CN206614550U - The Wrist mechanism of teaching device - Google Patents
The Wrist mechanism of teaching device Download PDFInfo
- Publication number
- CN206614550U CN206614550U CN201720035542.1U CN201720035542U CN206614550U CN 206614550 U CN206614550 U CN 206614550U CN 201720035542 U CN201720035542 U CN 201720035542U CN 206614550 U CN206614550 U CN 206614550U
- Authority
- CN
- China
- Prior art keywords
- rotary
- connecting rod
- contiguous block
- spray gun
- wrist mechanism
- Prior art date
- 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.)
- Active
Links
Landscapes
- Spray Control Apparatus (AREA)
Abstract
The utility model discloses a kind of Wrist mechanism of teaching device, including contiguous block, the contiguous block upper end is connected by top connecting shaft with spray gun connecting rod, and its lower end is connected by bottom connecting shaft with flexible connecting rod；Two rotary encoders for being used to record spray gun attitude angle, i.e. rotary encoder one and rotary encoder two are provided with the contiguous block；Two rolling bearings and two rotary shafts are provided with the contiguous block, described two rotary shafts are constituted in right-angled intersection, described two rotary shafts rotate with two rolling bearings be connected respectively, and two rotary shaft one end are located in contiguous block, the other end stretches out contiguous block and is fixedly connected respectively with two rotary encoders.Three rotary encoders are mounted with the Wrist mechanism of this patent, it can effectively record the spraying profile of three vertical planes；Compensate for prior art record spray gun attitude angle when by magnetic interference the problem of；Improve the stability and reliability of record attitude angle.
Description
Technical field
The utility model is related to a kind of Wrist mechanism, more particularly to a kind of wrist machine for being used to spray the teaching device of industry
Structure, belongs to automatic field.
Background technology
At present, the telescopic spraying teaching mechanism of hemisphere job area has lightweight, without operative interventions, job area
Greatly, the characteristics of cost is low.The teaching device is used for multi-axis controller and reads moving parameter information, driving manipulator reproduction teaching machine
Structure operating process, can make up current multi-spindle machining hand and not be suitable for complicated and changeable, spraying workpiece replacing frequently defect.
But the three-axis gyroscope installed on the spray gun device of the teaching device can cause spraying when by magnetic interference
Track produces deviation.Therefore, the problem of needing also exist for improving record spray gun device stabilization of carriage angle in actual use.
Utility model content
In order to solve the above technical problems, the utility model proposes a kind of Wrist mechanism of teaching device, the mechanism can be fine
The problem of during solution record spraying profile by magnetic interference.
In order to achieve the above object, the technical solution of the utility model is as follows：A kind of Wrist mechanism of teaching device, including
Contiguous block, the contiguous block upper end is connected by top connecting shaft with spray gun connecting rod, and its lower end is by bottom connecting shaft with stretching
Contracting connecting rod is connected；Two rotary encoders for being used to record spray gun attitude angle, i.e. rotary coding are provided with the contiguous block
Device one and rotary encoder two；Two rolling bearings and two rotary shafts, described two rotary shafts are provided with the contiguous block
Constituted in right-angled intersection, described two rotary shafts rotate with two rolling bearings be connected respectively, and two rotary shaft one end are located at
In contiguous block, the other end stretches out contiguous block and is fixedly connected respectively with two rotary encoders.
It is connected preferably, the top connecting shaft is rotated with spray gun connecting rod, the bottom connecting shaft is connected with flexible
Bar is fixedly connected by pin, and quill shaft rotary encoder is fixedly installed in the spray gun connecting rod；And the hollow rotating
The inner ring of encoder is fixedly connected with spray gun connecting rod, and its lower end is fixedly connected with top connecting shaft by pin.Because top
It is to rotate connection between connecting shaft and spray gun connecting rod, is fixed so as to realize outside quill shaft rotary encoder with top connecting shaft
Connection, the internal purpose rotated simultaneously with spray gun connecting rod, reaches the purpose of the record anglec of rotation.
Preferably, the utility model additionally provides contiguous block and another connection of spray gun connecting rod and flexible connecting rod
Mode, it can also reach the purpose of the effectively record anglec of rotation.Its particular content is：The top connecting shaft and spray gun connecting rod
It is fixedly connected by pin, the bottom connecting shaft is rotated with flexible connecting rod and is connected；It is fixedly installed in the flexible connecting rod
There is hollow rotating encoder.
Preferably, the rotary encoder one, rotary encoder two and quill shaft rotary encoder are spatially mutual
Vertically, three mutually perpendicular encoder common combinations are used for the attitude angle information for recording spray gun device.
