CN205097188U - Man -machine tool arm of spraying machine - Google Patents
Man -machine tool arm of spraying machine Download PDFInfo
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- CN205097188U CN205097188U CN201520886391.1U CN201520886391U CN205097188U CN 205097188 U CN205097188 U CN 205097188U CN 201520886391 U CN201520886391 U CN 201520886391U CN 205097188 U CN205097188 U CN 205097188U
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- power
- power input
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- bevel gear
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Abstract
The utility model discloses a man -machine tool arm of spraying machine, include support arm, wrist and rotate the terminal arm of being connected with the wrist to and with the terminal normal running fit of support arm and with wrist normal running fit's connecting portion, still including being used for driving a terminal arm pivoted actuating mechanism, being used for driving the 2nd actuating mechanism of wrist pivoted and being used for driving the 3rd actuating mechanism of connecting portion pivoted, each actuating mechanism is provided with and is used for cooperating the power input module with the power input with the transmission shaft, what power switching through the power input module was accurate inputs the department to direct drive part pivoted drive assembly with power again, the error that the step -by -step remote transmission of elimination axiality was brought, simultaneously at the spraying machine people in -process that turns round, the wrist that makes terminal arm obtains the compensation with the produced relative displacement of elbow joint, guarantee the precision of spraying, simultaneously can change rotational speed and moment of torsion, in order to reduce working strength.
Description
Technical field
The utility model relates to robot device field, particularly a kind of spraying robot mechanical arm.
Background technology
Spray robot is paint-spray robot again, is the robot that can carry out auto spray painting or spray other coating.Spray robot generally comprises multiple mechanical arm be rotationally connected successively, the mechanical arm being positioned at end is provided with spray body (being positioned at spray robot wrist) and carries out spraying operation, and the spray body of end has the motion of multiple free degree, in mechanical arm, be provided with the driving mechanism for driving spray body to move along multiple free degree.Wherein, driving mechanism mainly comprises power section and running part, for reducing the weight at spray body place as far as possible, the many rear ends power section of driving mechanism being placed in mechanical arm are positioned at elbow joint place, and be connected with the bevel gear driving assembly direct-drive being positioned at wrist place by power transmission shaft, the power end of corresponding bevel gear driving assembly is driven to move by power transmission shaft, and in prior art, contaminated for avoiding pipeline to be exposed in painting environments, how power transmission shaft is set to hollow structure, and the power transmission shaft driving every single-degree-of-freedom to rotate is socketed, spraying robot mechanical arm inside forms a passage, pipeline wears this expanding channels to spray body, can effectively prevent coating to the pollution of pipeline, but there are the following problems for such scheme: because elbow joint and wrist are far away apart from more than one meter, the length of the power transmission shaft rotated for every single-degree-of-freedom also will have about one meter, directly power is inputed to the way of bevel gear driving assembly by power transmission shaft, one is that this transmission distance makes the axiality of elbow joint and wrist be difficult to ensure, robot is in operation process, wrist and elbow joint may produce relative displacement, thus affect the precision of spray body, two is that this kind of transmission means needs power transmission shaft to have larger moment of torsion, load is excessive.
Therefore, need to improve existing spraying robot mechanical arm, the error that long-distance transmission axiality is brought can be eliminated, simultaneously in spray robot operation process, the relative displacement that the wrist of end mechanical arm and elbow joint are produced is compensated, and ensures the precision of spraying.
Utility model content
In view of this, the utility model provides a kind of spraying robot mechanical arm, the error that long-distance transmission axiality is brought can be eliminated, simultaneously in spray robot operation process, the relative displacement that the wrist of end mechanical arm and elbow joint are produced is compensated, ensure the precision of spraying, rotating speed and moment of torsion can be changed, to reduce intensity simultaneously.
