CN113595323B - Drive arrangement and spraying robot that has it - Google Patents
Drive arrangement and spraying robot that has it Download PDFInfo
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- CN113595323B CN113595323B CN202010361674.XA CN202010361674A CN113595323B CN 113595323 B CN113595323 B CN 113595323B CN 202010361674 A CN202010361674 A CN 202010361674A CN 113595323 B CN113595323 B CN 113595323B
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- module
- moving
- rotating wheel
- drive
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
- E04F21/06—Implements for applying plaster, insulating material, or the like
- E04F21/08—Mechanical implements
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
Abstract
The invention discloses a driving device and a spraying robot with the same, wherein the driving device comprises a fixed module, a driving module and a moving module, the fixed module is provided with a first clamping device, the driving module is arranged on the fixed module, the moving module is movably arranged on the fixed module, the driving module is suitable for driving the moving module so as to enable the moving module and the fixed module to generate relative displacement, and the first transmission assembly comprises: the first rotating wheel, the second rotating wheel and the first transmission piece are annular and are sleeved on the first rotating wheel and the second rotating wheel, the first rotating wheel and the second rotating wheel divide the first transmission piece into a first section and a second section which are parallel to each other, the first section is provided with a tail end moving piece, the first clamping device is suitable for being clamped on the second section, and the moving direction of the moving module is the same as that of the tail end moving piece. According to the driving device of the embodiment of the invention, the end effector can obtain double moving speed and double moving length.
Description
Technical Field
The invention relates to the field of construction robots, in particular to a driving device and a spraying robot with the same.
Background
At present, the spraying operation of the outer wall can be realized without automatic equipment and is finished by manually holding the spraying equipment. The manual spraying has the problems of poor moving speed retentivity, limited moving range, inaccurate position, large personnel skill difference and the like, but the spraying robot in the prior art has limited spraying range and spraying speed.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. To this end, it is an object of the invention to propose a drive which makes it possible to obtain twice the speed of movement and twice the length of movement.
The invention also provides a spraying robot with the driving device.
According to the driving device of the embodiment of the first aspect of the present invention, the driving device includes a fixed module, a driving module and a moving module, the fixed module is provided with a first clamping device, the driving module is disposed on the fixed module, the moving module is movably disposed on the fixed module, the driving module is adapted to drive the moving module so as to enable the moving module and the fixed module to generate relative displacement, and the moving module includes: a first transmission assembly, the first transmission assembly comprising: the clamping device comprises a first rotating wheel, a second rotating wheel and a first transmission piece, wherein the first transmission piece is annular and is sleeved on the first rotating wheel and the second rotating wheel, the first transmission piece is separated into a first section and a second section which are parallel to each other by the first rotating wheel and the second rotating wheel, a tail end moving piece is arranged on the first section, the first clamping device is suitable for clamping the second section, and the moving direction of the moving module is the same as that of the tail end moving piece.
According to the driving device provided by the embodiment of the invention, the driving module and the moving module are arranged on the fixed module, and the first transmission assembly is arranged on the moving module, so that the terminal moving part can move at a speed of 2v when the driving module drives the moving module to move at the speed v, and the actual moving distance of the terminal executing part is 2m when the driving module drives the moving module to move at the moving length m, therefore, the terminal executing part can obtain double moving speed and double moving length.
In addition, the driving device according to the present invention may have the following additional technical features:
in some embodiments of the invention, the drive module comprises: drive motor and second transmission assembly, the second transmission assembly includes: the driving motor is connected with one of the third rotating wheel and the fourth rotating wheel in a transmission mode, the second transmission piece is annular and sleeved on the third rotating wheel and the fourth rotating wheel, and the moving module is connected with the second transmission piece through a second clamping device.
In some embodiments of the invention, the third rotating wheel and the fourth rotating wheel space the second transmission member into a third section and a fourth section parallel to each other, the third section is connected to the moving module by the second clamping device, and the fourth section is connected to the counterweight by the third clamping device.
In some embodiments of the invention, the drive module further comprises: when the fourth section drives the counterweight block to move, the first limiting assembly is suitable for limiting the moving direction of the counterweight block, and comprises: first slide rail with first slider, first slider with the balancing weight is fixed continuous.
