CN206924938U - Series-parallel spray robot - Google Patents
Series-parallel spray robot Download PDFInfo
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- CN206924938U CN206924938U CN201720682711.0U CN201720682711U CN206924938U CN 206924938 U CN206924938 U CN 206924938U CN 201720682711 U CN201720682711 U CN 201720682711U CN 206924938 U CN206924938 U CN 206924938U
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Abstract
The utility model discloses a kind of series-parallel spray robot, including mobile platform mechanism and spraying operation part.Spraying operation part and mobile platform mechanism cooperate, so as to complete the movement needs of whole five frees degree of spraying process.The connection of spraying operation platform and vertical mechanism section uses ball-screw line slideway slide unit modular form.Mobile platform mechanism is made up of horicontal motion mechanism and vertically movable mechanism, realizes the movement of both direction.Spraying operation part forms 3-freedom parallel mechanism by moving platform, ball-screw side chain and fixed platform.Shower nozzle is installed, four branch chain links of ball-screw move fixed platform, the motor that four driving leading screws rotate, moving platform and four branch chain links are provided with fixed platform on moving platform.Four electric motor units module drive leading screws stretch, and drive moving platform to realize the movement in x directions, around y, the rotation of z-axis, so as to accurately realize shower nozzle pose adjustment and spray away from control.
Description
Technical field
The utility model discloses a kind of new series-multiple connection formula spray robot
Background technology
Compared to conventional serial robot, parallel robot is special in kinematic accuracy, speed, rigidity, lightweight, dynamic response
Property, control errors etc. have more excellent performance, therefore in the industrial circle being had higher requirements to movement locus, than
Spray coating operations such as are carried out to surface imperfection part, parallel robot has more preferable application prospect.In the market or patent
The spray robot in parallel of middle appearance can only be sprayed to smaller range region due to power source, the limitation of transmission system, right
In the spraying of large surfaces irregular area, such as car body component, these spray robots will be difficult in adapt to.Some schemes at present
Using the workbench of a large-sized gantry formula, regional up and down on the table places spraying robot in parallel respectively
People, each robot are responsible for corresponding a part of vehicle body region and sprayed.This scheme can realize the spraying to large-scale workpiece,
But the shortcomings of workbench is huge, spray robot quantity is more, overall cost is high, flexible poor be present, and also need to consider each machine
The technical problems such as the coating quality of device people intersection region.
Utility model content
Based on the above situation, the utility model proposes a kind of spray equipment in parallel that can realize space three-freedom motion and
The scheme that one mobile work platform that can realize the axle large range displacement of plane two is combined, pass through the direction of workbench two during work
Long lead screw guide rail does large range displacement, and adjusts shower nozzle posture and spray away from making shower nozzle hang down all the time by freedom degree parallel connection device
Directly in workpiece surface and keep constant distance carry out spray coating operations, realize the spraying to irregular surface arbitrfary point.
In transmission system, existing series connection spray robot is exported using harmonic speed reducer to motor more carries out speed change
Change, then realize that the predetermined track of terminal is moved by a series of long power trains such as rack-and-pinion, bar group parts, this practicality
It is new that power is exported to drive nut, the short power train transmission of drive nut direct drive ball-screw, nothing using servomotor
Harmonic speed reducer is needed, and screw part is functionally the connecting rod for connecting spray head again, enormously simplify structure.Due to movement
Platform can using lead screw guide rails carry out two axles move on a large scale, parallel institution need to only be responsible for shower nozzle posture and spray away from tune
Whole, range of movement is small, therefore overall dimensions are small, in light weight, so as to further reduce cost, simplifies transmission.
The design of mobile platform employs the relatively good ball-screw-transmission of stability, accuracy, transmission stiffness, while together
Isostructural use of step band, ball-screw line slideway slide unit module further simplify transmission mechanism.
The technical solution adopted in the utility model is as follows
A kind of series-multiple connection formula spray robot, by the mobile platform mechanism that can realize plane two-freedom large range displacement
Formed with the spraying operation mechanism that can realize space three-freedom operation；Described spraying operation mechanism and mobile platform mechanism phase
Mutually coordinate, so as to complete the movement needs of whole five frees degree of spraying process；Described mobile platform mechanism is by a level
Motion and a vertically movable mechanism composition, it is possible to achieve spraying operation mechanism is (Y-direction) and vertical square in the horizontal direction
Movement to (Z-direction).
