CN215471167U - Arm driving mechanism for painting robot - Google Patents
Arm driving mechanism for painting robot Download PDFInfo
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- CN215471167U CN215471167U CN202121515410.1U CN202121515410U CN215471167U CN 215471167 U CN215471167 U CN 215471167U CN 202121515410 U CN202121515410 U CN 202121515410U CN 215471167 U CN215471167 U CN 215471167U
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- connecting rod
- driving mechanism
- gear ring
- arm driving
- stepping motor
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Abstract
The utility model discloses an arm driving mechanism for a painting robot, which relates to the technical field of children education robots and comprises a first arm driving mechanism and a second arm driving mechanism, wherein the first arm driving mechanism comprises a first mounting plate, a first turntable, a first connecting rod, a second connecting rod, a first stepping motor, a first gear and a first gear ring, and the second arm driving mechanism comprises a second mounting plate, a second turntable, a third connecting rod, a fourth connecting rod, a second stepping motor, a second gear and a second gear ring. The utility model has two groups of arm driving mechanisms, has high arm flexibility and can draw more complex pictures; two stepping motors control two connecting rods respectively, the motion trail of the clamping assembly is accurately controlled, the drawing precision is high, and the drawing precision is high.
Description
Technical Field
The utility model relates to the technical field of children education robots, in particular to an arm driving mechanism for a painting robot.
Background
The drawing robot is a robot toy for teaching and guiding children to learn simple drawing, and helps the children to learn in the playing process. At present, the arms of painting robots on the market are not flexible enough, and only can paint some simpler pictures; the motion area of the arm is small, and the drawing range is small; and the drawing precision is low, which results in poor fineness of drawn pictures.
SUMMERY OF THE UTILITY MODEL
An object of the present invention is to provide an arm driving mechanism for a painting robot to solve the above problems.
The utility model realizes the purpose through the following technical scheme:
an arm driving mechanism for a painting robot comprises a first arm driving mechanism and a second arm driving mechanism, wherein the first arm driving mechanism and the second arm driving mechanism are symmetrically distributed at the upper and lower positions, the first arm driving mechanism comprises a first mounting plate, a first rotating disc, a first connecting rod, a second connecting rod, a first stepping motor, a first gear and a first gear ring, a first mounting seat is arranged at the central position of the first mounting plate, a mounting groove is formed in the central position of the first rotating disc, the first gear ring is mounted in the mounting groove and fixedly connected with the first rotating disc, the first gear ring is sleeved on the first mounting seat and rotatably connected with the first mounting seat, the first stepping motor is mounted at one end, away from the first rotating disc, of the first mounting plate, a rotating shaft is arranged on the first stepping motor, the first gear is mounted on the rotating shaft, the first gear is located on the outer side of the first gear ring and is meshed with the first gear ring, a first connecting rod is arranged on one side of the first rotating disc, one end of the first connecting rod is fixedly connected with the first rotating disc, a second connecting rod is arranged on the other end of the first connecting rod, and the first connecting rod is rotatably connected with the second connecting rod; the second arm driving mechanism comprises a second mounting plate, a second rotary disc, a third connecting rod, a fourth connecting rod, a second stepping motor, a second gear and a second gear ring, a second mounting seat is arranged at the center of the second mounting plate, a mounting groove is arranged at the center of the second rotary disc, the second gear ring is mounted in the mounting groove and fixedly connected with the second rotary disc, the second gear ring is sleeved on the second mounting seat and rotatably connected with the second mounting seat, the second stepping motor is mounted at one end of the second mounting plate, which is far away from the second rotary disc, a rotating shaft is arranged on the second stepping motor, the second gear is mounted on the rotating shaft and positioned at the outer side of the second gear ring and meshed with the second gear ring, the third connecting rod is mounted at one side of the second rotary disc and corresponds to the first connecting rod, one end of the third connecting rod is fixedly connected with the second rotary disc, and the fourth connecting rod is mounted at the other end of the third connecting rod, the third connecting rod is rotatably connected with the fourth connecting rod, and one end of the second connecting rod is rotatably connected with one end of the fourth connecting rod.
