CN203460586U - Manipulator-type plotter - Google Patents
Manipulator-type plotter Download PDFInfo
- Publication number
- CN203460586U CN203460586U CN201320580410.9U CN201320580410U CN203460586U CN 203460586 U CN203460586 U CN 203460586U CN 201320580410 U CN201320580410 U CN 201320580410U CN 203460586 U CN203460586 U CN 203460586U
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- China
- Prior art keywords
- wrist
- hydraulic cylinder
- forearm
- parts
- arm
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- 210000000245 Forearm Anatomy 0.000 claims abstract description 27
- 210000000707 Wrist Anatomy 0.000 claims abstract description 22
- 210000003857 Wrist Joint Anatomy 0.000 claims abstract description 14
- 210000002310 Elbow Joint Anatomy 0.000 claims abstract description 13
- 210000000323 Shoulder Joint Anatomy 0.000 claims abstract description 13
- 238000005507 spraying Methods 0.000 claims description 3
- 239000007921 spray Substances 0.000 abstract 2
- 229910000737 Duralumin Inorganic materials 0.000 description 2
- 210000001503 Joints Anatomy 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 240000000233 Melia azedarach Species 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000001737 promoting Effects 0.000 description 1
Abstract
The utility model discloses a manipulator-type plotter. The manipulator-type plotter comprises an ink spray nozzle, a shoulder joint component, a large arm, an elbow joint component, a forearm, a wrist joint component and a wrist component, wherein a first end of the large arm is in rotatable connection with a second end of the shoulder joint component through a rotating shaft; a second end of the large arm is fixedly connected with a first end of the elbow joint component; a second end of the elbow joint component is in rotatable connection with a first end of the forearm through a rotating shaft; a second end of the forearm is in fixed connection with a first end of the wrist joint component; a second end of the wrist joint component is in rotatable connection with a first end of the wrist component through a rotating shaft; a second end of the wrist component is connected with the ink spray nozzle. According to the utility model, a micro-controller controls the operation of three hydraulic cylinders, the large arm, the forearm and the wrist component are respectively driven to act, and under the action of the joint components, the manipulator-type plotter can meet the accurate plotting requirement. The manipulator-type plotter is simple in structure and low in cost and has popularization and application values.
Description
Technical field
The utility model relates to a kind of plotter, relates in particular to a kind of mechanical arm type plotter.
Background technology
Plotter is generally partly comprised of drive motors, interpolator, control circuit, drawing stand, penholder, machine driving etc.Plotter, except necessary computer hardware, also must be equipped with abundant mapping software.Only have software and combination of hardware to get up and could realize Automatic Drawing.Software comprises two kinds of basic software and application software.The kind of plotter is a lot, by structure and operation principle, can be divided into drum-type and platform-type two large classes: 1. pinch-roller plotter.When X-direction stepper motor rotates by transmission mechanism head roll, sprocket wheel just drives drawing to move, thereby realizes directions X motion.The motion of Y-direction, drives penholder to realize by Y-direction stepper motor.This plotter compact conformation, drawing breadth is large.But it need to use the special-purpose drawing paper in You Lian hole, both sides.Platform-type plotter.Crossbeam is housed on drawing platform, and penholder is contained on crossbeam, and drawing paper is fixed on platform.X-direction stepper motor drives crossbeam together with penholder, does directions X motion; Y-direction stepper motor drives penholder along beam guideway, does Y-direction motion.The fixing means of drawing on platform has 3 kinds, and vacuum suction, Electrostatic Absorption and magnetic stripe compress.Platform-type plotter drafting accuracy is high, to drawing paper, without specific (special) requirements, applies more extensive.In current plotter market, also there is a kind of mechanical arm type plotter, this plotter now using, the general more complicated of structure, cost compare is high, and duty is stable not.
Utility model content
The purpose of this utility model provides a kind of mechanical arm type plotter with regard to being in order to address the above problem.
In order to achieve the above object, the utility model has adopted following technical scheme:
A kind of mechanical arm type plotter, comprise ink nozzle, pedestal, shoulder joint parts, large arm, elbow joint parts, forearm, wrist joint parts and wrist parts, the first end of described shoulder joint parts is fixed on described pedestal, the first end of described large arm is rotatably connected by the second end of rotating shaft and described shoulder joint parts, the second end of described large arm is fixedly connected with the first end of described elbow joint parts, the second end of described elbow joint parts and the first end of described forearm are rotatably connected by rotating shaft, the second end of described forearm is fixedly connected with the first end of described wrist joint parts, the second end of described wrist joint parts is rotatably connected by the first end of rotating shaft and described wrist parts, the second end of described wrist parts is connected with described ink nozzle.
