CN103495971A - Five degree-of-freedom combined robot platform - Google Patents

Five degree-of-freedom combined robot platform Download PDF

Info

Publication number
CN103495971A
CN103495971A CN201310426290.1A CN201310426290A CN103495971A CN 103495971 A CN103495971 A CN 103495971A CN 201310426290 A CN201310426290 A CN 201310426290A CN 103495971 A CN103495971 A CN 103495971A
Authority
CN
China
Prior art keywords
ball
degree
screw
rotating shaft
freedom
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.)
Granted
Application number
CN201310426290.1A
Other languages
Chinese (zh)
Other versions
CN103495971B (en
Inventor
钱钧
卫道柱
王淑旺
曾亿山
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hefei University of Technology
Original Assignee
Hefei University of Technology
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority to CN201310224885 priority Critical
Priority to CN201310224885.9 priority
Application filed by Hefei University of Technology filed Critical Hefei University of Technology
Priority to CN201310426290.1A priority patent/CN103495971B/en
Publication of CN103495971A publication Critical patent/CN103495971A/en
Application granted granted Critical
Publication of CN103495971B publication Critical patent/CN103495971B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Abstract

The invention discloses a five degree-of-freedom combined robot platform. The five degree-of-freedom combined robot platform is characterized by comprising a two-dimensional workbench at the bottom and a three degree-of-freedom manipulator vertically installed at the top, the two-dimensional workbench comprises a displacement table moving in the X direction, and the displacement table is provided with a workbench body moving in the Y direction; the three degree-of-freedom manipulator comprises a ball screw spline shaft and a vertical rotary shaft penetrating through the ball screw spline shaft, the ball screw spline shaft moves linearly in the Z direction under the action of a ball screw bearing in the middle of the ball screw spline shaft and rotates around the vertical shaft under the action of a ball spline bearing, the lower end of the vertical rotary shaft drives a horizontal rotary shaft to rotate through two bevel gears, and the two ends of the horizontal rotary shaft are fixedly provided with a connection flange with a wrist. The five degree-of-freedom combined robot platform is reasonable in mechanical design, compact in structure, good in dynamic characteristic, capable of reducing the coupling effect between joints, and especially suitable for three-dimensional profile measurement of parts and automatic assembly tasks.

