CN211388756U - Complex curved surface spraying movable mechanical arm device - Google Patents
Complex curved surface spraying movable mechanical arm device Download PDFInfo
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- CN211388756U CN211388756U CN201921564337.XU CN201921564337U CN211388756U CN 211388756 U CN211388756 U CN 211388756U CN 201921564337 U CN201921564337 U CN 201921564337U CN 211388756 U CN211388756 U CN 211388756U
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- 238000005507 spraying Methods 0.000 title claims abstract description 61
- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 68
- 210000003857 wrist joint Anatomy 0.000 claims abstract description 50
- 210000002310 elbow joint Anatomy 0.000 claims abstract description 18
- 239000003638 chemical reducing agent Substances 0.000 claims description 31
- 210000000245 forearm Anatomy 0.000 claims description 18
- 230000008901 benefit Effects 0.000 abstract description 4
- 230000009467 reduction Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 210000001503 joint Anatomy 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 239000011248 coating agent Substances 0.000 description 2
- 238000000576 coating method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000007888 film coating Substances 0.000 description 1
- 238000009501 film coating Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Abstract
The utility model discloses a movable mechanical arm device for spraying complex curved surfaces, which comprises a movable trolley, a shoulder joint module, an elbow joint module, a wrist joint module and a spraying gun; the shoulder joint module is fixed on an upper platform of the movable trolley, the elbow joint module is fixed on the shoulder joint module, the wrist joint module is fixed on the elbow joint module, and the spraying gun is fixed on the wrist joint module; the utility model discloses a redundant degree of freedom cluster parallel series-parallel connection arm of portable dolly assembly has that working space is big, the motion is nimble, rigidity characteristic is good and dynamic property advantage such as good, and when the spraying main equipment, portable dolly can freely remove and fix, avoids removing the main equipment and causes equipment damage and energy extravagant.
Description
Technical Field
The utility model relates to an arm curved surface spraying technical field, more specifically the portable arm device of complicated curved surface spraying that says so.
Background
The spraying is widely applied in engineering, and plays a vital role particularly in the industries of automobiles, ships, airplanes and the like. The spraying mechanical arm has the advantages of good spraying effect, uniform coating, stable and durable film coating quality, high coating utilization rate, wide application range, high automation degree, labor cost saving and the like, so that the adoption of the spraying mechanical arm and automatic spraying equipment to replace manual spraying is a trend for the development of the spraying industry.
At present, the spraying arm mostly adopts three-axis, four-axis, five-axis or six-axis arms in series connection, receives arm lever length constraint, corner constraint and member interference constraint, and is not good to the part spraying effect of complicated curved surface, and most spraying arm devices are fixing devices, and in need removing the work interval of arm with it to the spraying of main equipment, for fixed spraying arm device, remove spraying arm device can the energy saving to can prevent to remove the damage that the main equipment caused.
Aiming at the problems of the spraying mechanical arm, the design of the movable mechanical arm device for spraying the complex curved surface is important to make up for the defects.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve present most of spraying mechanical arm device not good, remove inconvenient not enough to provide a portable mechanical arm device of complicated curved surface spraying to the part spraying effect of complicated curved surface, can carry out the high quality spraying to the three-dimensional complicated curved surface of main equipment.