In some embodiments of the present invention, a distance between the first rotating wheel and the second rotating wheel is equal to a distance between the third rotating wheel and the fourth rotating wheel, and when the first rotating wheel and the second rotating wheel respectively coincide with the third rotating wheel and the fourth rotating wheel in the left-right direction, the second clamping device is located at a middle of the third rotating wheel and the fourth rotating wheel, the first clamping device is clamped at a middle of the second segment, and the end moving member is located at a middle of the first segment.
In some embodiments of the invention, the drive module further comprises: the second limiting assembly is suitable for limiting the moving direction of the moving module when the driving module drives the moving module to move, and comprises: the second sliding rail is arranged on one of the fixed module and the movable module, and the second sliding block is arranged on the other one of the fixed module and the movable module.
In some embodiments of the invention, the mobile module further comprises: remove the mounting panel, first drive assembly locates on removing the mounting panel, still be equipped with the spacing subassembly of third on removing the mounting panel, first section drives when terminal moving member removes, the spacing subassembly of third is suitable for the restriction the moving direction of terminal moving member, the spacing subassembly of third includes: the third slide rail is arranged on the movable mounting plate, and the third slide block is arranged on the tail end moving part.
In some embodiments of the invention, the movable mounting plate is formed with a plurality of weight-reducing slots, and the weight-reducing slots are uniformly spaced along the length direction of the movable mounting plate.
In some embodiments of the invention, the first transmission assembly may be any one of a chain transmission assembly, a rack and pinion transmission assembly, a wire rope transmission assembly and a belt transmission assembly.
The invention further provides a spraying robot with the embodiment.
The painting robot according to an embodiment of the second aspect of the invention includes: the spraying device is suitable for spraying slurry, and the spraying module is arranged on the tail end moving piece.
According to the spraying robot provided by the embodiment of the invention, the driving device of the embodiment is arranged, so that the spraying device can perform spraying operation at twice of moving speed and twice of moving length, the spraying operation speed is high, the spraying range is wide, and the spraying efficiency of the spraying robot can be improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a top view of a drive arrangement according to an embodiment of the present invention;
fig. 2 is a front view of a driving apparatus according to an embodiment of the present invention;
fig. 3 is a perspective view of a driving module of a driving apparatus according to an embodiment of the present invention;
fig. 4 is a top view of a drive module of a drive device according to an embodiment of the invention;
fig. 5 is a perspective view of a moving module of a driving apparatus according to an embodiment of the present invention;
fig. 6 is a top view of a moving module of a driving apparatus according to an embodiment of the present invention.
Reference numerals:
100: a drive device;
11: a first clamping device;
2: a drive module; 21: a drive motor; 22: a second transmission assembly; 221: a third rotating wheel; 222: a fourth rotating wheel; 223: a second transmission member; 2231: a third stage; 2232: a fourth stage;
3: a moving module; 31: moving the mounting plate; 311: a weight reduction groove; 32: a first transmission assembly; 321: a first rotating wheel; 322: a second rotating wheel; 323: a first transmission member; 3231: a first stage; 3232: a second stage;
40: a terminal moving member; 41: a second clamping device; 42: a third clamping device; 43: a counterweight block;
5: a first limiting component; 51: a first slide rail;
6: a second limiting component; 61: a second slide rail; 62: a second slider;
7: a third limiting component; 71: a third slide rail; 72: and a third slide block.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "left", "right", "horizontal", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. Furthermore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
A driving apparatus 100 according to an embodiment of the present invention is described below with reference to fig. 1 to 6.
As shown in fig. 1 to 6, a driving apparatus 100 according to an embodiment of the present invention includes a fixed module, a driving module 2, and a moving module 3.
Specifically, the driving module 2 is disposed on the fixed module, the moving module 3 is movably disposed on the fixed module, and the driving module 2 is adapted to drive the moving module 3, so that the moving module 3 and the fixed module are relatively displaced.
Further, the moving module 3 includes: a first transmission assembly 32, the first transmission assembly 32 comprising: the first rotating wheel 321, the second rotating wheel 322 and the first transmitting piece 323, the first transmitting piece 323 is annular and is sleeved on the first rotating wheel 321 and the second rotating wheel 322, the first rotating wheel 321 and the second rotating wheel 322 divide the first transmitting piece 323 into a first section 3231 and a second section 3232 which are parallel to each other, the first section 3231 is provided with a tail end moving piece 40, the fixing module is provided with a first clamping device 11, the first clamping device 11 is suitable for being clamped on the second section 3232, and the moving direction of the moving module 3 is the same as that of the tail end moving piece 40.
For example, as shown in fig. 1 and fig. 2, the driving module 2 is adapted to drive the moving module 3 to move in the left-right direction, and the first rotating wheel 321 and the geothermal rotating wheel are arranged at intervals in the left-right direction, so that when the driving module 2 drives the moving module 3 to move from left to right, the terminal moving member 40 on the moving module 3 can move from left to right, if the moving speed of the moving module 3 is the speed v, the moving speed of the terminal moving member 40 is the speed v, and when the moving module 3 moves at the speed v, the clamping position of the second section 3232 clamped by the first clamping device 11 is fixed relative to the fixed module, which enables the first clamping device 11 to drive the clamping position of the second section 3232 to rotate at the speed v 323 clockwise in the view shown in fig. 1, so that the first driving member can drive the terminal moving member 40 on the first section 3231 to move from right to left, and at the speed v to right, and further enables the terminal moving member 100 to move from left to right at the speed v, which enables the terminal moving module 100 to move at twice the speed v of the fixed module 100.
It can be understood that, in the above, the driving module 2 drives the moving module 3 to move from left to right, so that the terminal moving member 40 moves at a speed 2v from left to right relative to the fixed module, and the driving module 2 of the present application can also drive the moving module 3 to move from right to left, so that the terminal moving member 40 moves at a speed 2v from right to left relative to the fixed module, therefore, the driving device 100 of the present application can drive the terminal moving member 40 to move at a speed 2v at least in the above two directions, thereby reducing the time for driving the terminal moving member 40, and since the driving module 2 is used for driving, when the terminal moving member 40 moves at a speed 2v, the control can be better performed.
In addition, when the end moving member 40 moves on the moving module 3 at the speed v, the moving module 3 can move on the fixed module at the speed v, so the actual moving distance of the end moving member 40 relative to the fixed module is: the sum of the moving length m of the moving module 3 and the moving length m of the end moving member 40 on the moving module 3, that is, the actual moving distance of the end moving member 40 relative to the fixed module is 2m, that is, when the moving distance of the driving module 2 driving the moving module 3 is the moving length m, the actual moving distance of the end moving member 40 is 2m.
Therefore, according to the driving apparatus 100 of the embodiment of the present invention, the driving module 2 and the moving module 3 are disposed on the fixed module, and the first transmission assembly 32 is disposed on the moving module 3, so that when the driving module 2 drives the moving module 3 to move at the speed v, the end moving member 40 can move at the speed 2v, and when the driving module 2 drives the moving module 3 to move at the moving length m, the actual moving distance of the end moving member 40 is 2m, and thus, the end moving member 40 can obtain twice moving speed and twice moving length.
In some embodiments of the present invention, as shown in fig. 1-4, the driving module 2 includes a driving motor 21 and a second transmission assembly 22, and the second transmission assembly 22 includes: the driving motor 21 is in transmission connection with one of the third rotating wheel 221 and the fourth rotating wheel 222, the second transmission piece 223 is annular and is sleeved on the third rotating wheel 221 and the fourth rotating wheel 222, and the mobile module 3 is connected with the second transmission piece 223 through the second clamping device 41.
For example, as shown in fig. 1, the third rotating wheel 221 and the fourth rotating wheel 222 are disposed at a distance from each other in the left-right direction, wherein the driving motor 21 may be installed below the fourth rotating wheel 222 on the right side in the manner shown in fig. 1 and 2, and the driving motor 21 may drive the fourth rotating wheel 222 to rotate, it is understood that the driving motor 21 may also be installed above the fourth rotating wheel 222, or the fourth rotating wheel 222 is at another position in the space, and a transmission structure may also be disposed between the fourth rotating wheel 222 and the driving motor 21, and the transmission structure may be a gear transmission structure, which is not limited herein.