Preferably, a latch is arranged in the mounting groove of the first rotary table and is connected with the first gear ring in a clamping manner; and a latch is arranged in the mounting groove of the second turntable and is connected with the second gear ring in a clamping manner. The latch helps the first ring gear and the second ring gear to be fixed on the first turntable and the second turntable, and the stability is good.
Preferably, the first rotary disc is fixedly connected with the first gear ring through a bolt, and the second rotary disc is fixedly connected with the second gear ring through a bolt. The bolt connection further promotes the stability that first ring gear and second ring gear and first carousel and second carousel are fixed.
Preferably, the second link corresponds to a fourth link.
Preferably, one end of the second connecting rod is matched with one end of the fourth connecting rod to form a clamping assembly. The clamping assembly is used for fixedly mounting the drawing pen.
Preferably, one end of the first mounting plate, which is far away from the first rotating disc, is provided with a mounting column; and one end of the second mounting plate, which is far away from the second turntable, is provided with a mounting column. The mounting post is used for fixedly mounting the first mounting plate and the second mounting plate.
Preferably, the first stepping motor is fixedly connected with the first mounting plate through a bolt; and the second stepping motor is fixedly connected with the second mounting plate through bolts.
Preferably, the models of the first stepping motor and the second stepping motor are Shenzhen Yinuote 24BYJ 48-787A.
The working principle of the painting robot is that a first arm driving mechanism is installed on a painting robot body through an installation column on a first installation plate, a second arm driving mechanism is installed on a base of the painting robot through an installation column on a second installation plate, and then a painting pen is fixed through a clamping assembly to complete installation of the painting robot; when children need to be taught to draw, the power of the drawing robot is switched on, the drawing robot body recognizes the drawing needing to be completed, the drawing robot body controls the rotating direction and the rotating speed of the first stepping motor and the second stepping motor respectively to achieve the effect of controlling the motion of the first connecting rod and the third connecting rod respectively, the first connecting rod and the third connecting rod drive the motion of the second connecting rod and the fourth connecting rod respectively, the drawing pen can move randomly within the fan-shaped range of 180 degrees on the horizontal plane, and the effect of accurate drawing is achieved.
The utility model has the beneficial effects that: the utility model has two groups of arm driving mechanisms, has high arm flexibility and can draw more complex pictures; the movement area of the arm is large, and the drawing range is wide; two stepping motors control two connecting rods respectively, the motion trail of the clamping assembly is accurately controlled, the drawing precision is high, and the drawing precision is high.
Drawings
FIG. 1 is an exploded view of the overall structure of the present invention;
FIG. 2 is an assembled view of the overall structure of the present invention;
fig. 3 is an overall configuration diagram of the painting robot according to the present invention.
Wherein: 1. mounting a column; 2. a first mounting seat; 3. a first turntable; 4. mounting grooves; 5. a third link; 6. a fourth link; 7. a second mounting seat; 8. a second mounting plate; 9. a second stepping motor; 10. a rotating shaft; 11. a second ring gear; 12. a second gear; 13. a second link; 14. a second turntable; 15. a first link; 16. a first ring gear; 17. a first gear; 18. a first mounting plate; 19. a first stepper motor; 20. a painting robot body; 21. a clamping assembly; 22. drawing a pen; 23. drawing robot base.
