CN103495971B - A kind of five degree of freedom Combined robot platform - Google Patents
A kind of five degree of freedom Combined robot platform Download PDFInfo
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- CN103495971B CN103495971B CN201310426290.1A CN201310426290A CN103495971B CN 103495971 B CN103495971 B CN 103495971B CN 201310426290 A CN201310426290 A CN 201310426290A CN 103495971 B CN103495971 B CN 103495971B
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Abstract
The invention discloses 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 of top vertical installation, described two-dimentional work bench includes the displacement platform of movement in X direction, described displacement platform is provided with the workbench along Y-direction movement; Described three freedom degree manipulator includes ball-screw spline and through the vertical rotating shaft in this axle, realize along Z-direction rectilinear motion under the effect of described ball-screw spline ball-screw bearing in the middle, realize rotating around vertical axes under the effect of ball spline bearing, 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.Machine Design of the present invention is reasonable, and compact conformation, reduces the coupling between joint simultaneously, has good dynamics, is specially adapted to carry out part measuring three-dimensional profile and automatic fittage.
Description
Technical field
The present invention relates to a kind of five degree of freedom Combined robot platform, this platform is used for Design of digital, manufacture and Industrial Robot Technology field.
Background technology
When carrying out the measuring three-dimensional profile of workpiece and automatically assembling, need the relative position between frequent adjustment workpiece and end effector of robot or attitude.Robot for completing this task mainly contains two kinds of versions: Cartesian robot and articulated type serial manipulator.The former is applicable to adjust relative position, to change the attitude of robot, needs to increase rotational freedom.There is the close coupling of motion between multiple joints of the latter, when adjusting the relative pose in certain direction, needing the corner changing each joint, increasing the computation complexity in operation process and error, reduce efficiency.
The SCARA robot of herding wild foreign teaching inventive of Japan is a kind of selective compliance assembly robot arm, by the rotation of large arm, forearm and the coupling of vertical axes being positioned at forearm end, realize the motion of four frees degree, that is: along the translation freedoms of X, Y, Z-direction and the rotational freedom around Z axis, it has kinetic characteristic fast, accurately, is mainly used in the fields such as carrying and electronic assemblies.But when performing complex job task, the number of degrees of freedom of SCARA robot cannot meet the demands, and particularly when carrying out part measuring three-dimensional profile or automatically assembling, needs end effector can rotate around horizontal rotating shaft; In addition, SCARA robot needs large arm and forearm cooperative motion in the translation of X, Y-direction, increases complexity and the position error of control.
Because Cartesian robot cost is low, be easy to assembling, integrated and control, be applicable to build industrial automation equipment.In addition, ball-screw bearing and ball spline bearing are installed together by SCARA robot, and make vertical rotating shaft have two frees degree, be of compact construction form.By the advantage in conjunction with this Liang Zhong robot, industrial robot more efficiently can be designed.
Summary of the invention
The object of the invention is the deficiency in order to make up prior art, providing a kind of five degree of freedom Combined robot platform, 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 of top vertical installation, described two-dimentional work bench includes the displacement platform of movement in X direction, described displacement platform is provided with the workbench along Y-direction movement; Described three freedom degree manipulator includes ball-screw spline and through the vertical rotating shaft in this axle, rectilinear motion is realized under the effect of described ball-screw spline ball-screw bearing in the middle, realize rotating around vertical axes under the effect of ball spline bearing, 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.
Described displacement platform and the movement of workbench are driven by 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 to 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 provided with bevel pinion, the two ends of described horizontal rotating shaft are rotatably installed on wrist support respectively, 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 being 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, the optical axis that insertion one is elongated is in through-holes as vertical rotating shaft, the motor corner at axle top is delivered to bottom, and by the bevel-type reversing gear of mechanical wrist part, manipulator is had and horizontally rotates the free degree.
Bidimensional workbench is made up of the ball-screw slide unit of superposition mutually in the x, y direction.When carrying out robot automatic job, by workpiece fixed placement on bidimensional workbench, workpiece does 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 this axle center.Ball-screw spline, under the double action of ball-screw bearing and ball spline bearing, can do rectilinear motion vertically, around the rotation of vertical axes or screw.When only there being ballscrew shaft to forward dynamic, this robot is identical with the forms of motion of Cartesian robot; When ball-screw bearing and ball spline bearing synchronous axial system, this axle rotates.The motor installed at ball-screw spline top, move with this axle, 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 the engagement between its mutual vertically arranged bevel gear, the horizontal rotating shaft at wrist place is driven to rotate, wrist is positioned at the bottom of ball-screw spline, move up and down with ball-screw spline or rotate, the adpting flange of wrist rotates with horizontal rotating shaft, thus drives end effector motion.
This robot platform has the rectilinear motion free degree along X, Y, Z-direction, and around the free degree of vertical axes and horizontal axis, has five frees degree.By at arm end sensor installation or paw, can fixing workpiece on the table be carried out measuring three-dimensional profile or automatically be assembled.