Description

A kind of five degree of freedom Combined robot platform
Technical field
The present invention relates to a kind of five degree of freedom Combined robot platform, this platform is for Design of digital, manufacture and Industrial Robot Technology field.
Background technology
In the measuring three-dimensional profile that carries out workpiece and automatic mounting timing, need frequent relative position or the attitude of adjusting between workpiece and end effector of robot.The robot that has been used for this task mainly contains two kinds of versions: Cartesian robot and articulated type serial machine people.The former is applicable to adjust relative position, if will change the attitude of robot, needs to increase rotational freedom.There is the close coupling of motion between a plurality of joints of the latter, when adjusting the relative pose of certain direction, need to change the corner in each joint, increased computation complexity and the error in the operation process, reduced efficiency.
The SCARA robot of herding the professor's invention of wild ocean of Japan is a kind of selective compliance assembly robot arm, rotation by large arm, forearm and be positioned at the coupling of the vertical axes of forearm end, realize the motion of four frees degree, that is: along the translation freedoms of X, Y, Z direction with around the rotational freedom of Z axis, it has kinetic characteristic fast, accurately, is mainly used in the fields such as carrying and electronic assemblies.But, when carrying out the complex job task, the free degree number of SCARA robot can't meet the demands, and is particularly carrying out part measuring three-dimensional profile or automatic mounting timing, needs end effector to rotate around horizontal rotating shaft; In addition, the SCARA robot needs large arm and forearm cooperative motion in the translation of X, Y-direction, has increased complexity and the position error controlled.
Because the Cartesian robot cost is low, be easy to assembling, integrated and control, be applicable to build the industrial automation equipment.In addition, the SCARA robot is installed together ball-screw bearing and ball spline bearing, makes vertical rotating shaft that two frees degree be arranged, and form is of compact construction.By the advantage in conjunction with these two kinds of robots, can design industrial robot more efficiently.
Summary of the invention
The objective of the invention is in order to make up the deficiency of prior art, a kind of five degree of freedom Combined robot platform is provided, be specially adapted to carry out part measuring three-dimensional profile and automatic fittage.
The present invention is achieved through the following technical solutions:
A kind of five degree of freedom Combined robot platform, it is characterized in that: include the two-dimentional work bench of bottom and the three freedom degree manipulator that top vertical is installed, described two-dimentional work bench includes the displacement platform moved along directions X, and the workbench moved along Y-direction is installed on described displacement platform; Described three freedom degree manipulator includes ball-screw spline and through the vertical rotating shaft in this axle, realize rectilinear motion under the effect of described ball-screw spline ball-screw bearing in the middle, under the effect of ball spline bearing, realize rotating around vertical axes, the lower end of described vertical rotating shaft drives a horizontal rotating shaft to rotate by two angular wheels, and the two ends of described horizontal rotating shaft are installed with the adpting flange of wrist.
The movement of described displacement platform and workbench is driven by the driven by motor ball-screw respectively.
Described ball-screw spline is rotatably installed in fixed muffle by ball-screw bearing and ball spline bearing, and the end of described ball-screw bearing and ball spline bearing is connected with respectively belt wheel, and described belt wheel is driven by motor respectively; Be positioned at the vertical rotating shaft of described ball-screw spline inside, its top is connected with motor output shaft by shaft coupling, and described motor is arranged on the support at ball-screw spline top.
Described fixed muffle is arranged on the top of two-dimentional work bench by support and crossbeam, the lower end of described vertical rotating shaft is equipped with bevel pinion, the two ends of described horizontal rotating shaft are rotatably installed in respectively on the wrist support, and its end fixedly mounts with the dual-side of adpting flange respectively.
Its principle is: this robot with five degrees of freedom platform, on the basis of SCARA robot, replaces original large arm and forearm with the bidimensional workbench that is positioned at bottom; On the manipulator at top, except using ball-screw spline, realize outside vertical direction rectilinear motion and rotation, utilize the through hole at ball-screw spline center, insert an elongated optical axis as vertical rotating shaft in through hole, the motor corner at axle top is delivered to bottom, and, by the bevel-type reversing gear of mechanical wrist part, makes manipulator there is the free degree of horizontally rotating.
The bidimensional workbench is comprised of the ball-screw slide unit mutually superposeed on X, Y-direction.When carrying out the robot automatic job, by the workpiece fixed placement, on the bidimensional workbench, workpiece is done plane motion along X, Y-direction under the drive of slide unit.
Three freedom degree manipulator forms by ball-screw spline with through the vertical rotating shaft at Gai Zhou center.Ball-screw spline, under the double action of ball-screw bearing and ball spline bearing, can be done rectilinear motion vertically, around rotation or the screw of vertical axes.When only having the ball-screw bearing rotary to move, this robot is identical with the forms of motion of Cartesian robot; When ball-screw bearing and ball spline bearing synchronously rotate, this axle rotates.The motor of installing at the ball-screw spline top, with this axle, move, the output shaft of this motor is through being arranged in the elongated vertical axes of this axle endoporus, the corner of motor is passed to the bevel gear of bottom, again by and its mutual vertically arranged bevel gear between engagement, the horizontal rotating shaft that drives the wrist place rotates, wrist is positioned at the bottom of ball-screw spline, move up and down or rotate with ball-screw spline, the adpting flange of wrist rotates with horizontal rotating shaft, thereby drives the end effector motion.
This robot platform has along the rectilinear motion free degree of X, Y, Z direction, and the free degree of rotating around vertical axes and trunnion axis, has five frees degree.By at arm end sensor installation or paw, can carry out measuring three-dimensional profile or assembling automatically to the workpiece be fixed on workbench.
Advantage of the present invention is:
Machine Design of the present invention is reasonable, and compact conformation has reduced the coupling between joint simultaneously, has dynamics preferably, is specially adapted to carry out part measuring three-dimensional profile and automatic fittage.
The accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
The specific embodiment
Referring to accompanying drawing, a kind of five degree of freedom Combined robot platform, include the two-dimentional work bench of bottom and the three freedom degree manipulator that top vertical is installed, two-dimentional work bench includes the displacement platform 2 moved along directions X, and the workbench 4 moved along Y-direction is installed on displacement platform 2; Described three freedom degree manipulator includes ball-screw spline 13 and through the vertical rotating shaft 12 in this axle, realize rectilinear motion under the effect of ball-screw spline 13 ball-screw bearing 18 in the middle, under the effect of ball spline bearing 15, realize rotating around vertical axes, vertically the lower end of rotating shaft 12 drives a horizontal rotating shaft 6 to rotate by two angular wheels, and the two ends of horizontal rotating shaft 6 are installed with the adpting flange 5 of wrist.
On the X-direction slide unit, the Y-direction slide unit that motor 1 drives displacement platform 2 and is located thereon, do rectilinear motion at directions X; On the Y-direction slide unit, motor 3 drives workbench 4, in Y-direction, does rectilinear motion.The adpting flange 5 of wrist is connected with horizontal rotating shaft 6, and rotating shaft 6 is connected with the support 11 of wrist by bearing 7.Bevel pinion 9 engaged transmission in bevel gear wheel 8 in rotating shaft 6 and vertical rotating shaft 12, rotating shaft 12 is connected with wrist support 11 by bearing 10, and support 11 is connected with ball-screw spline 13.Belt wheel 14,20 is connected with ball spline bearing 15, ball-screw bearing 18 in fixed muffle 17 respectively, and ball spline bearing 15, ball-screw bearing 18 are connected with sleeve 17 by bearing 16,19 respectively.Motor 23 is connected with ball-screw spline 13 by support 21, and the output shaft of motor 23 is connected with vertical rotating shaft 12 through shaft coupling 22, and rotating shaft 12 is arranged in the central bore of ball-screw spline 13.Motor 25,27 rotates by belt wheel and Timing Belt 24,26 band movable belt pulleys 14,20 respectively.Sleeve 17, motor 25 and 27 are installed on the fixed support 28 of manipulator.