The utility model discloses a following technical scheme realizes above-mentioned purpose: a high-dexterity three-dimensional curved surface welding robot device comprises a movable trolley, a shoulder joint module, an elbow joint module, a wrist joint module and a spraying gun; the shoulder joint module is fixed on an upper platform of the movable trolley, the elbow joint module is fixed on the shoulder joint module, the wrist joint module is fixed on the elbow joint module, and the spraying gun is fixed on the wrist joint module;
the movable trolley comprises wheels, a wheel shaft, a wheel bearing seat, a chassis, a supporting plate, a worm, a planet wheel, a fixing plate, a first motor, an upper trolley plate, an intermediate plate, a sun wheel shaft, a sun wheel, a planet wheel shaft and a fixed sucker; the wheel is fixedly connected with the wheel shaft through a key, the wheel shaft penetrates through a wheel bearing seat through a bearing and is embedded in the wheel bearing seat, the wheel bearing seat is fixed on the chassis, the middle plate is fixedly connected with the chassis through the supporting plate, four worms penetrate through the middle plate and the chassis and are embedded in the middle plate and the chassis through the bearing, and a fixed sucker is fixed at the lower end of each worm; four planet wheel shafts are further arranged between the middle plate and the chassis, the planet wheel shafts penetrate through the middle plate and the chassis and are embedded in the middle plate and the chassis through bearings, each planet wheel shaft is fixedly connected with a planet wheel through a key, and each planet wheel is meshed with one worm; a sun wheel shaft is arranged between the middle plate and the chassis and is connected with a sun wheel through a key, the four planet wheels are all meshed with the sun wheel, the upper end of the sun wheel is connected with an output shaft of a first motor, and the first motor is fixed on the middle plate; the trolley upper plate is fixedly connected with the middle plate through four fixing plates;
the shoulder joint module comprises a shoulder joint fixed platform, a first support base plate, a first hooke hinge support, a first hooke hinge intermediate block, a first hooke hinge main shaft, a first hooke hinge auxiliary shaft, a first electric cylinder, a first electric swing shaft, a first output shaft support, a first shoulder joint output shaft, two first upper arms, a first upper arm upper connecting plate, a second shoulder joint output shaft, a second electric swing shaft, a first upper arm lower connecting plate, a second hooke hinge intermediate block, a second electric cylinder, a second hooke hinge main shaft, a second hooke hinge side shaft, a second hooke hinge support, a second support base plate, a third support base plate and a third hooke hinge support base; the shoulder joint fixed platform is fixedly connected with the upper plate of the trolley through a bolt, the first support base plate is fixedly connected to the shoulder joint fixed platform, the first hooke hinge support is fixedly connected with the first support base plate, the first hooke hinge main shaft penetrates through the hooke hinge middle block and is embedded in the first hooke hinge support through a bearing, the first hooke hinge auxiliary shaft is embedded in the first hooke hinge middle block, the bottom end of the first electric cylinder is hinged to the first hooke hinge auxiliary shaft, the output end of the first electric cylinder is connected with one end of the first electric swing shaft, and the other end of the first electric swing shaft is hinged to the first shoulder joint output shaft; the first shoulder joint output shaft is embedded in the first output shaft support, and the first output shaft support is fixed on the outer side surface of one first upper arm; the second support base plate is fixed on the shoulder joint fixed platform, the second Huke hinge support is fixed on the second support base plate, one end of the second electric cylinder is connected with the second Huke hinge support, the other end of the second electric cylinder is connected with the second shoulder joint output shaft, and the second shoulder joint output shaft is embedded in the first upper arm; the third support base plate is fixed on the shoulder joint fixed platform, the third hooke hinge support base is fixed on the third support base plate, two ends of the second hooke hinge side shaft are supported by the third hooke hinge support base, and the middle part of the second hooke hinge side shaft is connected with the second hooke hinge middle block; the second hooke hinge main shaft penetrates through the second hooke hinge middle block, two ends of the second hooke hinge main shaft are embedded in two second upper arms, and the two first upper arms are connected into a whole by the first upper arm upper connecting plate and the first upper arm lower connecting plate;
the elbow joint module comprises a forearm connecting plate, a forearm, a driven bevel gear, a bevel gear shaft, a driving bevel gear, a reducer supporting frame, a third upper arm, a reducer, a third motor, a third upper arm connecting plate, a harmonic reducer, a second motor supporting plate, a second motor, a second upper arm and a second upper arm connecting plate; the second upper arm connecting plate is fixedly connected with the first upper arm connecting plate through a bolt, the second motor supporting plate and the second upper arm connecting plate are fixedly connected into a whole through two second upper arms, and the second motor is fixed on the second motor supporting plate; an output shaft of the second motor is in key connection with an input shaft of the harmonic reducer, the harmonic reducer is fixedly connected with a second motor supporting plate, and an output shaft of the harmonic reducer is fixedly connected with a third upper arm connecting plate; the third motor is fixed on the speed reducer, the speed reducer is fixed on the speed reducer support frame, and the third upper arm connecting plate and the speed reducer support frame are fixedly connected into a whole through two third upper arms; the driving bevel gear is connected with an output shaft of the speed reducer through a key, the driving bevel gear is meshed with the driven bevel gear, the bevel gear shaft penetrates through the driven bevel gear and is fixedly connected with the driven bevel gear through a key, two ends of the bevel gear shaft are embedded in the two third upper arms, one ends of the two forearms are fixed on the bevel gear shaft, and the other ends of the two forearms are fixedly connected through a forearm connecting plate;
the wrist joint module comprises a wrist joint fixed platform, a positioning block, a fourth motor bracket, a fourth motor, an output connecting piece, a wrist joint movable platform, a spraying gun support, a shaft retainer ring, an input connecting piece, a guide block and an output connecting block; the wrist joint fixed platform is fixedly connected with the forearm connecting plate, the positioning block is connected with the wrist joint movable platform through a bolt, the fourth motor support is fixed on the wrist joint fixed platform, the fourth motor is fixed on the fourth motor support, one end of the input connecting piece is connected with the output shaft of the fourth motor through a key, the shaft retainer ring penetrates through the output shaft of the fourth motor and is positioned between the fourth motor support and the input connecting piece, and the guide block is fixedly connected to the other end of the input connecting piece; the spraying gun comprises a spraying gun support, an output connecting piece, a guide block, an output connecting block, a wrist joint movable platform, a spraying gun support and a spraying gun support, wherein the output connecting piece is provided with a linear groove, the guide block is sleeved in the linear groove of the output connecting piece, one end of the output connecting piece is fixedly connected with the output connecting block, the other end of the output connecting piece is fixedly connected with the wrist joint movable platform, and the spraying gun.
