoid the cable of four axis driving motors 53 from being distorted and wind, and four axis pivoted arms 51 can large rotation and
It is not concerned about the problems such as cable influences stroke, easy maintenance.
The outer cup button of the four axis driving motor 53 is equipped with four axis outer covers.
Four axis outer covers avoid the winged liquid generated in the spray robot course of work, winged slag etc. from entering in four axis driving motors 53
The normal operation of four axis driving motors 53 is influenced, service efficiency is improved.
The four axis mounting base 52 is cylinder hollow structure, after the four axis outer cover is fixed on the four axis mounting base 52
End.
It is simple and compact for structure, it is easy for installation, improve service efficiency.
The technical principle of the invention is described above in combination with a specific embodiment.These descriptions are intended merely to explain of the invention
Principle, and shall not be construed in any way as a limitation of the scope of protection of the invention.Based on the explanation herein, the technology of this field
Personnel can associate with other specific embodiments of the invention without creative labor, these modes are fallen within
Within protection scope of the present invention.
Claims (9)
1. a kind of driving mechanism for making stable oscillation before and after pivoted arm in spray robot, it is characterised in that: including two axis swing groups
Part and three axis wobble components, the two axis wobble component and three axis wobble components are mounted on two or three axis mounting bases；
Two or the three axis mounting base includes left side mounting plate, right side mounting plate and middle connecting plate, the left side mounting plate and institute
It states right side mounting plate to be arranged in parallel, and the two is vertically fixed on turntable, the both ends of the middle connecting plate are separately fixed at
The left side mounting plate and the right side mounting plate；
The two axis wobble component includes that two axis swing arms, two axis driving motors, two axis follow-up connecting rods and two axis are servo-actuated cylinder, described
Two axis driving motors are mounted on the outside of the left side mounting plate, and two axis is servo-actuated cylinder and is mounted on the right side mounting plate
Outside, the lower end of the two axis swing arm are inserted between the left side mounting plate and the right side mounting plate, the two axis driving
The drive shaft of motor sequentially pass through after the left side mounting plate, the two axis swing arm and the right side mounting plate with two axis with
One end of dynamic connecting rod is fixedly connected, and the drive shaft of the two axis driving motor be installed in rotation on the left side mounting plate and
The right side mounting plate, and the two axis swing arm is fixedly mounted on the drive shaft of the two axis driving motor, two axis is servo-actuated
The other end of connecting rod and the telescopic rod that two axis is servo-actuated cylinder are hinged；The upper end of the two axis swing arm is hinged on four axis of installation and turns
The front end of four axis mounting bases of arm；
The three axis wobble component includes that three axis swing arms, three axis connecting rods, Three-axis drive motor, three axis follow-up connecting rods and three axis are servo-actuated
Cylinder；The Three-axis drive motor is mounted on the outside of the left side mounting plate, and with the two axis driving motor in same water
Arranged in parallel in flat height, three axis is servo-actuated cylinder and is mounted on the outside of the right side mounting plate, before the three axis connecting rod
End is inserted between the left side mounting plate and the right side mounting plate, and the drive shaft of the Three-axis drive motor sequentially passes through institute
It is fixedly connected after stating left side mounting plate, the three axis connecting rod and the right side mounting plate with one end of the three axis follow-up connecting rod,
And the drive shaft of the Three-axis drive motor is installed in rotation on the left side mounting plate and the right side mounting plate, and it is described
Three axis connecting rods are fixedly mounted on the drive shaft of the three axis follow-up connecting rod, the other end of the three axis follow-up connecting rod and three axis
The telescopic rod of servo-actuated cylinder is hinged；The three axis connecting rod extends to the rear of two or the three axis mounting base, its rear end and described three
The lower end of axis swing arm is hinged；The upper end of the three axis swing arm is hinged on the rear end of four axis mounting bases of four axis pivoted arms of installation.
2. driving mechanism according to claim 1, it is characterised in that: two axis is servo-actuated cylinder and three axis with taking offence
Cylinder is according to upper and lower staggered position distribution, and two axis is servo-actuated cylinder and is installed on the top that three axis is servo-actuated cylinder.
3. driving mechanism according to claim 1, it is characterised in that: the top of the left side mounting plate is equipped with thickening part,
The thickening part is to be outwardly protruded by the upper end of the left side mounting plate and integrally-formed；Electricity there are two being set in the thickening part
Machine mounting hole, the two axis driving motor and Three-axis drive motor pass through two motor installing holes respectively and are fixed on the left side
Side mounting plate.
4. driving mechanism according to claim 3, it is characterised in that: the lower section of the thickening part is equipped with ribs, described
The side wall of ribs is fixed on the lateral wall of the left side mounting plate, and the lower end surface for being fixed on the thickening part is accepted in the upper end.
5. driving mechanism according to claim 1, it is characterised in that: the quantity of the middle connecting plate is two, two
The middle connecting plate is arranged in parallel, so that the cable tray to pass through for cable below.
6. driving mechanism according to claim 5, it is characterised in that: the rear end of the four axis pivoted arm is installed in rotation on
The four axis mounting base, the outside of the four axis mounting base are equipped with four axis driving motors, and the four axis driving motor is sliding by electricity
Ring is the powered rotation of the four axis pivoted arm.
7. driving mechanism according to claim 6, it is characterised in that: the lateral wall of the two axis swing arm is equipped with moveable hinge
Connector is equipped with bellows on the moveable hinge connector；The cable being powered to the four axis driving motor is pierced by four axis
Enter the bellows after mounting base, and downward along the bellows, four axis is entered after being pierced by the bellows and is pacified
The cable tray of seat is filled, then by connecting after the cable tray with extraneous power supply.
8. driving mechanism according to claim 7, it is characterised in that: the outer cup button of the four axis driving motor is equipped with
Four axis outer covers.
9. driving mechanism according to claim 8, it is characterised in that: the four axis mounting base is cylinder hollow structure, institute
State the rear end that four axis outer covers are fixed on the four axis mounting base.
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| 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 |
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|---|---|---|---|
| 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 |
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| CN107283414B true CN107283414B (en) | 2019-07-16 |
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| 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 |
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| 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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| 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 |
| CN104162890A (en) * | 2014-07-04 | 2014-11-26 | 倪立新 | Step-by-step teaching robot based on motor power and control method thereof |
| CN205533466U (en) * | 2016-02-14 | 2016-08-31 | 范红兵 | Energy storage assist drive device of robot |
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2017
- 2017-07-27 CN CN201710623819.7A patent/CN107283414B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN104162890A (en) * | 2014-07-04 | 2014-11-26 | 倪立新 | Step-by-step teaching robot based on motor power and control method thereof |
| CN205533466U (en) * | 2016-02-14 | 2016-08-31 | 范红兵 | Energy storage assist drive device of robot |
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|---|---|
| CN107283414A (en) | 2017-10-24 |
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Address after: 528000 Guangdong city in Foshan Province, Leping Town, Sanshui District, West East Road No. 15 building E block 1 Building No. 105, No. 106, No. 203, No. 204 2 floor Applicant after: Foshan city prdy robot Co Ltd Address before: 528137 Songgang pine summer Industrial Park, Foshan, Nanhai District, Guangdong Province, Taoyuan Road (machine shop) Applicant before: Foshan Nanhai prdy robot Co Ltd |
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