CN201432305Y - Mechanical arm of indoor spraying robot - Google Patents

Mechanical arm of indoor spraying robot Download PDF

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Publication number
CN201432305Y
CN201432305Y CN2009201272915U CN200920127291U CN201432305Y CN 201432305 Y CN201432305 Y CN 201432305Y CN 2009201272915 U CN2009201272915 U CN 2009201272915U CN 200920127291 U CN200920127291 U CN 200920127291U CN 201432305 Y CN201432305 Y CN 201432305Y
Authority
CN
China
Prior art keywords
arm
arm joint
joint
motor
mechanical arm
Prior art date
Application number
CN2009201272915U
Other languages
Chinese (zh)
Inventor
李奇敏
侯海波
周明红
尹先进
Original Assignee
重庆大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 重庆大学 filed Critical 重庆大学
Priority to CN2009201272915U priority Critical patent/CN201432305Y/en
Application granted granted Critical
Publication of CN201432305Y publication Critical patent/CN201432305Y/en

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Abstract

The utility model discloses a mechanical arm of an indoor spraying robot, which comprises a first electric machine (3), a self-locking speed reducer, a transmission mechanism, a plurality of arm sections which are hinged end to end and a controller; the root part of a first arm section (5) located at the last part of the arm sections is hinged with a bracket (2) which is fixed with a tray (1); thefirst electric machine (3) drives the self-locking speed reducer and the transmission mechanism, and then drives the first arm section (5) to swing; the front end of the arm section which is locatedat the forefront of the arm sections is provided with a spray-head device (6); the rest arm sections are pushed by an electric pushrod (7), a hinging pin roll (8) of the arm section is provided with an angular displacement sensor (9), the controller can control the first electric machine (3) and the electric pushrod (7) according to the information collected by the angular displacement sensors (9). The mechanical arm of the indoor spraying robot has high automation degree, and is flexible; the front end of the mechanical arm can maintain vertical movement up and down, and the mechanical arm ofthe indoor spraying robot has enough anti- tipping stability.