Spraying robot mechanical arm of the present utility model, the tail end arm comprising support arm, wrist and be rotationally connected with wrist, and be rotatably assorted and the connecting portion be rotatably assorted with wrist with support arm end, also comprise the first driving mechanism for driving tail end arm to rotate, for the second driving mechanism of driving wrist to rotate and the 3rd driving mechanism for driving connecting portion to rotate;
First driving mechanism comprises power input module I and driven unit I, and power input module I comprises power input shaft I, the gear pair I of the power output shaft I that is in transmission connection with the power intake of driven unit I and be in transmission connection power input shaft I and power output shaft I;
Second driving mechanism comprises power input module II and driven unit II, and power input module II comprises power input shaft II, the gear pair II of the power output shaft II that is in transmission connection with the power intake of driven unit II and be in transmission connection power input shaft II and power output shaft II;
At least power output shaft II is interior hollow structure, pass and opposed rotatable in power input shaft I ultromotivity output shaft II, the driven gear of gear pair II is coated at power input shaft I and can relatively rotates, and power output shaft II is built in connecting portion and can relatively rotates.
Further, 3rd driving mechanism comprises power input shaft III and gear pair III, driving gear and power input shaft III circumference of gear pair III are fixed, and the driven gear of gear pair III is coated at power output shaft II in relatively turnable mode and is axially connected with connecting portion.
Further, also comprise the first power transmission shaft power being inputed to the first driving mechanism, second driving shaft power being inputed to the second driving mechanism and power is inputed to the 3rd power transmission shaft of the 3rd driving mechanism, the first power transmission shaft is all coaxially connected by diaphragm coupling with power input shaft III with power input shaft II and the 3rd power transmission shaft with power input shaft I, second driving shaft.
Further, support arm comprises main cylinder and end cylindrical shell, connecting portion coordinates with described end barrel body rotation, end cylindrical shell is fixed in the end plate of main cylinder, and power input shaft I, power input shaft II, power input shaft III and power output shaft I all form support can be arranged at end plate around the mode of own axis.
Further, spraying robot mechanical arm also comprises the elbow joint being placed on support arm, the power section for providing power is provided with in the housing of elbow joint, power section comprises motor and decelerator, motor and decelerator one_to_one corresponding first power transmission shaft, second driving shaft and the 3rd power transmission shaft respectively arrange one group, and the clutch end of every one speed reducer is same with corresponding power transmission shaft coaxially to be connected by diaphragm coupling.
Further, connecting portion comprises direct tube section that one end and end barrel body rotation coordinate and is connected with the direct tube section other end and the arc tube section that extends of camber terminad arm direction.
Further, driven unit I comprise the first bevel gear be connected with power output shaft I spline, the second bevel gear engaged with the first bevel gear, with the second bevel gear coaxial and back to the third hand tap gear arranged and with third hand tap gears meshing to drive the 4th bevel gear of tail end arm.
Further, driven unit II comprises the 5th bevel gear that is connected with power output shaft II spline and engages with the 5th bevel gear with the 6th bevel gear driving wrist to rotate, 5th bevel gear and the coaxial setting of the first bevel gear, the 6th bevel gear and the coaxial setting of described second bevel gear.
The beneficial effects of the utility model: spraying robot mechanical arm of the present utility model, each driving mechanism is provided with for coordinating the power input module inputted by power with power transmission shaft, again power is inputed to the driven unit place of Direct driver parts rotation accurately by the power switching of power input module, stepping can eliminate the error that long-distance transmission axiality is brought, simultaneously in spray robot operation process, the relative displacement that the wrist of end mechanical arm and elbow joint are produced is compensated, ensure the precision of spraying, rotating speed and moment of torsion can be changed simultaneously, to reduce working strength.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the utility model is further described.
Fig. 1 is the utility model structural representation;
Fig. 2 is power transmission shaft in the utility model and corresponding power input shaft syndeton schematic diagram;
Fig. 3 is the wrist part structure enlarged drawing in the utility model.
Detailed description of the invention
Fig. 1 is the utility model structural representation.Fig. 2 is power transmission shaft in the utility model and corresponding power input shaft syndeton schematic diagram, Fig. 3 is the wrist part structure enlarged drawing in the utility model, as shown in the figure: the spraying robot mechanical arm of the present embodiment, the tail end arm 3 comprising support arm 1, wrist 2 and be rotationally connected with wrist 2, and be rotatably assorted and the connecting portion 4 be rotatably assorted with wrist 2 with support arm 1 end, also comprise the first driving mechanism for driving tail end arm 3 to rotate, for the second driving mechanism of driving wrist 2 to rotate and the 3rd driving mechanism for driving connecting portion 4 to rotate; Wherein, tail end arm 3 is for installing final spray body, and wrist 2 is arcuate shape, and tail end arm 3 and wrist 2 can relatively rotate, and wrist 2 forms with connecting portion 4 entirety the shape being substantially S shape; As shown in the figure, in specific works, connecting portion 4 can rotate around first axle A, and wrist 2 can rotate around the second axis B, and tail end arm 3 is rotated around the 3rd axis C;
First driving mechanism comprises power input module I and driven unit I, and power input module I comprises power input shaft I 5, the gear pair I of the power output shaft I 6 that is in transmission connection with the power intake of driven unit I and be in transmission connection power input shaft I 5 and power output shaft I 6; Wherein, driven unit I rotates for Direct driver tail end arm 3, the power input shaft I 5 of power input module I forms the power intake of power input module I, the driving gear 7 of gear pair I is fixed with power input shaft I 5, the driven gear 8 of gear pair I also can drive power output shaft I 6 around own axis with power output shaft I 6 circumference is fixing, and the end of power output shaft I 6 is connected with the power intake spline of driven unit I;
Second driving mechanism comprises power input module II and driven unit II, and power input module II comprises power input shaft II 9, the gear pair II of the power output shaft II 10 that is in transmission connection with the power intake of driven unit II and be in transmission connection power input shaft II 9 and power output shaft II 10; Wherein, driven unit II rotates for driving wrist 2, the power input shaft II 9 of power input module II forms the power intake of power input module II, driving gear 11 and power input shaft II 9 circumference of gear pair II are fixed, the driven gear 12 of gear pair II and power output shaft II 10 are connected by screw fastening spline and power output shaft II 10 can be driven around own axis
At least power output shaft II 10 is interior hollow structure, pass and opposed rotatable in power input shaft I 5 ultromotivity output shaft II 10, the driven gear of gear pair II is coated at power input shaft I 5 and can relatively rotates, and power output shaft II 10 is built in connecting portion 4 and can relatively rotates; Wherein, bearing is installed additional between the driven gear of gear pair II and power input shaft I 5, bearing is installed additional between power output shaft II 10 and connecting portion 4, power output shaft I 6 and power output shaft II 10 are interior nested structure and can relatively rotate, and power output shaft I 6 and power output shaft II 10 are interior hollow structure, and spraying robot mechanical arm integral sealing, an inner formation passage, passage can run through arm member two ends.
In the present embodiment, 3rd driving mechanism comprises power input shaft III 13 and gear pair III, driving gear and power input shaft III 13 circumference of gear pair III are fixed, and the driven gear of gear pair III is coated at power output shaft II 10 in relatively turnable mode and is axially connected with connecting portion 4; Power input shaft III 13 forms the power intake of the 3rd driving mechanism, driving gear 14 and power input shaft III 13 circumference of gear pair III are fixed, the driven gear 15 of gear pair III is connected with connecting portion 4 spline by screw, and the driven gear of gear pair III is coated at power output shaft II 10 and is loaded with bearing between the two.
In the present embodiment, the 3rd power transmission shaft 18, first power transmission shaft 16 also comprising the first power transmission shaft 16 power being inputed to the first driving mechanism, the second driving shaft 17 power being inputed to the second driving mechanism and power is inputed to the 3rd driving mechanism is all coaxially connected by diaphragm coupling with power input shaft III 13 with power input shaft II 9 and the 3rd power transmission shaft 18 with power input shaft I 5, second driving shaft 17; As shown in the figure, first power transmission shaft 16 is coaxially connected by diaphragm coupling 19 with power input shaft I 5, second driving shaft 17 is coaxially connected by diaphragm coupling 20 with power input shaft II 9,3rd power transmission shaft 18 is coaxially connected by diaphragm coupling 21 with power input shaft III 13, there is good axiality, eliminate error.
In the present embodiment, support arm 1 comprises main cylinder 1-1 and end cylindrical shell 1-2, connecting portion 4 and described end cylindrical shell 1-2 are rotatably assorted, end cylindrical shell 1-2 is fixed on the end plate 1-3 of main cylinder 1-1, and power input shaft I 5, power input shaft II 9, power input shaft III 13 and power output shaft I 6 all form support can be arranged at end plate 1-3 around the mode of own axis; Power input shaft I 5, power input shaft II 9, power input shaft III 13 and power output shaft I 6 are all arranged on end plate 1-3 by bearing.
In the present embodiment, spraying robot mechanical arm also comprises the elbow joint being placed on support arm 1, the power section for providing power is provided with in the housing 22 of elbow joint, power section comprises motor and decelerator, motor and decelerator one_to_one corresponding first power transmission shaft 16, second driving shaft 17 and the 3rd power transmission shaft 18 respectively arrange one group, as shown in the figure, there is motor 23 respectively, motor 24 and motor 25, each motor corresponding arranges decelerator 26, decelerator 27 and decelerator 28, the clutch end of every one speed reducer is same with corresponding power transmission shaft (is diaphragm coupling 29 in figure by diaphragm coupling, 30 and 31) be coaxially connected, main cylinder is fixedly connected with the joint header board 38 of elbow joint.
In the present embodiment, connecting portion 4 comprises direct tube section 4-1 that one end and end cylindrical shell 1-2 be rotatably assorted and is connected with the direct tube section 4-1 other end and the arc tube section 4-2 that extends of camber terminad arm 3 direction.
In the present embodiment, driven unit I comprises the first bevel gear 32 be connected with power output shaft I 6 spline, the second bevel gear 33 engaged with the first bevel gear 32, coaxial with the second bevel gear 33 and back to the third hand tap gear 34 arranged and the 4th bevel gear 35 engaging to drive tail end arm 3 with third hand tap gear 34; Tail end arm 3 by screw fastening in the 4th bevel gear 35 end face end, second bevel gear 33 and the end face portion both third hand tap gear 34 are close to and pass through screw fastening, be provided with block board between the 4th bevel gear 35 and wrist 2 inwall, between block board and the 4th bevel gear 35, be provided with bearing.
In the present embodiment, driven unit II comprises the 5th bevel gear 36 that is connected with power output shaft II 10 spline and engages the 6th bevel gear 37 that drives wrist 2 to rotate with the 5th bevel gear 36,5th bevel gear 36 and the coaxial setting of the first bevel gear 32, the 6th bevel gear 37 and the coaxial setting of described second bevel gear 33; 6th bevel gear 37 is coated at the second bevel gear 33 and is provided with bearing between the two, and the 6th bevel gear 37 end face portion is connected with wrist 2 by screw.
What finally illustrate is, above embodiment is only in order to illustrate the technical solution of the utility model and unrestricted, although be described in detail the utility model with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can modify to the technical solution of the utility model or equivalent replacement, and not departing from aim and the scope of technical solutions of the utility model, it all should be encompassed in the middle of right of the present utility model.
Claims (8)
1. a spraying robot mechanical arm, it is characterized in that: the tail end arm comprising support arm, wrist and be rotationally connected with wrist, and be rotatably assorted and the connecting portion be rotatably assorted with wrist with support arm end, also comprise the first driving mechanism for driving tail end arm to rotate, for the second driving mechanism of driving wrist to rotate and the 3rd driving mechanism for driving connecting portion to rotate;
Described first driving mechanism comprises power input module I and driven unit I, and described power input module I comprises power input shaft I, the gear pair I of the power output shaft I that is in transmission connection with the power intake of driven unit I and be in transmission connection power input shaft I and power output shaft I;
Described second driving mechanism comprises power input module II and driven unit II, and described power input module II comprises power input shaft II, the gear pair II of the power output shaft II that is in transmission connection with the power intake of driven unit II and be in transmission connection power input shaft II and power output shaft II;
At least described power output shaft II is interior hollow structure, pass and opposed rotatable in power input shaft I ultromotivity output shaft II, the driven gear of described gear pair II is coated at power input shaft I and can relatively rotates, and described power output shaft II is built in connecting portion and can relatively rotates.