Detailed Description
The utility model will be further described with reference to the accompanying drawings in which:
as shown in fig. 1 and 2, the present invention includes a first arm driving mechanism and a second arm driving mechanism, which are vertically and symmetrically disposed. The first arm drive mechanism includes a first mounting plate 18, a first turntable 3, a first link 15, a second link 13, a first stepping motor 19, a first gear 17, and a first ring gear 16. The first mounting plate 18 is provided with a first mounting seat 2 at the center. The central position of the first rotary disc 3 is provided with a mounting groove 4. A first gear ring 16 is installed in the installation groove 4, and the first gear ring 16 is fixedly connected with the first rotary disc 3. A latch is arranged in the mounting groove 4 of the first rotary table 3 and is connected with the first gear ring 16 in a clamping manner; the first rotary disk 3 is fixedly connected with the first gear ring 16 through bolts. The first gear ring 16 is sleeved on the first mounting base 2, and the first gear ring 16 is rotatably connected with the first mounting base 2. The first stepping motor 19 is installed at one end, far away from the first rotary disc 3, of the first installation plate 18, and the first stepping motor 19 is fixedly connected with the first installation plate 18 through bolts. The first stepping motor 19 is provided with a rotating shaft 10, and the rotating shaft 10 is provided with a first gear 17. The first gear 17 is located outside the first ring gear 16 and meshes with the first ring gear 16. The end of the first mounting plate 18 far away from the first rotary disc 3 is provided with a mounting column 1. First connecting rod 15 is installed to first carousel 3 one side, first connecting rod 15 one end and first carousel 3 fixed connection, and second connecting rod 13 is installed to the first connecting rod 15 other end, and first connecting rod 15 rotates with second connecting rod 13 to be connected. The second arm driving mechanism includes a second mounting plate 8, a second turntable 14, a third link 5, a fourth link 6, a second stepping motor 9, a second gear 12, and a second ring gear 11. The center position of second mounting panel 8 is equipped with second mount pad 7. The center of the second rotating disk 14 is provided with a mounting groove 4. A second gear ring 11 is arranged in the mounting groove 4, and the second gear ring 11 is fixedly connected with a second rotating disc 14. A latch is arranged in the mounting groove 4 of the second rotary table 14 and is connected with the second gear ring 11 in a clamping manner; the second rotary table 14 is fixedly connected with the second gear ring 11 through bolts. The second gear ring 11 is sleeved on the second mounting base 7, and the second gear ring 11 is rotatably connected with the second mounting base 7. And a second stepping motor 9 is installed at one end, far away from the second rotary table 14, of the second mounting plate 8, and the second stepping motor 9 is fixedly connected with the second mounting plate 8 through bolts. A rotating shaft 10 is arranged on the second stepping motor 9, a second gear 12 is arranged on the rotating shaft 10, and the second gear 12 is positioned on the outer side of the second gear ring 11 and meshed with the second gear ring 11. And one end of the second mounting plate 8, which is far away from the second rotary table 14, is provided with a mounting column 1. A third connecting rod 5 is arranged on one side of the second rotary disc 14, and the third connecting rod 5 corresponds to the first connecting rod 15. One end of the third connecting rod 5 is fixedly connected with the second rotary table 14, and the other end of the third connecting rod 5 is provided with a fourth connecting rod 6. The third link 5 is rotatably connected with the fourth link 6. One end of the second connecting rod 13 is rotatably connected with one end of the fourth connecting rod 6. The second link 13 corresponds to the fourth link 6. One end of the second connecting rod 13 is matched with one end of the fourth connecting rod 6 to be provided with a clamping component 21. In this embodiment, the models of the first stepping motor 19 and the second stepping motor 9 are both Shenzhen Yinuotit 24BYJ 48-787A. As shown in fig. 1 and 3, when the painting robot is mounted, the first arm driving mechanism is mounted on the painting robot body 20 through the mounting post 1 of the first mounting plate 18, the second arm driving mechanism is mounted on the painting robot base 23 through the mounting post 1 of the second mounting plate 8, and then the painting pen 22 is fixed by the clamping assembly 21, thereby completing the mounting of the painting robot. The during operation, when needs teaching children drawing, switch on drawing robot's power, drawing robot body 20 discernment needs the drawing of accomplishing, drawing robot body 20 controls the direction of rotation and the slew velocity of first step motor 19 and second step motor 9 respectively and reaches the effect of controlling first connecting rod 15 and the motion of third connecting rod 5 respectively, first connecting rod 15 and third connecting rod 5 drive the motion of second connecting rod 13 and fourth connecting rod 6 respectively, make painting brush drawing 22 can remove wantonly at the fan-shaped within range of horizontal plane 180 degrees, realize the effect of accurate drawing.
The above are only preferred embodiments of the present invention, and do not limit the scope of the claims of the present invention. Those skilled in the art will appreciate that various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the utility model. The scope of the utility model is defined by the claims and their equivalents.
