CN115122360A

CN115122360A - Novel coating manipulator

Info

Publication number: CN115122360A
Application number: CN202211043726.4A
Authority: CN
Inventors: 储华丽; 戴茂春
Original assignee: Yangzhou Demao Coating Machinery Co ltd
Current assignee: Yangzhou Demao Coating Machinery Co ltd
Priority date: 2022-08-30
Filing date: 2022-08-30
Publication date: 2022-09-30

Abstract

The invention relates to the technical field of mechanical arms, and discloses a novel coating mechanical arm which comprises a power machine II, a first mechanical arm and a second mechanical arm, wherein the second mechanical arm is fixedly arranged at one end of an output shaft of the power machine II, and is movably sleeved with the first mechanical arm, so that when the first mechanical arm rotates clockwise, the distance between the second mechanical arm and a base is reduced simultaneously, the included angle between a double-plate supporting rod II and the double-plate supporting rod II is reduced, the distance between a connecting shaft I and a connecting shaft II is further increased, under the action of further increasing the distance between the connecting shaft I and the connecting shaft II, the elastic force of a spring is further increased, the gravity of the second mechanical arm is balanced according to the same principle, the acting force of a supporting device I on the first mechanical arm is increased, and the torque applied to the output shaft of the first mechanical arm is further reduced, the use cost of the device is further reduced and the service life of the device is prolonged.

Description

Novel coating manipulator

Technical Field

The invention relates to the technical field of mechanical arms, in particular to a novel coating mechanical arm.

Background

Along with the progress of science and technology, present mill all can adopt full automatization or semi-automatization equipment to produce, the human cost has been practiced thrift greatly, current coating machinery hand, be an automatic robot who is used in the spraying operation, generally by the multiunit servo motor, the big arm, forearm and work module constitute, in-process multiaxis actuating system at the operation can drive work module and carry out various displacements, thereby carry out the spraying to each position of work piece, work efficiency is high, it is convenient to use, various advantages of degree of automation height, be the most extensive coating machinery hand of application scope at present.

Although current application manipulator has foretell advantage, still have certain limitation at the in-process of in-service use, need frequently to drive the manipulator at the in-process of spraying and extend, this leads to whole focus to one side to produce great moment of torsion to servo motor, can cause the damage to servo motor's transmission system in long-time use, thereby reduce the device's life, to this, this application file provides a novel application manipulator, aims at solving the above-mentioned problem that proposes.

Disclosure of Invention

Aiming at the defects of the existing novel coating manipulator in the background technology in the using process, the invention provides the novel coating manipulator which has the advantage of long service life and solves the problems in the background technology.

The invention provides the following technical scheme: a novel coating manipulator comprises a base, wherein a connecting plate is fixedly mounted at the bottom of the base, a connecting rotating shaft is fixedly mounted at the bottom of the connecting plate, a connecting seat is fixedly mounted at the top of the base, a power machine I is fixedly mounted at one side of the outer surface of the connecting seat, a rotating groove is formed in the top of the connecting seat, a first mechanical arm is movably sleeved in the rotating groove, one end of an output shaft of the power machine I is fixedly connected with the first mechanical arm, a mounting groove is formed in one side of the first mechanical arm, a power machine II is fixedly sleeved in the mounting groove, a second mechanical arm is fixedly mounted at one end of an output shaft of the power machine II, the second mechanical arm is movably sleeved with the first mechanical arm, a lower shaft seat I and a lower shaft seat II are respectively fixedly mounted at the position, far away from the connecting seat, of the top of the base, an upper shaft seat I is fixedly mounted at the bottom of the first mechanical arm, the bottom fixed mounting of second arm has last axle bed II, the top activity of axle bed I has cup jointed strutting arrangement I down, and strutting arrangement I's one end is connected with last axle bed I, strutting arrangement II has been cup jointed in the top activity of axle bed II down, and strutting arrangement II's one end is connected with last axle bed II, adjusting device has all been cup jointed in the activity of the both sides of strutting arrangement I, adjusting device cup joints with strutting arrangement II activity.