2. spraying robot mechanical arm according to claim 1, it is characterized in that: described 3rd driving mechanism comprises power input shaft III and gear pair III, driving gear and power input shaft III circumference of described gear pair III are fixed, and the driven gear of described gear pair III is coated at power output shaft II in relatively turnable mode and is axially connected with connecting portion.
3. spraying robot mechanical arm according to claim 2, it is characterized in that: also comprise the first power transmission shaft power being inputed to the first driving mechanism, second driving shaft power being inputed to the second driving mechanism and power is inputed to the 3rd power transmission shaft of the 3rd driving mechanism, described first power transmission shaft is all coaxially connected by diaphragm coupling with power input shaft III with power input shaft II and described 3rd power transmission shaft with power input shaft I, described second driving shaft.
4. spraying robot mechanical arm according to claim 3, it is characterized in that: described support arm comprises main cylinder and end cylindrical shell, described connecting portion coordinates with described end barrel body rotation, described end cylindrical shell is fixed in the end plate of main cylinder, and described power input shaft I, power input shaft II, power input shaft III and power output shaft I all form support can be arranged at end plate around the mode of own axis.
5. spraying robot mechanical arm according to claim 4, it is characterized in that: described spraying robot mechanical arm also comprises the elbow joint being placed on support arm, the power section for providing power is provided with in the housing of described elbow joint, described power section comprises motor and decelerator, described motor and decelerator one_to_one corresponding first power transmission shaft, second driving shaft and the 3rd power transmission shaft respectively arrange one group, and the clutch end of every one speed reducer is same with corresponding power transmission shaft coaxially to be connected by diaphragm coupling.
6. spraying robot mechanical arm according to claim 5, is characterized in that: described connecting portion comprises direct tube section that one end and end barrel body rotation coordinate and is connected with the direct tube section other end and the arc tube section that extends of camber terminad arm direction.
7. spraying robot mechanical arm according to claim 6, is characterized in that: described driven unit I comprise the first bevel gear be connected with power output shaft I spline, the second bevel gear engaged with the first bevel gear, with the second bevel gear coaxial and back to the third hand tap gear arranged and with third hand tap gears meshing to drive the 4th bevel gear of tail end arm.
8. spraying robot mechanical arm according to claim 7, it is characterized in that: described driven unit II comprises the 5th bevel gear that is connected with power output shaft II spline and engages with the 5th bevel gear with the 6th bevel gear driving wrist to rotate, described 5th bevel gear and the coaxial setting of the first bevel gear, described 6th bevel gear and the coaxial setting of described second bevel gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520886391.1U CN205097188U (en) | 2015-11-06 | 2015-11-06 | Man -machine tool arm of spraying machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520886391.1U CN205097188U (en) | 2015-11-06 | 2015-11-06 | Man -machine tool arm of spraying machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205097188U true CN205097188U (en) | 2016-03-23 |
Family
ID=55512998
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520886391.1U Expired - Fee Related CN205097188U (en) | 2015-11-06 | 2015-11-06 | Man -machine tool arm of spraying machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205097188U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105216009A (en) * | 2015-11-06 | 2016-01-06 | 重庆大学 | Spray robot arm member |
| CN106166751A (en) * | 2016-05-26 | 2016-11-30 | 广东工业大学 | A kind of robot motion's compensation method and robot |
| CN108638120A (en) * | 2018-06-15 | 2018-10-12 | 广州启帆工业机器人有限公司 | Multistation spray coating mechanical wrist |
-
2015
- 2015-11-06 CN CN201520886391.1U patent/CN205097188U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105216009A (en) * | 2015-11-06 | 2016-01-06 | 重庆大学 | Spray robot arm member |
| CN106166751A (en) * | 2016-05-26 | 2016-11-30 | 广东工业大学 | A kind of robot motion's compensation method and robot |
| CN108638120A (en) * | 2018-06-15 | 2018-10-12 | 广州启帆工业机器人有限公司 | Multistation spray coating mechanical wrist |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160323 Termination date: 20171106 |
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| CF01 | Termination of patent right due to non-payment of annual fee |