Claims (8)
1. The utility model provides an arm actuating mechanism for drawing robot, includes first arm actuating mechanism and second arm actuating mechanism, position symmetric distribution about first arm actuating mechanism and the second arm actuating mechanism are, its characterized in that: the first arm driving mechanism comprises a first mounting plate, a first rotating disc and a first connecting rod, the first gear ring is sleeved on the first mounting seat and is rotatably connected with the first mounting seat, one end, away from the first rotary disc, of the first mounting plate is provided with a first stepping motor, the first stepping motor is provided with a rotating shaft, the rotating shaft is provided with a first gear, the first gear is positioned on the outer side of the first gear ring and is meshed with the first gear ring, one side of the first rotary disc is provided with a first connecting rod, one end of the first connecting rod is fixedly connected with the first rotary disc, the other end of the first connecting rod is provided with a second connecting rod, and the first connecting rod is rotatably connected with the second connecting rod; the second arm driving mechanism comprises a second mounting plate, a second rotary disc, a third connecting rod, a fourth connecting rod, a second stepping motor, a second gear and a second gear ring, a second mounting seat is arranged at the center of the second mounting plate, a mounting groove is arranged at the center of the second rotary disc, the second gear ring is mounted in the mounting groove and fixedly connected with the second rotary disc, the second gear ring is sleeved on the second mounting seat and rotatably connected with the second mounting seat, the second stepping motor is mounted at one end of the second mounting plate, which is far away from the second rotary disc, a rotating shaft is arranged on the second stepping motor, the second gear is mounted on the rotating shaft and positioned at the outer side of the second gear ring and meshed with the second gear ring, the third connecting rod is mounted at one side of the second rotary disc and corresponds to the first connecting rod, one end of the third connecting rod is fixedly connected with the second rotary disc, and the fourth connecting rod is mounted at the other end of the third connecting rod, the third connecting rod is rotatably connected with the fourth connecting rod, and one end of the second connecting rod is rotatably connected with one end of the fourth connecting rod.
2. An arm driving mechanism for a painting robot as claimed in claim 1, wherein: a latch is arranged in the mounting groove of the first rotary table and is connected with the first gear ring in a clamping manner; and a latch is arranged in the mounting groove of the second turntable and is connected with the second gear ring in a clamping manner.
3. An arm driving mechanism for a painting robot as claimed in claim 1 or 2, wherein: the first rotary disc is fixedly connected with the first gear ring through a bolt, and the second rotary disc is fixedly connected with the second gear ring through a bolt.
4. An arm driving mechanism for a painting robot as claimed in claim 1, wherein: the second connecting rod corresponds to the fourth connecting rod.
5. An arm driving mechanism for a painting robot as claimed in claim 1 or 4, wherein: and one end of the second connecting rod and one end of the fourth connecting rod are matched with each other to form a clamping assembly.
6. An arm driving mechanism for a painting robot as claimed in claim 1, wherein: one end of the first mounting plate, which is far away from the first rotary disc, is provided with a mounting column; and one end of the second mounting plate, which is far away from the second turntable, is provided with a mounting column.
7. An arm driving mechanism for a painting robot as claimed in claim 1, wherein: the first stepping motor is fixedly connected with the first mounting plate through a bolt; and the second stepping motor is fixedly connected with the second mounting plate through bolts.
8. An arm driving mechanism for a painting robot as claimed in claim 7, wherein: the models of the first stepping motor and the second stepping motor are both Shenzhen Yinuotit 24BYJ 48-787A.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121515410.1U CN215471167U (en) | 2021-07-05 | 2021-07-05 | Arm driving mechanism for painting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121515410.1U CN215471167U (en) | 2021-07-05 | 2021-07-05 | Arm driving mechanism for painting robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215471167U true CN215471167U (en) | 2022-01-11 |
Family
ID=79724482
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121515410.1U Active CN215471167U (en) | 2021-07-05 | 2021-07-05 | Arm driving mechanism for painting robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215471167U (en) |
-
2021
- 2021-07-05 CN CN202121515410.1U patent/CN215471167U/en active Active
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