Furthermore, the chassis of the movable trolley is arranged in an H shape and is provided with nine through holes, the four through holes on the outer side are symmetrically distributed on a central shaft, and the distances from the centers of the four through holes on the inner side to the center of the chassis are equal.
Furthermore, the axis of the first hooke hinge support of the shoulder joint and the axis of the main shaft of the second hooke hinge are on the same straight line, and the axis of the third hooke hinge support and the axis of the shaft of the side of the second hooke hinge are on the same straight line.
Furthermore, the first shoulder joint output shaft and the second shoulder joint output shaft form a 90-degree space, and the second shoulder joint output shaft is loaded above the first shoulder joint output shaft.
Furthermore, the tail end of the first electric swing shaft and the tail end of the second electric swing shaft are arranged to be concave spheres.
Furthermore, the positioning block is triangular, and the middle of the positioning block is provided with three through holes, so that the fourth motor support can be assembled conveniently, and the wrist joint can be ensured to rotate flexibly.
Furthermore, the wrist joint output connecting piece is integrally in an arc shape, a protruding rectangle is arranged at the left end of the wrist joint output connecting piece, the wrist joint output connecting piece is convenient to connect with a wrist joint moving platform, and a rectangular groove is formed in the middle of the wrist joint output connecting piece.
The movable trolley can move to a reasonable position according to the shape and the position of equipment, the first motor rotates to enable the worm to descend, the fixed washing disc is driven to descend to the ground, the trolley is stable, and the mechanical arm is controlled to spray parts.
The shoulder joint module is driven by an electric push rod, has two rotational degrees of freedom and complete decoupling, and is combined with an elbow joint two rotational degrees of freedom series mechanism, so that the mechanical arm has redundant degrees of freedom in the degree of freedom of position, and the two modules can avoid singular positions, thereby realizing the spraying of complex curved surfaces of parts.
The wrist joint module is a three-degree-of-freedom spherical parallel mechanism, the mechanism is completely symmetrical and has better isotropy, the motors are all arranged on the wrist joint fixed platform, the wrist joint module has the advantages of small dead weight load ratio, high speed, good dynamic response and the like, the random change of the space pose can be realized, and the high-precision pose adjustment of the spraying gun can be realized.
The beneficial effects of the utility model reside in that: the utility model discloses a redundant degree of freedom cluster parallel series-parallel connection arm of portable dolly assembly has that working space is big, the motion is nimble, rigidity characteristic is good and dynamic property advantage such as good, and when the spraying main equipment, portable dolly can freely remove and fix, avoids removing the main equipment and causes equipment damage and energy extravagant.
Drawings
Fig. 1 is the utility model relates to a portable mechanical arm device of complicated curved surface spraying.
Fig. 2 is a schematic structural view of the mobile cart of the present invention.
Fig. 3 is a schematic structural diagram of the shoulder joint module of the present invention.
Fig. 4 is a schematic structural diagram of the elbow joint module of the present invention.
Fig. 5 is a schematic structural diagram of the wrist joint module of the present invention.
Fig. 6 is a schematic structural view of the wrist joint kinematics chain of the present invention.
In the figure, 1-movable trolley, 2-shoulder joint module, 3-elbow joint module, 4-wrist joint module, 5-spraying gun, 201-wheel, 202-wheel shaft, 203-wheel bearing seat, 204-chassis, 205-supporting plate, 206-worm, 207-planetary wheel, 208-fixed plate, 209-first motor, 210-trolley upper plate, 211-middle plate, 212-sun wheel shaft, 213-sun wheel, 214-planetary wheel shaft, 215-fixed suction cup, 301-shoulder joint fixed platform, 302-first supporting base plate, 303-first hooke hinge base, 304-first hooke hinge middle block, 305-first hooke hinge main shaft, 306-first hooke hinge auxiliary shaft, 307-first electric cylinder, 308-first electric swing shaft, 308-first hooke hinge main shaft, 309-first output shaft support, 310-first shoulder joint output shaft, 311-first upper arm, 312-first upper arm upper connecting plate, 313-second shoulder joint output shaft, 314-second electric swing shaft, 315-first upper arm lower connecting plate, 316-second hooke middle block, 317-second electric cylinder, 318-second hooke hinge main shaft, 319-second hooke hinge side shaft, 320-second hooke hinge support, 321-second support base plate, 322-third support base plate, 323-third hooke hinge support base, 401-forearm connecting plate, 402-forearm, 403-driven conical gear, 404-conical gear shaft, 405-driving conical gear, 406-reducer support, 407-third upper arm, 408-reducer, 409-third motor, 410-a third upper arm connecting plate, 411-a harmonic reducer, 412-a second motor supporting plate, 413-a second motor, 414-a second upper arm, 415-a second upper arm connecting plate, 501-a wrist joint fixed platform, 502-a positioning block, 503-a fourth motor bracket, 504-a fourth motor, 505-an output connecting piece, 506-a wrist joint movable platform, 507-a spraying gun support, 508-a shaft retainer ring, 509-an input connecting piece, 510-a guide block and 511-an output connecting block.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings:
as shown in fig. 1 to 5, a movable mechanical arm device for spraying a complex curved surface comprises a movable trolley 1, a shoulder joint module 2, an elbow joint module 3, a wrist joint module 4 and a spraying gun 5; the shoulder joint module 2 is fixed on an upper platform of the movable trolley 1, the elbow joint module 3 is fixed on the shoulder joint module 2, the wrist joint module 4 is fixed on the elbow joint module 3, and the spraying gun 5 is fixed on the wrist joint module 4.
The movable trolley 1 comprises wheels 201, a wheel shaft 202, a wheel bearing seat 203, a chassis 204, a supporting plate 205, a worm 206, planet wheels 207, a fixed plate, a first motor 209, a trolley upper plate 210, a middle plate 211, a sun wheel shaft 212, a sun wheel 213, a planet wheel shaft 214 and a fixed sucker 215; the wheel 201 is fixedly connected with the wheel shaft 202 through a key, the wheel shaft 202 passes through a wheel bearing seat 203 through a bearing and is embedded in the wheel bearing seat 203, the wheel bearing seat 203 is fixed on the chassis 204, the middle plate 211 is fixedly connected with the chassis 204 through the supporting plate 205, four worms 206 pass through the middle plate 211 and the chassis 204 and are embedded in the middle plate 211 and the chassis 204 through bearings, and the lower end of each worm 206 is fixed with a fixed sucker 215; four planetary wheel shafts 214 are further arranged between the middle plate 211 and the chassis 204, the planetary wheel shafts 214 penetrate through the middle plate 211 and the chassis 204 and are embedded in the middle plate 211 and the chassis 204 through bearings, each planetary wheel shaft 214 is fixedly connected with a planetary wheel 207 through a key, and each planetary wheel 207 is meshed with one worm 206; a sun wheel shaft 212 is further arranged between the middle plate 211 and the chassis 204, the sun wheel shaft 212 is connected with a sun wheel 213 through a key, the four planet wheels 207 are all meshed with the sun wheel 213, the upper end of the sun wheel 213 is connected with an output shaft of a first motor 209, and the first motor 209 is fixed on the middle plate 211; the trolley upper plate 210 is fixedly connected with the middle plate 211 through four fixing plates 208.