Described spraying operation mechanism is made up of a moving platform, four side chains, four ball-screws and a fixed platform；
Shower nozzle is installed, four ball-screws are moved by four branch chain links, fixed platform, and moving platform and four side chains are with ball on moving platform
Secondary form is connected, and four spraying motor units are provided with fixed platform；Four described spraying motor units include four sprayings
Motor, each self-driven driving gear of described spraying motor, driving gear and driven gear engaged transmission, driven gear lead to
Cross hollow shaft and drive flange disc spins, ring flange drives corresponding feed screw nut rotation, and leading screw corresponding to feed screw nut driving is stretched
Contracting, so as to drive moving platform to realize the movement in x directions and around y, the rotation of z-axis, enables shower nozzle to carry out space three degree of freedom
Motion.
Further, the horicontal motion mechanism includes a base, and AC servo motor I is provided with described base,
Described AC servo motor I is connected by shaft coupling with a horizontally disposed ball-screw I, and ball-screw I consolidates front and back end
It is scheduled in antero posterior axis bearing, is furnished with two front and rear feed screw nut I, the bottom plate of vertically movable mechanism and two silks on ball-screw I
Thick stick nut I is fixedly connected, and drives ball-screw I, feed screw nut I to drive the bottom of vertically movable mechanism by AC servo motor I
Plate carries out the displacement in horizontal direction.
Further, described bottom base plate is equipped with six sliding blocks, each side has three, was moved horizontally in device
Coordinate in journey with the left and right rail of base and be oriented to.
Further, the vertically movable mechanism includes left and right vertically movable mechanism two parts, passes through the ball of left and right two
The precise displacement of described fixed platform on the y axis is realized in being synchronized with the movement for leading screw II, and the two ball-screw II in left and right motion is equal
It is passed to by two driven synchronous pulleys.
Further, the left vertically movable mechanism includes a motor II, and motor II is by shaft coupling with moving axis
Two active synchronization belt wheels are rotated at the same speed, and the two active synchronization belt wheels are drawn on long and short two bar timing belt and left-right mechanism respectively
The two ball-screw II driven pulleys in left and right coordinate, realize the constant velocity rotation of left and right leading screw.
Further, the ball-screw II both sides in the vertically movable mechanism are respectively arranged with guide rail.
Further, sliding block is fixed with the both sides of described fixed platform, being provided with centre in described sliding block penetrates
Nut, described nut and two ball-screw II, which coordinate, to be driven, and the left and right sides of sliding block is provided with and vertically movable mechanism
On left and right guide rail coordinate guide groove.
Further, described feed screw nut is ball-screw drive nut, and its outer ring is connected with body, and inner ring is revolved
Turn powered motion, so as to realize the telescopic drive to side chain.
Further, to realize the moving platform three-degree-of-freedom motion, four motors are not connected with fixed platform.It is upper, right, under
The motor cabinet that side spray applies electric motor units is connected by the rolling bearing of both sides with electric machine support, so as to which spraying motor unit can be around
Electric machine support is rotated, and the spraying motor in left side with the structure of three above electric motor units in addition to installing, its motor cabinet
Bottom is also connected by a rolling bearing with fixed platform, described left side spraying motor unit is carried out around motor cabinet axle
Rotation, the purpose so designed is the rotation in order to allow moving platform to carry out both direction simultaneously, is realized to shower nozzle posture
It is adjusted flexibly.
Overall work process of the present utility model is as follows：
The utility model is adapted to the surface spraying of large-scale irregular parts, and such as vehicle body spraying, its course of work is such as
Under：
1st, the ball-screw rotation on horicontal motion mechanism, feed screw nut drive bottom plate motion under slide block guide rail guiding,
Realize that the vertically movable mechanism being arranged on bottom plate and spraying operation mechanism reach the y-axis coordinate points of spraying area.
2nd, vertically movable mechanism realizes being synchronized with the movement for left and right leading screw by toothed belt transmission, in ball-screw line slideway
In the presence of slide unit module, spraying operation platform reaches the z-axis coordinate points of spraying area.