Claims (4)

1. a five degree of freedom Combined robot platform, it is characterized in that: include the two-dimentional work bench of bottom and the three freedom degree manipulator that top vertical is installed, described two-dimentional work bench includes the displacement platform moved along directions X, and the workbench moved along Y-direction is installed on described displacement platform; Described three freedom degree manipulator includes ball-screw spline and through the vertical rotating shaft in this axle, realize rectilinear motion under the effect of described ball-screw spline ball-screw bearing in the middle, under the effect of ball spline bearing, realize rotating around vertical axes, the lower end of described vertical rotating shaft drives a horizontal rotating shaft to rotate by two angular wheels, and the two ends of described horizontal rotating shaft are installed with the adpting flange of wrist.
2. five degree of freedom Combined robot platform according to claim 1, it is characterized in that: the movement of described displacement platform and workbench is driven by the driven by motor ball-screw respectively.
3. five degree of freedom Combined robot platform according to claim 1, it is characterized in that: described ball-screw spline is rotatably installed in fixed muffle by ball-screw bearing and ball spline bearing, the end of described ball-screw bearing and ball spline bearing is connected with respectively belt wheel, and described belt wheel is driven by motor respectively; Be arranged in the vertical rotating shaft of described ball-screw spline endoporus, its top is connected with motor output shaft by shaft coupling, and described motor is arranged on the support at ball-screw spline top.
4. five degree of freedom Combined robot platform according to claim 3, it is characterized in that: described fixed muffle is arranged on the top of two-dimentional work bench by support and crossbeam, the lower end of described vertical rotating shaft is equipped with bevel pinion, the two ends of described horizontal rotating shaft are rotatably installed in respectively on the wrist support, and its end fixedly mounts with the dual-side of adpting flange respectively.
CN201310426290.1A 2013-06-06 2013-09-17 A kind of five degree of freedom Combined robot platform Active CN103495971B (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN201310224885 2013-06-06
CN201310224885.9 2013-06-06
CN201310426290.1A CN103495971B (en) 2013-06-06 2013-09-17 A kind of five degree of freedom Combined robot platform

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201310426290.1A CN103495971B (en) 2013-06-06 2013-09-17 A kind of five degree of freedom Combined robot platform

Publications (2)

Publication Number Publication Date
CN103495971A true CN103495971A (en) 2014-01-08
CN103495971B CN103495971B (en) 2016-02-03

Family

ID=49861280

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201310426290.1A Active CN103495971B (en) 2013-06-06 2013-09-17 A kind of five degree of freedom Combined robot platform

Country Status (1)

Country Link
CN (1) CN103495971B (en)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104385260A (en) * 2014-11-21 2015-03-04 华南理工大学 Novel four-degree-of-freedom articulated robot structure
CN104802164A (en) * 2015-05-04 2015-07-29 安徽华创智能装备有限公司 Six-DOF (Degree Of Freedom) planar joint robot
CN104842346A (en) * 2014-02-13 2015-08-19 罗普伺达机器人有限公司 Desktop type cartesian coordinate robot assembled with 3-degree-of-freedom (DOF) wrist device
CN106363614A (en) * 2016-11-21 2017-02-01 上海健石智能科技有限公司 Motion platform with five degrees of freedom
CN106892008A (en) * 2017-02-07 2017-06-27 浙江农林大学 A kind of general crop field walking robot platform
CN107876414A (en) * 2017-10-11 2018-04-06 南京邮电大学 A kind of sheet metal with additional shaft cuts part sorting equipment

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4607180A (en) * 1983-11-14 1986-08-19 General Dynamics Corporation/Convair Div. Failure tolerant linear drive mechanism intended for celestial space applications
US5228353A (en) * 1990-12-25 1993-07-20 Nsk, Ltd. Ball screw device
JP2008095800A (en) * 2006-10-11 2008-04-24 Kayaba Ind Co Ltd Shock absorber
CN201235472Y (en) * 2008-07-02 2009-05-13 北京航空航天大学 Linear electric motor driven four-shaft linkage numerical control machine
JP2009162277A (en) * 2007-12-28 2009-07-23 Nippon Bearing Co Ltd Bearing device
CN201970315U (en) * 2011-03-16 2011-09-14 华南理工大学广州汽车学院 Third and fourth joint mechanisms of planar joint robot
CN102689311A (en) * 2012-05-31 2012-09-26 江苏长虹汽车装备集团有限公司 Robot arm stretching and swinging driving mechanism assembly

