CN101559597B - Multifunctional gantry type seven-shaft industrial robot - Google Patents

Multifunctional gantry type seven-shaft industrial robot Download PDF

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Publication number
CN101559597B
CN101559597B CN2009100720105A CN200910072010A CN101559597B CN 101559597 B CN101559597 B CN 101559597B CN 2009100720105 A CN2009100720105 A CN 2009100720105A CN 200910072010 A CN200910072010 A CN 200910072010A CN 101559597 B CN101559597 B CN 101559597B
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CN
China
Prior art keywords
joint
axle
arm
joint axle
rotary joint
Prior art date
Application number
CN2009100720105A
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Chinese (zh)
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CN101559597A (en
Inventor
杜宏旺
王宗义
赵亚楠
刘少刚
庞永刚
Original Assignee
哈尔滨工程大学
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Application filed by 哈尔滨工程大学 filed Critical 哈尔滨工程大学
Priority to CN2009100720105A priority Critical patent/CN101559597B/en
Publication of CN101559597A publication Critical patent/CN101559597A/en
Application granted granted Critical
Publication of CN101559597B publication Critical patent/CN101559597B/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/02Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/023Cartesian coordinate type
    • B25J9/026Gantry-type
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/02Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/046Revolute coordinate type

Abstract

The invention provides a multifunctional gantry type seven-shaft industrial robot. A first upright post (3) and a second upright post (6) are arranged on a first rail (1) and a second rail (4) respectively through a first movable joint shaft (2) and a second movable joint shaft (5); a crossbeam (7) is arranged between the first upright post (3) and the second upright post (6); a movable arm (9) isarranged on the crossbeam (7) through a third movable joint shaft (8); a hoisting arm (11) is arranged on the movable arm (9) through a fourth movable joint shaft (10); a first rotating arm (13) is a rranged on the end part of the hoisting arm (11) through a first rotating joint shaft (12); a second rotating arm (15) is arranged on the first rotating arm (13) through a second rotating joint shaft (14); a third rotating arm (17) is arranged on the second rotating arm (15) through a third rotating joint shaft (16); and a terminal actuator (19) is arranged on the end part of the third rotating arm (17) through a fourth rotating joint shaft (18) The robot has seven free degrees, wherein four free degrees are movable joints, and three free degrees are rotating joints. The robot is the industrial robot capable of completing various operations and large space operations.

Description

Multifunctional gantry type seven-shaft industrial robot

(1) technical field

What the present invention relates to is a kind of industrial robot, relates generally to the industrial robot structure that a kind of 7 degree of freedom, polyphone, gantry structure can be finished several work.

(2) background technology

At present, robot extensively is applied in the middle of the various processing operations such as detection, sandblast, assembling, carrying, welding, the basic four kinds of basic structures once of industrial serially connected robot architecture: cartesian coordinate robot, cylindrical robot, polar robot and articulated robot, Cartesian robot wherein, its precision and position resolution do not change with the workplace, reach high accuracy easily, but its opereating specification is little, when arm shrinks, stretch out round about and hinder one's work.The cylindrical robot can rotate an angle around central shaft, so its working range can enlarge relatively, and calculate simple, but the space that its arm can arrive is restricted, and can not arrive the space near column or ground; The polar robot is called the spherical coordinates humanoid robot again, can rotate around central shaft, and near the working range center bearing bracket is relatively large, and still, its coordinate system complexity is difficult to control.Articulated robot can be realized multidirectional freely-movable, and type wherein is also more, has provided its all kinds, is restricted because of its mode of installing and fixing causes range of movement.

Because of traditional industry with robot architecture's restriction, cause its working space limited and can't finish the large space operation; And employing is creeped or the mobile robot finishes desired operation, and the low and control algolithm relative difficult of its kinematic accuracy can't be competent at the large space operation, and existing many places also can't reach practical in conceptual phase.Be badly in need of in the reality finishing several work and a kind of industrial robot new construction that can be competent at the large space operation.

(3) summary of the invention

The object of the present invention is to provide a kind of multifunctional gantry type seven-shaft industrial robot that can finish several work and can be competent at the large space operation.

The object of the present invention is achieved like this:

First column 3, second column 6 are installed on first track 1 and second track 4 by the first linear joint axle 2, the second linear joint axle 5 respectively, and crossbeam 7 is installed between first column 3 and second column 6.Transfer arm 9 is installed on the crossbeam 7 by the 3rd linear joint axle 8.Lifting arm 11 is installed on the transfer arm 9 by the 4th linear joint axle 10.First turning arm 13 is installed in lifting arm 11 ends by the first rotary joint axle 12.Second turning arm 15 is installed on first turning arm 13 by the second rotary joint axle 14.The 3rd turning arm 17 is installed on second turning arm 15 by the 3rd rotary joint axle 16.End effector 19 is installed in the end of the 3rd turning arm 17 by the 4th rotary joint axle 18.

