CN217856924U

CN217856924U - Three-axis servo linkage mechanism based on spatial interpolation operation

Info

Publication number: CN217856924U
Application number: CN202222166905.9U
Authority: CN
Inventors: 招润浩
Original assignee: Individual
Current assignee: Individual
Priority date: 2022-08-17
Filing date: 2022-08-17
Publication date: 2022-11-22
Anticipated expiration: 2032-08-17

Abstract

The utility model discloses a triaxial servo link gear based on operation is interpolated in space, including unable adjustment base, the middle part on unable adjustment base top is rotated and is connected with the arc axle, and the top fixed mounting of arc axle has the mount table, and the middle part fixed mounting on mount table top has transverse motion mechanism, and transverse motion mechanism's top fixed mounting has longitudinal motion mechanism, the utility model relates to a triaxial servo link gear based on operation is interpolated in space, through setting up first servo motor, arc axle, transverse motion mechanism and longitudinal motion mechanism, first servo motor drives the arc axle and rotates, reaches to adjust spray gun circular arc angle with this, and second servo motor drives transverse screw shaft and rotates, reaches to adjust spray gun lateral position with this, and third servo motor drives longitudinal screw shaft and rotates, reaches to adjust spray gun longitudinal position with this, improves the spraying efficiency of car.

Description

Three-axis servo linkage mechanism based on spatial interpolation operation

Technical Field

The utility model relates to an automobile spraying technical field specifically is a triaxial servo link gear based on space interpolation operation.

Background

The automobile is used as one of modern transportation means, the automobile has over 90% painted surface, and the quality of the painted surface, appearance, distinctness of image, luster, color, etc. is the visual evaluation of automobile quality, so that it is competitive in automobile and passenger market.

The space interpolation operation is to input basic data such as coordinates of a starting point and an end point of a straight line, coordinates of a starting point and an end point of an arc, coordinates of a circle center and the like into a numerical control system, calculate by using a certain algorithm, send a feeding instruction to corresponding coordinates according to a calculation result, and move a certain distance in a corresponding coordinate direction corresponding to each feeding instruction, so that the outline shape required by a workpiece is processed.

Traditional spraying mode is that the spray gun is held to the manual work, then the manual work begins the walking around the car to this reaches and carries out the spraying to irregularly shaped car, and such spraying mode is wasted time and energy, has reduced the spraying efficiency of car.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a three-axis servo link gear based on space interpolation operation to solve traditional spraying mode that proposes in the above-mentioned background and be artifical handheld spraying rifle, then the manual work begins the walking around the car, reach with this and carry out the spraying to the irregularly shaped car, such spraying mode is wasted time and energy, has reduced the problem of the spraying efficiency of car.

In order to achieve the above object, the utility model provides a following technical scheme: a three-axis servo linkage mechanism based on spatial interpolation operation comprises a fixed base, wherein the middle of the top end of the fixed base is rotatably connected with an arc shaft, the top end of the arc shaft is fixedly provided with an installation platform, the middle of the top end of the installation platform is fixedly provided with a transverse movement mechanism, the top end of the transverse movement mechanism is fixedly provided with a longitudinal movement mechanism, the top end of the longitudinal movement mechanism is fixedly provided with a clamping mechanism, the middle of the bottom end of the fixed base is fixedly provided with a first servo motor, the transverse movement mechanism comprises a transverse frame, a transverse screw shaft, a displacement block and a second servo motor, the longitudinal movement mechanism comprises a longitudinal frame, a sliding block, a longitudinal screw shaft, a third servo motor and a rotating motor, one side of the fixed base is fixedly provided with an operation panel, and a worker sprays the shape of an automobile according to needs and inputs basic data such as a linear starting point coordinate, an end point coordinate, a circular arc starting point, an end point, a circular arc center coordinate and the like through the operation panel, and sends a feeding instruction to a corresponding coordinate according to a calculation result.

Preferably, a transverse screw shaft is rotatably connected inside the transverse frame, a displacement groove is formed in the inner side of the transverse frame, a displacement block slidably connected with the displacement groove is in threaded connection with the middle of the transverse screw shaft, a second servo motor is fixedly mounted on one side of the transverse frame, the output end of the second servo motor penetrates through the transverse frame and is fixedly connected with one end, adjacent to the transverse screw shaft, of the transverse frame, the second servo motor is started after being powered on, the second servo motor drives the transverse screw shaft to rotate, threads on the surface of the transverse screw shaft are matched with threads on the inner wall of the displacement block, and the displacement block is limited by the displacement groove matched with the displacement block in shape and size, so that the displacement block slides along the transverse screw shaft to adjust the transverse position of the automobile spray gun clamped by the clamping mechanism.

Preferably, a longitudinal screw shaft is rotatably connected inside the longitudinal frame, a sliding groove is formed in the inner side of the longitudinal frame, a sliding block in sliding connection with the sliding groove is connected to the middle of the longitudinal screw shaft through threads, a rotating motor is fixedly installed inside the sliding block, a third servo motor is fixedly installed on one side of the longitudinal frame, an output end of the third servo motor penetrates through the longitudinal frame and is fixedly connected with one end, adjacent to the longitudinal screw shaft, of the third servo motor, the third servo motor is started after being electrified, the third servo motor drives the longitudinal screw shaft to rotate, threads on the surface of the longitudinal screw shaft are matched with threads on the inner wall of the sliding block, the sliding block is limited by the sliding groove, the shape and the size of the sliding block are matched with those of the third servo motor, and therefore the sliding block slides along the longitudinal screw shaft to adjust the longitudinal position of an automobile spray gun fixed on the clamping mechanism.

Preferably, the bottom end of the transverse frame is fixedly connected with the mounting table, the top end of the displacement block is fixedly connected with the bottom end of the longitudinal frame, the transverse movement mechanism is mounted on the mounting table through the transverse frame, and the longitudinal movement mechanism is connected with the displacement block through the longitudinal frame.

Preferably, fixture includes fixed plate, screw thread post, promotes platform, two splint, limiting plate, four connecting rods and two length poles, middle part between fixed plate and the limiting plate is rotated and is connected with the screw thread post, the equal fixed mounting in both sides between fixed plate and the limiting plate has length pole, the middle part threaded connection of screw thread post has the promotion platform with length pole sliding connection, the both sides that promote the platform and the both sides of limiting plate are all rotated and are connected with the connecting rod, four one side that the connecting rod deviates from mutually rotates with the both ends of two relative one sides of splint respectively and is connected, promotes the gliding in-process of platform and drives the connecting rod from one side, and splint are dragged from one side to the connecting rod, and two splint are pressed from both sides of spray gun tightly, fix spray gun.

Preferably, the output end of the rotating motor sequentially penetrates through the sliding block and the fixed plate to be fixedly connected with one end, adjacent to the threaded column, of the fixed plate, the rotating motor is started after being electrified, the rotating motor drives the threaded column to rotate, threads on the surface of the threaded column are matched with threads on the inner wall of the pushing platform, the pushing platform is limited by the two length rods, and therefore the pushing platform slides along the threaded column.

Preferably, the output end of the first servo motor penetrates through one side of the fixed base adjacent to the arc shaft, supporting legs are fixedly mounted on four corners of the bottom end of the fixed base, the first servo motor is started after being electrified, the first servo motor drives the arc shaft to rotate, the arc shaft drives the mounting table to move synchronously, and the angle of automobile spraying is adjusted.

Compared with the prior art, the beneficial effects of the utility model are that: through setting up first servo motor, the arc axle, transverse movement mechanism and longitudinal movement mechanism, first servo motor drives the arc axle and rotates, reach here and adjust the automobile spray gun circular arc angle, second servo motor drives horizontal lead screw axle and rotates, reach here and adjust the automobile spray gun lateral position, third servo motor drives vertical lead screw axle and rotates, reach here and adjust the automobile spray gun longitudinal position, replace traditional artifical handheld automobile spray gun to carry out the spraying, the spraying efficiency of car is improved.

Drawings

Fig. 1 is a side view of the present invention;

FIG. 2 is a schematic structural view of the lateral movement mechanism of the present invention;

FIG. 3 is a schematic structural view of the longitudinal movement mechanism of the present invention;

fig. 4 is a side view of the clamping mechanism of the present invention.

