CN108857193A

CN108857193A - A kind of the electroplating equipment wielding machine arm and its working method of anti-Mars splashing

Info

Publication number: CN108857193A
Application number: CN201810742387.6A
Authority: CN
Inventors: 薛敏强
Original assignee: Individual
Current assignee: Individual
Priority date: 2018-07-09
Filing date: 2018-07-09
Publication date: 2018-11-23

Abstract

The invention discloses a kind of electroplating equipment wielding machine arms that anti-Mars splashes, including：Pedestal, rotational workpieces platform, mechanical arm, driving motor, uni-drive gear box, rotating sprocket group and end welding gun, pedestal side are provided with rotary table, and pedestal upper end is provided with mechanical arm, and mechanical arm one end is fixed with end welding gun；Driving motor and uni-drive gear box are provided in pedestal, pedestal and mechanical arm hinged place are provided with rotating sprocket group, and uni-drive gear box one end is connected with rotating sprocket group；Also disclose a kind of electroplating equipment wielding machine arm working method that anti-Mars splashes.Which solve mechanical arm because Mars splashing personnel can not be close problem, it can find in time during the work time and process for producing problem, improve the working efficiency of mechanical arm, it realizes single motor driving simultaneously, reduce the space that driving joint needs, the cost for reducing driving part has adapted it to the environment of small lot production, can have been played in more fields.

Description

A kind of the electroplating equipment wielding machine arm and its working method of anti-Mars splashing

Technical field

The invention belongs to intelligent machine arm field, in particular to a kind of electroplating equipment wielding machine arm that anti-Mars splashes and its work side Method.

Background technique

The continuous development of modern science and technology has greatly pushed the intersection and infiltration of different subjects, results in engineering neck The technological revolution and transformation in domain.Mechanical arm is the new technology that modern age automation field occurs, and has become modern mechanical An important component in manufacture system.This development of new techniques quickly, has gradually formed emerging Section --- manipulator engineering.Mechanical arm is that occur in the fifties latter stage in last century, and what is just developed rapidly in recent years is important Automation equipment has become a kind of important means for realizing industrial automation.Although mechanical arm is such not as good as manpower at present Flexibly, but it has energy constantly repeated work and labour, untiring, is fearless of danger, the strength of snatch weight is bigger than manpower Feature, therefore, mechanical arm have been subjected to the attention of many departments and enterprise, and get application more and more widely.

In recent years, due to pursuit of the people to automation and the concern to mechanical arm, the performance of mechanical arm is also constantly It improves, starts towards modularization, intelligence, Self-Reliance development, structure is simpler, and the complexity of work is higher, needs The place of personnel is less, and perfection embodies the pursuit of modern industry high benefit.

Although fast development brings the deficiency in crosswise development, mechanical however, the development speed of mechanical arm is exceedingly fast Still there are many areas for improvement in details and function for arm, while with the past of scientific and technological revolution tide, mechanical arm is Close to molding, develop without the pervious impetus, needs to innovate to other directions.Therefore, when the application works with regard to mechanical arm not The disadvantage that pleasant member is close, multi power source is at high cost improves, and improves the universality of mechanical arm, reduces cost.

Present electroplating equipment wielding machine arm, the main problems are as follows：

1, present electroplating equipment wielding machine arm cannot handle the Mars of splashing mostly, since the methods of common cooling water can not weld It using in the process, personnel cannot be close when mechanical arm works, supervision of the staff to work quality is affected, once it works out Mistake will be unable to stop in time and handle, significantly reduce the working efficiency of mechanical arm.

2, present electroplating equipment wielding machine arm uses multi-hydraulic-cylinder or more motors to realize joint drive, driving structure mostly Or power source quantity is big, and structure is big, and it is at high cost, limit development space of the mechanical arm in medium-sized and small enterprises.

Summary of the invention

Goal of the invention：In order to overcome the above deficiency, the object of the present invention is to provide a kind of electroplating equipment wielding machines that anti-Mars splashes Arm and its working method, which solve mechanical arm because Mars splashing personnel can not be close problem, can during the work time in time It was found that greatly improving the working efficiency of mechanical arm, while it realizes single motor driving, reduces with process for producing problem The space for driving joint to need, reduces the cost of driving part, reduces the cost of mechanical arm entirety, and it is raw to have adapted to small lot The environment of production can be played in more fields.

Technical solution：To achieve the goals above, the present invention provides a kind of electroplating equipment wielding machine arm that anti-Mars splashes, packets It includes：Pedestal, rotational workpieces platform, first mechanical arm, second mechanical arm, third mechanical arm, driving motor, uni-drive gear box, first Rotating sprocket group, the second rotating sprocket group, third rotating sprocket group and end welding gun, the pedestal side are provided with rotary work Platform, the pedestal upper end are provided with first mechanical arm, and the pedestal and first mechanical arm are hinged, and described first mechanical arm one end is set It is equipped with second mechanical arm, the first mechanical arm and second mechanical arm are hinged, and described second mechanical arm one end is provided with third machine Tool arm, the second mechanical arm and third mechanical arm are hinged, and third mechanical arm one end is fixed with end welding gun；The pedestal It is internally provided with driving motor and uni-drive gear box, the pedestal and first mechanical arm hinged place are provided with the first rotating sprocket Group, the first mechanical arm and second mechanical arm hinged place are provided with the second rotating sprocket group, the second mechanical arm and third Mechanical arm hinged place is provided with third rotating sprocket group；Described driving motor one end is connected with uni-drive gear box, the driving cog Roller box one end is connected with the first rotating sprocket group, the second rotating sprocket group and third rotating sprocket group.

The setting of heretofore described mechanical arm, the multi-joint for realizing mechanical arm by single driving motor are living It is dynamic, in the case where ensure that the enough freedom degree of mechanical arm, structure needed for largely reducing driving, by using electricity-controlled magnet Displacement capacity and sprocket wheel transmission capacity, with the engagement between gear train realize mechanical arm full freedom degree liberation, with tooth Motor and hydraulic cylinder is substituted in wheel, greatly reduces cost.

The first heretofore described rotating sprocket group includes the first transmission gear, the first transmission chain, the first rotation gear With the first fixing axle, first transmission gear is set to uni-drive gear box one end, and first transmission gear outer ring is provided with First transmission chain, first transmission chain one end are provided with the first rotation gear, and first rotation gear center is provided with the First mechanical arm inner surface is fixed in one fixing axle, first fixing axle one end, and the first fixing axle other end is fixed on First rotary teeth wheel side.

The setting of heretofore described first rotating sprocket group is transmitted the power of driving motor by gear and chain Mechanical arm has been given, has realized the free movement of joint of mechanical arm, simultaneously because the characteristic of gear has prevented inertia and sliding, ensure that The production precision of mechanical arm.

The second heretofore described rotating sprocket group includes the second transmission gear, the second transmission chain, the first breast wheel, the Two rotation gears and the second fixing axle, second transmission gear are set to uni-drive gear box one end, second transmission gear Outer ring is provided with the second transmission chain, and second transmission chain middle section is provided with the first breast wheel, and first breast wheel is set to Pedestal and first mechanical arm hinged place, second transmission chain one end are provided with the second rotation gear, the second rotation gear Center is provided with the second fixing axle, and second mechanical arm inner surface, second fixing axle are fixed in second fixing axle one end The other end is fixed on the second rotary teeth wheel side；First breast wheel is four discoid belt wheels, the first breast wheel folder It holds and fixes the second transmission chain middle section.

The setting of heretofore described second rotating sprocket group is transmitted the power of driving motor by gear and chain Mechanical arm has been given, has realized that the free movement of joint of mechanical arm, the setting of the first breast wheel can be good at avoiding the movement of chain In the process with the grazing of mechanical arm shell, improve the stability of mechanical arm, simultaneously because the characteristic of gear prevented inertia and Sliding, ensure that the production precision of mechanical arm.

Heretofore described third rotating sprocket group includes third transmission gear, third transmission chain, the second breast wheel, Three breast wheels, third rotation gear and third fixing axle, the third transmission gear are set to uni-drive gear box one end, and described the Three transmission gear outer rings are provided with third transmission chain, are provided with the second breast wheel and third breast wheel on the third transmission chain, Second breast wheel is set to pedestal and first mechanical arm hinged place, and the third breast wheel is set to first mechanical arm and the Two mechanical arm hinged places, third transmission chain one end are provided with third rotation gear, third rotation gear center setting There is third fixing axle, third mechanical arm inner surface is fixed in third fixing axle one end, and the third fixing axle other end is solid Due to third rotary teeth wheel side；Second breast wheel is four discoid belt wheels, and the third breast wheel is four disks Shape belt wheel, second breast wheel and third breast wheel grip third transmission chain.

The setting of heretofore described third rotating sprocket group is transmitted the power of driving motor by gear and chain Mechanical arm has been given, has realized that the free movement of joint of mechanical arm, the setting of the second breast wheel and third breast wheel can be good at keeping away Exempt from the grazing in the motion process of chain with mechanical arm shell, improve the stability of mechanical arm, simultaneously because the characteristic of gear Prevent inertia and sliding, ensure that the production precision of mechanical arm.

Bei Kong mechanism, the Bei Kong mechanism setting cooperation contact first are provided on heretofore described uni-drive gear box Rotating sprocket group, the second rotating sprocket group and third rotating sprocket group, the Bei Kong mechanism include limit plate, control shaft group, One electromagnetic disc, the second electromagnetic disc, the first electromagnet array, the second electromagnet array, PLC controller and control panel, the limit Position plate is set on the outside of uni-drive gear box, and control shaft group, first rotation of control shaft group contact are provided on the limit plate Chain wheel set, the second rotating sprocket group and third rotating sprocket group, control shaft group one end are provided with the first electromagnetic disc, the control The axis group other end processed is provided with the second electromagnetic disc, and the first electromagnet array, second electricity are provided in first electromagnetic disc It is provided with the second electromagnet array on disk, the first electromagnet array and the second electromagnet array are respectively set that there are three electricity Magnet, the electromagnet are connect by conducting wire with PLC controller, and the PLC controller is connected with control panel, the control plane Plate is set to pedestal outer surface.

The setting of heretofore described Bei Kong mechanism controls the attraction of metal by electric magnetisation principle and magnet The movement of control shaft group, to realize the first rotating sprocket group, the second rotating sprocket group, third rotating sprocket group, rotation base Movement, stopping and counter motion three movements of seat, to realize the full freedom degree movement of mechanical arm.

Heretofore described Bei Kong mechanism further includes scotch and locking groove, and the scotch is set to uni-drive gear box On, the scotch is contacted with control shaft group, is provided with locking groove above the scotch, the locking groove is set to control shaft In group, the maximum static friction force that the scotch provides is less than the magnetic force that the first electromagnetic disc or the second electromagnetic disc provide.

The setting of heretofore described scotch and locking groove passes through the frictional force between scotch and control shaft group, The inertia in mechanical arm moving process can be effectively avoided, the precision of mechanical arm is improved, increases mechanical arm to accurate industry Contribution.

Heretofore described rotational workpieces platform includes pedestal, rotating electric machine, reduction gearbox, shaft, workbench and fixture, The chassis interior is provided with rotating electric machine, and described rotating electric machine one end is provided with reduction gearbox, and described reduction gearbox one end is provided with Shaft, described shaft one end are provided with workbench, are provided with fixture on the workbench；The rotating electric machine is connected into arm control Mechanism, the rotating electric machine are connect with PLC controller.

The setting of heretofore described rotary table, compensates for mechanical arm understeer, the insufficient disadvantage of freedom degree, So that mechanical arm obtains complete full freedom degree working space, while its occupied area is small, is easy to place.

Anti-splash mechanism is provided on heretofore described rotational workpieces platform, the Anti-splash mechanism includes water mist spray Mouth, conduit, water tank, power conduit, water mist accumulator tank, sensor, analog-digital converter and solenoid valve, the hydraulic spray nozzle are set to Rotary table edge, described hydraulic spray nozzle one end are connected with conduit, and the tube at one end is connected with water tank, the water Case one end is connected with power conduit, and the power conduit connection air compressor machine is provided with as power source, the hydraulic spray nozzle outside Water mist accumulator tank, the water mist accumulator tank are connect with water tank, and the hydraulic spray nozzle is inclined outwardly；It is arranged on the rotational workpieces platform There is sensor, described sensor one end is connected with analog-digital converter, and the analog-digital converter is set to above water tank, the modulus Converter is connected with solenoid valve, and the solenoid valve is set on conduit.

The setting of heretofore described Anti-splash mechanism has reached by cooling down to the Mars of splashing and has avoided work The purpose of people's injury, while it is monitored using Mars of the sensor to splashing, does not need sustained release water mist, avoids influencing The energy is also saved in the case where positive production work.