Description

The mechanical arm of indoor spray robot
Technical field
The utility model relates to spray robot, relates in particular to a kind of mechanical arm of indoor wall spray robot.
Background technology
The robot that the house sidings surface is sprayed needs the mechanical arm that can swing up and down automatically, by the spray equipment of mechanical arm front end metope is sprayed.A kind ofly need not to use guide rail, just can be at the spray robot of indoor walking a kind ofly wait to develop, novel robot that spray efficiency is high, the indoor spray robot of this kind should be walked flexibly, enough anti-tipping stability is arranged again, it need design a kind of automaticity height, flexible light mechanical arm, and the mechanical arm front end can keep upper and lower moving both vertically.
The utility model content
Technical problem to be solved in the utility model is to provide a kind of mechanical arm of indoor spray robot, and its motion is flexible, automaticity is high, and the mechanical arm front end can keep upper and lower moving both vertically.
The technical solution of the utility model is as follows: a kind of mechanical arm of indoor spray robot, comprise first motor, self-locking speed-down device, transmission mechanism, hinged some arm joints and the controller of head and the tail, the first arm root section portion that is positioned at last side in the described arm joint is hinged on the support of fixing with pallet, drive the swing of the first arm joint behind described self-locking speed-down device of described first motor-driven and the transmission mechanism, the arm joint front end that is positioned at the forefront in the described arm joint is equipped with ejecting device; The rear end of described all the other arm joints and the front end of electric push rod are hinged, the housing of this electricity push rod is fixed on the front portion of this arm joint rear alternate arm joint, on the hinging pin shaft of each described arm joint angular displacement sensor is housed, described controller can be controlled described first motor and described electric push rod according to the information of described angular displacement sensor collection.
Constitute a feedback element between the angular displacement sensor on the electric push rod of the present utility model or first motor and its contiguous hinging pin shaft, when needs arm joint rotates the angle of determining, send the driving instruction by controller, allow electric push rod stretch out or withdraw, the first motor forward or reverse, detect between the two joint arms in real time or the angle between first segment arm and the support by angular displacement sensor simultaneously, and feed back to controller by input channel, the angle value that controller obtains angular displacement sensor and the angle value of requirement are done difference, when both difference when entering the scope of permission, controller can send halt instruction, makes the electric push rod or first motor stop action.By this method, just can make mechanical arm by the mode automatically working of determining, guarantee that manipulator motion is flexible, the mechanical arm front end keeps moving both vertically along the upper and lower of metope.
As preferred version, described first motor is a stepper motor, described self-locking speed-down device and described transmission mechanism are worm type of reduction gearings, this first motor and described worm type of reduction gearing are positioned between two support plates of described support, and described first motor is fixed on this support and motor shaft upwards is connected with the worm screw of described worm type of reduction gearing; The worm gear of described worm type of reduction gearing is packed on the hinging pin shaft of described support and the first arm joint, and this hinging pin shaft is connected with the first arm joint key or spline.
Above-mentioned further improvement is in order to make the utility model compact conformation, driving-chain simpler, reduce the power loss in the transmission process: adopting worm type of reduction gearing is one with self-locking speed-down device and transmission mechanism collection, and this decelerator has auto-lock function, it is arbitrarily angled that the first arm joint is parked in, and need not outer addition of constraints; First motor is fixed on the support, directly drives worm type of reduction gearing, reduces driving member, shortens the transmission distance.
Described arm joint has three, and wherein the rear portion of second arm joint and the 3rd arm joint has the pin joint that saves with the rear alternate arm respectively, at the arm abridged edition body at this pin joint rear to the back upper place bending, at the terminal hinged described electric push rod of this bending part.Can make electric push rod in less stroke, obtain the bigger scope of activities of institute's linking arm joint like this.
For can being wound perpendicular to the direction on ground, mechanical arm rotates, described pallet is fixed on the column spinner upper surface, this column spinner upper end is bearing in the top cover of robot mobile device upper strata case by radial bearing, and the lower end of this column spinner is socketed with and the fixing support column of described upper strata box plate by the thrust bearing coaxial line; At described column spinner middle part gear wheel, the pinion on this gear wheel and second motor output shaft are housed.
Designing above-mentioned further improvement project, is to the spray robot function expansion, and as by to after the repacking of ejecting device and other relevant portion, metope or as manipulator etc. can be used for polishing.Robot is in the spraying operation process, and this second motor is not worked.
There is axially extending bore at described column spinner center, and the top of described support column is provided with the die cavity relative with this through hole, has the inlet opening that communicates with described support column outer wall on described die cavity wall.Paint feeding device also is housed in the case of upper strata, after coating flows out from paint feeding device, enters the die cavity of support column by this inlet opening, the axially extending bore through column spinner is connected with ejecting device by delivery hose from the column spinner upper end again.Like this, no matter how whole mechanical arm winds perpendicular to the direction on ground is rotated, and all can not cause the winding of transfer pipeline.
Described arm joint is aluminum alloy material, and each arm joint wherein is longer than the arm joint that its front end is hinged.Because mechanical arm is longer, the center of gravity of mechanical arm departs from the support zone of robot mobile device easily, just robot is tumbled in the course of the work, therefore must guarantee that mobile device will have enough weight, and by adopting aluminum alloy material to alleviate arm joint weight, and shorter away from the arm joint of mobile device, so that entire machine people's center of gravity remains in the support zone of mobile device.
Described arm joint comprises biside plate and connecting plate, and described biside plate is perpendicular to horizontal plane, and the two ends of described connecting plate and described biside plate are fixed.Under the condition that guarantees arm joint intensity, the structure of simple optimizing arm joint.