Further, the driving motor 21 may also be in transmission connection with the third rotating wheel 221, so that the driving motor 21 drives the third rotating wheel 221 to rotate, the third rotating wheel 221 may drive the second transmission member 223 to move when rotating, and the second transmission member 223 may drive the second clamping device 41 to move in the left-right direction during the movement of the second transmission member 223. Further, in a specific example as shown in fig. 1 and fig. 2, the moving module 3 includes a moving mounting plate 31, and the second clamping device 41 is fixedly connected to a middle portion of the moving mounting plate 31, where "the middle portion" means that the second clamping device 41 is located at a position in the middle of the moving mounting plate 31 in a length direction of the moving module 3, i.e., in a left-right direction as shown in fig. 2, so that the second clamping device 41 can drive the moving mounting plate 31 to move in the left-right direction during the movement in the left-right direction, i.e., the purpose that the driving motor 21 drives the moving module 3 to move from left to right or from right to left is achieved.
Of course, it is understood that the second clamping device 41 may be installed at other positions of the moving module 3 besides the third rotating wheel 221, the third rotating wheel 221 and the second transmission piece 223 in the length direction of the moving module 3, and specifically, may be set according to actual working requirements or production requirements, and is not limited herein.
In other embodiments of the present invention, the driving module 2 includes a driving motor, a lead screw and a sliding block, wherein the lead screw extends along the left-right direction, the driving module 2 can drive the lead screw to rotate, the lead screw can make the sliding block reciprocate along the lead screw in the left-right direction when rotating, and the moving module 3 can be matched with the sliding block, so that the sliding block can drive the moving module 3 to reciprocate in the left-right direction during the reciprocating movement of the sliding block in the left-right direction. Here, it is understood that the driving module 2 may be further configured by other components, such as a chain transmission component, a rack and pinion transmission component, a wire transmission component, and the like, in other words, as long as the driving of the moving component is realized such that the moving component reciprocates in the left and right directions, and thus, the present invention is not limited thereto.
In some embodiments of the present invention, as shown in fig. 1, 2, 5 and 6, third rotating wheel 221 and fourth rotating wheel 222 space second transmission member 223 into third section 2231 and fourth section 2232 parallel to each other, third section 2231 being connected to moving module 3 by second clamping device 41, and fourth section 2232 being connected to counterweight 43 by third clamping device 42.
That is, when the second transmission member 223 moves, the third section 2231 can drive the moving module 3 to move in the left-right direction shown in fig. 1 through the second clamping device 41, and the fourth section 2232 can drive the weight 43 to move in the left-right direction shown in fig. 1 through the third clamping device 42, more specifically, when the third section 2231 drives the moving module 3 to move from right to left through the second clamping device 41, the fourth section 2232 can drive the weight 43 to move from left to right through the third clamping device 42, it can be understood that when the moving module 3 moves from right to left, there is a certain inertia, and when the driving module 2 stops driving the moving module 3 to move from right to left, under the action of inertia, the moving module 3 has a tendency to move to the left, where the tendency means that the moving module 3 has a kinetic energy to move to the left but does not move, and under such a tendency, the driving device 100 is easily shaken, and the weight 43 is disposed on the fourth section 2232, so that the moving module 3 can act on the inertia of the driving device 100 under the action of inertia, and the inertia force of the weight 43 can cancel the action of the weight 43, thereby making the weight 100 easily shaken, and even if the inertia force of the moving module 3 acts on the inertia, the weight 100, the weight can easily shakes.
Optionally, as shown in fig. 1 to 4, the driving module 2 further includes: first spacing subassembly 5, when fourth section 2232 drove balancing weight 43 and removes, first spacing subassembly 5 is suitable for the moving direction who restricts balancing weight 43, and first spacing subassembly 5 includes: first slide rail 51 and first slider, first slider is fixed continuous with balancing weight 43. That is to say, when fourth section 2232 drives balancing weight 43 and moves along left and right direction, through the cooperation of first slide rail 51 and first slider, can make balancing weight 43 slide along first slide rail 51, stability is good, and simultaneously, when balancing weight 43 installs on first slide rail 51 through first slider, first slide rail 51 can bear balancing weight 43, can reduce the damage that the gravity at balancing weight 43 led to the fact to second driving medium 223 from this.
In some embodiments of the present invention, as shown in fig. 1 and 2, a distance between the first rotating wheel 321 and the second rotating wheel 322 is equal to a distance between the third rotating wheel 221 and the fourth rotating wheel 222, when the first rotating wheel 321 and the second rotating wheel 322 are respectively overlapped with the third rotating wheel 221 and the fourth rotating wheel 222 in the left-right direction, the second clamping device 41 is located at a middle of the third rotating wheel 221 and the fourth rotating wheel 222, and when the first clamping device 11 is clamped at a middle of the second section 3232, the end moving member 40 is located at a middle of the first section 3231.
For example, as shown in fig. 1 and 2, the distance between the first rotating wheel 321 and the second rotating wheel 322 is L, the distance between the third rotating wheel 221 and the fourth rotating wheel 222 is L, when the second clamping device 41 is clamped on the second transmission member 223 and is located at the middle of the third rotating wheel 221 and the fourth rotating wheel 222, and the first clamping device 11 is clamped on the second section 3232 and is located at the middle of the first rotating wheel 321 and the second rotating wheel 322, the end moving member 40 is located on the first section 3231 and is located at the middle of the first rotating wheel 321 and the second rotating wheel 322, so that when the driving module 2 drives the moving module 3 to move leftward, the distance that the end moving member 40 can move respectively in the left-right direction is L, in other words, the total length that the end moving member 40 can move in the left-right direction is 2L, that is twice the moving length.
It should be noted that, when the first rotating wheel 321 and the second rotating wheel 322 are overlapped with the third rotating wheel 221 and the fourth rotating wheel 222 in the left-right direction, respectively, the position of the first clamping device 11, the position of the second clamping device 41 clamped in the third section 2231, the position of the counterweight 43 clamped in the fourth section 2232, and the position of the end moving member 40 clamped in the first section 3231 may be adjusted between the third rotating wheel 221 and the fourth rotating wheel 222, or between the first rotating wheel 321 and the second rotating wheel 322, so that the moving member end 40 may have more movement forms, for example, when the first rotating wheel 321 and the second rotating wheel 322 are overlapped with the third rotating wheel 221 and the fourth rotating wheel 222 in the left-right direction, respectively, the end moving member 40 may move 2L in the right-left direction, or the end moving member 40 may move 2L in the left-right direction, and is not limited herein.
Here, it should be noted that the letter "v" and the letter "L" cited above are merely for convenience of expression and are not particularly limited.
In some embodiments of the present invention, as shown in fig. 1-2, the driving module 2 further comprises: the second limiting component 6 is suitable for limiting the moving direction of the moving module 3 when the driving module 2 drives the moving module 3 to move, and the second limiting component 6 comprises: a second slide rail 61 and a second slide block 62, the second slide rail 61 being provided on one of the fixed module and the mobile module 3, the second slide block 62 being provided on the other of the fixed module and the mobile module 3.
In some examples, the second slide rail 61 is disposed on the fixed module, the second slider 62 is disposed on the movable module 3, in other examples, the second slide rail 61 is disposed on the movable module 3, the second slider 62 is disposed on the fixed module, and the second slide rail 61 and the second slider 62 cooperate with each other to limit the movement of the movable module 3 to a certain extent, so that the movable module 3 can stably reciprocate along the left-right direction, and meanwhile, the movable module 3 can be mounted on the fixed module by the cooperation of the slide rail and the slider, and the gravity damage to the driving module 2 caused by the movement of the movable module 3 can be reduced.