The shoulder joint module 2 comprises a shoulder joint fixed platform 301, a first support base plate 302, a first hooke hinge support 303, a first hooke hinge intermediate block 304, a first hooke hinge main shaft 305, a first hooke hinge auxiliary shaft 306, a first electric cylinder 307, a first electric swing shaft 308, a first output shaft support 309, a first shoulder joint output shaft 310, two first upper arms 311, a first upper arm upper connecting plate 312, a second shoulder joint output shaft 313, a second electric swing shaft 314, a first upper arm lower connecting plate 315, a second hooke hinge intermediate block 316, a second electric cylinder, a second hooke hinge main shaft 318, a second hooke hinge side shaft 319, a second hooke hinge support 320, a second support base plate 321, a third support base plate 322 and a third hooke hinge support base 323; the shoulder joint fixed platform 301 is fixedly connected with the trolley upper plate 210 through bolts, the first support base plate 302 is fixedly connected to the shoulder joint fixed platform 301, the first hooke hinge support 303 is fixedly connected with the first support base plate 302, the first hooke hinge main shaft 305 penetrates through the first hooke hinge middle block 304 and is embedded in the first hooke hinge support 303 through a bearing, the first hooke hinge auxiliary shaft 306 is embedded in the first hooke hinge middle block 304, the bottom end of the first electric cylinder 307 is hinged to the first hooke hinge auxiliary shaft 306, the output end of the first electric cylinder 307 is connected with one end of the first electric swing shaft 308, and the other end of the first electric swing shaft 308 is hinged to the first shoulder joint output shaft 310; the first shoulder joint output shaft 310 is embedded in the first output shaft support 309, and the first output shaft support 309 is fixed on the outer side surface of one of the first upper arms 311; the second support base plate 321 is fixed on the shoulder joint fixed platform 301, the second hooke hinge support 320 is fixed on the second support base plate 321, one end of the second electric cylinder 317 is connected with the second hooke hinge support 320, the other end of the second electric cylinder 317 is connected with the second shoulder joint output shaft 313, and the second shoulder joint output shaft 313 is embedded in the first upper arm 311; the third support base plate 322 is fixed on the shoulder joint fixed platform 301, the third hooke hinge support 323 is fixed on the third support base plate 322, two ends of the second hooke hinge side shaft 319 are supported by the third hooke hinge support, and the middle part of the second hooke hinge side shaft 319 is connected with the second hooke hinge intermediate block 316; the second hooke hinge main shaft 318 passes through the second hooke hinge middle block 316, two ends of the second hooke hinge main shaft 318 are embedded in the two second upper arms 414, and the two first upper arms 311 are connected into a whole by the first upper arm upper connecting plate 312 and the first upper arm lower connecting plate 315.
The elbow joint module 3 comprises a forearm connecting plate 401, a forearm 402, a driven bevel gear 403, a bevel gear shaft 404, a driving bevel gear 405, a reducer supporting frame 406, a third upper arm 407, a reducer 408, a third motor 409, a third upper arm connecting plate 410, a harmonic reducer 411, a second motor supporting plate 412, a second motor 413, a second upper arm 414 and a second upper arm connecting plate 415; the second upper arm connecting plate 415 is fixedly connected with the first upper arm connecting plate 312 through bolts, the second motor supporting plate 412 and the second upper arm connecting plate 415 are fixedly connected into a whole through two second upper arms 414, and the second motor 413 is fixed on the second motor supporting plate 412; an output shaft of the second motor 413 is in key connection with an input shaft of the harmonic reducer 411, the harmonic reducer 411 is fixedly connected with a second motor supporting plate 412, and an output shaft of the harmonic reducer is fixedly connected with a third upper arm connecting plate 410; third motor 409 is fixed on reduction gear 408, reduction gear 408 is fixed on reduction gear support frame 406, third upper arm connecting plate 410 and reduction gear support frame 406 are a whole through two third upper arm 407 fixed connection, drive conical gear 405 passes through key and reduction gear 408 output shaft, drive conical gear 405 with driven conical gear 403 meshes, conical gear axle 404 passes driven conical gear 403 and passes through key fixed connection with driven conical gear 403, and the both ends of conical gear axle 404 are through embedded on two third upper arms 407, and the one end of two forearms 402 is fixed on conical gear axle 404, and the other end of two forearms 402 passes through forearm connecting plate 401 fixed connection.
