CN103737577A - Six-freedom-degree industrial robot with ball screw pair transmission - Google Patents

Six-freedom-degree industrial robot with ball screw pair transmission Download PDF

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Publication number
CN103737577A
CN103737577A CN201310672418.2A CN201310672418A CN103737577A CN 103737577 A CN103737577 A CN 103737577A CN 201310672418 A CN201310672418 A CN 201310672418A CN 103737577 A CN103737577 A CN 103737577A
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CN
China
Prior art keywords
revolute pair
rod
ball
screw
slew gear
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CN201310672418.2A
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Chinese (zh)
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CN103737577B (en
Inventor
蔡敢为
范雨
张�林
杨洁丹
关卓怀
李岩舟
温芳
杨旭娟
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广西大学
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Priority to CN201310672418.2A priority Critical patent/CN103737577B/en
Publication of CN103737577A publication Critical patent/CN103737577A/en
Application granted granted Critical
Publication of CN103737577B publication Critical patent/CN103737577B/en

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Abstract

The invention relates to a six-freedom-degree industrial robot with ball screw pair transmission. Waist whole circle rotating is achieved through a waist swing mechanism, a shoulder swing mechanism and an elbow swing mechanism form a two-freedom-degree parallel mechanism to achieve two-dimensional horizontal moving, and ball screws are driven by motors arranged on a swing platform respectively. Three mutual-orthometric rotating shafts connected through a front arm rotating mechanism, a wrist swing mechanism and a tool clamping base swing mechanism are driven independently by three motors respectively, and three-freedom-degree gesture adjusting of an executing tail end tool is achieved. The advantage of the large working space of a serial mechanism is kept, ball screw transmission is used, the rigidness of the mechanism is guaranteed, the positions of the driving motors are lowered, good dynamic characteristics are obtained, bearing capacity is large, high-speed or superspeed operation can be easily achieved, and the six-freedom-degree industrial robot has the advantages that side gaps do not exist, rigidness is high, micro-motion feeding can be conveniently achieved, accumulated errors are small, motion accuracy is high, positive and athwart kinematics solving is convenient, and control is convenient.

