CN101559598A - Multifunctional gantry type six-shaft industrial robot - Google Patents
Multifunctional gantry type six-shaft industrial robot Download PDFInfo
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- CN101559598A CN101559598A CNA2009100720088A CN200910072008A CN101559598A CN 101559598 A CN101559598 A CN 101559598A CN A2009100720088 A CNA2009100720088 A CN A2009100720088A CN 200910072008 A CN200910072008 A CN 200910072008A CN 101559598 A CN101559598 A CN 101559598A
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Abstract
The invention provides a multifunctional gantry type six-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) is arranged 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 arranged 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); and a terminal actuator (17) is arranged on the end part of the second rotating arm (15) through a third rotating joint shaft (16). The robot has six free degrees, wherein three free degrees are movable joints, and three free degrees are rotating joints. The robot is a novel structure of the industrial robot capable of completing various operations and large space operations.
Description
(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 six-freedom degree, 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, still, and its coordinate system complexity, the difficult control of religion.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 six-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 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 axle center of the 3rd rotary joint axle 16 and rotary joint axle 14 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 six-freedom degree, wherein three is linear joint, three is cradle head.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 U joint and V 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 V rotary joint and W axis of rotation are perpendicular, thereby the adjustment of implementation space attitude has 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 and end effector 17.
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 end effector 17, and wherein the axle center of the axle center of the 3rd rotary joint axle 16 and the second rotary joint axle 14 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 (2)
1, a kind of multifunctional gantry type six-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); End effector (17) is installed in the end of second turning arm (15) by the 3rd rotary joint axle (16).
2, multifunctional gantry type six-shaft industrial robot according to claim 1, it is characterized in that: 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) 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 axle center of the 3rd rotary joint axle (16) and rotary joint axle (14) is perpendicular.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2009100720088A CN101559598A (en) | 2009-05-12 | 2009-05-12 | Multifunctional gantry type six-shaft industrial robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2009100720088A CN101559598A (en) | 2009-05-12 | 2009-05-12 | Multifunctional gantry type six-shaft industrial robot |
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| CN101559598A true CN101559598A (en) | 2009-10-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNA2009100720088A Pending CN101559598A (en) | 2009-05-12 | 2009-05-12 | Multifunctional gantry type six-shaft industrial robot |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102615458A (en) * | 2012-02-21 | 2012-08-01 | 东莞市双力数控设备有限公司 | Automatic welding machine |
| CN103505275A (en) * | 2013-09-09 | 2014-01-15 | 中国人民解放军第四军医大学 | Intelligent reduction system for long bone fracture |
| CN103538060A (en) * | 2013-10-24 | 2014-01-29 | 扬州恒佳机械有限公司 | Six-axis bending robot |