The beneficial effects of the utility model：Three rotary encoders are mounted with the Wrist mechanism of this patent, it can be effective
Record the spraying profile of three vertical planes；Compensate for prior art record spray gun attitude angle when by magnetic interference the problem of；
Improve the stability and reliability of record attitude angle.It is in particular in following several respects：
(1) spray gun connecting rod above and underlying flexible connecting rod are connected to by this patent by contiguous block
Together so that spray gun device can freely be rotated without interference, without dead point in hemisphere；
(2) three-axis gyroscope is replaced using three mutually perpendicular rotary encoders, efficiently solved in record spray gun
The problem of during attitude angle by magnetic interference；
(3) this patent is rational in infrastructure, principle is simple, cost is low, is easy to promote the use of in spraying industry, there is very big push away
Wide value and very high economic benefit.
Brief description of the drawings
Fig. 1 is dimensional structure diagram of the present utility model；
Fig. 2 is the enlarged drawing of Fig. 1 side view；
Fig. 3 is another embodiment of the present utility model；
Wherein：101. contiguous block, 102. top connecting shafts, 103. spray gun connecting rods, 104. bottom connecting shafts, 105. stretch
Connecting rod, 106. rotary encoders one, 107. rotary encoders two, 108. rolling bearings, 109. rotary shafts, the rotation of 110. quill shafts
Turn encoder.
Embodiment
The utility model is described in further detail with reference to embodiment.
Embodiment one
As depicted in figs. 1 and 2, a kind of Wrist mechanism of teaching device, including contiguous block 101, the contiguous block are disclosed
101 upper ends are connected by top connecting shaft 102 with spray gun connecting rod 103, and its lower end is connected by bottom connecting shaft 104 with flexible
Bar 105 is connected；Two rotary encoders for being used to record spray gun attitude angle, i.e. rotary coding are provided with the contiguous block 101
Device 1 and rotary encoder 2 107；Two rolling bearings 108 and two rotary shafts 109 are provided with the contiguous block 101,
Described two rotary shafts 109 are constituted in right-angled intersection, and described two rotary shafts rotate with two rolling bearings 108 be connected respectively,
And two one end of rotary shaft 109 are located in contiguous block 101, the other end stretch out contiguous block 101 and respectively with two rotary encoders
It is fixedly connected.
The top connecting shaft 102 is rotated with spray gun connecting rod 103 and is connected, and the bottom connecting shaft 104 is connected with flexible
Bar 105 is fixedly connected by pin, and quill shaft rotary encoder 110 is fixedly installed in the spray gun connecting rod 103；And it is described
The inner ring of hollow rotating encoder 110 is fixedly connected with spray gun connecting rod 103, and its lower end passes through pin with top connecting shaft 102
It is fixedly connected.Because being to rotate connection between top connecting shaft 102 and spray gun connecting rod 103, so as to realize quill shaft rotation volume
The outside of code device 110 is fixedly connected with top connecting shaft 102, and the internal purpose rotated simultaneously with spray gun connecting rod 103 reaches record
The purpose of the anglec of rotation.
In the present embodiment, rotary encoder 1 and rotary encoder 2 107 are rotatably connected with contiguous block 101, hollow
Rotary encoder 110 is fixed in spray gun connecting rod 103, and spray gun connecting rod 103 is rotated with top connecting shaft and is connected.And three
Rotary encoder is mutually perpendicular to intersect in space, and above three rotates connection and drives three rotary encoders to realize spraying dress
Freely rotating in hemisphere is put, mechanism job area is big and without dead point, without interference.
The spray gun pitman shaft is also provided with rectangular channel upwards, and the rectangular channel is with positioning stopping screw in spray gun connecting rod
Play axial limiting during rotation so that the spray gun connecting rod can realize 360 ° of actions that freely swing.
Embodiment two
As shown in figure 3, disclosing another connected mode of the present utility model：The top connecting shaft 102 connects with spray gun
Extension bar 103 is fixedly connected by pin, and the bottom connecting shaft 104 is rotated with flexible connecting rod 105 and is connected；The flexible connection
Hollow rotating encoder is fixedly installed on bar 105.
The connected mode of the present embodiment can replace the mode that the rotation of top connecting shaft 102 and spray gun connecting rod 103 is connected and
Realize free rotation action.In order to reach the purpose of record spray gun attitude angle, the quill shaft rotary encoder 110 and flexible company
Extension bar 105 is fixedly connected, and bottom connecting shaft 104 is rotated with flexible connecting rod 105 and is connected.The present embodiment is only this patent connection side
Another improvement of formula, it can also have other kinds of connected modes, as long as the connection side of this patent function and advantage can be realized
Formula belongs to the protection domain of this patent.
Claims (8)
1. a kind of Wrist mechanism of teaching device, it is characterised in that including contiguous block (101), contiguous block (101) upper end leads to
Cross top connecting shaft (102) to be connected with spray gun connecting rod (103), its lower end passes through bottom connecting shaft (104) and flexible connecting rod
(105) connect；Two rotary encoders for being used to record spray gun attitude angle are provided with the contiguous block (101), i.e. rotation is compiled
Code device one (106) and rotary encoder two (107)；Two rolling bearings (108) and two are provided with the contiguous block (101)
Rotary shaft (109), described two rotary shafts (109) rotate with two rolling bearings (108) be connected respectively, and two rotary shafts
(109) one end is located in contiguous block (101), and the other end, which stretches out contiguous block (101) and fixed respectively with two rotary encoders, to be connected
Connect.