Description

A kind of Six-DOF industrial robot driving containing ball screw assembly,
Technical field
The present invention relates to industrial automation, specifically a kind of Six-DOF industrial robot driving containing ball screw assembly.
Background technology
Industrial automation is exactly take the various parameters in industrial production as controlling object, realizes various process control, in whole industrial production, reduces the technology of manual operation as far as possible.Industrial robot belongs to an importance of industrial automation product, industrial robot is the installations that automatically perform work, be to lean on self power and control ability to realize a kind of machine of various functions, industrial robot is towards the multi-joint manipulator of industrial circle or multivariant robot.Coming years China or become the maximum robot market in the whole world.Due to developing rapidly of the present computer technology, multiaxial motion control technology is constantly ripe, and the cost of industrial robot reduces gradually, has entered at present the explosive growth stage.Overwhelming majority industrial robot has six axles, and wherein three axles are delivered to Ke Da position, space by execution end erecting tools, and three other axles are realized the spatial attitude adjustment of carrying out end soldering appliance.Traditional prosthetic robot is all arranged on joint by motor, makes mechanical arm seem heavy, has that rotary inertia is large, poor rigidity and a deficiency such as accumulated error is large.The dynamic performance of mechanism is poor, is difficult to meet high-speed, high precision requirement day by day.Serial mechanism has good kinematics performance aspect mechanism design, and dynamic performance is lower; People compares with serial machine, and parallel institution has without accumulated error, and precision is higher, drive unit can be placed on fixed platform or approach the position of fixed platform, and motion parts is lightweight like this, and speed is high, dynamic response is good, compact conformation, and rigidity is high, bearing capacity is large, according to these features, parallel robot can be applied to the occasion of high bearing capacity, but because parallel robot is subject to structural limitations, working space is often very little, is more difficultly applied to the field large to working space requirement.And, the robot fault rate that drive motors is installed in joint is higher, poor reliability, easily cause larger joint error, Accuracy to robot is larger, and due to this shortcomings, existing robot architecture is difficult to take into account operating flexibility and high-precision characteristic, be difficult to meet the job requirements of large working space, high accuracy, high reliability, become the difficult problem that high-end industrial robot manufactures and designs.
Summary of the invention
The object of the invention is to overcome the problem that prior art exists, a kind of robot mechanism of serial parallel mechanism is provided, comprehensive serial mechanism and parallel institution advantage separately, guaranteeing under the prerequisite of robot manipulating task flexibility, high accuracy, high reliability, as much as possible motor is placed on support or by motor reasonable Arrangement, give full play to the advantage of serial parallel mechanism, significantly improve robot reliability, reduce maintenance cost, improve robot operation stability, realize the good dynamic performance of robot.
The present invention is achieved through the following technical solutions above object:
The Six-DOF industrial robot driving containing ball screw assembly,, comprises waist slew gear, shoulder swing mechanism, elbow slew gear, forearm rotating mechanism, wrist slew gear, instrument deck slew gear, support and revolving dial;
Described waist slew gear is arranged on support by the 16 revolute pair by revolving dial, and the 16 revolute pair, by the first driven by servomotor, realizes waist complete cycle and rotates;
Described shoulder swing mechanism comprises revolving dial, the first ball-screw, the first ball-screw sleeve, first connecting rod, second connecting rod and third connecting rod, the first ball-screw is connected by the first revolute pair with revolving dial, the first ball-screw is connected by the first screw pair with the first ball-screw sleeve, first connecting rod is connected by the 11 revolute pair with the first ball-screw sleeve, first connecting rod is connected by the 3rd revolute pair with revolving dial, first connecting rod is connected by the tenth revolute pair with second connecting rod, third connecting rod is connected by the 4th revolute pair with revolving dial, second connecting rod is connected by the 9th revolute pair with third connecting rod, the first ball-screw is by the second driven by servomotor,
Described elbow slew gear comprises the second ball-screw, the second ball-screw sleeve, the 4th connecting rod, the 5th connecting rod and the 6th connecting rod, the second ball-screw is connected by the second revolute pair with revolving dial, the second ball-screw is connected by the second screw pair with the second ball-screw sleeve, the 4th connecting rod is connected by the 12 revolute pair with the second ball screw sleeve, the 4th connecting rod is connected by the 5th revolute pair with revolving dial, the 4th connecting rod is connected by the 6th revolute pair with the 5th connecting rod, the 5th connecting rod is connected by the 7th revolute pair with the 6th connecting rod, third connecting rod is connected by the 8th revolute pair with the 6th connecting rod, the second ball-screw is by the 3rd driven by servomotor,
Described forearm rotating mechanism, wrist slew gear and tool seat slew gear composition three-dimensional revolving gear, forearm rotating mechanism is connected by the 13 revolute pair with the 6th connecting rod by forearm, by the 4th driven by servomotor being arranged on the 6th connecting rod, wrist slew gear is connected by the 14 revolute pair with wrist by forearm, by the 5th driven by servomotor being arranged on forearm, instrument deck slew gear is connected by the 15 revolute pair with end-of-arm tooling deck by wrist, by the 6th driven by servomotor being arranged in wrist.