First track 1, the first linear joint axle 2, first column 3, second track 4, the second linear joint axle 5, second column 6 and crossbeam 7 constitute the X joint, column 3, column 6 and crossbeam 7 constitute portal frame, and the first linear joint axle 2 and the second linear joint axle 5 are parallel to each other; The 3rd linear joint axle 8 and transfer arm 9 constitute the Y joint, and the moving direction in the moving direction in Y joint and X joint is perpendicular; The 4th linear joint axle 10 and lifting arm 11 constitutes the Z joints, and the moving direction in the moving direction in Z joint and Y joint and the moving direction in X joint are vertical mutually; The first rotary joint axle 12 and first turning arm 13 constitute the U joint, and wherein the axle center of the first rotary joint axle 12 parallels with the moving direction in Z joint; The second rotary joint axle 14 and second turning arm 15 constitute the V joint, and wherein the axle center of the axle center of the second rotary joint axle 14 and the first rotary joint axle 12 is perpendicular; The 3rd rotary joint axle 16 and end effector 17 constitute the W joint, and wherein the axle center of the 3rd rotary joint axle 16 parallels with the axle center of rotary joint axle 14; The 4th rotary joint axle 18 and end effector 19 constitute the R joint, and the axis of rotation of the axis of rotation of the 4th rotary joint axle 18 and the 3rd rotary joint axle 16 is perpendicular.

To realize detection, shot-peening in the large space scope in order being implemented in, spray, clean with water, to carry, assembling and various processing operation, the present invention adopts serially connected structure, has 7 degree of freedom, wherein three is linear joint, four is cradle head, can think to add combined the forming of robot of one four joint arm, for multifunctional gantry type 6 shaft industrial robot mechanisms, have bigger working space and operating flexibility by X, Y, Z three-dimensional machine people.

In order to realize the large space operation, install and fix the position with respect to it, on portal frame, adopt three one-movement-freedom-degrees continuously; At two footing places of portal frame, be first linear joint, deciding employing according to gantry span is monolateral driving or bilateral driving, is that monolateral driving or bilateral driving do not change the character of having only one degree of freedom herein, and name is the X joint herein; On the portal frame crossbeam, realize second linear joint, vertically move, and name is the Y joint herein along crossbeam; On the crossbeam with respect to all vertical direction of X joint moving direction and Y joint moving direction on realize the 3rd linear joint; And called after Z joint; Therefore, be that x has been realized on the basis with the portal frame, the motion of y and three directions of z, large space is wherein realized with this three degree of freedom.In the arm lower end in Z joint, promptly first rotary joint is installed in the lower end of lifting arm, and the moving direction of lifting arm is identical on the axis of rotation in this joint and the Z joint, and called after U joint; Rotary joint V is installed, and the axis of rotation in the axis of rotation in V joint and U joint is orthogonal on the arm of U joint; The W rotary joint is installed on the arm of V joint, and the axle center of W rotary joint is paralleled with the V axis of rotation; Rotary joint R is installed on the W joint arm, and makes the axle center in the axle center in R joint and W joint perpendicular; The coordinated movement of various economic factors of the series arrangement by above-mentioned seven freedom, thereby the adjustment of implementation space pose have promptly realized determining position and attitude in large space.

(4) description of drawings

Fig. 1 is a general structure schematic diagram of the present invention.

(5) specific embodiment

For example the present invention is done description in more detail below in conjunction with accompanying drawing:

In conjunction with Fig. 1, composition of the present invention comprises first track 1, the first linear joint axle 2, first column 3, second track 4, the second linear joint axle 5, second column 6, crossbeam 7, the 3rd linear joint axle 8, transfer arm 9, the 4th linear joint axle 10, lifting arm 11, the first rotary joint axle 12, first turning arm 13, the second rotary joint axle 14, second turning arm 15, the 3rd rotary joint axle 16, the 3rd turning arm 17, the 4th rotary joint axle 18 and end effector 19.

First column 3, second column 6 are installed on first track 1 and second track 4 by the first linear joint axle 2, the second linear joint axle 5 respectively, and crossbeam 7 is installed between first column 3 and second column 6.Transfer arm 9 is installed on the crossbeam 7 by the 3rd linear joint axle 8.Lifting arm 11 is installed on the transfer arm 9 by the 4th linear joint axle 10.First turning arm 13 is installed in lifting arm 11 ends by the first rotary joint axle 12.Second turning arm 15 is installed on first turning arm 13 by the second rotary joint axle 14.End effector 17 is installed in the end of second turning arm 15 by the 3rd rotary joint axle 16.