Preferably, the supporting device I comprises a single-plate supporting rod I, the single-plate supporting rod I is movably sleeved with the lower shaft seat I, connecting shafts I are fixedly mounted on two sides of the single-plate supporting rod I, a double-plate supporting rod I is movably sleeved on the outer surface of the connecting shafts I, and one end of the double-plate supporting rod I is movably sleeved with the upper shaft seat I.

Preferably, strutting arrangement II includes two board support pole II, connecting axle II and two board support pole III, two board support pole II, connecting axle II and two board support pole III's structure and connected mode are the same with veneer bracing piece I, connecting axle I and two board support pole I's structure and connected mode.

Preferably, the double-plate supporting rod I and the double-plate supporting rod III are in a staggered state, and the single-plate supporting rod I and the double-plate supporting rod II are in a staggered state.

Preferably, adjusting device includes the stroke piece, the stroke piece cup joints with I activity of connecting axle, the inside movable mounting of stroke piece has the resistance bar, the fixed cover of surface of resistance bar has connect the fixed block, the fixed block cup joints with II activities of connecting axle, the one end fixed mounting of stroke piece has the spring, spring and fixed block fixed connection, the equal fixed mounting in both ends of stroke piece has only the stroke piece.

Preferably, the joints among the stroke block, the fixed block and the spring are subjected to insulation treatment.

Preferably, a current inductor is fixedly mounted at the position, located on one side of the lower shaft seat I, of the top of the base, and the current inductor is connected with the stroke block and the fixing block through conducting wires respectively.

Preferably, the output end of the current inductor is respectively connected with the input ends of the power machine I and the power machine II in a signal connection mode.

The invention has the following beneficial effects:

1. the invention is characterized in that a single-plate support rod I is movably sleeved with a lower shaft seat I, one end of a double-plate support rod I is movably sleeved with an upper shaft seat I, when a first mechanical arm rotates clockwise under the driving of a power machine I, the transverse distance between the power machine II and the power machine I is increased, the first mechanical arm drives a second mechanical arm to extend out, meanwhile, the distance between the upper shaft seat I and a base is reduced, so that the included angle between the single-plate support rod I and the double-plate support rod I is reduced, the distance between a connecting shaft I and a connecting shaft II is increased, the distance between a stroke block and a fixed block is increased due to the increase of the distance between the connecting shaft I and the connecting shaft II, a spring is stretched, the elasticity of the spring is improved, the elasticity of the spring reversely acts on the connecting shaft I through the stroke block, so that the support device I is in the straightening trend, and as the rotating angle of the first mechanical arm is continuously increased and the included angle between the first mechanical arm and the base is continuously reduced, the distance between the gravity center of the first mechanical arm and the power machine I is continuously increased, and the acting force generated by the supporting device I is also continuously increased, so that the torque generated by the gravity of the first mechanical arm on the power machine I is counteracted, the problem that the service life is reduced due to metal fatigue because the gravity of the first mechanical arm keeps the output shaft of the power machine I in a high-torque environment in long-time use of the mechanical arm is avoided, and the use cost of the device is reduced.

2. According to the invention, the second mechanical arm is fixedly arranged at one end of the output shaft of the power machine II, and is movably sleeved with the first mechanical arm, so that when the first mechanical arm rotates clockwise, the distance between the second mechanical arm and the base is simultaneously reduced, the included angle between the double-plate support rod II and the double-plate support rod III is reduced, the distance between the connecting shaft I and the connecting shaft II is further increased, under the action of further increasing the distance between the connecting shaft I and the connecting shaft II, the elastic force of the spring is further increased, the gravity of the second mechanical arm is balanced by the same principle, and the acting force of the supporting device I on the first mechanical arm is increased, so that the torque applied to the output shaft of the power machine I is further reduced, the use cost of the device is further reduced, and the service life of the device is prolonged.