The beneficial effects of the utility model are: automaticity is high and light flexibly, makes the mechanical arm front end can keep upper and lower moving both vertically, and enough anti-tipping stability is arranged.
Description of drawings
Fig. 1 is the structural representation of a kind of embodiment of the utility model.
Fig. 2 is among Fig. 1 embodiment, and the axle of lower part is surveyed the signal enlarged drawing.
Fig. 3 is that the A of Fig. 2 is to cutaway view Amplified image.
The specific embodiment
The utility model is described in further detail below in conjunction with drawings and Examples:
As depicted in figs. 1 and 2, a kind of mechanical arm of indoor spray robot mainly is made up of pallet 1, support 2, first motor 3, worm type of reduction gearing 4, the first arm joint 5, ejecting device 6, electric push rod 7, hinging pin shaft 8, angular displacement sensor 9, second arm joint the 10, the 3rd arm joint 11, column spinner 12, radial bearing 13, thrust bearing 14, support column 15, gear wheel 16, second motor 17, pinion 18, side plate 19, connecting plate 20 and controller.Wherein, support 2 vertically is weldingly fixed on the pallet 1, is hinged with the first arm joint 5 in the upper end of support 2 by hinging pin shaft 8.Support 2 is provided with two vertical support plates, first motor 3 and worm type of reduction gearing 4 are housed between two support plates, first motor 3 is that stepper motor is fixed on two support plate bottoms, its motor shaft upwards and with the worm screw of worm type of reduction gearing 4 is connected, worm gear in this decelerator is packed on the hinging pin shaft 8 of support 2 and the first arm joint 5, and this hinging pin shaft 8 saves 5 splines with the first arm and is connected.Worm type of reduction gearing 4 is an one with self-locking speed-down device and transmission mechanism collection, and has auto-lock function, drive worm type of reduction gearing 4 by first motor 3 and drive 5 swings of the first arm joint, and it is arbitrarily angled that the first arm joint 5 is parked in, and need not outer addition of constraints.
As shown in Figure 1, altogether head and the tail are hinged with three arms joints on support 2: save 5 front ends at the first arm and be hinged with second arm joint 10, save 10 front ends at second arm and be hinged with the 3rd arm joint 11, at the front end of the 3rd arm joint 11 ejecting device 6 is installed.Each arm joint is aluminum alloy material, and the length of the first arm joint 5 is greater than the length of second arm joint 10, and the length of second arm joint 10 is greater than the length of the 3rd arm joint 11.Each arm joint comprises biside plate 19 and some connecting plates 20, and biside plate 19 is perpendicular to horizontal plane, and the cross section of connecting plate 20 is Shape, the inboard of the two ends of connecting plate 20 and biside plate 19 is fixed, thereby biside plate 19 is connected.Second arm joint the 10 and the 3rd arm joint 11 is by electric push rod 7 promotions, the rear portion of second arm joint 10 and the 3rd arm joint 11 has the pin joint that is connected with rear alternate arm joint respectively, second arm joint the 10 and the 3rd arm at this pin joint rear saves 11 arm abridged edition body to the back upper place bending, at the push rod cup of the terminal hinged electric push rod 7 of this bending part, the housing of electric push rod 7 is separately fixed at the front portion of the first arm joint 5 and second arm joint 10.
As shown in figures 1 and 3, on the hinging pin shaft 8 that each arm joint head and the tail is hinged angular displacement sensor 9 is housed, controller can be controlled first motor 3 and two electric push rods 7 according to the information that angular displacement sensor 9 is gathered.Constitute a feedback element between the angular displacement sensor 9 on the electricity push rod 7 or first motor 3 and its contiguous hinging pin shaft 8, when needs arm joint rotates the angle of determining, send the driving instruction by controller, allow electric push rod 7 stretch out or withdraw, first motor, 3 forward or reverse, detect between the two joint arms in real time and the angle between first segment arm 5 and the support 2 by angular displacement sensor 9 simultaneously, and feed back to controller by input channel, the angle value that controller obtains angular displacement sensor 9 and the angle value of requirement are done difference, when both difference when entering the scope of permission, controller can send halt instruction, makes the electric push rod 7 or first motor 3 stop action.
As shown in Figures 2 and 3, pallet 1 is positioned on the end face of robot walking device upper strata case 21, pallet 1 is fixed on column spinner 12 upper surfaces, these column spinner 12 upper ends are bearing in by radial bearing 13 in the top cover of upper strata case 21, and the lower end of this column spinner 12 is socketed with the support column 15 that is fixed on upper strata case 21 base plates by thrust bearing 14 coaxial lines; At the middle part of column spinner 12 gear wheel 16 is housed, pinion 18 engagements on this gear wheel 16 and second motor, 17 output shafts.At column spinner 12 centers axially extending bore 12a is arranged, the top of support column 15 is provided with the die cavity 15a relative with this through hole 12a, has the inlet opening 15b that communicates with described support column 15 outer walls on described die cavity 15a wall.Like this, after the paint feeding device of coating from the case of upper strata flows out, enter the die cavity 15a of support column 15 by this inlet opening 15b, the axially extending bore 12a through column spinner 12 is connected with ejecting device 6 from the upper end by delivery hose again.No matter how whole mechanical arm winds perpendicular to the direction on ground is rotated, and all can not cause the winding of transfer pipeline.
The utility model is work like this:
When spraying operation, saving 11 front ends with mechanical arm the 3rd arm keeps along on the metope, under move both vertically and be condition, send the driving instruction by controller, allow electric push rod 7 stretch out or withdraw and drive second arm joint 5, the 3rd arm joint 10, first motor, 3 forward or reverse drive worm type of reduction gearing 4 and drive 5 swings of the first arm joint, so that certain arm joint turns over definite angle, detect between the two joint arms in real time and the angle between first segment arm 5 and the support 2 by angular displacement sensor 9 simultaneously, and feed back to controller by input channel, the angle value that controller obtains angular displacement sensor 9 and the angle value of requirement are done difference, when both difference when entering the scope of permission, controller can send halt instruction, make the electric push rod 7 or first motor 3 stop action, so just can make mechanical arm by the mode automatic spraying of determining.
If behind the ejecting device 6 and the repacking of other relevant portion to spray robot, used as the polishing metope or as manipulator etc., needing whole mechanical arm to wind perpendicular to the direction on ground rotates, this moment second, motor 17 started, drive gear wheel 16, column spinner 12 rotations through pinion 18, thereby make pallet 1, mechanical arm rotation.