| CN103707292A (en) * | 2013-12-30 | 2014-04-09 | 上海交通大学 | Six-degree-of-freedom industrial robot based on X-Y-Z rectangular coordinate joint and posture wrist |
| EP2353820B1 (en) | 2010-02-10 | 2015-03-11 | Hans Hundegger | Wood processing assembly |
| CN105397505A (en) * | 2015-12-11 | 2016-03-16 | 合肥欣奕华智能机器有限公司 | Six-freedom-degree adjusting device |
| CN106335047A (en) * | 2016-10-31 | 2017-01-18 | 苏州立源信智能科技有限公司 | Truss robot resisting shake |
| CN106346265A (en) * | 2016-11-15 | 2017-01-25 | 方桥清 | Gantry type multi-axis three-dimensional robot |
| WO2017045786A1 (en) * | 2015-09-16 | 2017-03-23 | Hans Hundegger | Wood-processing system |
| CN106670945A (en) * | 2017-03-22 | 2017-05-17 | 苏州珈玛自动化科技有限公司 | Six-axis polishing machine |
| CN108638111A (en) * | 2018-05-18 | 2018-10-12 | 繁昌县亘通智能装备有限公司 | One kind being convenient for fixed manipulator clamping device |
| CN108818253A (en) * | 2018-06-15 | 2018-11-16 | 张弘历 | A kind of equipment for surface treatment |
| CN108927794A (en) * | 2018-06-27 | 2018-12-04 | 国网山东省电力公司菏泽供电公司 | Robot and method are detected in a kind of Cartesian coordinate type substation room |
| CN109330686A (en) * | 2018-10-25 | 2019-02-15 | 上海大学 | A kind of robot assisted reset system for long bone fracture |
| CN110017053A (en) * | 2019-05-14 | 2019-07-16 | 中铁电气化局集团有限公司石家庄机械装备分公司 | A kind of equipment of automatic installation H profile steel column |
| CN112809654A (en) * | 2021-01-28 | 2021-05-18 | 褚曼 | Six-dimensional mechanical arm |
-
2009
- 2009-05-12 CN CNA2009100720088A patent/CN101559598A/en active Pending
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2353820B1 (en) | 2010-02-10 | 2015-03-11 | Hans Hundegger | Wood processing assembly |
| EP2353820B2 (en) † | 2010-02-10 | 2019-04-10 | Hans Hundegger | Wood processing assembly |
| CN102615458A (en) * | 2012-02-21 | 2012-08-01 | 东莞市双力数控设备有限公司 | Automatic welding machine |
| CN103505275A (en) * | 2013-09-09 | 2014-01-15 | 中国人民解放军第四军医大学 | Intelligent reduction system for long bone fracture |
| CN103538060A (en) * | 2013-10-24 | 2014-01-29 | 扬州恒佳机械有限公司 | Six-axis bending robot |
| CN103707292A (en) * | 2013-12-30 | 2014-04-09 | 上海交通大学 | Six-degree-of-freedom industrial robot based on X-Y-Z rectangular coordinate joint and posture wrist |
| WO2017045786A1 (en) * | 2015-09-16 | 2017-03-23 | Hans Hundegger | Wood-processing system |
| US10751906B2 (en) | 2015-09-16 | 2020-08-25 | Hans Hundegger | Wood processing system |
| CN105397505A (en) * | 2015-12-11 | 2016-03-16 | 合肥欣奕华智能机器有限公司 | Six-freedom-degree adjusting device |
| CN106335047A (en) * | 2016-10-31 | 2017-01-18 | 苏州立源信智能科技有限公司 | Truss robot resisting shake |
| CN106346265A (en) * | 2016-11-15 | 2017-01-25 | 方桥清 | Gantry type multi-axis three-dimensional robot |
| CN106670945A (en) * | 2017-03-22 | 2017-05-17 | 苏州珈玛自动化科技有限公司 | Six-axis polishing machine |
| CN106670945B (en) * | 2017-03-22 | 2018-12-21 | 苏州珈玛自动化科技有限公司 | six-spindle polishing machine |
| CN108638111A (en) * | 2018-05-18 | 2018-10-12 | 繁昌县亘通智能装备有限公司 | One kind being convenient for fixed manipulator clamping device |
| CN108818253A (en) * | 2018-06-15 | 2018-11-16 | 张弘历 | A kind of equipment for surface treatment |
| CN108927794A (en) * | 2018-06-27 | 2018-12-04 | 国网山东省电力公司菏泽供电公司 | Robot and method are detected in a kind of Cartesian coordinate type substation room |
| CN109330686A (en) * | 2018-10-25 | 2019-02-15 | 上海大学 | A kind of robot assisted reset system for long bone fracture |
| CN109330686B (en) * | 2018-10-25 | 2021-06-04 | 上海大学 | Robot-assisted reduction system for long bone fracture |
| CN110017053A (en) * | 2019-05-14 | 2019-07-16 | 中铁电气化局集团有限公司石家庄机械装备分公司 | A kind of equipment of automatic installation H profile steel column |
| CN112809654A (en) * | 2021-01-28 | 2021-05-18 | 褚曼 | Six-dimensional mechanical arm |
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Open date: 20091021 |