In the figure: 1. supporting legs; 2. a fixed base; 3. a mounting table; 4. a lateral movement mechanism; 41. a transverse frame; 42. a transverse screw shaft; 43. a displacement block; 44. a displacement slot; 45. a second servo motor; 5. a clamping mechanism; 51. a fixing plate; 52. a threaded post; 53. a pushing table; 54. a splint; 55. a limiting plate; 56. a connecting rod; 57. a length rod; 6. a longitudinal movement mechanism; 61. a longitudinal frame; 62. a sliding groove; 63. a sliding block; 64. a longitudinal screw shaft; 65. a third servo motor; 66. a rotating electric machine; 7. a circular arc shaft; 8. a first servo motor; 9. an operation panel.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

Please refer to fig. 1-4, the utility model provides a three-axis servo linkage mechanism based on spatial interpolation operation, including unable adjustment base 2, the middle part on unable adjustment base 2 top rotates and is connected with circular arc axle 7, the top fixed mounting of circular arc axle 7 has mount table 3, the middle part fixed mounting on mount table 3 top has transverse movement mechanism 4, the top fixed mounting of transverse movement mechanism 4 has longitudinal movement mechanism 6, the top fixed mounting of longitudinal movement mechanism 6 has fixture 5, the middle part fixed mounting of unable adjustment base 2 bottom has first servo motor 8, transverse movement mechanism 4 includes horizontal frame 41, horizontal lead screw axle 42, displacement block 43 and second servo motor 45, longitudinal movement mechanism 6 includes vertical frame 61, slide block 63, vertical lead screw 64, third servo motor 65 and rotating electrical machines 66, one side fixed mounting of unable adjustment base 2 has operating panel 9, the staff sprays the shape of car as required, input basic data through operating panel 9, such as the starting point, the terminal point coordinate, the starting point, the terminal point, the centre of a circle coordinate, utilize certain algorithm to send out the coordinate according to the calculation result, each is corresponding to the feeding and is pointing to the feeding.

A transverse screw shaft 42 is rotatably connected inside the transverse frame 41, a displacement groove 44 is formed in the inner side of the transverse frame 41, a displacement block 43 which is in sliding connection with the displacement groove 44 is in threaded connection with the middle of the transverse screw shaft 42, a second servo motor 45 is fixedly installed on one side of the transverse frame 41, the output end of the second servo motor 45 penetrates through the transverse frame 41 and is fixedly connected with one end, adjacent to the transverse screw shaft 42, of the transverse screw shaft, the second servo motor 45 is started after being powered on, the second servo motor 45 drives the transverse screw shaft 42 to rotate, threads on the surface of the transverse screw shaft 42 are matched with threads on the inner wall of the displacement block 43, the displacement block 43 is limited by the displacement groove 44 which is matched with the displacement block in shape and size, and therefore the displacement block 43 slides along the transverse screw shaft 42, and the transverse position of the automobile spray gun clamped by the clamping mechanism 5 is adjusted.

A longitudinal screw shaft 64 is rotatably connected inside the longitudinal frame 61, a sliding groove 62 is formed in the inner side of the longitudinal frame 61, a sliding block 63 in sliding connection with the sliding groove 62 is connected to the middle of the longitudinal screw shaft 64 in a threaded manner, a rotating motor 66 is fixedly installed inside the sliding block 63, a third servo motor 65 is fixedly installed on one side of the longitudinal frame 61, the output end of the third servo motor 65 penetrates through the longitudinal frame 61 and is fixedly connected with one end, adjacent to the longitudinal screw shaft 64, of the longitudinal screw shaft, the third servo motor 65 is started after being electrified, the third servo motor 65 drives the longitudinal screw shaft 64 to rotate, threads on the surface of the longitudinal screw shaft 64 are matched with threads on the inner wall of the sliding block 63, the sliding block 63 is limited by the sliding groove 62 with the sliding block in a shape and size matched with the sliding block, so that the sliding block 63 slides along the longitudinal screw shaft 64 to adjust the longitudinal position of the automobile spray gun fixed on the clamping mechanism 5.