Claims (7)

1, a kind of mechanical arm of indoor spray robot, it is characterized in that: comprise first motor (3), self-locking speed-down device, transmission mechanism, hinged some arm joints and the controller of head and the tail, the first arm joint (5) root that is positioned at last side in the described arm joint is hinged on the support of fixing with pallet (1) (2), described first motor (3) drives the first arm joint (5) swing after driving described self-locking speed-down device and transmission mechanism, and the arm joint front end that is positioned at the forefront in the described arm joint is equipped with ejecting device (6); The rear end of described all the other arm joints and the front end of electric push rod (7) are hinged, the housing of this electricity push rod (7) is fixed on the front portion of this arm joint rear alternate arm joint, on the hinging pin shaft (8) of each described arm joint angular displacement sensor (9) is housed, described controller can be controlled described first motor (3) and described electric push rod (7) according to the information that described angular displacement sensor (9) is gathered.
2, the mechanical arm of indoor spray robot according to claim 1, it is characterized in that: described first motor (3) is a stepper motor, described self-locking speed-down device and described transmission mechanism are worm type of reduction gearing (4), this first motor (3) and described worm type of reduction gearing (4) are positioned between two support plates of described support (2), and described first motor (3) is fixed on this support (2) and motor shaft upwards is connected with the worm screw of described worm type of reduction gearing (4); The worm gear of described worm type of reduction gearing (4) is packed on the hinging pin shaft (8) of described support (2) and the first arm joint (5), and this hinging pin shaft (8) is connected with the first arm joint (5) key or spline.
3, the mechanical arm of indoor spray robot according to claim 1, it is characterized in that: described arm joint has three, wherein the rear portion of second arm joint (10) and the 3rd arm joint (11) has the pin joint that saves with the rear alternate arm respectively, at the arm abridged edition body at this pin joint rear to the back upper place bending, at the terminal hinged described electric push rod (7) of this bending part.
4, the mechanical arm of indoor spray robot according to claim 1, it is characterized in that: described pallet (1) is fixed on column spinner (12) upper surface, this column spinner (12) upper end is bearing in the top cover of robot walking device upper strata case (21) by radial bearing (13), and the lower end of this column spinner (12) is socketed with the support column (15) that is fixed on described upper strata case (21) base plate by thrust bearing (14) coaxial line; At described column spinner (12) middle part gear wheel (16) is housed, pinion (18) engagement on this gear wheel (16) and second motor (17) output shaft.
5, the mechanical arm of indoor spray robot according to claim 1, it is characterized in that: there is axially extending bore (12a) at described column spinner (12) center, the top of described support column (15) is provided with the die cavity (15a) relative with this through hole (12a), has the inlet opening (15b) that communicates with described support column (15) outer wall on described die cavity (15a) wall.
6, according to the mechanical arm of claim 1 or 3 described indoor spray robots, it is characterized in that: described arm joint is aluminum alloy material, and each arm joint wherein is longer than the arm joint that its front end is hinged.
7, the mechanical arm of indoor spray robot according to claim 6, it is characterized in that: described arm joint comprises biside plate (19) and connecting plate (20), described biside plate (19) is perpendicular to horizontal plane, and the two ends of described connecting plate (20) and described biside plate (19) are fixing.
CN2009201272915U 2009-05-13 2009-05-13 Mechanical arm of indoor spraying robot CN201432305Y (en)

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Application Number Priority Date Filing Date Title
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Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013007037A1 (en) * 2011-07-14 2013-01-17 长沙中联重工科技发展股份有限公司 Engineering machinery and method and apparatus for controlling mechanical arm
CN102990661A (en) * 2012-12-27 2013-03-27 广西大学 Large-workspace controllable stack device
CN103121215A (en) * 2011-11-18 2013-05-29 鸿富锦精密工业(深圳)有限公司 Robot arm part
CN103787072A (en) * 2012-11-05 2014-05-14 青岛理工大学琴岛学院 Iron scrap loading and unloading machine
CN104085695A (en) * 2014-07-25 2014-10-08 岑溪市东正动力科技开发有限公司 Lead-screw-type stacking mechanical arm
CN104575232A (en) * 2014-12-26 2015-04-29 佛山市新鹏机器人技术有限公司 Teaching mechanical arm
CN105521899A (en) * 2016-03-08 2016-04-27 佳马机械涂覆科技(苏州)有限公司 Movable paint spraying machine
CN106312683A (en) * 2016-10-15 2017-01-11 山东大学 Flexible spray sensing control system
CN107175913A (en) * 2017-07-07 2017-09-19 武汉华美艾普科技有限公司 A kind of swing arm tunnel wall-painting machine for tunnel interior wall cambered surface air brushing
CN107514531A (en) * 2017-09-05 2017-12-26 苏州优银机械有限公司 It is a kind of to load the industrial cantilever strengthened
CN107559564A (en) * 2017-09-05 2018-01-09 苏州优银机械有限公司 A kind of compact industry cantilever of built-in motor
CN107571158A (en) * 2017-10-16 2018-01-12 湖北三江航天涂装设备工程有限公司 A kind of sand blasting room with crown-block type sand blasting machine people

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013007037A1 (en) * 2011-07-14 2013-01-17 长沙中联重工科技发展股份有限公司 Engineering machinery and method and apparatus for controlling mechanical arm
CN103121215A (en) * 2011-11-18 2013-05-29 鸿富锦精密工业(深圳)有限公司 Robot arm part
CN103787072A (en) * 2012-11-05 2014-05-14 青岛理工大学琴岛学院 Iron scrap loading and unloading machine
CN102990661A (en) * 2012-12-27 2013-03-27 广西大学 Large-workspace controllable stack device
CN104085695A (en) * 2014-07-25 2014-10-08 岑溪市东正动力科技开发有限公司 Lead-screw-type stacking mechanical arm
CN104085695B (en) * 2014-07-25 2016-05-25 河南科技大学 A kind of screw rod type palletizing mechanical arm
CN104575232A (en) * 2014-12-26 2015-04-29 佛山市新鹏机器人技术有限公司 Teaching mechanical arm
CN105521899A (en) * 2016-03-08 2016-04-27 佳马机械涂覆科技(苏州)有限公司 Movable paint spraying machine
CN106312683A (en) * 2016-10-15 2017-01-11 山东大学 Flexible spray sensing control system
CN107175913A (en) * 2017-07-07 2017-09-19 武汉华美艾普科技有限公司 A kind of swing arm tunnel wall-painting machine for tunnel interior wall cambered surface air brushing
CN107514531A (en) * 2017-09-05 2017-12-26 苏州优银机械有限公司 It is a kind of to load the industrial cantilever strengthened
CN107559564A (en) * 2017-09-05 2018-01-09 苏州优银机械有限公司 A kind of compact industry cantilever of built-in motor
CN107571158A (en) * 2017-10-16 2018-01-12 湖北三江航天涂装设备工程有限公司 A kind of sand blasting room with crown-block type sand blasting machine people

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GR01 Patent grant
C17 Cessation of patent right
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20100331

Termination date: 20120513