Particularly, described mechanical arm type plotter also comprises microcontroller, the first hydraulic cylinder, the second hydraulic cylinder and the 3rd hydraulic cylinder, the control signal output of described microcontroller respectively with the control signal input of described the first hydraulic cylinder, the control signal input of described the second hydraulic cylinder is connected with the control signal input of described the 3rd hydraulic cylinder, described the first hydraulic cylinder is arranged on described pedestal, the piston rod of described the first hydraulic cylinder is connected with described large arm, described the second hydraulic cylinder is arranged on described large arm, the piston rod of described the second hydraulic cylinder is connected with described forearm, described the 3rd hydraulic cylinder is arranged on described forearm, the piston rod of described the 3rd hydraulic cylinder is connected with described wrist parts.
Particularly, the spray coating liquor input of described ink nozzle is connected with the output of high-pressure hose, and described high-pressure hose is fixed on a side of described large arm, described forearm and described wrist parts.
Particularly, described mechanical arm type plotter also comprises bracing frame, and support frame as described above is fixedly mounted on described pedestal.
The beneficial effects of the utility model are:
The utility model mechanical arm type plotter, by the work of three hydraulic cylinders of microprocessor control, drive respectively large arm, forearm and the action of wrist parts, and by the effect of a plurality of joint component, make the utility model can complete accurate drawing demand, of the present utility model simple in structure, cost is low, has the value of promoting the use of.
Accompanying drawing explanation
Fig. 1 is the structural representation of the utility model mechanical arm type plotter.
In figure: 1-pedestal, 2-shoulder joint parts, 3-bracing frame, the large arm of 4-, 5-elbow joint parts, 6-forearm, 7-wrist joint parts, 8-wrist parts, 9-ink nozzle, 10-the first hydraulic cylinder, 11-the second hydraulic cylinder, 12-the 3rd hydraulic cylinder, 13-microcontroller.
The specific embodiment
Below in conjunction with accompanying drawing, the utility model is described in further detail:
As shown in Figure 1, the utility model mechanical arm type plotter, comprise ink nozzle 9, pedestal 1, shoulder joint parts 2, large arm 4, elbow joint parts 5, forearm 6, wrist joint parts 7 and wrist parts 8, the first end of shoulder joint parts 2 is fixed on pedestal 1, the first end of large arm 4 is rotatably connected by the second end of rotating shaft and shoulder joint parts 2, the second end of large arm 4 is fixedly connected with the first end of elbow joint parts 5, the second end of elbow joint parts 5 and the first end of forearm 6 are rotatably connected by rotating shaft, the second end of forearm 6 is fixedly connected with the first end of wrist joint parts 7, the second end of wrist joint parts 7 is rotatably connected by the first end of rotating shaft and wrist parts 8, the second end of wrist parts 8 is connected with ink nozzle 9.
As shown in Figure 1, mechanical arm type plotter also comprises microcontroller 13, the first hydraulic cylinder 10, the second hydraulic cylinder 11 and the 3rd hydraulic cylinder 12, the control signal output of microcontroller 13 respectively with the control signal input of the first hydraulic cylinder 10, the control signal input of the second hydraulic cylinder 11 is connected with the control signal input of the 3rd hydraulic cylinder 12, the first hydraulic cylinder 10 is arranged on pedestal 1, the piston rod of the first hydraulic cylinder 10 is connected with large arm 4, the second hydraulic cylinder 11 is arranged on large arm 4, the piston rod of the second hydraulic cylinder 11 is connected with forearm 6, the 3rd hydraulic cylinder 12 is arranged on forearm 6, the piston rod of the 3rd hydraulic cylinder 12 is connected with wrist parts 8.
As shown in Figure 1, the spray coating liquor input of ink nozzle 9 is connected with the output of high-pressure hose, and high-pressure hose is fixed on a side of large arm 4, forearm 6 and wrist parts 8.Mechanical arm type plotter also comprises bracing frame 3, and bracing frame 3 is fixedly mounted on pedestal 1.Large arm 4 is the large arm of duralumin, and forearm 6 is duralumin forearm.
As shown in Figure 1, mechanical arm type plotter is space articulated manipulator plotter, has five frees degree, is cradle head, and the rotation of shoulder joint parts 2 has realized the rotation of the mechanism of mechanical arm type plotter except pedestal 1; The rotation of shoulder joint parts 2 drives large arm 4, elbow joint parts 5, forearm 6, wrist joint parts 7 and wrist parts 8 to carry out pitch rotation, to meet the requirement on working space height; Large arm 4, forearm 6 and wrist parts 8 all can rotate in allowing the scope of rotating, and wrist joint parts 7 can be realized pitching and swing, can change easily the pose of ink nozzle 9.