Advantage of the present invention is:
Machine Design of the present invention is reasonable, and compact conformation, reduces the coupling between joint simultaneously, has good dynamics, is specially adapted to carry out part measuring three-dimensional profile and automatic fittage.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Detailed description of the invention
See 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 of top vertical installation, two-dimentional work bench includes the displacement platform 2 of movement in X direction, displacement platform 2 is provided with the workbench 4 along Y-direction movement; Described three freedom degree manipulator includes ball-screw spline 13 and through the vertical rotating shaft 12 in this axle, rectilinear motion is realized under the effect of ball-screw spline 13 ball-screw bearing 18 in the middle, realize rotating around vertical axes under the effect of ball spline bearing 15, the lower end of vertical 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.
At X on slide unit, the Y-direction slide unit that motor 1 drives displacement platform 2 and is located thereon, does rectilinear motion in X-direction; On Y-direction slide unit, motor 3 drives workbench 4, does rectilinear motion in the Y direction.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 gear wheel 8 in rotating shaft 6 and bevel pinion 9 engaged transmission in 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 the ball spline bearing 15 in fixed muffle 17, ball-screw bearing 18 respectively, and ball spline bearing 15, ball-screw bearing 18 are connected with sleeve 17 respectively by bearing 16,19.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 is with movable belt pulley 14,20 to rotate respectively by belt wheel and Timing Belt 24,26.Sleeve 17, motor 25 and 27 are installed on the fixed support 28 of manipulator.
Claims (1)
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 of top vertical installation, described two-dimentional work bench includes the displacement platform of movement in X direction, described displacement platform is provided with the workbench along Y-direction movement; Described three freedom degree manipulator includes ball-screw spline and through the vertical rotating shaft in this axle, rectilinear motion is realized under the effect of described ball-screw spline ball-screw bearing in the middle, realize rotating around vertical axes under the effect of ball spline bearing, 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; Described displacement platform and the movement of workbench are driven by 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 to 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; 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 provided with bevel pinion, the two ends of described horizontal rotating shaft are rotatably installed on wrist support respectively, and its end fixedly mounts with the dual-side of adpting flange respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201310426290.1A CN103495971B (en) | 2013-06-06 | 2013-09-17 | A kind of five degree of freedom Combined robot platform |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310224885.9 | 2013-06-06 | ||
| CN201310224885 | 2013-06-06 | ||
| CN201310426290.1A CN103495971B (en) | 2013-06-06 | 2013-09-17 | A kind of five degree of freedom Combined robot platform |
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| CN103495971A CN103495971A (en) | 2014-01-08 |
| CN103495971B true CN103495971B (en) | 2016-02-03 |
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| CN201310426290.1A Active CN103495971B (en) | 2013-06-06 | 2013-09-17 | A kind of five degree of freedom Combined robot platform |
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Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101520451B1 (en) * | 2014-02-13 | 2015-05-14 | 주식회사 로보스타 | Desktop type rectangular coordinate robot combined with 3-degrees of freedom wrist device |
| 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 |
| CN104802164B (en) * | 2015-05-04 | 2016-03-02 | 安徽华创智能装备有限公司 | A kind of six degree of freedom plane articulation 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 |
| CN106892008B (en) * | 2017-02-07 | 2020-09-25 | 浙江农林大学 | General field walking robot platform |
| CN107876414B (en) * | 2017-10-11 | 2019-07-12 | 南京邮电大学 | A kind of sheet metal with additional shaft cuts part sorting equipment |
| CN112873227B (en) * | 2021-01-20 | 2022-11-15 | 北京半导体专用设备研究所（中国电子科技集团公司第四十五研究所） | Carrying manipulator and laminating device |
| CN113771092A (en) * | 2021-08-25 | 2021-12-10 | 北京国电光宇机电设备有限公司 | Intelligent workbench for electric power assembly |
| CN114055402B (en) * | 2021-10-18 | 2023-07-21 | 昆明北方红外技术股份有限公司 | Self-adaptive pitch infrared soft-package lens pressing ring fastening device |
| CN114833811B (en) * | 2022-03-16 | 2024-04-16 | 上海智能制造功能平台有限公司 | A6 PUS mechanism and two platform equipment of 6PUS-2PP for intelligent assembly |
| CN114619427B (en) * | 2022-03-16 | 2024-04-16 | 上海智能制造功能平台有限公司 | A6 PUS-3RRR dual-platform equipment for intelligent assembly |
| CN114619432B (en) * | 2022-03-17 | 2024-04-16 | 上海智能制造功能平台有限公司 | PR-3RRR double-platform equipment for intelligent assembly |
| CN114619215A (en) * | 2022-03-17 | 2022-06-14 | 上海智能制造功能平台有限公司 | PR-2PP double-platform equipment for intelligent assembly |
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| US5228353A (en) * | 1990-12-25 | 1993-07-20 | Nsk, Ltd. | Ball screw device |
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