The X joint is made of first track 1, the first linear joint axle 2, first column 3, second track 4, the second linear joint axle 5, second column 6 and crossbeam 7, first column 3, second column 6 and crossbeam 7 constitute portal frame, the first linear joint axle 2 and the second linear joint axle 5 are parallel to each other, span according to portal frame, determining to adopt monolateral driving still is bilateral driving, but no matter be monolateral driving or bilateral driving its still be one degree of freedom; The Y joint is to be made of the 3rd linear joint axle 8 and transfer arm 9, and the moving direction in the moving direction in Y joint and X joint is perpendicular; The Z joint is to be made of the 4th linear joint axle 10 and lifting arm 11, and the moving direction in the moving direction in Z joint and Y joint and the moving direction in X joint are vertical mutually; The U joint is to be made of the first rotary joint axle 12 and first turning arm 13, and wherein the axle center of the first rotary joint axle 12 parallels with the moving direction in Z joint; The V joint is to be made of the second rotary joint axle 14 and second turning arm 15, and wherein the axle center of the axle center of the second rotary joint axle 14 and the first rotary joint axle 12 is perpendicular; The W joint is to be made of the 3rd rotary joint axle 16 and the 3rd turning arm 17, and the axle center of its mid point rotary joint axle 16 parallels with the axle center of the second rotary joint axle 14; The R joint is to be made of the 4th rotary joint axle 18 and end effector 19, and the axis of rotation of the axis of rotation of the 4th rotary joint axle 18 and the 3rd rotary joint axle 16 is perpendicular.Wherein the type of drive of each can be determined according to environment for use, positioning accuracy, repetitive positioning accuracy and concrete operation situation.

Claims (1)

1. multifunctional gantry type seven-shaft industrial robot, it is characterized in that: first column (3), second column (6) are installed on first track (1) and second track (4) by the first linear joint axle (2), the second linear joint axle (5) respectively, and crossbeam (7) is installed between first column (3) and second column (6); Transfer arm (9) is installed on the crossbeam (7) by the 3rd linear joint axle (8); Lifting arm (11) is installed on the transfer arm (9) by the 4th linear joint axle (10); First turning arm (13) is installed in lifting arm (11) end by the first rotary joint axle (12); Second turning arm (15) is installed on first turning arm (13) by the second rotary joint axle (14); The 3rd turning arm (17) is installed on second turning arm (15) by the 3rd rotary joint axle (16); End effector (19) is installed in the end of the 3rd turning arm (17) by the 4th rotary joint axle (18); First track (1), the first linear joint axle (2), first column (3), second track (4), the second linear joint axle (5), second column (6) and crossbeam (7) constitute the X joint, first column (3), second column (6) and crossbeam (7) constitute portal frame, and the first linear joint axle (2) and the second linear joint axle (5) are parallel to each other; The 3rd linear joint axle (8) and transfer arm (9) constitute the Y joint, and the moving direction in the moving direction in Y joint and X joint is perpendicular; The 4th linear joint axle (10) and lifting arm (11) constitute the Z joint, and the moving direction in the moving direction in Z joint and Y joint and the moving direction in X joint are vertical mutually; The first rotary joint axle (12) and first turning arm (13) constitute the U joint, and wherein the axle center of the first rotary joint axle (12) parallels with the moving direction in Z joint; The second rotary joint axle (14) and second turning arm (15) constitute the V joint, and wherein the axle center of the axle center of the second rotary joint axle (14) and the first rotary joint axle (12) is perpendicular; The 3rd rotary joint axle (16) and end effector (17) constitute the W joint, and wherein the axle center of the 3rd rotary joint axle (16) parallels with the axle center of the second rotary joint axle (14); The 4th rotary joint axle (18) and end effector (19) constitute the R joint, and the axis of rotation of the axis of rotation of the 4th rotary joint axle (18) and the 3rd rotary joint axle (16) is perpendicular.
CN2009100720105A 2009-05-12 2009-05-12 Multifunctional gantry type seven-shaft industrial robot CN101559597B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2009100720105A CN101559597B (en) 2009-05-12 2009-05-12 Multifunctional gantry type seven-shaft industrial robot

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Application Number Priority Date Filing Date Title
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CN101559597B true CN101559597B (en) 2011-04-20

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DE102013013114A1 (en) 2012-08-17 2014-02-20 Liebherr-Verzahntechnik Gmbh Device for the automated removal of workpieces arranged in a container
CN103433795A (en) * 2013-09-03 2013-12-11 常熟市惠一机电有限公司 Manipulator for numerical control machine tool
CN103785725B (en) * 2014-01-14 2016-08-17 湖北诺伯特科技有限公司 Seven axle bend pipe robots
CN104029194B (en) * 2014-06-18 2016-04-06 宁波伟立机器人科技有限公司 A kind of mixed type industrial robot
CN104742119A (en) * 2015-03-31 2015-07-01 宁波伟立机器人科技有限公司 Parallel-series robot
CN106144574A (en) * 2015-04-16 2016-11-23 株式会社安川电机 A kind of handling system and transfer robot
DE202015104914U1 (en) * 2015-09-16 2016-12-19 Hans Hundegger Woodworking equipment
CN105171620A (en) * 2015-09-28 2015-12-23 上海广成涂装技术工程有限公司 Automatic sand blasting system of three-dimensional mechanical arm
CN105312808A (en) * 2015-11-30 2016-02-10 马鞍山万普实业发展有限公司 High-degree-of-freedom visual micro spot welding robot
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CN108147121A (en) * 2018-01-04 2018-06-12 李大德 Crusher roll insert automatic transportation equipment
CN108672689A (en) * 2018-05-20 2018-10-19 佛山市高芯科技服务有限公司 A kind of rare-earth smelting seven-axis linkage robot
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CN108811714A (en) * 2018-06-21 2018-11-16 湖北工业大学 Rail mounted ratooning rice harvesting device
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