The wrist joint module 4 comprises a wrist joint fixed platform 501, a positioning block 502, a fourth motor bracket 503, a fourth motor 504, an output connecting piece 505, a wrist joint movable platform 506, a spraying gun support 507, a shaft retainer ring 508, an input connecting piece 509, a guide block 510 and an output connecting block 511; the wrist joint fixed platform 501 is fixedly connected with a forearm connecting plate 401, the positioning block 502 is connected with a wrist joint movable platform 506 through a bolt, the fourth motor support 503 is fixed on the wrist joint fixed platform 501, the fourth motor 504 is fixed on the fourth motor support 503, one end of the input connecting piece 509 is connected with an output shaft of the fourth motor 504 through a key, the shaft retainer ring 508 penetrates through the output shaft of the fourth motor 504 and is positioned between the fourth motor support 503 and the input connecting piece 509, and the guide block 510 is fixedly connected with the other end of the input connecting piece 509; the output connecting piece 505 is provided with a linear groove, the guide block 510 is sleeved in the linear groove of the output connecting piece 505, one end of the output connecting piece 505 is fixedly connected with the output connecting block 511, the other end of the output connecting block 511 is fixedly connected with the wrist joint moving platform 506, and the support of the spraying gun 5 is fixed in the middle of the wrist joint moving platform 506.
The chassis 204 of the movable trolley is H-shaped, and nine through holes are formed in the chassis 204.
The axis of the first hooke hinge support 303 of the shoulder joint is on the same straight line with the axis of the main shaft 318 of the second hooke hinge, and the axis of the third hooke hinge support is on the same straight line with the axis of the side shaft 319 of the second hooke hinge.
The first shoulder joint output shaft 310 and the second shoulder joint output shaft 313 form an angle of 90 degrees in space, and the second shoulder joint output shaft 313 is carried above the first shoulder joint output shaft 310.
The end of the first electric swing shaft 308 and the end of the second electric swing shaft 314 are arranged to be concave spherical.
The positioning block 502 is triangular, and three through holes are formed in the middle of the positioning block, so that the fourth motor bracket 503 can be conveniently assembled.
The working process of the utility model is as follows: the movable trolley is moved to a reasonable position, the worm is driven by the rotation of the first motor, the fixed sucker descends to the ground until the trolley is stable, the shoulder joint module and the elbow joint module are controlled to adjust the position of the spraying gun according to the relative position of a spraying surface and the spraying gun, the wrist joint module is controlled to adjust the position of the spraying gun, and the complex curved surface of the part is sprayed.
The above-mentioned embodiment is only the preferred embodiment of the present invention, and is not to the limitation of the technical solution of the present invention, as long as the technical solution can be realized on the basis of the above-mentioned embodiment without creative work, all should be regarded as falling into the protection scope of the right of the present invention.
Claims (6)
1. The utility model provides a portable arm device of complicated curved surface spraying which characterized in that: comprises a movable trolley (1), a shoulder joint module (2), an elbow joint module (3), a wrist joint module (4) and a spraying gun (5); the shoulder joint module (2) is fixed on an upper platform of the mobile trolley (1), the elbow joint module (3) is fixed on the shoulder joint module (2), the wrist joint module (4) is fixed on the elbow joint module (3), and the spraying gun (5) is fixed on the wrist joint module (4);
the movable trolley (1) comprises wheels (201), a wheel shaft (202), a wheel bearing seat (203), a chassis (204), a supporting plate (205), a worm (206), a planet wheel (207), a fixed plate, a first motor (209), a trolley upper plate (210), an intermediate plate (211), a sun wheel shaft (212), a sun wheel (213), a planet wheel shaft (214) and a fixed sucker (215); the wheel (201) is fixedly connected with the wheel shaft (202) through a key, the wheel shaft (202) penetrates through a wheel bearing seat (203) through a bearing and is embedded in the wheel bearing seat (203), the wheel bearing seat (203) is fixed on the chassis (204), the middle plate (211) is fixedly connected with the chassis (204) through the supporting plate (205), four worms (206) penetrate through the middle plate (211) and the chassis (204) and are embedded in the middle plate (211) and the chassis (204) through the bearing, and the lower end of each worm (206) is fixed with a fixed sucker (215); four planet wheel shafts (214) are further arranged between the middle plate (211) and the chassis (204), the planet wheel shafts (214) penetrate through the middle plate (211) and the chassis (204) and are embedded in the middle plate (211) and the chassis (204) through bearings, each planet wheel shaft (214) is fixedly connected with one planet wheel (207) through a key, and each planet wheel (207) is meshed with one worm (206); a sun wheel shaft (212) is further arranged between the middle plate (211) and the chassis (204), the sun wheel shaft (212) is connected with a sun wheel (213) through a key, the four planet wheels (207) are all meshed with the sun wheel (213), the upper end of the sun wheel (213) is connected with an output shaft of a first motor (209), and the first motor (209) is fixed on the middle plate (211); the trolley upper plate (210) is fixedly connected with the middle plate (211) through four fixing plates (208);