The electroplating equipment wielding machine arm working method that a kind of heretofore described anti-Mars splashes, including it is mobile by drive shaft system Mechanical arm specifically includes following steps：Step 1：Rotational workpieces platform is rotated, the rotating electric machine drives shaft by reduction gearbox Rotation, so that workbench be driven to rotate；Step 2：Mobile first mechanical arm, the driving motor drive uni-drive gear box to turn Dynamic, uni-drive gear box band swing arm control mechanism, the Bei Kong mechanism is displaced by electromagnetic force and is contacted with the first rotating sprocket group, The Bei Kong mechanism drives the movement of the first rotating sprocket group, and the first rotating sprocket group drives first mechanical arm mobile；Step Three：Mobile second mechanical arm, the driving motor drive uni-drive gear box to rotate, uni-drive gear box band swing arm control mechanism, The Bei Kong mechanism is displaced by electromagnetic force and is contacted with the second rotating sprocket group, and the Bei Kong mechanism drives the second rotating sprocket group Movement, the second rotating sprocket group drive second mechanical arm mobile；Step 4：Mobile third mechanical arm, the driving motor Drive uni-drive gear box rotation, uni-drive gear box band swing arm control mechanism, the Bei Kong mechanism is displaced and the by electromagnetic force The contact of three rotating sprocket groups, the Bei Kong mechanism drive the movement of third rotating sprocket group, and the third rotating sprocket group drives the Three-mechanical arm is mobile.

The electroplating equipment wielding machine arm working method that a kind of heretofore described anti-Mars splashes, including incude and cool down, specifically Include the following steps：Step 1：Incude Mars to splash, the Mars that the sensor sensing splashes, the Mars passes through sensor When, the sensor issues response signal；Step 2：The signal of cooling, the sensor is converted to electricity by analog-digital converter Signal opens solenoid valve, and the hydraulic spray nozzle sprays water mist, cools down to Mars；Step 3：Close hydraulic spray nozzle, the Mars Ranges of sensors is left, the sensor restores silent status, and the solenoid valve loses electric signal and closes.

The first heretofore described breast wheel is set to the first fixed horizontal side of gear.

The second heretofore described breast wheel is set to the horizontal side of the first breast wheel, and the third breast wheel is set to The second fixed horizontal side of gear.

Heretofore described uni-drive gear box includes shell, main shaft, main driving wheel, point driving wheel group, reversed point Driving wheel group and reversed breast wheel group, the shell are set to driving motor side, and the enclosure interior is provided with main shaft, Described main shaft one end and driving motor are cooperatively connected, and the main shaft other end is set on shell by bearing, institute It states and is cased with main driving wheel on main shaft, the main driving wheel outer ring is engaged with a point driving wheel group, described to divide driving wheel group one end It is pierced by shell, the main driving wheel outer ring has also meshed with reversed breast wheel, and the reversed breast wheel is set to point driving wheel group one Side, the reversed breast wheel outside are engaged with reversed point driving wheel group, and the reversed point driving wheel group is pierced by shell, described point of biography Driving wheel group with reversely divide driving wheel group size identical.

Heretofore described end welding gun includes transmission chain train, shaft, substrate, welding gun, feed supplement rifle, material-storing box, electricity Magnet valve, feed conduit, metal magnetizer, welding gun power pipe and feed supplement rifle power pipe, transmission chain train one end are set to biography Movable tooth roller box side, the transmission chain train other end are set to third mechanical arm one end, and the transmission chain train is located at third Be provided with shaft at mechanical arm one end, described shaft one end is provided with substrate, the substrate-parallel in third mechanical arm outer surface, Described substrate one end is provided with welding gun, and the substrate other end is provided with feed supplement rifle, and described welding gun one end is provided with welding gun power Pipe, the welding gun power pipe connection air compressor machine and oxygen cylinder, feed supplement rifle one end are provided with feed conduit, the feed conduit The other end is provided with material-storing box, and the material-storing box is set on third mechanical arm outer surface, and described material-storing box one end is provided with benefit Spray gun power pipe, the feed supplement rifle power pipe connect air compressor machine, and the feed conduit is provided with solenoid valve close to material-storing box one end, The feed conduit is provided with metal magnetizer close to feed supplement rifle one end, and the metal magnetizer is set on substrate.

The setting of heretofore described end welding gun passes through matching for two kinds of function rifles by increasing the approach of feed supplement rifle It closes, so that mechanical arm has two kinds of welding manners of melting welding and soldering, improves mechanical arm to the adaptability of different product, make it Workable field is more extensive, and the product processing of more adaptation small lot, multiple types improves the operation strategies of mechanical arm.

Above-mentioned technical proposal can be seen that the present invention and have the advantages that：

1, the electroplating equipment wielding machine arm and its working method that a kind of heretofore described anti-Mars splashes, pass through the Mars to splashing Cool down, has achieved the purpose that avoid worker injuries, while it is monitored using Mars of the sensor to splashing, Bu Huichi Continuous release water mist, reduces the influence to welding temperature, while also ing save the energy.

2, the electroplating equipment wielding machine arm and its working method that a kind of heretofore described anti-Mars splashes, pass through single drive The multi-joint activity that dynamic motor realizes mechanical arm largely reduces drive in the case where ensure that the enough freedom degree of mechanical arm Required structure is moved, it is real with the engagement between gear train by using the displacement capacity of electricity-controlled magnet and the transmission capacity of sprocket wheel The full freedom degree liberation for having showed mechanical arm, is substituted motor and hydraulic cylinder with gear, greatly reduces cost.

Detailed description of the invention

Fig. 1 is overall structure diagram of the invention；

Fig. 2 is the structural schematic diagram of the first rotating sprocket group of the invention；

Fig. 3 is the structural schematic diagram of the second rotating sprocket group of the invention；

Fig. 4 is the structural schematic diagram of third rotating sprocket group of the present invention；

Fig. 5 is the structural schematic diagram of Bei Kong mechanism of the present invention；

Fig. 6 is the structural schematic diagram of rotary table of the present invention；

Fig. 7 is the structural schematic diagram of anti-splashing mechanism of the present invention；

Fig. 8 is another overall structure structural schematic diagram of the invention；

In figure：Pedestal -1, rotational workpieces platform -2, pedestal -21, rotating electric machine -22, reduction gearbox -23, shaft -24, workbench - 25, fixture -26, first mechanical arm -3, second mechanical arm -4, third mechanical arm -5, driving motor -6, uni-drive gear box -7, One rotating sprocket group -8, the first transmission gear -81, the first transmission chain -82, the first rotation gear -83, the first fixing axle -84, the Two rotating sprocket groups -9, the second transmission gear -91, the second transmission chain -92, the first breast wheel -93, the second rotation gear -94, the Two fixing axles -95, third rotating sprocket group -10, third transmission gear -101, third transmission chain -102, the second breast wheel -103, Third breast wheel -104, third rotation gear -105, third fixing axle -106, end welding gun -11, Bei Kong mechanism -12, limit Plate -121, control shaft group -122, the first electromagnetic disc -123, the second electromagnetic disc -124, the first electromagnet array -125, the second electromagnetism Iron array -126, PLC controller -127, control panel -128, scotch -129, locking groove -120, Anti-splash mechanism -13, water Atomizing nozzle -131, conduit -132, water tank -133, power conduit -134, water mist accumulator tank -135, sensor -136, analog-to-digital conversion Device -137, solenoid valve -138.

Specific embodiment

In the following with reference to the drawings and specific embodiments, the present invention is furture elucidated.

Embodiment 1

The electroplating equipment wielding machine arm that a kind of anti-Mars as shown in Figure 1 splashes, including：Pedestal 1, rotational workpieces platform 2, first mechanical arm 3, Second mechanical arm 4, third mechanical arm 5, driving motor 6, uni-drive gear box 7, the first rotating sprocket group 8, the second rotating sprocket group 9, third rotating sprocket group 10 and end welding gun 11,1 side of pedestal are provided with rotary table 2, and 1 upper end of pedestal is set It is equipped with first mechanical arm 3, the pedestal 1 and first mechanical arm 3 are hinged, and described 3 one end of first mechanical arm is provided with the second machinery Arm 4, the first mechanical arm 3 is hinged with second mechanical arm 4, and described 4 one end of second mechanical arm is provided with third mechanical arm 5, institute It states second mechanical arm 4 and third mechanical arm 5 is hinged, described 5 one end of third mechanical arm is fixed with end welding gun 11；The pedestal 1 It is internally provided with driving motor 6 and uni-drive gear box 7, the pedestal 1 is provided with the first rotation chain with 3 hinged place of first mechanical arm Wheel group 8, the first mechanical arm 3 are provided with the second rotating sprocket group 9, the second mechanical arm 4 with 4 hinged place of second mechanical arm 5 hinged place of third mechanical arm is provided with third rotating sprocket group 10；Described 6 one end of driving motor is connected with uni-drive gear box 7, Described 7 one end of uni-drive gear box is connected with the first rotating sprocket group 8, the second rotating sprocket group 9 and third rotating sprocket group 10.

First rotating sprocket group 8 described in the present embodiment includes the first transmission gear 81, the rotation of the first transmission chain 82, first Rotating disk 83 and the first fixing axle 84, first transmission gear 81 are set to 7 one end of uni-drive gear box, first driving cog It takes turns 81 outer rings and is provided with the first transmission chain 82, described first transmission chain, 82 one end is provided with the first rotation gear 83, and described first Rotation 83 center of gear is provided with the first fixing axle 84, and 3 inner surface of first mechanical arm is fixed in described first fixing axle, 84 one end, First fixing axle, 84 other end is fixed on 803 side of the first rotation gear.

Second rotating sprocket group 9 described in the present embodiment is including in the second transmission gear 91, the second transmission chain 92, first Between wheel 93, second rotation gear 94 and the second fixing axle 95, second transmission gear 91 be set to 7 one end of uni-drive gear box, Second transmission gear, 91 outer ring is provided with the second transmission chain 92, and 92 middle section of the second transmission chain is provided with the first breast wheel 93, first breast wheel 93 is set to pedestal 1 and 3 hinged place of first mechanical arm, and described second transmission chain, 92 one end is provided with Second rotation gear 94, second rotation, 94 center of gear are provided with the second fixing axle 95, described second fixing axle, 95 one end It is fixed on 4 inner surface of second mechanical arm, 95 other end of the second fixing axle is fixed on 94 side of the second rotation gear；Described One breast wheel 93 is four discoid belt wheels, and first breast wheel 93 grips 92 middle section of the second transmission chain.

Third rotating sprocket group described in the present embodiment 10 includes third transmission gear 101, third transmission chain 102, the Two breast wheels 103, third breast wheel 104, third rotation gear 105 and third fixing axle 106, the third transmission gear 101 It is set to 7 one end of uni-drive gear box, 101 outer ring of third transmission gear is provided with third transmission chain 102, the third transmission The second breast wheel 103 and third breast wheel 104 are provided on chain 102, second breast wheel 103 is set to pedestal 1 and first 3 hinged place of mechanical arm, the third breast wheel 104 are set to first mechanical arm 3 and 4 hinged place of second mechanical arm, the third 102 one end of transmission chain is provided with third rotation gear 105, and the third rotation 105 center of gear is provided with third fixing axle 106,5 inner surface of third mechanical arm is fixed in described 106 one end of third fixing axle, and 106 other end of third fixing axle is fixed 105 side of gear is rotated in third；Second breast wheel 103 is four discoid belt wheels, and the third breast wheel 104 is four A discoid belt wheel, second breast wheel 103 and third breast wheel 104 grip third transmission chain 102.

Bei Kong mechanism 12, the setting of Bei Kong mechanism 12 cooperation are provided on uni-drive gear box 7 described in the present embodiment The first rotating sprocket group 8, the second rotating sprocket group 9 and third rotating sprocket group 10 are contacted, the Bei Kong mechanism 12 includes limit Plate 121, control shaft group 122, the first electromagnetic disc 123, the second electromagnetic disc 124, the first electromagnet array 125, the second electromagnet battle array Column 126, PLC controller 127 and control panel 128, the limit plate 121 are set to 7 outside of uni-drive gear box, the limit plate It is provided with control shaft group 122 on 121, the control shaft group 122 contacts the first rotating sprocket group 8, the second rotating sprocket group 9 and the Three rotating sprocket groups 10, described 122 one end of control shaft group are provided with the first electromagnetic disc 123, and 122 other end of control shaft group is set It is equipped with the second electromagnetic disc 124, the first electromagnet array 125, second electromagnetic disc are provided in first electromagnetic disc 123 The second electromagnet array 126 is provided on 124, the first electromagnet array 125 and the second electromagnet array 126 are respectively set There are three electromagnet, the electromagnet is connect by conducting wire with PLC controller 127, and the PLC controller 127 is connected with control Panel 128, the control panel 128 are set to 1 outer surface of pedestal.

Bei Kong mechanism 12 described in the present embodiment further includes scotch 129 and locking groove 120, and the scotch 129 is set It is placed on uni-drive gear box 7, the scotch 129 is contacted with control shaft group 122, is provided with stop above the scotch 129 Slot 120, the locking groove 120 are set in control shaft group 122, and the maximum static friction force that the scotch 129 provides is less than the The magnetic force that one electromagnetic disc 123 or the second electromagnetic disc 124 provide.