3rd, four electric motor startings of parallel institution, by the stretching motion of four leading screw side chains on fixed platform, realize dynamic flat
Platform movement in the x direction and around y, the motion of the rotation three degree of freedom of z-axis, realize shower nozzle gesture stability and spray away from tune
It is whole.
4th, the 3DOF of above-mentioned parallel institution and the 2DOF of the mobile platform cooperative motion under the control of primary control program,
Realize the accurate spraying to irregular surface.
The beneficial effects of the utility model are as follows：
1st, series-multiple connection formula spray robot of the present utility model moves plane on a large scale and space multiple degrees of freedom rotates phase
With reference to realizing the spraying to the large-scale any irregular area in spray piece space.
2nd, mobile platform is simple in construction, is swift in response, and horizontally and vertically the ball-screw-transmission on direction can be quick and precisely
Ground is positioned to the plane coordinates of spraying area.
3rd, spraying operation platform can realize the accurate spraying of space three-freedom, and subtract without complex transmission and harmonic wave
The high capital equipment such as fast device, mechanism is simple, low cost.
4th, compared to the spray robot of the more shower nozzles of planer-type, the utility model more lightweight, and control flexible.
Brief description of the drawings
The Figure of description for forming the part of the application is used for providing further understanding of the present application, and the application's shows
Meaning property embodiment and its illustrate be used for explain the application, do not form the improper restriction to the application.
Fig. 1 spray robot overall diagrams；
Fig. 2 mobile platform overall structure figures；
Fig. 3 horizontal motion machine compositions；
Fig. 4 horicontal motion mechanism bottom plate installation diagrams；
The left vertical main motion mechanism figures of Fig. 5；
The right vertical driven machine compositions of Fig. 6；
The timing belt connection figure of the vertically movable mechanisms of Fig. 7 or so；
Fig. 8 spraying operation mechanism maps；
Fig. 9 sprays fixed platform and mobile platform connection figure；
Figure 10 spraying motor unit kinematic schemes；
Figure 11 spraying motors unit is driven installation diagram；
On Figure 12, right, downside spraying motor unit installation diagram；
On Figure 13, right, downside spraying motor motor cabinet part drawing；
Spraying motor unit installation diagram on the left of Figure 14；
Spray unit motor cabinet part drawing on the left of Figure 15；
In figure：11 spraying operation mechanisms, 12 mobile platform mechanisms；
It is 21 horicontal motion mechanisms, 22 left vertical main motion mechanisms, 23 right vertical followers, 24 top connecting plates, 25 same
Walk V belt translation system；
31 AC servo motors, 32 shaft couplings, 33 base ball-screws, 34 front-end bearing pedestals, 35 rear bearing blocks, 36 motors
Seat, 37 and 39 feed screw nuts, 38 bottom plates, 310 and 311 or so screw mandrel guide rails；
41 bottom plate sliding blocks；
51 main motion motors, 52 vertical direction motion motors, 53 shaft couplings, active synchronization belt wheel on 54,55 times it is actively same
Walk belt wheel, 56 links, 57 timing belt wheel shafts, 58 lower bracing frames, 59 left timing belt driven pulleys, 510 rolling elevating screws, 511
With 512 or so riser guides, 513 lead screw shaft bearings, 514 left vertical plates；
61 right driven synchronous pulleys, 62 lower bracing frames, 63 ball elevating screws, 64 right vertical plates, 65 and 66 or so lift
Guide rail, 67 lead screw shaft bearings；
71 short timing belts, 72 left driven synchronous pulleys, 73 long timing belts, 74 right driven timing belts；
81 fixed platforms, 82 ball-screw side chains, 83 moving platforms, 84 moving platform balls pair, 85 shower nozzles, 86 upside spraying motor lists
Member, 87 connection sliding blocks, 88 left side spraying motor units；
101 spraying motors, 102 driving gears, 103 driven gears, 104 ring flanges, 105 hollow shafts, 106 rolling bearings；
111 feed screw nuts；121 electric machine supports, 122 upside spraying motor seats；141 left side spraying motor seats；151 motors
Seat bottom rolling bearing.
Embodiment
It is noted that described further below is all exemplary, it is intended to provides further instruction to the application.It is unless another
Indicate, all technologies used herein and scientific terminology are with usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
It is also intended to include plural form, additionally, it should be understood that, when in this manual using term "comprising" and/or " bag
Include " when, it indicates existing characteristics, step, operation, device, component and/or combinations thereof.
The utility model is described in detail below in conjunction with the accompanying drawings：
First, the overall structure of series-multiple connection formula spray robot
As shown in figure 1, the utility model spray robot is using two-freedom planar movement platform+freedom degree parallel connection spray
The form of workbench is applied, spraying operation mechanism 11 and mobile platform mechanism 12 can be divided into.
2nd, mobile platform mechanism
As shown in Fig. 2 mobile platform overall structure is vertical by horicontal motion mechanism 21, left vertical main motion mechanism 22, the right side
Follower 23, top connecting plate 24, the composition of lower timing belt assembling 25, it is to drive leading screw to complete by motor that it, which is driven,.Should
Mobile operation part can realize the movement in both direction (y, z direction).
As shown in figure 3, being disposed with horicontal motion mechanism on the base of device, its transmission system composition is：AC servo electricity
Machine 31 is connected by shaft coupling 32 with ball-screw 33, and the both ends of ball-screw 33 are fixed in antero posterior axis bearing 34,35, and motor
Then it is fixed on motor cabinet 36 relatively-stationary with base.
Entirely transmission process is：Motor 31 rotates drives ball-screw 33 to rotate by shaft coupling 32, is fixed on vertical branch
The feed screw nut 37,39 of support part point is the movement for being converted into horizontal direction of ball-screw 33, so as to realize robot in y
The movement of direction of principal axis.As shown in figure 4, bottom plate 38 is fixedly connected with feed screw nut 37,39, bottom base plate is equipped with six sliding blocks 41,
Coordinate with left and right rail 311,310 and be oriented to.When ball-screw moves, bottom plate drives the vertical framework and spraying operation on top to put down
Platform carries out the precise displacement in horizontal direction.
Spraying platform 11 is mainly synchronized with the movement by two ball-screws of left and right vertical motion mechanism realizes the accurate of z-axis
Displacement；Wherein left vertically movable mechanism is main motion mechanism, and its structure is as shown in figure 5, main motion motor module 51 such as enlarged drawing
Shown, transmission process is：Motor 52 is rotated by shaft coupling 53 with moving axis 57, so as to two synchronous pulleys 54 on moving axis,
55 it is synchronized rotate, above-mentioned each parts carry out assembling fixation by link 56, the timing belt of left vertically movable mechanism from
The upper synchronous pulley 54 of driving wheel 59 and motor module 51 connects, and makes to rotate with the ball-screw of synchronous pulley axis connection 510, and a left side is perpendicular
Equipped with left and right rail 511,512 to realize the cooperation with spraying operation platform in straight panel 514, so as to realize fixed platform in vertical side
To movement.Ball-screw-transmission is combined with toothed belt transmission so that whole transmission system high transmission accuracy, transmission efficiency
Height, and whole transmission system is simple, practical.
The structure of right vertical follower and the vertical driving mechanism in left side are symmetrical, as shown in fig. 6, but not having a motor
Drive module, and the synchronous pulley 59 of the more vertical driving mechanism in position of driven synchronous pulley 61 is on the lower, with synchronization of staggering
Band.The parts of other each several parts are link 62, ball-screw 63, left and right lead screw guide rails 65,66, bearing block 67, are connected vertically
Fishplate bar 64.
As shown in fig. 7, in the motor module of left vertically movable mechanism, upper synchronous pulley 54 passes through short timing belt 71 and a left side
Driven pulley 72 on vertical driving mechanism connects, lower synchronous pulley 55 by long timing belt 73 and right vertical follower from
Movable belt pulley 74 connects.The rotating speed of two active synchronization belt wheels 54,55 is identical on same axle, because the rotating speed of toothed belt transmission is consistent
Property, the rotating speed of driven synchronous pulley 72,74 is also identical, so as to the ball-screw 510 and 63 in the right and left vertical motion mechanism
All turned round with same speed.
3rd, spraying operation mechanism
As shown in figure 8, spraying operation mechanism is by 83, four ball-screw side chains 82 of a moving platform and a fixed platform 81
Composition.Shower nozzle 85 is installed, the side chain of four ball-screw compositions is hinged with moving platform with ball pair 84, fixed platform on moving platform 83
On the electric motor units 86 that four driving leading screws rotate are installed, moving platform 83 and fixed platform 81 pass through four leading screw branch chain links.
The spraying process of spraying operation mechanism drives four ball-screws 82 by four electric motor units 86 of fixed platform, realizes four silks
Thick stick 82 stretches, so as to drive moving platform 83 to realize the movement in a direction (x directions), around y, the rotation of z-axis so that shower nozzle 85
Complete the motion of three degree of freedom.
As shown in figure 9, the connection of spraying operation platform and left side vertical motion is rubbed using ball-screw 510 with rolling
Wipe device --- the ball-screw line slideway slide unit module that guide rail 511,512 is combined.The sliding block 87 being connected with fixed platform
The nut and ball-screw 510 that existing centre penetrates coordinate transmission, by the lifting that the rotational transform of leading screw is fixed platform, sliding block 87
The left and right sides there is guide groove and guide rail 511,512 to coordinate again to be oriented to.This structure not only possesses ball-screw and rolling friction guide rail
Function, and dexterously realize both combinations, reduce the space of arrangement so that be whole connection and reasonable arrangement, compact.Spraying
Two sliding blocks of platform dextral and the fit system of right vertically movable mechanism are identical with left side, therefore do not repeat.
As shown in Figure 10,11, the transmission system of electric motor units module includes：It is spraying motor 101, driving gear 102, driven
Gear 103, hollow shaft 105, ring flange 104, feed screw nut 111 and ball-screw 82 etc..Its transmission process is：Spraying motor
101 drive driving gear 102 to rotate by key, and driving gear 102 drives driven gear 103 to rotate by engaging, driven gear
103 drive hollow shaft 105 to rotate by key, and hollow shaft 105 drives ring flange 104 to rotate, and ring flange 104 drives feed screw nut
111 inner rings rotate, and finally realize the stretching motion of ball-screw 82.Feed screw nut 111 at this is ball-screw drive nut,
Its outer ring is connected with body, and inner ring carries out rotating drive movements, so as to drive leading screw 82 to move, by leading screw 82 relative to silk
Stretching for thick stick nut 111, finally realizes motion of the moving platform 83 relative to fixed platform 81.
To realize moving platform three-degree-of-freedom motion, four spraying motors are not connected with fixed platform.It is wherein right in fixed platform
The electric motor units of side and downside are identical with the overall structure of electric motor units 86 of upside, and the electric motor units 88 in left side then slightly have not
Together.As shown in figure 12, the left and right sides of spraying motor unit 86 is equipped with rolling bearing 106, the electric machine support 121 on fixed platform 81
It is connected by rolling bearing 106 with motor cabinet 122, so as to which spraying motor unit can be rotated around electric machine support 121, motor
The part drawing of seat 122 is as shown in figure 13；The spraying motor unit 88 in left side in addition to the structure with three above electric motor units,
Its bottom of motor cabinet 141 is movably assembled by bearing 151 and fixed platform, and installation diagram such as Figure 14, part drawing is as shown in figure 15,
This structure make it that left side spray unit 88 can also be rotated around motor cabinet axle, and the purpose so designed is flat in order to allow
Platform can carry out the rotation of both direction simultaneously, so not only save the time of adjustment shower nozzle, moreover it is possible to obtain the position of shower nozzle
To abundant transformation, it is possible to achieve the vertical spraying on some specific position surfaces of large parts, so as to improve spray efficiency and
Quality.
According to the introduction to spraying operation platform various pieces, it can be deduced that overall driven Design：Four spraying motors
Unit 86,88 can realize the flexible of four ball-screws 82；By adjusting the stroke of four ball-screws 82, moving platform is realized
83 translation two rotates the motion of three degree of freedom, along with two in the horizontal and vertical directions, mobile platform mechanism 12
The a wide range of movement of the free degree, so as to realize that the shower nozzle 85 being fixed on moving platform realizes that three translations two rotate totally five freedom
The motion of degree, it is finally completed the spray coating operations of large parts surface optional position.
Specifically motion implementation is：When four screw synchronous are extended or retracted, realize that moving platform is (vertical along x axles
Moving platform surface direction) movement；When upper spindle stretches out (or retraction), bottom leading screw is retracted (or stretching), left and right leading screw phase
During to not stretching, rotation of the moving platform around y-axis is achieved that；When left part leading screw stretches out (or retraction), the retraction of right part leading screw (or stretch
Go out), when upper lower leading screw is not relatively flexible, it is achieved that rotation of the moving platform around z-axis., can be according to operation in real work
It is required that carrying out Kinematics Simulation and optimization to parallel institution, and leading screw length, moving platform size, ball are obtained by emulating data
Mechanism critical size parameter and the kinematic parameters such as slewing area are cut with scissors, so that it is determined that the extreme angles that moving platform rotates around y, z-axis.
It is not new to this practicality although above-mentioned specific embodiment of the present utility model is described with reference to accompanying drawing
The limitation of type protection domain, one of ordinary skill in the art should be understood that on the basis of the technical solution of the utility model, ability
Field technique personnel need not pay the various modifications that creative work can make or deformation still in protection model of the present utility model
Within enclosing.
Claims (10)
- A kind of 1. series-multiple connection formula spray robot, it is characterised in that the shifting including plane two-freedom large range displacement can be realized Moving platform mechanism and the spraying operation mechanism that space three-freedom operation can be realized；Described spraying operation mechanism and mobile platform Mechanism cooperates, so as to complete the movement needs of whole five frees degree of spraying process；Described mobile platform mechanism is by one Individual horicontal motion mechanism and a vertically movable mechanism composition, it is possible to achieve spraying operation mechanism is in the horizontal direction and vertical direction Movement；Described spraying operation mechanism is made up of a moving platform, four side chains, four ball-screws and a fixed platform；It is dynamic flat Shower nozzle is installed, four ball-screws are moved by four branch chain links, fixed platform, and moving platform and four side chains are with ball pair shape on platform Formula is connected, and four spraying motor units are provided with fixed platform；Four described spraying motor units include four spraying motors, Each self-driven driving gear of described spraying motor, driving gear and driven gear engaged transmission, driven gear pass through sky Mandrel drives flange disc spins, and ring flange drives corresponding feed screw nut rotation, and leading screw corresponding to feed screw nut driving stretches, from And drive moving platform to realize the movement in x directions and around y, the rotation of z-axis, shower nozzle is carried out the motion of space three degree of freedom.
- 2. series-multiple connection formula spray robot as claimed in claim 1, it is characterised in that the horicontal motion mechanism includes one Individual base, pass through shaft coupling and a level provided with AC servo motor I, described AC servo motor I in described base The ball-screw I connections of setting, ball-screw I front and back ends are fixed in antero posterior axis bearing, are furnished with ball-screw I before and after two Feed screw nut I, the bottom plate of vertically movable mechanism and two feed screw nut I are fixedly connected, and ball is driven by AC servo motor I Leading screw I, feed screw nut I drive the bottom plate of vertically movable mechanism to carry out the displacement in horizontal direction.
- 3. series-multiple connection formula spray robot as claimed in claim 2, it is characterised in that described bottom base plate is equipped with six Sliding block, each side there are three, coordinate during device moves horizontally with the left and right rail of base and be oriented to.
- 4. series-multiple connection formula spray robot as claimed in claim 1, it is characterised in that the vertically movable mechanism include it is left, Right vertically movable mechanism two parts, described fixed platform is realized on the y axis by being synchronized with the movement for the ball-screw II of left and right two Precise displacement, the two ball-screw II in left and right motion is passed to by two driven synchronous pulleys.
- 5. series-multiple connection formula spray robot as claimed in claim 4, it is characterised in that the left vertically movable mechanism includes One motor II, motor II are rotated at the same speed by shaft coupling with two active synchronization belt wheels on moving axis, the two active synchronizations Belt wheel is drawn long and short two bar timing belt and coordinated with the ball-screw II driven pulleys of left and right two on left-right mechanism respectively, realizes left The constant velocity rotation of right leading screw.
- 6. series-multiple connection formula spray robot as claimed in claim 4, it is characterised in that the rolling in the vertically movable mechanism Ballscrew II both sides are respectively arranged with guide rail.
- 7. series-multiple connection formula spray robot as claimed in claim 4, it is characterised in that be connected in the both sides of the fixed platform There is sliding block, the middle nut penetrated is installed in described sliding block, described nut and two ball-screw II, which coordinate, to be driven, And the left and right sides of sliding block is provided with the guide groove coordinated with the left and right guide rail in vertically movable mechanism.
- 8. series-multiple connection formula spray robot as claimed in claim 1, it is characterised in that described feed screw nut is ball wire Thick stick drive nut, its outer ring are connected with body, and inner ring carries out rotating drive movements, so as to realize the telescopic drive to side chain.
- 9. series-multiple connection formula spray robot as claimed in claim 1, it is characterised in that four described spraying motors not with Fixed platform is connected.
- 10. series-multiple connection formula spray robot as claimed in claim 9, it is characterised in that upper, right, downside spraying motor electricity Support is connected by the rolling bearing of both sides with electric machine support, so as to which spraying motor can be rotated around electric machine support, left side In addition to being installed with the structure of three above motor, its motor cabinet bottom also by a rolling bearing and allocates spraying motor Platform connects, and the spraying motor unit in left side is rotated around motor cabinet axle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720682711.0U CN206924938U (en) | 2017-06-13 | 2017-06-13 | Series-parallel spray robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720682711.0U CN206924938U (en) | 2017-06-13 | 2017-06-13 | Series-parallel spray robot |
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| Publication Number | Publication Date |
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| CN206924938U true CN206924938U (en) | 2018-01-26 |
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ID=61346288
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| Application Number | Title | Priority Date | Filing Date |
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| CN201720682711.0U Expired - Fee Related CN206924938U (en) | 2017-06-13 | 2017-06-13 | Series-parallel spray robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107008602A (en) * | 2017-06-13 | 2017-08-04 | 山东大学 | Series-parallel spray robot |
| CN108714501A (en) * | 2018-06-19 | 2018-10-30 | 惠州市新视觉实业有限公司 | A kind of adjustable automatic spray color machine easy to operation |
| CN109001625A (en) * | 2018-05-08 | 2018-12-14 | 清远初曲智能科技有限公司 | A kind of adaptive boost pressure regulation formula New energy automobile motor intelligent sensing detection platform |
| CN109092050A (en) * | 2018-10-10 | 2018-12-28 | 山东省农业科学院畜牧兽医研究所 | A kind of poultry house deodorizing facility |
| CN109224301A (en) * | 2018-11-05 | 2019-01-18 | 长春大学 | Trans-skull magnetic stimulating device and method with accurate positioning and automatic tracking function |
-
2017
- 2017-06-13 CN CN201720682711.0U patent/CN206924938U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107008602A (en) * | 2017-06-13 | 2017-08-04 | 山东大学 | Series-parallel spray robot |
| CN107008602B (en) * | 2017-06-13 | 2023-02-24 | 山东大学 | Series-parallel type spraying robot |
| CN109001625A (en) * | 2018-05-08 | 2018-12-14 | 清远初曲智能科技有限公司 | A kind of adaptive boost pressure regulation formula New energy automobile motor intelligent sensing detection platform |
| CN108714501A (en) * | 2018-06-19 | 2018-10-30 | 惠州市新视觉实业有限公司 | A kind of adjustable automatic spray color machine easy to operation |
| CN109092050A (en) * | 2018-10-10 | 2018-12-28 | 山东省农业科学院畜牧兽医研究所 | A kind of poultry house deodorizing facility |
| CN109092050B (en) * | 2018-10-10 | 2024-06-04 | 山东省农业科学院畜牧兽医研究所 | Deodorization facility for livestock and poultry houses |
| CN109224301A (en) * | 2018-11-05 | 2019-01-18 | 长春大学 | Trans-skull magnetic stimulating device and method with accurate positioning and automatic tracking function |
| CN109224301B (en) * | 2018-11-05 | 2023-09-01 | 长春大学 | Transcranial magnetic stimulation device and method with accurate positioning and automatic tracking functions |
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Granted publication date: 20180126 Termination date: 20200613 |