the shoulder joint module (2) comprises a shoulder joint fixed platform (301), a first support base plate (302), a first hooke hinge support (303), a first hooke hinge middle block (304), a first hooke hinge main shaft (305), a first hooke hinge auxiliary shaft (306), a first electric cylinder (307), a first electric swing shaft (308), a first output shaft support (309), a first shoulder joint output shaft (310) and two first upper arms (311), the device comprises a first upper arm upper connecting plate (312), a second shoulder joint output shaft (313), a second electric swing shaft (314), a first upper arm lower connecting plate (315), a second hooke hinge intermediate block (316), a second electric cylinder (317), a second hooke hinge main shaft (318), a second hooke hinge side shaft (319), a second hooke hinge support (320), a second support base plate (321), a third support base plate (322) and a third hooke hinge support base (323); the shoulder joint fixed platform (301) is fixedly connected with a trolley upper plate (210) through bolts, the first support base plate (302) is fixedly connected to the shoulder joint fixed platform (301), the first hooke hinge support (303) is fixedly connected with the first support base plate (302), the first hooke hinge main shaft (305) penetrates through the first hooke hinge middle block (304) and is embedded in the first hooke hinge support (303) through a bearing, the first hooke hinge auxiliary shaft (306) is embedded in the first hooke hinge middle block (304), the bottom end of the first electric cylinder (307) is hinged to the first hooke hinge auxiliary shaft (306), the output end of the first electric cylinder (307) is connected with one end of the first electric swing shaft (308), and the other end of the first electric swing shaft (308) is hinged to the first shoulder joint output shaft (310); the first shoulder joint output shaft (310) is embedded in the first output shaft support (309), and the first output shaft support (309) is fixed on the outer side surface of one first upper arm (311); the second support base plate (321) is fixed on the shoulder joint fixed platform (301), the second hucke hinge support (320) is fixed on the second support base plate (321), one end of the second electric cylinder (317) is connected with the second hucke hinge support (320), the other end of the second electric cylinder (317) is connected with the second shoulder joint output shaft (313), and the second shoulder joint output shaft (313) is embedded in the first upper arm (311); the third support base plate (322) is fixed on the shoulder joint fixed platform (301), the third hooke hinge support base (323) is fixed on the third support base plate (322), two ends of the second hooke hinge side shaft (319) are supported through the third hooke hinge support base, and the middle part of the second hooke hinge side shaft (319) is connected with the second hooke hinge middle block (316); the second hooke hinge main shaft (318) penetrates through the second hooke hinge middle block (316), two ends of the second hooke hinge main shaft (318) are embedded in the two second upper arms (414), and the two first upper arms (311) are connected into a whole by the first upper arm upper connecting plate (312) and the first upper arm lower connecting plate (315);
the elbow joint module (3) comprises a forearm connecting plate (401), a forearm (402), a driven bevel gear (403), a bevel gear shaft (404), a driving bevel gear (405), a speed reducer supporting frame (406), a third upper arm (407), a speed reducer (408), a third motor (409), a third upper arm connecting plate (410), a harmonic speed reducer (411), a second motor supporting plate (412), a second motor (413), a second upper arm (414) and a second upper arm connecting plate (415); the second upper arm connecting plate (415) is fixedly connected with the first upper arm connecting plate (312) through bolts, the second motor supporting plate (412) and the second upper arm connecting plate (415) are fixedly connected into a whole through two second upper arms (414), and the second motor (413) is fixed on the second motor supporting plate (412); an output shaft of the second motor (413) is in key connection with an input shaft of the harmonic reducer (411), the harmonic reducer (411) is fixedly connected with a second motor supporting plate (412), and an output shaft of the harmonic reducer is fixedly connected with a third upper arm connecting plate (410); the third motor (409) is fixed on a speed reducer (408), the speed reducer (408) is fixed on a speed reducer support frame (406), the third upper arm connecting plate (410) and the speed reducer supporting frame (406) are fixedly connected into a whole through two third upper arms (407), the driving bevel gear (405) is connected with an output shaft of the reducer (408) through a key, the driving conical gear (405) is meshed with the driven conical gear (403), the bevel gear shaft (404) penetrates through the driven bevel gear (403) and is fixedly connected with the driven bevel gear (403) through a key, two ends of the bevel gear shaft (404) are embedded in the two third upper arms (407), one ends of the two forearms (402) are fixed on the bevel gear shaft (404), and the other ends of the two forearms (402) are fixedly connected through a forearm connecting plate (401);
the wrist joint module (4) comprises a wrist joint fixed platform (501), a positioning block (502), a fourth motor bracket (503), a fourth motor (504), an output connecting piece (505), a wrist joint movable platform (506), a spraying gun support (507), a shaft retainer ring (508), an input connecting piece (509), a guide block (510) and an output connecting block (511); the wrist joint fixed platform (501) is fixedly connected with a forearm connecting plate (401), the positioning block (502) is connected with a wrist joint movable platform (506) through a bolt, the fourth motor support (503) is fixed on the wrist joint fixed platform (501), the fourth motor (504) is fixed on the fourth motor support (503), one end of the input connecting piece (509) is connected with an output shaft of the fourth motor (504) through a key, the shaft retainer ring (508) penetrates through the output shaft of the fourth motor (504) and is positioned between the fourth motor support (503) and the input connecting piece (509), and the guide block (510) is fixedly connected to the other end of the input connecting piece (509); the spraying gun is characterized in that the output connecting piece (505) is provided with a linear groove, the guide block (510) is sleeved in the linear groove of the output connecting piece (505), one end of the output connecting piece (505) is fixedly connected with the output connecting block (511), the other end of the output connecting block (511) is fixedly connected with the wrist joint moving platform (506), and the support of the spraying gun (5) is fixed in the middle of the wrist joint moving platform (506).
2. The mobile mechanical arm device for spraying complex curved surfaces as claimed in claim 1, wherein: the chassis (204) of the movable trolley is H-shaped, and nine through holes are formed in the chassis (204).
3. The mobile mechanical arm device for spraying complex curved surfaces as claimed in claim 1, wherein: the axial line of the first hooke hinge support (303) of the shoulder joint is on the same straight line with the axial line of the second hooke hinge main shaft (318), and the axial line of the third hooke hinge support is on the same straight line with the axial line of the second hooke hinge side shaft (319).
4. The mobile mechanical arm device for spraying complex curved surfaces as claimed in claim 1, wherein: the first shoulder joint output shaft (310) and the second shoulder joint output shaft (313) form an angle of 90 degrees in space, and the second shoulder joint output shaft (313) is carried above the first shoulder joint output shaft (310).
5. The mobile mechanical arm device for spraying complex curved surfaces as claimed in claim 1, wherein: the tail end of the first electric swing shaft (308) and the tail end of the second electric swing shaft (314) are arranged to be concave spherical.
6. The mobile mechanical arm device for spraying complex curved surfaces as claimed in claim 1, wherein: the positioning block (502) is triangular, and three through holes are formed in the middle of the positioning block, so that the fourth motor support (503) can be assembled conveniently.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921564337.XU CN211388756U (en) | 2019-09-19 | 2019-09-19 | Complex curved surface spraying movable mechanical arm device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921564337.XU CN211388756U (en) | 2019-09-19 | 2019-09-19 | Complex curved surface spraying movable mechanical arm device |
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| CN211388756U true CN211388756U (en) | 2020-09-01 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110695954A (en) * | 2019-09-19 | 2020-01-17 | 浙江工业大学 | Portable arm device of complicated curved surface spraying |
| CN113305807A (en) * | 2021-05-17 | 2021-08-27 | 华中科技大学 | Bionic wrist joint based on asymmetric 3-RRR parallel mechanism |
-
2019
- 2019-09-19 CN CN201921564337.XU patent/CN211388756U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110695954A (en) * | 2019-09-19 | 2020-01-17 | 浙江工业大学 | Portable arm device of complicated curved surface spraying |
| CN110695954B (en) * | 2019-09-19 | 2024-03-01 | 浙江工业大学 | Mobile mechanical arm device for spraying complex curved surface |
| CN113305807A (en) * | 2021-05-17 | 2021-08-27 | 华中科技大学 | Bionic wrist joint based on asymmetric 3-RRR parallel mechanism |
| CN113305807B (en) * | 2021-05-17 | 2022-07-19 | 华中科技大学 | Bionic wrist joint based on asymmetric 3-RRR parallel mechanism |
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