In a specific example shown in fig. 1-3, the second clamping device 41 may be fixedly connected to the second sliding block 62, where the fixed connection may be a detachable connection or a welded connection, where the detachable connection may be that corresponding screw holes are respectively formed on the second clamping device 41 and the second sliding block 62, and the screws are respectively inserted into the screw holes on the second clamping device 41 and the second sliding block 62, so as to fixedly connect the second clamping device 41 and the second sliding block 62. Therefore, after the second clamping device 41 can be fixedly connected with the second sliding block 62, the second transmission member 223 can drive the second clamping device 41 to move in the left-right direction in the moving process, the second clamping device 41 can drive the second sliding block 62 to move in the left-right direction, and the second sliding block 62 is arranged on the movable module 3 because the second sliding rail 61 is arranged on the fixed module, so that the movable module 3 can be driven to move in the left-right direction when the second sliding block 62 slides along the second sliding rail 61. Thereby moving the moving module 3 in the left-right direction.
In some examples of the invention, as shown in fig. 1, 2, 5 and 6, the mobile module 3 further comprises: remove the mounting panel 31, first drive assembly 32 locates on removing the mounting panel 31, still is equipped with the spacing subassembly 7 of third on removing the mounting panel 31, and when first section 3231 drove the removal of terminal moving member 40, the spacing subassembly 7 of third was suitable for the moving direction of restriction terminal moving member 40, and the spacing subassembly 7 of third includes: a third slide rail 71 and a third slide block 72, wherein the third slide rail 71 is arranged on the movable mounting plate 31, and the third slide block 72 is arranged on the end moving member 40. Therefore, the moving direction of the end moving member 40 can be limited by the cooperation of the third slide rail 71 and the third slider 72, so that the end moving member 40 is relatively stable, and meanwhile, the end moving member 40 can be mounted on the moving mounting plate 31 through the third slide rail 71 and the third slider 72, so that the gravity damage of the end moving member 40 to the first transmission member 323 can be reduced.
Optionally, a plurality of lightening slots 311 are formed on the moving mounting plate 31, the plurality of lightening slots 311 are uniformly spaced along the length direction of the moving mounting plate 31, the weight of the moving mounting plate 31 can be lightened through the plurality of lightening slots 311, and the driving module 2 can better drive the moving module 3 to move.
In some embodiments of the present invention, the first transmission assembly 32 may be any one of a chain transmission assembly, a rack and pinion transmission assembly, a wire rope transmission assembly and a belt transmission assembly, but it is understood that other transmission assemblies may be used for transmission according to actual requirements, and the present invention is not limited thereto.
As shown in fig. 1, the first rotating wheel 321, the second rotating wheel 322, the third rotating wheel 221 and the fourth rotating wheel 222 are belt pulleys, and the first transmission member 323 and the second transmission member 223 are synchronous belts, and are driven by the driving motor 21 to rotate synchronously.
In a specific example as shown in fig. 1 to fig. 6, the first clamping device 11, the second clamping device 41 and the third clamping device 42 may be all clamping blocks, but it is understood that the first clamping device 11, the second clamping device 41 and the third clamping device 42 may have other structural forms, and in particular, may be configured according to actual working environment and production requirements, and are not limited herein.
The present invention also proposes a painting robot having the driving device 100 of the above embodiment.
The spray coating robot according to an embodiment of the present invention includes a spray coating device adapted to spray slurry, and a driving device 100, and a spray coating module provided on the end moving member 40.
Therefore, according to the painting robot of the embodiment of the present invention, by providing the driving device 100 of the above embodiment, the painting device can perform the painting operation at twice the moving speed and twice the moving length, the painting operation is fast, the painting range is wide, and the painting efficiency of the painting robot can be improved.
Other configurations and operations of the driving apparatus 100 and the painting robot according to the embodiment of the present invention are known to those of ordinary skill in the art and will not be described in detail herein.
In the description of the specification, reference to the description of "some embodiments," "optionally," "further" or "some examples" or the like is intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (9)
1. A drive device, comprising:
the fixing module is fixed with a first clamping device;
the driving module is arranged on the fixing module;
the moving module is movably arranged on the fixed module, the driving module is suitable for driving the moving module to enable the moving module and the fixed module to generate relative displacement, and the moving module comprises: a first transmission assembly, the first transmission assembly comprising: the first transmission piece is annular and is sleeved on the first rotating wheel and the second rotating wheel, the first rotating wheel and the second rotating wheel divide the first transmission piece into a first section and a second section which are parallel to each other, the first section is provided with a tail end moving piece, and the first clamping device clamps the second section so that when the moving module moves relative to the fixed module, the first clamping device enables the first transmission piece to rotate;
the moving direction of the moving module is the same as the moving direction of the terminal moving part,
the driving module includes:
a drive motor;
a second drive assembly, the second drive assembly comprising: the driving motor is in transmission connection with one of the third rotating wheel and the fourth rotating wheel, and the second transmission piece is annular and is sleeved on the third rotating wheel and the fourth rotating wheel;
and two ends of the second clamping device are respectively connected with the moving module and the second transmission piece, and when the driving motor drives the second transmission piece to rotate, the second clamping device drives the moving module to move.