2. the Wrist mechanism of teaching device according to claim 1, it is characterised in that the top connecting shaft (102) with
Spray gun connecting rod (103) rotates connection, and the bottom connecting shaft (104) is fixedly connected with flexible connecting rod (105) by pin.
3. the Wrist mechanism of teaching device according to claim 2, it is characterised in that on the spray gun connecting rod (103)
It is fixedly installed quill shaft rotary encoder (110).
4. the Wrist mechanism of teaching device according to claim 3, it is characterised in that the hollow rotating encoder
(110) inner ring is fixedly connected with spray gun connecting rod (103), and its lower end is fixedly connected with top connecting shaft (102) by pin.
5. the Wrist mechanism of teaching device according to claim 1, it is characterised in that the top connecting shaft (102) with
Spray gun connecting rod (103) is fixedly connected by pin, and the bottom connecting shaft (104) rotates with flexible connecting rod (105) and is connected.
6. the Wrist mechanism of teaching device according to claim 5, it is characterised in that on the flexible connecting rod (105)
It is fixedly installed middle control rotary encoder (110).
7. the Wrist mechanism of the teaching device according to claim 4 or 6, it is characterised in that the rotary encoder one
(106), rotary encoder two (107) and quill shaft rotary encoder (110) are spatially mutually perpendicular to.
8. the Wrist mechanism of teaching device according to claim 7, it is characterised in that described two rotary shafts (109) are in
Right-angled intersection is constituted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720035542.1U CN206614550U (en) | 2017-01-12 | 2017-01-12 | The Wrist mechanism of teaching device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720035542.1U CN206614550U (en) | 2017-01-12 | 2017-01-12 | The Wrist mechanism of teaching device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206614550U true CN206614550U (en) | 2017-11-07 |
Family
ID=60229770
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720035542.1U Active CN206614550U (en) | 2017-01-12 | 2017-01-12 | The Wrist mechanism of teaching device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206614550U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106826818A (en) * | 2017-01-12 | 2017-06-13 | 杭州国辰机器人科技有限公司 | A kind of Wrist mechanism of teaching device |
-
2017
- 2017-01-12 CN CN201720035542.1U patent/CN206614550U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106826818A (en) * | 2017-01-12 | 2017-06-13 | 杭州国辰机器人科技有限公司 | A kind of Wrist mechanism of teaching device |
| CN106826818B (en) * | 2017-01-12 | 2024-06-07 | 杭州国辰机器人科技有限公司 | Wrist mechanism of teaching equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204366948U (en) | Articulated type series connection robot palletizer | |
| CN203495947U (en) | Horizontal multi-joint robot not driven by belt | |
| CN103317504B (en) | A kind of vertical loading and unloading manipulator | |
| CN205763977U (en) | A kind of portable radial drilling machine | |
| CN103737577A (en) | Six-freedom-degree industrial robot with ball screw pair transmission | |
| CN103862467B (en) | Four shaft mechanical arms | |
| CN205381715U (en) | Sucking disc formula hydraulic pressure lifts cargo handling machine | |
| CN206105771U (en) | Assembly mesa about lead screw driven that is just reversing | |
| CN206614550U (en) | The Wrist mechanism of teaching device | |
| CN205904035U (en) | Telescopic spraying teaching mechanism with hemispheroid gathering range | |
| CN202726920U (en) | Back mechanical arm for cleaning | |
| CN105921327A (en) | Telescopic spraying teaching mechanism with hemispherical operation range | |
| CN106826818A (en) | A kind of Wrist mechanism of teaching device | |
| CN104742124B (en) | A kind of double-rod double-shaft two-way parallel track robot | |
| CN203765140U (en) | Circular cylindrical coordinate type arc welding robot device | |
| CN207309973U (en) | A kind of folding robert arm | |
| CN206872015U (en) | A kind of manipulator for liquid crystal display production | |
| CN207309957U (en) | Manipulator multiple degrees of freedom swinging rotary control mechanism | |
| CN203389796U (en) | Transmission self-locking device for rotating shaft of paint spraying head of paint spraying device | |
| CN204844172U (en) | Two -way parallel orbit robot of two pole biaxs | |
| CN104722792B (en) | A kind of new-type drilling machine | |
| CN204525475U (en) | A kind of single pole double-shaft two-way parallel track robot | |
| CN203726489U (en) | Four-axis manipulator arm | |
| CN209394663U (en) | A kind of selective compliance assembly robot arm that can be gone up and down and rotate | |
| CN204171506U (en) | A kind of portable cutter tool hand |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |