CN201439200U - Door opening system - Google Patents
Door opening system Download PDFInfo
- Publication number
- CN201439200U CN201439200U CN2009201697281U CN200920169728U CN201439200U CN 201439200 U CN201439200 U CN 201439200U CN 2009201697281 U CN2009201697281 U CN 2009201697281U CN 200920169728 U CN200920169728 U CN 200920169728U CN 201439200 U CN201439200 U CN 201439200U
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- Prior art keywords
- arm
- open
- motor
- door system
- gear
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
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Abstract
The utility model provides a door opening system (1, 2, 3) which comprises a base (100, 20), an inner arm (101, 21, 300), an outer arm (102, 301), a vertical arm (103, 302, 5) and a fixture (104, 4, 60), wherein the inner arm (101, 21, 300) is arranged on the base (100, 20) and can rotate along with a first shaft (110); the outer arm (102, 301) is arranged on the inner arm (101, 21, 300) and can rotate along with a second shaft (111); the vertical arm (103, 302, 5) extends out of the outer arm (102, 301) and is fixed on the outer arm (102, 301); and the fixture (104, 4, 60) extends out of the vertical arm (103, 302, 5) and goes up and down along with a third shaft (112, 310). The spraying system can complete the opening action of the door, and has the advantages of simple structure and low cost.
Description
Technical field
The utility model relates to open-door system, more particularly, relates to the robot and the anchor clamps of open-door system.
Background technology
Vehicle body comprises the outer surface and the inner surface of needs spraying.Because the obstruct of vehicle body outside surface, directly coated inner face.Therefore, be necessary after opening car door that spray gun puts in the vehicle body inner surface is sprayed.
When adopting the hand spray inner surface, because the workman that sprays paint finishes the action and inner surface sprayed of opening the door.Because the hand spray precision is relatively poor, need a kind of paint finishing to the inner surface spraying, this paint finishing can finish the action of opening the door and simple in structure, cost is low.
The utility model content
At above-mentioned technical problem, the utility model provides a kind of open-door system, comprising: base, by the carrying of described base and can around the inner arm of first rotation, by described inner arm carrying and can be around the outer arm of second rotation, stretch out and be fixed in the upright arm of described outer arm and stretch out and can be from described outer arm along the anchor clamps of the 3rd lifting from described upright arm.Anchor clamps can reach any point in the three dimensions that is limited by inner arm, outer arm and upright arm.This paint finishing can finish the action of opening the door and simple in structure, cost is low.
Description of drawings
Fig. 1 illustrates the schematic diagram according to the open-door system of embodiment of the present utility model;
Fig. 2 A and Fig. 2 B illustrate according to the base of embodiment of the present utility model and the cutaway view and the vertical view of inner arm;
Fig. 3 illustrates the cutaway view according to the inner arm of the open-door system of embodiment of the present utility model, outer arm and upright arm;
Fig. 4 A and Fig. 4 B illustrate the structure according to the anchor clamps of embodiment of the present utility model;
Fig. 5 A and Fig. 5 B illustrate the structure according to the upright arm of embodiment of the present utility model; With
Fig. 6 A and Fig. 6 B illustrate the process of opening the door according to embodiment of the present utility model.
The specific embodiment
Fig. 1 illustrates the schematic diagram according to the open-door system of embodiment of the present utility model.As shown in Figure 1, open-door system 1 comprises: base 100, by base 100 carrying and can around the inner arm 101 of first 110 rotation, by inner arm 101 carryings and can be around the outer arm 102 of second 111 rotation, stretch out and be fixed in the upright arm 103 of outer arm 102 and stretch out and can be from outer arm 102 along the anchor clamps 104 of the 3rd 112 liftings from upright arm 103.The arrow on the left side among Fig. 1, centre and right side is indicated the rotation of inner arm 101, the rotation of outer arm 102 and the lifting of anchor clamps 104 respectively.By adopting three-axis structure, simplified the design of open-door system and reduced cost.
Best, base 100 is designed the chassis that can move in orbit.