3. The current sensor is respectively connected with the stroke block and the fixed block through the conducting wire, when the angle between the single-plate supporting rod I and the double-plate supporting rod I is increased, the distance between the connecting shaft I and the connecting shaft II is increased, so that the distance between the stroke block and the fixed block is increased, the length of the spring between the stroke block and the fixed block is increased, the resistance value in a closed loop formed by the fixed block, the stroke block, the spring, the current sensor and the conducting wire is increased, so that the current intensity in the closed loop is reduced, the current sensor can sense the reduction of the current intensity at the moment, the output end of the current sensor is respectively connected with the input ends of the power machine I and the power machine II through a signal connection mode, so that the rotating speed reduction in the running process of the power machine I and the power machine II is controlled, and the condition that the rotating speeds of the first mechanical arm and the second mechanical arm are overlarge when the torque borne by the power machine I and the power machine II is overlarge and the stroke is larger when the power machine I and the power machine II is stopped is avoided The transmission equipment of the power machine I and the power machine II is damaged due to the large relation, and the running stability of the device is improved.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic front view of the structure of the present invention;

FIG. 3 is a schematic sectional view taken along the line A-A in FIG. 2 according to the present invention;

FIG. 4 is a schematic connection diagram of a power machine II with the structure of the invention;

FIG. 5 is a schematic view of a structural support device I of the present invention;

FIG. 6 is a schematic view of a structural support apparatus II of the present invention;

FIG. 7 is a schematic view of a structural adjustment device of the present invention;

FIG. 8 is a front schematic view of a structural adjustment device of the present invention;

FIG. 9 is a schematic cross-sectional view taken along the direction B-B in FIG. 8 according to the present invention.

In the figure: 1. a base; 2. a connecting plate; 3. connecting the rotating shaft; 4. a connecting seat; 5. a power machine I; 6. a first robot arm; 7. a power machine II; 8. a second mechanical arm; 9a, a lower shaft seat I; 9b, a lower shaft seat II; 10a, an upper shaft base I; 10b, an upper shaft base II; 11a, a supporting device I; 111a, a single plate supporting rod I; 112a and a connecting shaft I; 113a, a double-plate supporting rod I; 11b, a supporting device II; 111b, a double-plate supporting rod II; 112b and a connecting shaft II; 113b, a double-plate supporting rod III; 12. an adjustment device; 121. a stroke block; 122. a resistance rod; 123. a fixed block; 124. a spring; 125. a stop block; 13. a current sensor.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-4, a novel coating manipulator includes a base 1, a connecting plate 2 is fixedly installed at the bottom of the base 1, a connecting shaft 3 is fixedly installed at the bottom of the connecting plate 2, a connecting seat 4 is fixedly installed at the top of the base 1, a power machine i 5 is fixedly installed at one side of the outer surface of the connecting seat 4, a rotating groove is formed at the top of the connecting seat 4, a first mechanical arm 6 is movably sleeved inside the rotating groove, one end of an output shaft of the power machine i 5 is fixedly connected with the first mechanical arm 6, a mounting groove is formed at one side of the first mechanical arm 6, a power machine ii 7 is fixedly sleeved inside the mounting groove, a second mechanical arm 8 is fixedly installed at one end of an output shaft of the power machine ii 7, the second mechanical arm 8 is movably sleeved with the first mechanical arm 6, so that when the first mechanical arm 6 rotates clockwise in fig. 3, the distance between the second mechanical arm 8 and the base 1 is reduced at the same time, keep away from respectively fixed mounting on the position of connecting seat 4 at 1 top of base down axle bed I9 a and lower axle bed II 9b, axle bed I10 a is gone up to the bottom fixed mounting of first arm 6, axle bed II 10b is gone up to the bottom fixed mounting of second arm 8, strutting arrangement I11 a has been cup jointed in the top activity of lower axle bed I9 a, and strutting arrangement I11 a's one end is connected with last axle bed I10 a, strutting arrangement II 11b has been cup jointed in the top activity of lower axle bed II 9b, and strutting arrangement II 11 b's one end is connected with last axle bed II 10b, adjusting device 12 has been cup jointed in the equal activity in both sides of strutting arrangement I11 a, adjusting device 12 cup joints with strutting arrangement II 11b activity.

Referring to fig. 3 and 5, the supporting device i 11a includes a single-plate supporting rod i 111a, the single-plate supporting rod i 111a is movably sleeved with the lower shaft seat i 9a, two sides of the single-plate supporting rod i 111a are fixedly provided with connecting shafts i 112a, an outer surface of the connecting shaft i 112a is movably sleeved with a double-plate supporting rod i 113a, and one end of the double-plate supporting rod i 113a is movably sleeved with the upper shaft seat i 10a, so that when the first arm 6 is driven by the power machine i 5 to rotate clockwise in fig. 3, a transverse distance between the power machine ii 7 and the power machine i 5 is increased, the first mechanical arm 6 drives the second mechanical arm 8 to extend, and meanwhile, a distance between the upper shaft seat i 10a and the base 1 is decreased, so that an included angle between the single-plate supporting rod i 111a and the double-plate supporting rod i 113a is decreased.

Referring to fig. 5 to 6, the supporting device ii 11b includes a double-plate supporting rod ii 111b, a connecting shaft ii 112b, and a double-plate supporting rod iii 113b, and the structures and connections of the double-plate supporting rod ii 111b, the connecting shaft ii 112b, and the double-plate supporting rod iii 113b are the same as those of the single-plate supporting rod i 111a, the connecting shaft i 112a, and the double-plate supporting rod i 113a, so that the included angle between the double-plate supporting rod ii 111b and the double-plate supporting rod iii 113b is reduced in the process of reducing the distance between the second robot arm 8 and the base 1, and the distance between the connecting shaft i 112a and the connecting shaft ii 112b is increased under the effect of reducing the included angle between the single-plate supporting rod i 111a and the double-plate supporting rod i 113 a.

Referring to fig. 3 and 5-6, the double-plate support rod i 113a and the double-plate support rod iii 113b are in a staggered state, and the single-plate support rod i 111a and the double-plate support rod ii 111b are in a staggered state, so that the distance between the connecting shaft i 112a and the connecting shaft ii 112b is further increased.

Referring to fig. 1-9, the adjusting device 12 includes a stroke block 121, the stroke block 121 is movably sleeved with the connecting shaft i 112a, the distance between the connecting shaft i 112a and the connecting shaft ii 112b is increased, so that the distance between the stroke block 121 and the fixing block 123 is increased, the spring 124 is stretched, the elastic force of the spring 124 is increased, the elastic force of the spring 124 reversely acts on the connecting shaft i 112a through the stroke block 121, the supporting device i 11a is in a straightened trend, and as the rotating angle of the first mechanical arm 6 is continuously increased and the included angle between the first mechanical arm 6 and the base 1 is reduced, the distance between the gravity center of the first mechanical arm 6 and the power i 5 is continuously increased, the acting force generated by the supporting device i 11a is also continuously increased, so as to counteract the torque generated by the gravity of the first mechanical arm 6 on the power i 5, and avoid that the gravity of the first mechanical arm 6 keeps the output shaft of the power i 5 at the constant level due to the gravity of the first mechanical arm 6 in long-time use Under the environment of high torque, thereby causing the problem of service life reduction caused by metal fatigue, and reducing the use cost of the device, the resistance rod 122 is movably arranged in the stroke block 121, the fixed block 123 is fixedly sleeved on the outer surface of the resistance rod 122, the fixed block 123 is movably sleeved with the connecting shaft II 112b, under the action of further increasing the distance between the connecting shaft I112 a and the connecting shaft II 112b, the elastic force of the spring 124 is further increased, the gravity of the second mechanical arm 8 is balanced by the same principle, meanwhile, the acting force of the supporting device I11 a on the first mechanical arm 6 is also increased, thereby further reducing the torque applied to the output shaft of the power machine I5, further reducing the use cost of the device and prolonging the service life of the device, the spring 124 is fixedly arranged at one end of the stroke block 121, and the spring 124 is fixedly connected with the fixed block 123, the two ends of the stroke block 121 are fixedly provided with stop blocks 125.

Referring to fig. 7-9, the joints between the stroke block 121, the fixed block 123 and the spring 124 are insulated.

Referring to fig. 1 to 9, a current sensor 13 is fixedly mounted on a position of the top of the base 1 on one side of the lower shaft seat i 9a, the current sensor 13 is respectively connected with the stroke block 121 and the fixed block 123 through wires, when an angle between the single-plate supporting rod i 111a and the double-plate supporting rod i 113a is increased, a distance between the connecting shaft i 112a and the connecting shaft ii 112b is increased, so that the distance between the stroke block 121 and the fixed block 123 is increased, a length of the spring 124 between the stroke block 121 and the fixed block 123 is increased, a resistance value in a closed loop formed by the fixed block 123, the stroke block 121, the spring 124, the current sensor 13 and the wires is increased, so that a current intensity in the closed loop is decreased, and at this time, the current sensor 13 senses a decrease in the current intensity.

Referring to fig. 1-3, the output end of the current sensor 13 is connected to the input ends of the power machine i 5 and the power machine ii 7 respectively by signal connection, so as to control the reduction of the rotation speed of the power machine i 5 and the power machine ii 7 during the operation process, avoid the problem that the transmission equipment of the power machine i 5 and the power machine ii 7 is damaged due to the large stroke relationship when the first mechanical arm 6 and the second mechanical arm 8 are stopped because the rotation speed of the first mechanical arm 6 and the second mechanical arm 8 is too large when the torque borne by the power machine i 5 and the power machine ii 7 is too large, and improve the operation stability of the device.

The using method of the invention is as follows:

in the use process, when the first mechanical arm 6 is driven by the power machine I5 to rotate clockwise in fig. 3, at the moment, the transverse distance between the power machine II 7 and the power machine I5 is increased, the first mechanical arm 6 drives the second mechanical arm 8 to extend, meanwhile, the distance between the upper shaft seat I10 a and the base 1 is reduced, so that the included angle between the single-plate supporting rod I111 a and the double-plate supporting rod I113 a is reduced, the distance between the connecting shaft I112 a and the connecting shaft II 112b is increased, the distance between the stroke block 121 and the fixed block 123 is increased, so that the spring 124 is stretched, the elasticity of the spring 124 is improved, the elasticity of the spring 124 reversely acts on the connecting shaft I112 a through the stroke block 121, so that the supporting device I11 a is in a straightening trend, and the included angle between the first mechanical arm 6 and the base 1 is continuously reduced along with the continuous increase of the rotation angle of the first mechanical arm 6, the distance between the gravity center of the first mechanical arm 6 and the power machine I5 is increased continuously, the acting force generated by the supporting device I11 a is increased continuously, so that the torque generated by the gravity center of the first mechanical arm 6 on the power machine I5 is counteracted, when the first mechanical arm 6 rotates clockwise in the figure 3, the distance between the second mechanical arm 8 and the base 1 is reduced simultaneously, the included angle between the double-plate supporting rod II 111b and the double-plate supporting rod III 113b is reduced, the distance between the connecting shaft I112 a and the connecting shaft II 112b is further increased, under the action of further increasing the distance between the connecting shaft I112 a and the connecting shaft II 112b, the elastic force of the spring 124 is further increased, the gravity center of the second mechanical arm 8 is balanced by the same principle, and the acting force of the supporting device I11 a on the first mechanical arm 6 is increased simultaneously, so that the torque applied to an output shaft of the power machine I5 is further reduced, the angle between the single-plate supporting rod I111 a and the double-plate supporting rod I113 a is increased, the distance between the connecting shaft I112 a and the connecting shaft II 112b is increased, so that the distance between the stroke block 121 and the fixed block 123 is increased, the length of the spring 124 between the stroke block 121 and the fixed block 123 is increased, the resistance value in a closed loop formed by the fixed block 123, the stroke block 121, the spring 124, the current inductor 13 and a conducting wire is improved, the current intensity in the closed loop is reduced, the current inductor 13 induces the reduction of the current intensity, and the rotating speed reduction in the running process of the power machine I5 and the power machine II 7 is controlled.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a novel application manipulator, includes base (1), its characterized in that: the bottom of the base (1) is fixedly provided with a connecting plate (2), the bottom of the connecting plate (2) is fixedly provided with a connecting rotating shaft (3), the top of the base (1) is fixedly provided with a connecting seat (4), one side of the outer surface of the connecting seat (4) is fixedly provided with a power machine I (5), the top of the connecting seat (4) is provided with a rotating groove, a first mechanical arm (6) is movably sleeved in the rotating groove, one end of an output shaft of the power machine I (5) is fixedly connected with the first mechanical arm (6), one side of the first mechanical arm (6) is provided with a mounting groove, a power machine II (7) is fixedly sleeved in the mounting groove, one end of an output shaft of the power machine II (7) is fixedly provided with a second mechanical arm (8), and the second mechanical arm (8) is movably sleeved with the first mechanical arm (6), a lower shaft seat I (9 a) and a lower shaft seat II (9 b) are respectively and fixedly arranged at the top of the base (1) far away from the connecting seat (4), an upper shaft seat I (10 a) is fixedly arranged at the bottom of the first mechanical arm (6), an upper shaft seat II (10 b) is fixedly arranged at the bottom of the second mechanical arm (8), the top of the lower shaft seat I (9 a) is movably sleeved with a supporting device I (11 a), one end of the supporting device I (11 a) is connected with the upper shaft seat I (10 a), the top of the lower shaft seat II (9 b) is movably sleeved with the supporting device II (11 b), and one end of the supporting device II (11 b) is connected with the upper shaft base II (10 b), adjusting devices (12) are movably sleeved on two sides of the supporting device I (11 a), and the adjusting devices (12) are movably sleeved with the supporting device II (11 b).