Rotational workpieces platform 2 described in the present embodiment includes pedestal 21, rotating electric machine 22, reduction gearbox 23, shaft 24, work Platform 25 and fixture 26, the pedestal 21 are internally provided with rotating electric machine 22, and described 22 one end of rotating electric machine is provided with reduction gearbox 23, described 23 one end of reduction gearbox is provided with shaft 24, and described 24 one end of shaft is provided with workbench 25, the workbench 25 On be provided with fixture 26；The rotating electric machine 22 is connected into Bei Kong mechanism 12, and the rotating electric machine 22 is connect with PLC controller 127.

Anti-splash mechanism 13 is provided on rotational workpieces platform 2 described in the present embodiment, the Anti-splash mechanism 13 includes Hydraulic spray nozzle 131, conduit 132, water tank 133, power conduit 134, water mist accumulator tank 135, sensor 136, analog-digital converter 137 With solenoid valve 138, the hydraulic spray nozzle 131 is set to 2 edge of rotary table, and described 131 one end of hydraulic spray nozzle connects It is connected to conduit 132, described 132 one end of conduit is connected with water tank 133, and described 133 one end of water tank is connected with power conduit 134, institute It states power conduit 134 and connects air compressor machine as power source, be provided with water mist accumulator tank 135 on the outside of the hydraulic spray nozzle 131, it is described Water mist accumulator tank 135 is connect with water tank 133, and the hydraulic spray nozzle 131 is inclined outwardly；Biography is provided on the rotational workpieces platform 2 Sensor 136, described 136 one end of sensor are connected with analog-digital converter 137, and the analog-digital converter 137 is set on water tank 133 Side, the analog-digital converter 137 are connected with solenoid valve 138, and the solenoid valve 138 is set on conduit 134.

A kind of electroplating equipment wielding machine arm working method that anti-Mars splashes described in the present embodiment, including moved by drive shaft system Dynamic mechanical arm, specifically includes following steps：

Step 1：Rotational workpieces platform 2 is rotated, the rotating electric machine 22 drives shaft 24 to rotate by reduction gearbox 23, to drive Workbench 25 rotates；

Step 2：Mobile first mechanical arm 3, the driving motor 6 drive uni-drive gear box 7 to rotate, 7 band of uni-drive gear box Swing arm control mechanism 12, the Bei Kong mechanism 12 are displaced by electromagnetic force and are contacted with the first rotating sprocket group 8, the Bei Kong mechanism 12 The first rotating sprocket group 8 is driven to move, the first rotating sprocket group 8 drives first mechanical arm 3 mobile；

Step 3：Mobile second mechanical arm 4, the driving motor 6 drive uni-drive gear box 7 to rotate, 7 band of uni-drive gear box Swing arm control mechanism 12, the Bei Kong mechanism 12 are displaced by electromagnetic force and are contacted with the second rotating sprocket group 9, the Bei Kong mechanism 12 The second rotating sprocket group 9 is driven to move, the second rotating sprocket group 9 drives second mechanical arm 4 mobile；

Step 4：Mobile third mechanical arm 5, the driving motor 6 drive uni-drive gear box 7 to rotate, 7 band of uni-drive gear box Swing arm control mechanism 12, the Bei Kong mechanism 12 are displaced by electromagnetic force and are contacted with third rotating sprocket group 10, the Bei Kong mechanism 12 drive third rotating sprocket group 10 to move, and the third rotating sprocket group 10 drives third mechanical arm 5 mobile.

A kind of electroplating equipment wielding machine arm working method that anti-Mars splashes described in the present embodiment, including incude and cool down, have Body includes the following steps：

Step 1：Incude Mars to splash, the Mars that the induction of sensor 136 is splashed, when the Mars passes through sensor 136, The sensor 136 issues response signal；

Step 2：The signal of cooling, the sensor 136 is converted to electric signal by analog-digital converter 137, opens solenoid valve 138, the hydraulic spray nozzle 131 sprays water mist, cools down to Mars；

Step 3：Hydraulic spray nozzle 131 is closed, the Mars leaves 136 range of sensor, and the sensor 136 restores silent shape State, the solenoid valve 138 lose electric signal and close.

Embodiment 2

The electroplating equipment wielding machine arm that a kind of anti-Mars as shown in Figure 2 splashes, including：Pedestal 1, rotational workpieces platform 2, first mechanical arm 3, Second mechanical arm 4, third mechanical arm 5, driving motor 6, uni-drive gear box 7, the first rotating sprocket group 8, the second rotating sprocket group 9, third rotating sprocket group 10 and end welding gun 11,1 side of pedestal are provided with rotary table 2, and 1 upper end of pedestal is set It is equipped with first mechanical arm 3, the pedestal 1 and first mechanical arm 3 are hinged, and described 3 one end of first mechanical arm is provided with the second machinery Arm 4, the first mechanical arm 3 is hinged with second mechanical arm 4, and described 4 one end of second mechanical arm is provided with third mechanical arm 5, institute It states second mechanical arm 4 and third mechanical arm 5 is hinged, described 5 one end of third mechanical arm is fixed with end welding gun 11；The pedestal 1 It is internally provided with driving motor 6 and uni-drive gear box 7, the pedestal 1 is provided with the first rotation chain with 3 hinged place of first mechanical arm Wheel group 8, the first mechanical arm 3 are provided with the second rotating sprocket group 9, the second mechanical arm 4 with 4 hinged place of second mechanical arm 5 hinged place of third mechanical arm is provided with third rotating sprocket group 10；Described 6 one end of driving motor is connected with uni-drive gear box 7, Described 7 one end of uni-drive gear box is connected with the first rotating sprocket group 8, the second rotating sprocket group 9 and third rotating sprocket group 10.

Embodiment 3

The electroplating equipment wielding machine arm that a kind of anti-Mars as shown in Figure 3 splashes, including：Pedestal 1, rotational workpieces platform 2, first mechanical arm 3, Second mechanical arm 4, third mechanical arm 5, driving motor 6, uni-drive gear box 7, the first rotating sprocket group 8, the second rotating sprocket group 9, third rotating sprocket group 10 and end welding gun 11,1 side of pedestal are provided with rotary table 2, and 1 upper end of pedestal is set It is equipped with first mechanical arm 3, the pedestal 1 and first mechanical arm 3 are hinged, and described 3 one end of first mechanical arm is provided with the second machinery Arm 4, the first mechanical arm 3 is hinged with second mechanical arm 4, and described 4 one end of second mechanical arm is provided with third mechanical arm 5, institute It states second mechanical arm 4 and third mechanical arm 5 is hinged, described 5 one end of third mechanical arm is fixed with end welding gun 11；The pedestal 1 It is internally provided with driving motor 6 and uni-drive gear box 7, the pedestal 1 is provided with the first rotation chain with 3 hinged place of first mechanical arm Wheel group 8, the first mechanical arm 3 are provided with the second rotating sprocket group 9, the second mechanical arm 4 with 4 hinged place of second mechanical arm 5 hinged place of third mechanical arm is provided with third rotating sprocket group 10；Described 6 one end of driving motor is connected with uni-drive gear box 7, Described 7 one end of uni-drive gear box is connected with the first rotating sprocket group 8, the second rotating sprocket group 9 and third rotating sprocket group 10.

Embodiment 4

The electroplating equipment wielding machine arm that a kind of anti-Mars as shown in Figure 4 splashes, including：Pedestal 1, rotational workpieces platform 2, first mechanical arm 3, Second mechanical arm 4, third mechanical arm 5, driving motor 6, uni-drive gear box 7, the first rotating sprocket group 8, the second rotating sprocket group 9, third rotating sprocket group 10 and end welding gun 11,1 side of pedestal are provided with rotary table 2, and 1 upper end of pedestal is set It is equipped with first mechanical arm 3, the pedestal 1 and first mechanical arm 3 are hinged, and described 3 one end of first mechanical arm is provided with the second machinery Arm 4, the first mechanical arm 3 is hinged with second mechanical arm 4, and described 4 one end of second mechanical arm is provided with third mechanical arm 5, institute It states second mechanical arm 4 and third mechanical arm 5 is hinged, described 5 one end of third mechanical arm is fixed with end welding gun 11；The pedestal 1 It is internally provided with driving motor 6 and uni-drive gear box 7, the pedestal 1 is provided with the first rotation chain with 3 hinged place of first mechanical arm Wheel group 8, the first mechanical arm 3 are provided with the second rotating sprocket group 9, the second mechanical arm 4 with 4 hinged place of second mechanical arm 5 hinged place of third mechanical arm is provided with third rotating sprocket group 10；Described 6 one end of driving motor is connected with uni-drive gear box 7, Described 7 one end of uni-drive gear box is connected with the first rotating sprocket group 8, the second rotating sprocket group 9 and third rotating sprocket group 10.

Embodiment 5

The electroplating equipment wielding machine arm that a kind of anti-Mars as shown in Figure 5 splashes, including：Pedestal 1, rotational workpieces platform 2, first mechanical arm 3, Second mechanical arm 4, third mechanical arm 5, driving motor 6, uni-drive gear box 7, the first rotating sprocket group 8, the second rotating sprocket group 9, third rotating sprocket group 10 and end welding gun 11,1 side of pedestal are provided with rotary table 2, and 1 upper end of pedestal is set It is equipped with first mechanical arm 3, the pedestal 1 and first mechanical arm 3 are hinged, and described 3 one end of first mechanical arm is provided with the second machinery Arm 4, the first mechanical arm 3 is hinged with second mechanical arm 4, and described 4 one end of second mechanical arm is provided with third mechanical arm 5, institute It states second mechanical arm 4 and third mechanical arm 5 is hinged, described 5 one end of third mechanical arm is fixed with end welding gun 11；The pedestal 1 It is internally provided with driving motor 6 and uni-drive gear box 7, the pedestal 1 is provided with the first rotation chain with 3 hinged place of first mechanical arm Wheel group 8, the first mechanical arm 3 are provided with the second rotating sprocket group 9, the second mechanical arm 4 with 4 hinged place of second mechanical arm 5 hinged place of third mechanical arm is provided with third rotating sprocket group 10；Described 6 one end of driving motor is connected with uni-drive gear box 7, Described 7 one end of uni-drive gear box is connected with the first rotating sprocket group 8, the second rotating sprocket group 9 and third rotating sprocket group 10.

Embodiment 6

The electroplating equipment wielding machine arm that a kind of anti-Mars as shown in FIG. 6 splashes, including：Pedestal 1, rotational workpieces platform 2, first mechanical arm 3, Second mechanical arm 4, third mechanical arm 5, driving motor 6, uni-drive gear box 7, the first rotating sprocket group 8, the second rotating sprocket group 9, third rotating sprocket group 10 and end welding gun 11,1 side of pedestal are provided with rotary table 2, and 1 upper end of pedestal is set It is equipped with first mechanical arm 3, the pedestal 1 and first mechanical arm 3 are hinged, and described 3 one end of first mechanical arm is provided with the second machinery Arm 4, the first mechanical arm 3 is hinged with second mechanical arm 4, and described 4 one end of second mechanical arm is provided with third mechanical arm 5, institute It states second mechanical arm 4 and third mechanical arm 5 is hinged, described 5 one end of third mechanical arm is fixed with end welding gun 11；The pedestal 1 It is internally provided with driving motor 6 and uni-drive gear box 7, the pedestal 1 is provided with the first rotation chain with 3 hinged place of first mechanical arm Wheel group 8, the first mechanical arm 3 are provided with the second rotating sprocket group 9, the second mechanical arm 4 with 4 hinged place of second mechanical arm 5 hinged place of third mechanical arm is provided with third rotating sprocket group 10；Described 6 one end of driving motor is connected with uni-drive gear box 7, Described 7 one end of uni-drive gear box is connected with the first rotating sprocket group 8, the second rotating sprocket group 9 and third rotating sprocket group 10.

Embodiment 7

The electroplating equipment wielding machine arm that a kind of anti-Mars as shown in Figure 7 splashes, including：Pedestal 1, rotational workpieces platform 2, first mechanical arm 3, Second mechanical arm 4, third mechanical arm 5, driving motor 6, uni-drive gear box 7, the first rotating sprocket group 8, the second rotating sprocket group 9, third rotating sprocket group 10 and end welding gun 11,1 side of pedestal are provided with rotary table 2, and 1 upper end of pedestal is set It is equipped with first mechanical arm 3, the pedestal 1 and first mechanical arm 3 are hinged, and described 3 one end of first mechanical arm is provided with the second machinery Arm 4, the first mechanical arm 3 is hinged with second mechanical arm 4, and described 4 one end of second mechanical arm is provided with third mechanical arm 5, institute It states second mechanical arm 4 and third mechanical arm 5 is hinged, described 5 one end of third mechanical arm is fixed with end welding gun 11；The pedestal 1 It is internally provided with driving motor 6 and uni-drive gear box 7, the pedestal 1 is provided with the first rotation chain with 3 hinged place of first mechanical arm Wheel group 8, the first mechanical arm 3 are provided with the second rotating sprocket group 9, the second mechanical arm 4 with 4 hinged place of second mechanical arm 5 hinged place of third mechanical arm is provided with third rotating sprocket group 10；Described 6 one end of driving motor is connected with uni-drive gear box 7, Described 7 one end of uni-drive gear box is connected with the first rotating sprocket group 8, the second rotating sprocket group 9 and third rotating sprocket group 10.

Embodiment 8

Embodiment 9

Embodiment 10

The electroplating equipment wielding machine arm that a kind of anti-Mars as shown in Figure 8 splashes, including：Pedestal 1, rotational workpieces platform 2, first mechanical arm 3, Second mechanical arm 4, third mechanical arm 5, driving motor 6, uni-drive gear box 7, the first rotating sprocket group 8, the second rotating sprocket group 9, third rotating sprocket group 10 and end welding gun 11,1 side of pedestal are provided with rotary table 2, and 1 upper end of pedestal is set It is equipped with first mechanical arm 3, the pedestal 1 and first mechanical arm 3 are hinged, and described 3 one end of first mechanical arm is provided with the second machinery Arm 4, the first mechanical arm 3 is hinged with second mechanical arm 4, and described 4 one end of second mechanical arm is provided with third mechanical arm 5, institute It states second mechanical arm 4 and third mechanical arm 5 is hinged, described 5 one end of third mechanical arm is fixed with end welding gun 11；The pedestal 1 It is internally provided with driving motor 6 and uni-drive gear box 7, the pedestal 1 is provided with the first rotation chain with 3 hinged place of first mechanical arm Wheel group 8, the first mechanical arm 3 are provided with the second rotating sprocket group 9, the second mechanical arm 4 with 4 hinged place of second mechanical arm 5 hinged place of third mechanical arm is provided with third rotating sprocket group 10；Described 6 one end of driving motor is connected with uni-drive gear box 7, Described 7 one end of uni-drive gear box is connected with the first rotating sprocket group 8, the second rotating sprocket group 9 and third rotating sprocket group 10.

The first heretofore described breast wheel 93 is set to the horizontal side of the first rotation gear 83.

The second heretofore described breast wheel 103 is set to 93 side of the first breast wheel level, the third breast wheel 104 are set to the horizontal side of the second rotation gear 94.

The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art For member, without departing from the principle of the present invention, several improvement can also be made, these improvement also should be regarded as of the invention Protection scope.

Claims

1. a kind of electroplating equipment wielding machine arm that anti-Mars splashes, it is characterised in that：Including：Pedestal（1）, rotational workpieces platform（2）, the first machine Tool arm（3）, second mechanical arm（4）, third mechanical arm（5）, driving motor（6）, uni-drive gear box（7）, the first rotating sprocket group （8）, the second rotating sprocket group（9）, third rotating sprocket group（10）With end welding gun（11）, the pedestal（1）Side is provided with Rotary table（2）, the pedestal（1）Upper end is provided with first mechanical arm（3）, the pedestal（1）With first mechanical arm（3）Hinge It connects, the first mechanical arm（3）One end is provided with second mechanical arm（4）, the first mechanical arm（3）With second mechanical arm（4） Hingedly, the second mechanical arm（4）One end is provided with third mechanical arm（5）, the second mechanical arm（4）With third mechanical arm （5）Hingedly, the third mechanical arm（5）One end is fixed with end welding gun（11）；The pedestal（1）It is internally provided with driving motor （6）And uni-drive gear box（7）, the pedestal（1）With first mechanical arm（3）Hinged place is provided with the first rotating sprocket group（8）, institute State first mechanical arm（3）With second mechanical arm（4）Hinged place is provided with the second rotating sprocket group（9）, the second mechanical arm（4） With third mechanical arm（5）Hinged place is provided with third rotating sprocket group（10）；The driving motor（6）One end is connected with driving cog Roller box（7）, the uni-drive gear box（7）One end is connected with the first rotating sprocket group（8）, the second rotating sprocket group（9）And third Rotating sprocket group（10）.

2. the electroplating equipment wielding machine arm that a kind of anti-Mars according to claim 1 splashes, it is characterised in that：First rotation Chain wheel set（8）Including the first transmission gear（81）, the first transmission chain（82）, first rotation gear（83）With the first fixing axle （84）, first transmission gear（81）It is set to uni-drive gear box（7）One end, first transmission gear（81）Outer ring setting There is the first transmission chain（82）, first transmission chain（82）One end is provided with the first rotation gear（83）, first rotary teeth Wheel（83）Center is provided with the first fixing axle（84）, first fixing axle（84）First mechanical arm is fixed in one end（3）Interior table Face, first fixing axle（84）The other end is fixed on the first rotation gear（803）Side.

3. the electroplating equipment wielding machine arm that a kind of anti-Mars according to claim 1 splashes, it is characterised in that：Second rotation Chain wheel set（9）Including the second transmission gear（91）, the second transmission chain（92）, the first breast wheel（93）, second rotation gear（94） With the second fixing axle（95）, second transmission gear（91）It is set to uni-drive gear box（7）One end, second transmission gear （91）Outer ring is provided with the second transmission chain（92）, second transmission chain（92）Middle section is provided with the first breast wheel（93）, described First breast wheel（93）It is set to pedestal（1）With first mechanical arm（3）Hinged place, second transmission chain（92）One end is provided with Second rotation gear（94）, the second rotation gear（94）Center is provided with the second fixing axle（95）, second fixing axle （95）Second mechanical arm is fixed in one end（4）Inner surface, second fixing axle（95）The other end is fixed on the second rotation gear （94）Side；First breast wheel（93）For four discoid belt wheels, first breast wheel（93）Grip the second biography Dynamic chain（92）Middle section.

4. the electroplating equipment wielding machine arm that a kind of anti-Mars according to claim 1 splashes, it is characterised in that：The third rotation Chain wheel set（10）Including third transmission gear（101）, third transmission chain（102）, the second breast wheel（103）, third breast wheel （104）, third rotate gear（105）With third fixing axle（106）, the third transmission gear（101）It is set to transmission gear Case（7）One end, the third transmission gear（101）Outer ring is provided with third transmission chain（102）, the third transmission chain（102） On be provided with the second breast wheel（103）With third breast wheel（104）, second breast wheel（103）It is set to pedestal（1）With One mechanical arm（3）Hinged place, the third breast wheel（104）It is set to first mechanical arm（3）With second mechanical arm（4）Hingedly Place, the third transmission chain（102）One end is provided with third rotation gear（105）, the third rotation gear（105）Center is set It is equipped with third fixing axle（106）, the third fixing axle（106）Third mechanical arm is fixed in one end（5）Inner surface, the third Fixing axle（106）The other end is fixed on third rotation gear（105）Side；Second breast wheel（103）It is discoid for four Belt wheel, the third breast wheel（104）For four discoid belt wheels, second breast wheel（103）With third breast wheel（104） Grip third transmission chain（102）.