Fig. 2 A and Fig. 2 B illustrate according to the base of embodiment of the present utility model and the cutaway view and the vertical view of inner arm.Shown in Fig. 2 A and Fig. 2 B, open-door system 2 comprises the clutch shaft bearing 22 that is used to connect base 20 and inner arm 21, is positioned at first motor 210 of inner arm 21 and the arm gear 211 that matches with the axle sleeve of clutch shaft bearing 22.Interior arm gear 211 receives by the torque of first motor, 210 outputs and then drives clutch shaft bearing 22 and rotates thereupon.
Preferably, along first direction, adopt such as the axle of the same fixture of bolt, rivet to be connected, such as the upper surface that is fixed to base 20 with base 20 with clutch shaft bearing 22.Have the hole in the interior arm gear 211, be used for being enclosed within coaxially the axle sleeve of the clutch shaft bearing 22 that can rotate around the axle of clutch shaft bearing 22.By adopting such as bolt, fixture that rivet is the same, the axle sleeve that is fixed to clutch shaft bearing 22 that will stretch out from the inwall of inner arm 21 makes that inner arm 21 can be with axle (first) rotation around clutch shaft bearing 22 of the axle sleeve of clutch shaft bearing 22.Best, the contact force between the axle sleeve of interior arm gear 211 and clutch shaft bearing 22 is enough big, so that do not relatively rotate between the axle sleeve of arm gear 211 and clutch shaft bearing 22 in torque transfer or slight relatively rotating only takes place.
Preferably, the transmission of the torque between first motor 210 and the interior arm gear 211 can be finished by first gear train 212 that is positioned at inner arm 21.First gear train 212 comprises: first gear 2120 that is connected with the output of first motor 210 and described torque transfer is given the transmission gear train 2121 of interior arm gear 211.
Best, stretch out first stopper 213 from inner arm 21 to base 20, be used to limit the slewing area of inner arm 21; Guiding first motor 210 has first filling passage 214 in inner arm 21, is used for refueling to first motor 210; In order to control first motor 210, rotary encoder 215 is installed on first motor 210; First motor 210 is fixed in the inner arm 21 by motor connector 216; The passage that cable 217 is opened by clutch shaft bearing 22 inside enters inner arm 21 by base 20.Also be provided with control module 218 on the inner arm 21, it is integrated standard C PU plate and 1 to 3 numeral and/or Simulation with I/O plate are used to control the motion of mechanical arm and anchor clamps; In inner arm 21, be provided with and measure plate 219, be used to measure the position of rotary encoder 215 on rotary encoder 215; In inner arm 21, be provided with Zener protected location 220, be used to anchor clamps to provide intrinsic safety to connect.
First stops stake 200 and stretches to inner arm 21 from base 20, is used to limit the slewing area of inner arm 21; On base 20, be provided with ground terminal 201, and have main cables interface 202.In base 20, be provided with the electrical cnnector (not shown), the cable that is used for piece of automatic control molding in the future 218 and measurement plate 219 is connected to such as the same executing agency of first motor 210.Two electrical cnnector (not shown) are installed on each platform in the motor the same with three-motor such as first, second, be respectively electric electromechanics air connector and rotary encoder electrical cnnector, the former is used for, and motor power (output) connects, brake power connects and is connected with temperature sensor, and the latter is used for the connection of rotary encoder.
Fig. 3 illustrates the cutaway view according to the inner arm of the open-door system of embodiment of the present utility model, outer arm and upright arm.As shown in Figure 3, open-door system 3 comprises second motor 3000 that is positioned at inner arm 300 and second gear train 3001 that is positioned at inner arm 300.Second gear train 3001 will make it around second rotation for outer arm 301 from the torque transfer of second motor, 3000 outputs.Open-door system 3 also comprises three-motor 3010 that is positioned at outer arm 301 and the rotating band 3020 that is positioned at upright arm 302.Torque transfer between three-motor 3010 and the rotating band 3020 can be finished by the 3rd gear train 3011 that is positioned at outer arm 301, and the 3rd gear train 3011 will make it to move along the 3rd 310 for rotating band 3020 from the torque transfer of three-motor 3010 outputs.