The bottom end of the transverse frame 41 is fixedly connected with the mounting table 3, the top end of the displacement block 43 is fixedly connected with the bottom end of the longitudinal frame 61, the transverse movement mechanism 4 is mounted on the mounting table 3 through the transverse frame 41, and the longitudinal movement mechanism 6 is connected with the displacement block 43 through the longitudinal frame 61.

Fixture 5 includes fixed plate 51, threaded post 52, promote platform 53, two splint 54, limiting plate 55, four connecting rods 56 and two length pole 57, middle part between fixed plate 51 and the limiting plate 55 rotates and is connected with threaded post 52, the equal fixed mounting in both sides between fixed plate 51 and the limiting plate 55 has length pole 57, threaded post 52's middle part threaded connection has the promotion platform 53 with length pole 57 sliding connection, the both sides that promote platform 53 and limiting plate 55 all rotate and are connected with connecting rod 56, the both ends of one side are relative with two splint 54 respectively to one side that four connecting rods 56 deviate from mutually rotate and are connected, promote the gliding in-process of platform 53 and drive connecting rod 56 from one side, splint 54 is dragged from one side to connecting rod 56, two splint 54 press from the both sides of spray gun and press from both sides tightly, fix the spray gun.

The output end of the rotating motor 66 sequentially penetrates through the sliding block 63 and the fixing plate 51 to be fixedly connected with one end, adjacent to the threaded column 52, of the rotating motor 66, the rotating motor 66 is started after being electrified, the rotating motor 66 drives the threaded column 52 to rotate, threads on the surface of the threaded column 52 are matched with threads on the inner wall of the pushing table 53, the pushing table 53 is limited by the two length rods 57, and therefore the pushing table 53 slides along the threaded column 52.

The output of first servo motor 8 passes unable adjustment base 2 and one side fixed connection that circular arc axle 7 is adjacent, and the equal fixed mounting in four corners of 2 bottoms of unable adjustment base has supporting leg 1, and start after 8 circular servo motors circular arc axles 7 rotate, and circular arc axle 7 drives mount table 3 and carries out synchronous motion, adjusts the angle of automobile spraying.

When the embodiment of the application is used: the working personnel inputs basic data such as coordinates of a starting point and an end point of a straight line, coordinates of a starting point and an end point of an arc, coordinates of a circle center and the like through the operation panel 9 according to the shape of the automobile to be sprayed, a certain algorithm is used for calculation, a feeding instruction is sent to the corresponding coordinates according to the calculation result, corresponding to each feeding finger, the automobile spray gun is fixed before the automobile is sprayed, the rotating motor 66 is started after being electrified, the rotating motor 66 drives the threaded column 52 to rotate, threads on the surface of the threaded column 52 are matched with threads on the inner wall of the pushing platform 53, the pushing platform 53 is limited by the two length rods 57, so the pushing platform 53 slides along the threaded column 52, the connecting rod 56 is driven from one side in the sliding process of the pushing platform 53, the connecting rod 56 pulls the clamping plates 54 from one side, the two clamping plates 54 are clamped from two sides of the automobile spray gun to fix the automobile spray gun, the first servo motor 8 is started after being electrified, the first servo motor 8 drives the circular arc shaft 7 to rotate, the circular arc shaft 7 drives the mounting table 3 to synchronously move to adjust the spraying angle of the automobile, the third servo motor 65 is started after being electrified, the third servo motor 65 drives the longitudinal screw shaft 64 to rotate, the threads on the surface of the longitudinal screw shaft 64 are matched with the threads on the inner wall of the sliding block 63, the sliding block 63 is limited by the sliding groove 62 matched with the sliding block in shape and size, so that the sliding block 63 slides along the longitudinal screw shaft 64 to adjust the longitudinal position of the automobile spray gun fixed on the clamping mechanism 5, the second servo motor 45 is started after being electrified, the second servo motor 45 drives the transverse screw shaft 42 to rotate, the threads on the surface of the transverse screw shaft 42 are matched with the threads on the inner wall of the displacement block 43, and the displacement block 43 is limited by the displacement groove 44 matched with the shape and size, therefore, the displacement block 43 slides along the transverse screw shaft 42 to adjust the transverse position of the automobile spray gun clamped by the clamping mechanism 5.

Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.

Claims

1. The utility model provides a triaxial servo link gear based on spatial interpolation operation, includes unable adjustment base (2), its characterized in that: the middle part on the top end of the fixed base (2) is rotatably connected with an arc shaft (7), the top end of the arc shaft (7) is fixedly provided with a mounting table (3), the middle part on the top end of the mounting table (3) is fixedly provided with a transverse moving mechanism (4), the top end of the transverse moving mechanism (4) is fixedly provided with a longitudinal moving mechanism (6), the top end of the longitudinal moving mechanism (6) is fixedly provided with a clamping mechanism (5), the middle part on the bottom end of the fixed base (2) is fixedly provided with a first servo motor (8), the transverse moving mechanism (4) comprises a transverse frame (41), a transverse screw shaft (42), a displacement block (43) and a second servo motor (45), the longitudinal moving mechanism (6) comprises a longitudinal frame (61), a sliding block (63), a longitudinal screw shaft (64), a third servo motor (65) and a rotating motor (66), and an operation panel (9) is fixedly arranged on one side of the fixed base (2).

2. The three-axis servo linkage mechanism based on the spatial interpolation operation as claimed in claim 1, wherein: the inner part of the transverse frame (41) is rotatably connected with a transverse screw rod shaft (42), a displacement groove (44) is formed in the inner side of the transverse frame (41), the middle part of the transverse screw rod shaft (42) is in threaded connection with a displacement block (43) in sliding connection with the displacement groove (44), a second servo motor (45) is fixedly mounted on one side of the transverse frame (41), and the output end of the second servo motor (45) penetrates through the transverse frame (41) and is fixedly connected with one end, adjacent to the transverse screw rod shaft (42).

3. The three-axis servo linkage mechanism based on the spatial interpolation operation as claimed in claim 1, wherein: the inner part of the longitudinal frame (61) is rotatably connected with a longitudinal screw shaft (64), a sliding groove (62) is formed in the inner side of the longitudinal frame (61), the middle part of the longitudinal screw shaft (64) is in threaded connection with a sliding block (63) in sliding connection with the sliding groove (62), a rotating motor (66) is fixedly installed in the sliding block (63), a third servo motor (65) is fixedly installed on one side of the longitudinal frame (61), and the output end of the third servo motor (65) penetrates through the longitudinal frame (61) and is fixedly connected with one end, adjacent to the longitudinal screw shaft (64).

4. The three-axis servo linkage mechanism based on the spatial interpolation operation as claimed in claim 1, wherein: the bottom end of the transverse frame (41) is fixedly connected with the mounting table (3), and the top end of the displacement block (43) is fixedly connected with the bottom end of the longitudinal frame (61).

5. The three-axis servo linkage mechanism based on the spatial interpolation operation as claimed in claim 1, wherein: fixture (5) are including fixed plate (51), screw post (52), promote platform (53), two splint (54), limiting plate (55), four connecting rod (56) and two length pole (57), middle part between fixed plate (51) and limiting plate (55) is rotated and is connected with screw post (52), the equal fixed mounting in both sides between fixed plate (51) and limiting plate (55) has length pole (57), the middle part threaded connection of screw post (52) has promotion platform (53) with length pole (57) sliding connection, the both sides of promoting platform (53) and the both sides of limiting plate (55) are all rotated and are connected with connecting rod (56), four one side that connecting rod (56) deviate from mutually rotates with the both ends of two relative one sides of splint (54) respectively and is connected.

6. The three-axis servo linkage mechanism based on the spatial interpolation operation as claimed in claim 5, wherein: the output end of the rotating motor (66) sequentially penetrates through the sliding block (63) and the fixing plate (51) to be fixedly connected with one end, adjacent to the threaded column (52).

7. The three-axis servo linkage mechanism based on the spatial interpolation operation as claimed in claim 1, wherein: the output end of the first servo motor (8) penetrates through one side of the fixed base (2) adjacent to the arc shaft (7) in a fixed connection mode, and supporting legs (1) are fixedly mounted on four corners of the bottom end of the fixed base (2) respectively.