Claims (4)
1. a mechanical arm type plotter, comprise ink nozzle, it is characterized in that: also comprise pedestal, shoulder joint parts, large arm, elbow joint parts, forearm, wrist joint parts and wrist parts, the first end of described shoulder joint parts is fixed on described pedestal, the first end of described large arm is rotatably connected by the second end of rotating shaft and described shoulder joint parts, the second end of described large arm is fixedly connected with the first end of described elbow joint parts, the second end of described elbow joint parts and the first end of described forearm are rotatably connected by rotating shaft, the second end of described forearm is fixedly connected with the first end of described wrist joint parts, the second end of described wrist joint parts is rotatably connected by the first end of rotating shaft and described wrist parts, the second end of described wrist parts is connected with described ink nozzle.
2. a kind of mechanical arm type plotter according to claim 1, it is characterized in that: described mechanical arm type plotter also comprises microcontroller, the first hydraulic cylinder, the second hydraulic cylinder and the 3rd hydraulic cylinder, the control signal output of described microcontroller respectively with the control signal input of described the first hydraulic cylinder, the control signal input of described the second hydraulic cylinder is connected with the control signal input of described the 3rd hydraulic cylinder, described the first hydraulic cylinder is arranged on described pedestal, the piston rod of described the first hydraulic cylinder is connected with described large arm, described the second hydraulic cylinder is arranged on described large arm, the piston rod of described the second hydraulic cylinder is connected with described forearm, described the 3rd hydraulic cylinder is arranged on described forearm, the piston rod of described the 3rd hydraulic cylinder is connected with described wrist parts.
3. a kind of mechanical arm type plotter according to claim 1, it is characterized in that: the spray coating liquor input of described ink nozzle is connected with the output of high-pressure hose, described high-pressure hose is fixed on a side of described large arm, described forearm and described wrist parts.
4. a kind of mechanical arm type plotter according to claim 1, is characterized in that: described mechanical arm type plotter also comprises bracing frame, and support frame as described above is fixedly mounted on described pedestal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320580410.9U CN203460586U (en) | 2013-09-21 | 2013-09-21 | Manipulator-type plotter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320580410.9U CN203460586U (en) | 2013-09-21 | 2013-09-21 | Manipulator-type plotter |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203460586U true CN203460586U (en) | 2014-03-05 |
Family
ID=50172970
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320580410.9U Active CN203460586U (en) | 2013-09-21 | 2013-09-21 | Manipulator-type plotter |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203460586U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105741672A (en) * | 2016-04-29 | 2016-07-06 | 杭州丰衡机电有限公司 | Offline teaching device for spraying on workpiece with complicated shape |
| CN107199808A (en) * | 2017-05-27 | 2017-09-26 | 林翔 | A kind of plotting unit |
| CN107583812A (en) * | 2017-08-31 | 2018-01-16 | 新疆金风科技股份有限公司 | Automatic roller coating equipment |
| CN109228789A (en) * | 2018-11-06 | 2019-01-18 | 重庆三峡职业学院 | One seed sand draws Art Design and creates platform |
| WO2019237875A1 (en) * | 2018-06-11 | 2019-12-19 | 深圳市小怪兽教育科技有限公司 | Manipulator-based drawing mechanism |
-
2013
- 2013-09-21 CN CN201320580410.9U patent/CN203460586U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105741672A (en) * | 2016-04-29 | 2016-07-06 | 杭州丰衡机电有限公司 | Offline teaching device for spraying on workpiece with complicated shape |
| CN105741672B (en) * | 2016-04-29 | 2018-06-19 | 杭州丰衡机电有限公司 | Teaching apparatus under a kind of line for complex appearance Workpiece painting |
| CN107199808A (en) * | 2017-05-27 | 2017-09-26 | 林翔 | A kind of plotting unit |
| CN107583812A (en) * | 2017-08-31 | 2018-01-16 | 新疆金风科技股份有限公司 | Automatic roller coating equipment |
| WO2019237875A1 (en) * | 2018-06-11 | 2019-12-19 | 深圳市小怪兽教育科技有限公司 | Manipulator-based drawing mechanism |
| CN109228789A (en) * | 2018-11-06 | 2019-01-18 | 重庆三峡职业学院 | One seed sand draws Art Design and creates platform |
| CN109228789B (en) * | 2018-11-06 | 2020-11-06 | 重庆三峡职业学院 | Sand paintings art design creation platform |
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