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4607180A (en) * 1983-11-14 1986-08-19 General Dynamics Corporation/Convair Div. Failure tolerant linear drive mechanism intended for celestial space applications
US5228353A (en) * 1990-12-25 1993-07-20 Nsk, Ltd. Ball screw device
JP2008095800A (en) * 2006-10-11 2008-04-24 Kayaba Ind Co Ltd Shock absorber
US20090120745A1 (en) * 2006-10-11 2009-05-14 Takuhiro Kondo Damper
JP2009162277A (en) * 2007-12-28 2009-07-23 Nippon Bearing Co Ltd Bearing device
CN201235472Y (en) * 2008-07-02 2009-05-13 北京航空航天大学 Linear electric motor driven four-shaft linkage numerical control machine
CN201970315U (en) * 2011-03-16 2011-09-14 华南理工大学广州汽车学院 Third and fourth joint mechanisms of planar joint robot
CN102689311A (en) * 2012-05-31 2012-09-26 江苏长虹汽车装备集团有限公司 Robot arm stretching and swinging driving mechanism assembly

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
胡杰等: "基于SCARA机器人的运动学分析及关节解耦", 《机床与液压》 *

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104842346A (en) * 2014-02-13 2015-08-19 罗普伺达机器人有限公司 Desktop type cartesian coordinate robot assembled with 3-degree-of-freedom (DOF) wrist device
CN104385260A (en) * 2014-11-21 2015-03-04 华南理工大学 Novel four-degree-of-freedom articulated robot structure
CN104385260B (en) * 2014-11-21 2016-04-13 华南理工大学 A kind of four-degree-of-freedom plane articulation robot architecture
CN104802164A (en) * 2015-05-04 2015-07-29 安徽华创智能装备有限公司 Six-DOF (Degree Of Freedom) planar joint robot
CN106363614A (en) * 2016-11-21 2017-02-01 上海健石智能科技有限公司 Motion platform with five degrees of freedom
CN106892008A (en) * 2017-02-07 2017-06-27 浙江农林大学 A kind of general crop field walking robot platform
CN106892008B (en) * 2017-02-07 2020-09-25 浙江农林大学 General field walking robot platform
CN107876414A (en) * 2017-10-11 2018-04-06 南京邮电大学 A kind of sheet metal with additional shaft cuts part sorting equipment

Also Published As

Publication number Publication date
CN103495971B (en) 2016-02-03

Similar Documents

Publication Publication Date Title
CN103495971B (en) A kind of five degree of freedom Combined robot platform
CN204658445U (en) A kind of Industrial robots Mechanical mechanism of six degree of freedom
CN103640028B (en) A kind of selective compliance assembly robot arm's structure
CN103737577A (en) Six-freedom-degree industrial robot with ball screw pair transmission
CN103203741B (en) Three-degree-of-freedom parallel robot mechanism
CN103707292B (en) Based on the 6DOF industrial robot of XYZ rectangular co-ordinate joint and attitude wrist
CN104385260B (en) A kind of four-degree-of-freedom plane articulation robot architecture
CN104742116A (en) Novel five-degree-of-freedom robot mechanism
CN104260083A (en) Five-degree-of-freedom planar joint robot mechanism
CN104708619A (en) Three-degree-of-freedom transfer robot with movable support
CN204277999U (en) A kind of novel four-degree-of-freedom plane articulation robot architecture
CN203726481U (en) Robot head
CN204819505U (en) Five swing arm joint robot
CN102773856A (en) Space five-FOD (Degree of Freedom) mechanism for independently controlling rotational motion and translational motion
CN101590650B (en) Decoupled three-rotational-degree-of-freedom parallel mechanism
CN205009250U (en) Indicate dexterous hand more based on link mechanism
CN103056879A (en) Preparation method of five-axis numerical control mechanical arm and five-axis numerical control mechanical arm
CN102615641B (en) Five-degree-of-freedom parallel power head
CN107949459B (en) Combined working device using connecting rod operating device
CN103273482B (en) Master-slave branch chain separate type two-translational motion parallel robot
CN102848375A (en) Spatial six-degree-of-freedom mechanism capable of separately controlling rotation motion and translation motion
CN208867176U (en) Simple structure six-joint robot
CN104723324A (en) Four-degree-of-freedom electric multi-joint mechanical arm
CN105058377A (en) Five-shaft swing arm joint robot
CN104786211A (en) Six-freedom-degree industrial robot with ball screw pairs

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant