Robot arm stretching and swinging driving mechanism assembly

Abstract

A robot arm stretching and swinging driving mechanism assembly comprises a stretching driving mechanism and a swinging driving mechanism; the stretching driving mechanism comprises an independent stretching driving motor and an independent stretching transmission mechanism; the swinging driving mechanism comprises an independent swinging driving motor and an independent swinging transmission shaft; the independent swinging transmission shaft is positioned at the center of the independent stretching transmission mechanism; the independent swinging transmission mechanism drives a robot arm swinging bracket to stretch in the axial direction; and the independent swinging transmission shaft drives an actuating mechanism fixed on a swinging bracket rotating shaft to swing. The two sets of independent driving motors and the two sets of transmission mechanisms, which are independent and related, are provided, and the two sets of driving mechanisms are both arranged on the robot arm, so that the purpose that the final controlled objects of the two set of independent driving mechanism are the same actuating mechanism can be achieved.

Description

Technical field [0001] The invention relates to a telescoping and swinging driving mechanism of a robot arm, in particular to a compound transmission mechanism capable of realizing the telescoping and swinging of a robot arm operating mechanism. Background technique [0002] Existing automatic spraying equipment includes serial robots, parallel robots and reciprocating automatic spraying machines, and they have different methods for realizing the expansion and swing of the robot arms. The serial robot realizes the expansion and swing of the robot arm operating mechanism by the angle control of the big arm and the small arm and the control of the 3R wrist; the parallel robot realizes the expansion and contraction of the robot arm operating mechanism through the synchronous and asynchronous operation of the parallel branches. and swing; the structure of the reciprocating automatic spraying machine is relatively simple, and there is no robot arm telescopic and swing function. ...

AI Technical Summary

Problems solved by technology

The serial robot realizes the expansion and swing of the robot arm operating mechanism by the angle control of the big arm and the small arm and the control of the 3R wrist; the parallel robot realizes the expansion and contraction of the robot arm operating mechanism through the synchronous and asynchronous operation of the parallel branches. and swing; the structure of the reciprocating automatic spraying machine is relatively simple, without the telescopic and swing functions of the robot arm

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