5. the electroplating equipment wielding machine arm that a kind of anti-Mars according to claim 1 splashes, it is characterised in that：The transmission gear Case（7）On be provided with Bei Kong mechanism（12）, the Bei Kong mechanism（12）Setting cooperation the first rotating sprocket group of contact（8）, second Rotating sprocket group（9）With third rotating sprocket group（10）, the Bei Kong mechanism（12）Including limit plate（121）, control shaft group （122）, the first electromagnetic disc（123）, the second electromagnetic disc（124）, the first electromagnet array（125）, the second electromagnet array （126）, PLC controller（127）And control panel（128）, the limit plate（121）It is set to uni-drive gear box（7）Outside, institute State limit plate（121）On be provided with control shaft group（122）, the control shaft group（122）Contact the first rotating sprocket group（8）, Two rotating sprocket groups（9）With third rotating sprocket group（10）, the control shaft group（122）One end is provided with the first electromagnetic disc （123）, the control shaft group（122）The other end is provided with the second electromagnetic disc（124）, first electromagnetic disc（123）Upper setting There is the first electromagnet array（125）, second electromagnetic disc（124）On be provided with the second electromagnet array（126）, described first Electromagnet array（125）With the second electromagnet array（126）Be respectively set there are three electromagnet, the electromagnet by conducting wire with PLC controller（127）Connection, the PLC controller（127）It is connected with control panel（128）, the control panel（128）If It is placed in pedestal（1）Outer surface.

6. the electroplating equipment wielding machine arm that a kind of anti-Mars according to claim 5 splashes, it is characterised in that：The Bei Kong mechanism （12）It further include scotch（129）And locking groove（120）, the scotch（129）It is set to uni-drive gear box（7）On, it is described Scotch（129）With control shaft group（122）Contact, the scotch（129）Top is provided with locking groove（120）, the stop Slot（120）It is set to control shaft group（122）On, the scotch（129）The maximum static friction force of offer is less than the first electromagnetic disc （123）Or second electromagnetic disc（124）The magnetic force of offer.

7. the electroplating equipment wielding machine arm that a kind of anti-Mars according to claim 5 splashes, it is characterised in that：The rotational workpieces Platform（2）Including pedestal（21）, rotating electric machine（22）, reduction gearbox（23）, shaft（24）, workbench（25）And fixture（26）, institute State pedestal（21）It is internally provided with rotating electric machine（22）, the rotating electric machine（22）One end is provided with reduction gearbox（23）, described to subtract Fast case（23）One end is provided with shaft（24）, the shaft（24）One end is provided with workbench（25）, the workbench （25）On be provided with fixture（26）；The rotating electric machine（22）It is connected into Bei Kong mechanism（12）, the rotating electric machine（22）It is controlled with PLC Device processed（127）Connection.

8. the electroplating equipment wielding machine arm that a kind of anti-Mars according to claim 1 splashes, it is characterised in that：The rotational workpieces Platform（2）On be provided with Anti-splash mechanism（13）, the Anti-splash mechanism（13）Including hydraulic spray nozzle（131）, conduit（132）, water Case（133）, power conduit（134）, water mist accumulator tank（135）, sensor（136）, analog-digital converter（137）And solenoid valve （138）, the hydraulic spray nozzle（131）It is set to rotary table（2）Edge, the hydraulic spray nozzle（131）One end connects It is connected to conduit（132）, the conduit（132）One end is connected with water tank（133）, the water tank（133）One end is connected with power guide Pipe（134）, the power conduit（134）Air compressor machine is connected as power source, the hydraulic spray nozzle（131）Outside is provided with water mist Accumulator tank（135）, the water mist accumulator tank（135）With water tank（133）Connection, the hydraulic spray nozzle（131）It is inclined outwardly；It is described Rotational workpieces platform（2）On be provided with sensor（136）, the sensor（136）One end is connected with analog-digital converter（137）, institute State analog-digital converter（137）It is set to water tank（133）Top, the analog-digital converter（137）It is connected with solenoid valve（138）, institute State solenoid valve（138）It is set to conduit（134）On.

9. the electroplating equipment wielding machine arm working method that a kind of anti-Mars according to claim 7 splashes, including pass through drive shaft system Mobile mechanical arm, it is characterised in that：Specifically include following steps：

Step 1：Rotate rotational workpieces platform（2）, the rotating electric machine（22）Pass through reduction gearbox（23）Drive shaft（24）Rotation, To drive workbench（25）Rotation；

Step 2：Mobile first mechanical arm（3）, the driving motor（6）Drive uni-drive gear box（7）Rotation, the driving cog Roller box（7）Band swing arm control mechanism（12）, the Bei Kong mechanism（12）Pass through electromagnetic force displacement and the first rotating sprocket group（8）It connects Touching, the Bei Kong mechanism（12）Drive the first rotating sprocket group（8）Movement, the first rotating sprocket group（8）Drive the first machine Tool arm（3）It is mobile；

Step 3：Mobile second mechanical arm（4）, the driving motor（6）Drive uni-drive gear box（7）Rotation, the driving cog Roller box（7）Band swing arm control mechanism（12）, the Bei Kong mechanism（12）Pass through electromagnetic force displacement and the second rotating sprocket group（9）It connects Touching, the Bei Kong mechanism（12）Drive the second rotating sprocket group（9）Movement, the second rotating sprocket group（9）Drive the second machine Tool arm（4）It is mobile；

Step 4：Mobile third mechanical arm（5）, the driving motor（6）Drive uni-drive gear box（7）Rotation, the driving cog Roller box（7）Band swing arm control mechanism（12）, the Bei Kong mechanism（12）Pass through electromagnetic force displacement and third rotating sprocket group（10）It connects Touching, the Bei Kong mechanism（12）Drive third rotating sprocket group（10）Movement, the third rotating sprocket group（10）Drive third Mechanical arm（5）It is mobile.

10. the electroplating equipment wielding machine arm working method that a kind of anti-Mars according to claim 8 splashes, including incude and cool down, It is characterized in that：Specifically include following steps：

Step 1：Incude Mars to splash, the sensor（136）Incude the Mars to splash, the Mars passes through sensor（136） When, the sensor（136）Issue response signal；

Step 2：Cooling, the sensor（136）Signal pass through analog-digital converter（137）Electric signal is converted to, electromagnetism is opened Valve（138）, the hydraulic spray nozzle（131）Water mist is sprayed, is cooled down to Mars；

Step 3：Close hydraulic spray nozzle（131）, the Mars leaves sensor（136）Range, the sensor（136）Restore Silent status, the solenoid valve（138）It loses electric signal and closes.