Preferably, the purging sensor 3012 of control is installed near inner arm 300 places in outer arm 301, it is to providing the monitor signal of explosion hazard gas so that purge control system according to this monitor signal execution purging function by purging the control system (not shown).Anchor clamps cable 3021 is via being connected with anchor clamps in the upright arm 302.
Fig. 5 A and Fig. 5 B illustrate the structure according to the upright arm of embodiment of the present utility model.Fig. 5 A illustrates according to the structure before the upright arm rising of embodiment of the present utility model, and Fig. 5 B illustrates according to the structure after the upright arm rising of embodiment of the present utility model.
Shown in Fig. 5 A,, rotating band 50, moving-member 51 and attaching parts 52 are installed in the inside of upright arm 5.Rotating band 50 comprises the driving wheel 500 of the torque that reception is exported by three-motor, around driving wheel 500 and follower 501, along the 3rd mobile driving-belt 502 and the follower 502 that rotates with driving-belt 502; Attaching parts 52 are connected moving-member 51 and make it with driving-belts 502 and move with driving-belt 502.
Shown in Fig. 5 B, arrow illustrates moving-member 51 and stretches out upright arm 5 along the 3rd rising via the passage that stretches out in the upright arm 5.One end 510 of moving-member 51 is positioned at outside the upright arm 5, is fixed with anchor clamps on it.In order to guarantee that moving-member 51 can go out upright arm 5 along the 3rd shaft extension, moving-member 51 comprises standing part 511 and extension 512.Standing part 511 is connected with attaching parts 52, and extension 512 stretches out a preset distance along the 3rd the direction (direction of arrow indication) of stretching out from standing part 511.Upright arm 5 can be taken in the standing part 511 and the extension 512 of moving-member 51.Standing part 511 be shaped as clamp region shown in Fig. 5 A and Fig. 5 B, promptly by adding the driving-belt of holding therebetween 502 such as two fastening clamping plate of the same fixture of screw; It also can be the fixture of single chip architecture.Extension 512 be shaped as quadrangular shown in Fig. 5 A and Fig. 5 B, also can be such as other cylindrical, that cube is the same shapes.Rotating band 50 is positioned at stretching out outside the passage of moving-member 51, and for example, shown in Fig. 5 B, the side that rotating band 50 is positioned at moving-member 51 and arrow indication in the opposite direction; Certainly, rotating band 50 also can be positioned at the left side or the right side of moving-member 51.
Preferably, driving-belt 502 stretches into and stretches out attaching parts 52 from the other end from an end of attaching parts 52, fixing by the driving-belt 502 that will be positioned at attaching parts 52 inside such as the same fixture of screw simultaneously with attaching parts 52, thus it can't be slided relatively.Pass through such as screw the same fixture and moving-member 51 fixing near the outside of moving-member 51 attaching parts 52.
Fig. 4 A and Fig. 4 B illustrate the structure according to the anchor clamps of embodiment of the present utility model.Shown in Fig. 4 A and Fig. 4 B, anchor clamps 4 comprise moment pedestal 40 on the end that is installed in moving-member, from moment pedestal 40 perpendicular to the 3rd shaft extension outside upright arm clip arm 41 and at least one stretch out and bend towards the clamp head 42 of upright arm from clip arm 41.The number of clamp head 42 is for the moment, is " L " type anchor clamps (shown in Fig. 4 A); The number of clamp head 42 is 2 o'clock, is T-shape anchor clamps (shown in Fig. 4 B).Best, moment pedestal 40 is connected by flange 43 with clip arm 41.In the clamp head 42 sensor is installed, is used for determining the relative position of clamp head 42 and door.
Fig. 6 A and Fig. 6 B illustrate the process of opening the door according to embodiment of the present utility model.As shown in Figure 6A, the inner arm of open-door system and outer arm are respectively around first and second rotation, the anchor clamps 60 that are installed in moving-member one end are moved toward door 61, and afterwards, moving-member guide clamp 60 is up to passing through anchor clamps 60 along the opening 62 in the 3rd the direction access door 61.Then, shown in Fig. 6 B, the inner arm of open-door system and outer arm are respectively around first and second rotation, and guide clamp 60 opens it to the direction pulling door that opens the door.
As shown in Figure 1, be parallel to each other for first 110, second 111 and the 3rd 112, and first 110 and second 111 at a distance of first distance first 110 and the 3rd 112,310 at a distance of second distance, and second 111 and the 3rd 112 are at a distance of the 3rd distance.Specifically, an end of inner arm 101 is installed on the base 100, around first 110 rotation; One end of outer arm 102 is installed on the other end of inner arm 101 and around second spool 111 rotation parallel with first 110; Upright arm 103 stretches out along parallel with second 111 the 3rd 112 from an end of outer arm 102.The 3rd 112 perpendicular to ground.By above-mentioned configuration, anchor clamps can reach any point in the three dimensions that is limited by inner arm, outer arm and upright arm.
Though illustrate and described the utility model with reference to some preferred embodiment of the present utility model, but it will be appreciated by those skilled in the art that, do not deviating under the situation of the spirit and scope of the present utility model that limit by appended claims, can make various variations to it in the form and details.
Claims (10)
1. open-door system (1,2,3), comprising: base (100,20), by described base (100,20) carrying also can be around the inner arm (101,21,300) of first (110) rotation, by described inner arm (101,21,300) carrying and can around second (111) rotation outer arm (102,301), stretch out and be fixed in described outer arm (102 from described outer arm (102,301), 301) upright arm (103,302,5) with from described upright arm (103,302,5) stretching out also can be along the 3rd (112,310) anchor clamps of lifting (104,4,60).
2. open-door system (1 as claimed in claim 1,2,3), wherein first (110), second (111) and the 3rd (112,310) are parallel to each other, and first (110) and second (111) are at a distance of first distance, first (110) and the 3rd (112,310) at a distance of second distance, and second (111) and the 3rd (112,310) are at a distance of the 3rd distance.
3. open-door system as claimed in claim 1 (1,2,3), wherein the 3rd (112,310) are perpendicular to ground.
4. open-door system as claimed in claim 1 (1,2,3) also comprises:
Be used for connecting the clutch shaft bearing (22) of described base (100,20) and described inner arm (101,21,300) along first (110);
Be positioned at first motor (210) in the described inner arm (101,21,300);
With the interior arm gear (211) that the axle sleeve of clutch shaft bearing (22) matches, its axle sleeve that receives by the torque of first motor (210) output and then drive clutch shaft bearing (22) rotates thereupon.
5. open-door system (1 as claimed in claim 4,2,3), also comprise: be positioned at described inner arm (101,21,300) Nei first gear train (212), be used for giving interior arm gear (211) from the torque transfer of first motor (210) output with described torque, wherein first gear train (212) comprising: first gear (2120) that is connected with the output of first motor (210) and described torque transfer is given the transmission gear train (2121) of interior arm gear (211), and arm gear (211) has the hole in described, is used for being enclosed within coaxially the axle sleeve of clutch shaft bearing (22).
6. open-door system as claimed in claim 1 (1,2,3) also comprises:
Be positioned at second motor (3000) in the described inner arm (101,21,300);
Be positioned at second gear train (3001) in the described inner arm (101,21,300), be used for and make it to rotate for described outer arm (102,301) from the torque transfer of second motor (3000) output around second (111).
7. open-door system as claimed in claim 1 (1,2,3) also comprises:
Be positioned at the three-motor (3010) in the described outer arm (102,301);
Be positioned at described upright arm (103,302,5) Nei rotating band (3020,50), comprise: receive the driving wheel (500) of the torque of being exported, the driving-belt (502) that moves around driving wheel (500) and follower (501), along the 3rd (112,310) and with the follower (501) of driving-belt (502) rotation by three-motor (3010);
Moving-member (51);
Attaching parts (52) are used for described moving-member (51) being connected with driving-belt (502) and making it mobile with driving-belt (502).
8. open-door system as claimed in claim 6 (1,2,3) also comprises: be positioned at the 3rd gear train (3010) in the described outer arm (102,301), be used for and will give described rotating band (3020,50) from the torque transfer of three-motor (3010) output.
9. open-door system as claimed in claim 8 (1,2,3), an end (510) of wherein said moving-member (51) is positioned at outside the described upright arm (103,302,5), is fixed with described anchor clamps (104,4,60) on it.
10. open-door system as claimed in claim 9 (1,2,3), wherein said anchor clamps (104,4,60) comprising:
By the mobile moment pedestal (40) of described moving-member (51);
Stretch to the outer clip arm (41) of described upright arm (103,302,5) from moment pedestal (40) perpendicular to the 3rd (112,310);
At least one stretches out and bends towards the clamp head (42) of upright arm (103,302,5) from described clip arm (41).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009201697281U CN201439200U (en) | 2009-08-11 | 2009-08-11 | Door opening system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009201697281U CN201439200U (en) | 2009-08-11 | 2009-08-11 | Door opening system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201439200U true CN201439200U (en) | 2010-04-21 |
Family
ID=42543869
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009201697281U Expired - Lifetime CN201439200U (en) | 2009-08-11 | 2009-08-11 | Door opening system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201439200U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104227706A (en) * | 2014-09-24 | 2014-12-24 | 烟台拓伟机械有限公司 | Vertical crossing-arm type joint robot system for spraying pressure tank |
| CN107825450A (en) * | 2017-12-11 | 2018-03-23 | 苏州元谋智能机器人***有限公司 | Switch gate manipulator, switch gate robot and switch gate method |
| CN109311152A (en) * | 2016-06-15 | 2019-02-05 | 株式会社三共制作所 | Conveying device |
| CN110315507A (en) * | 2019-07-01 | 2019-10-11 | 广州弘度信息科技有限公司 | A kind of light weight articulated robot arm structure based on switch gate |
| CN110315500A (en) * | 2019-07-01 | 2019-10-11 | 广州弘度信息科技有限公司 | A kind of double mechanical arms crusing robot and its method accurately opened the door |
| CN112676118A (en) * | 2020-12-07 | 2021-04-20 | 机械工业第九设计研究院有限公司 | Automatic door opening device for cavity wax filling and application |
-
2009
- 2009-08-11 CN CN2009201697281U patent/CN201439200U/en not_active Expired - Lifetime
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104227706A (en) * | 2014-09-24 | 2014-12-24 | 烟台拓伟机械有限公司 | Vertical crossing-arm type joint robot system for spraying pressure tank |
| CN109311152A (en) * | 2016-06-15 | 2019-02-05 | 株式会社三共制作所 | Conveying device |
| CN107825450A (en) * | 2017-12-11 | 2018-03-23 | 苏州元谋智能机器人***有限公司 | Switch gate manipulator, switch gate robot and switch gate method |
| CN107825450B (en) * | 2017-12-11 | 2024-04-05 | 苏州新优化投资咨询有限公司 | Door opening and closing mechanical arm, door opening and closing robot and door opening and closing method |
| CN110315507A (en) * | 2019-07-01 | 2019-10-11 | 广州弘度信息科技有限公司 | A kind of light weight articulated robot arm structure based on switch gate |
| CN110315500A (en) * | 2019-07-01 | 2019-10-11 | 广州弘度信息科技有限公司 | A kind of double mechanical arms crusing robot and its method accurately opened the door |
| CN110315500B (en) * | 2019-07-01 | 2021-03-12 | 广州哨马智能装备科技有限公司 | Double-mechanical-arm inspection robot and accurate door opening method thereof |
| CN112676118A (en) * | 2020-12-07 | 2021-04-20 | 机械工业第九设计研究院有限公司 | Automatic door opening device for cavity wax filling and application |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20120628 Address after: Zurich Patentee after: ABB T & D Technology Ltd. Address before: Sweden Westrm J Patentee before: ABB T & D Technology Ltd. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180531 Address after: Baden, Switzerland Patentee after: ABB TECHNOLOGY LTD. Address before: Zurich Patentee before: ABB T & D Technology Ltd. |
|
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20100421 |