2. The driving device as claimed in claim 1, wherein the third rotating wheel and the fourth rotating wheel space the second transmission member into a third section and a fourth section parallel to each other, the third section is connected to the moving module through the second clamping device, and the fourth section is connected to the weight block through the third clamping device.
3. The drive device of claim 2, wherein the drive module further comprises: when the fourth section drives the counterweight block to move, the first limiting assembly is suitable for limiting the moving direction of the counterweight block, and comprises: first slide rail and first slider, first slider with the balancing weight is fixed continuous.
4. The drive device according to claim 1, wherein a distance between the first rotating wheel and the second rotating wheel is equal to a distance between the third rotating wheel and the fourth rotating wheel, and when the first rotating wheel and the second rotating wheel coincide with the third rotating wheel and the fourth rotating wheel, respectively, in a left-right direction, the second gripping device is located at a midpoint between the third rotating wheel and the fourth rotating wheel, the first gripping device is gripped at a midpoint between the second segment, and the end moving member is located at a midpoint between the first segment.
5. The drive device of claim 1, wherein the drive module further comprises: the second limiting assembly is suitable for limiting the moving direction of the moving module when the driving module drives the moving module to move, and comprises: the second sliding rail is arranged on one of the fixed module and the movable module, and the second sliding block is arranged on the other one of the fixed module and the movable module.
6. The drive of claim 1, wherein the moving module further comprises:
remove the mounting panel, first drive assembly locates on the removal mounting panel, still be equipped with the spacing subassembly of third on the removal mounting panel, first section drives when the terminal moving member removes, the spacing subassembly of third is suitable for the restriction the moving direction of terminal moving member, the spacing subassembly of third includes: the third slide rail is arranged on the movable mounting plate, and the third slide block is arranged on the tail end moving part.
7. The drive of claim 6, wherein the movable mounting plate has a plurality of weight-reducing slots formed therein, the plurality of weight-reducing slots being evenly spaced along a length of the movable mounting plate.
8. The drive of claim 1, wherein the first transmission assembly is any one of a chain drive assembly, a rack and pinion transmission assembly, a wire rope transmission assembly, and a belt transmission assembly.
9. A painting robot, comprising:
a spray device adapted to spray a slurry;
a drive device comprising a drive device according to any one of claims 1-8, said spray coating device being provided on said end-effector.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010361674.XA CN113595323B (en) | 2020-04-30 | 2020-04-30 | Drive arrangement and spraying robot that has it |
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| CN202010361674.XA CN113595323B (en) | 2020-04-30 | 2020-04-30 | Drive arrangement and spraying robot that has it |
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| CN113595323B true CN113595323B (en) | 2022-12-20 |
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Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104271282A (en) * | 2012-03-02 | 2015-01-07 | 株式会社日立造船福井 | Transport device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| FR75326E (en) * | 1959-03-11 | 1961-06-09 | Machine for weighing and cutting dough | |
| JP2008285252A (en) * | 2007-05-16 | 2008-11-27 | Nippon Yusoki Co Ltd | Automatic cargo handling vehicle and its control method |
| CN203084812U (en) * | 2013-02-06 | 2013-07-24 | 江苏科思机电工程有限公司 | Variable-pitch conveyer for moving objects |
| JP6612773B2 (en) * | 2014-04-17 | 2019-11-27 | レイトラム，エル．エル．シー． | Belt conveyor and viscoelastic damping device and method for damping a conveyor belt |
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Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104271282A (en) * | 2012-03-02 | 2015-01-07 | 株式会社日立造船福井 | Transport device |
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