2. The novel coating manipulator of claim 1, characterized in that: the supporting device I (11 a) comprises a single plate supporting rod I (111 a), the single plate supporting rod I (111 a) is movably sleeved with a lower shaft seat I (9 a), connecting shafts I (112 a) are fixedly mounted on two sides of the single plate supporting rod I (111 a), a double plate supporting rod I (113 a) is movably sleeved on the outer surface of the connecting shaft I (112 a), and one end of the double plate supporting rod I (113 a) is movably sleeved with an upper shaft seat I (10 a).

3. The novel coating manipulator of claim 2, characterized in that: the supporting device II (11 b) comprises a double-plate supporting rod II (111 b), a connecting shaft II (112 b) and a double-plate supporting rod III (113 b), and the structures of the double-plate supporting rod II (111 b), the connecting shaft II (112 b) and the double-plate supporting rod III (113 b) are the same as the structures and the connecting modes of the single-plate supporting rod I (111 a), the connecting shaft I (112 a) and the double-plate supporting rod I (113 a).

4. The novel coating manipulator of claim 3, characterized in that: the double-plate supporting rod I (113 a) and the double-plate supporting rod III (113 b) are in a staggered state, and the single-plate supporting rod I (111 a) and the double-plate supporting rod II (111 b) are in a staggered state.

5. The novel coating manipulator of claim 4, characterized in that: adjusting device (12) are including stroke piece (121), stroke piece (121) and connecting axle I (112 a) activity are cup jointed, the inside movable mounting of stroke piece (121) has resistance bar (122), fixed block (123) have been cup jointed to the external fixed surface of resistance bar (122), fixed block (123) and connecting axle II (112 b) activity are cup jointed, the one end fixed mounting of stroke piece (121) has spring (124), spring (124) and fixed block (123) fixed connection, the equal fixed mounting in both ends of stroke piece (121) ends stroke piece (125).

6. The novel coating manipulator of claim 5, characterized in that: and the joints among the stroke block (121), the fixed block (123) and the spring (124) are subjected to insulation treatment.

7. The novel coating manipulator of claim 6, characterized in that: a current inductor (13) is fixedly mounted at the position, located on one side of the lower shaft seat I (9 a), of the top of the base (1), and the current inductor (13) is connected with the stroke block (121) and the fixing block (123) through conducting wires respectively.

8. The novel coating manipulator of claim 7, characterized in that: the output end of the current inductor (13) is respectively connected with the input ends of the power machine I (5) and the power machine II (7) in a signal connection mode.