The 16 described revolute pair is perpendicular to support; The first revolute pair, the second revolute pair, the 3rd revolute pair, the 4th revolute pair, the 5th revolute pair, the 6th revolute pair, the 7th revolute pair, the 8th revolute pair, the 9th revolute pair, the tenth revolute pair and the 14 revolute pair are parallel to each other, and wherein the 4th revolute pair is coaxial with the 5th revolute pair; The 11 revolute pair is coaxial with the tenth revolute pair, and the 12 revolute pair is coaxial with the 6th revolute pair, and the 13 revolute pair is mutually vertical with the 14 revolute pair, and the 14 revolute pair is mutually vertical with the 15 revolute pair.
Waist complete cycle of the present invention rotates by the motor on revolving dial and drives, and the parallel institution of the two-freedom of shoulder swing mechanism and elbow slew gear composition is realized two-dimensional translation, is driven respectively by the driven by motor ball-screw being arranged on revolving dial; By interconnective three the mutually orthogonal rotating shafts of forearm rotating mechanism, wrist slew gear and instrument deck slew gear, by three motors drive respectively, realize the Three Degree Of Freedom attitude adjustment of carrying out end-of-arm tooling.Compared with prior art, there is following outstanding advantages:
1, adopt serial parallel mechanism, have that parallel institution accumulated error is little concurrently, a large and large advantage of serial mechanism working space of rigidity, as much as possible drive unit is placed in to support position;
2, particularly adopt ball-screw-transmission scheme, drive motors position is dropped to minimum as far as possible, reduced the bearing load of arm rod member, reduced the rotary inertia of complete machine, stable drive, high without sideshake, precision, rigidity is high and have a good dynamic performance, reduce the bearing capacity of motor shaft, be conducive to the raising of precision;
3, by the drive unit reasonable Arrangement of mechanism, improve the balance quality of integrated model, further improved the dynamic performance of mechanism;
4, mechanism is simple, is convenient to the solving of positive inverse kinematics, trajectory planning, error compensation, conveniently accurately controls.In addition, execution end is installed different devices and can be realized different industrial uses, as piling, cutting, assembling, spraying, welding and carrying etc.
Accompanying drawing explanation
Fig. 1 is the structural representation of described a kind of Six-DOF industrial robot driving containing ball screw assembly.
Fig. 2 is the shoulder swing mechanism schematic diagram of described a kind of Six-DOF industrial robot driving containing ball screw assembly.
Fig. 3 is the elbow slew gear schematic diagram of described a kind of Six-DOF industrial robot driving containing ball screw assembly.
Fig. 4 is forearm twist mechanism, wrist slew gear and the instrument deck slew gear schematic diagram of described a kind of Six-DOF industrial robot driving containing ball screw assembly.
Fig. 5 is the first working state schematic representation of described a kind of Six-DOF industrial robot driving containing ball screw assembly.
Fig. 6 is the second working state schematic representation of described a kind of Six-DOF industrial robot driving containing ball screw assembly.
Fig. 7 is the third working state schematic representation of described a kind of Six-DOF industrial robot driving containing ball screw assembly.
Fig. 8 is the 4th kind of working state schematic representation of described a kind of Six-DOF industrial robot driving containing ball screw assembly.
The specific embodiment
Below in conjunction with drawings and Examples, technical scheme of the present invention is described further.
Contrast Fig. 1,2,3 and 4, a kind of Six-DOF industrial robot driving containing ball screw assembly, is comprised of support, revolving dial, waist slew gear, shoulder swing mechanism, elbow slew gear, forearm rotating mechanism, wrist slew gear and instrument deck slew gear.Described revolving dial 16 is arranged on support 1, realizes the space six-freedom motion of whole mechanism.
Contrast Fig. 1, waist slew gear is connected on support 1 by the 16 revolute pair by revolving dial 16, and has the first driven by servomotor to realize complete cycle gyration.
Contrast Fig. 1,2, shoulder swing mechanism and elbow slew gear form position adjusting mechanism.Shown in Fig. 2, takeing on swing mechanism is formed by connecting by revolving dial 16, the first ball-screw 4, the first ball-screw sleeve 5, first connecting rod 3, second connecting rod 7 and third connecting rod 9.The first ball-screw 4 and the second servomotor are rigidly connected, the second servomotor is connected by the first revolute pair 18 with revolving dial 16, the first ball-screw 4 is connected by the first screw pair 21 with the first ball-screw sleeve 5, first connecting rod 3 is connected by the 11 revolute pair 23 with the first ball-screw sleeve 5, first connecting rod 3 is connected by the 3rd revolute pair 19 with revolving dial 16, first connecting rod 3 is connected by the tenth revolute pair 24 with second connecting rod 7, third connecting rod 9 is connected by the 4th revolute pair 20 with revolving dial 16, and second connecting rod 7 is connected by the 9th revolute pair 28 with third connecting rod 9.
Contrast Fig. 1,3, elbow slew gear consists of the second ball-screw 2, the second ball-screw sleeve 6, the 4th connecting rod 8, the 5th connecting rod 10, the 6th connecting rod 12.Wherein, the second ball-screw 2 and the 3rd servomotor are rigidly connected, the 3rd servomotor is connected by the second revolute pair 17 with revolving dial 16, the second ball-screw 2 is connected by the second screw pair 22 with the second ball-screw sleeve 6, the 4th connecting rod 8 is connected by the 12 revolute pair 26 with the second ball screw sleeve 6, the 4th connecting rod 8 is connected by the 5th revolute pair 27 with revolving dial 16, the 4th connecting rod 8 is connected by the 6th revolute pair 25 with the 5th connecting rod 10, the 5th connecting rod 10 is connected by the 7th revolute pair 30 with the 6th connecting rod 12, third connecting rod 9 is connected by the 8th revolute pair 29 with the 6th connecting rod 12.
Contrast Fig. 1,4, forearm rotating mechanism comprises forearm 13, forearm 13 is connected with the 6th connecting rod 12 by the 13 revolute pair 31, by the 4th servomotor 11, driven, the 4th servomotor is arranged on the front end of the 6th connecting rod 12, be conducive to forearm 13 on the load of front end balance each other, guarantee good dynamic performance; Wrist slew gear comprises wrist 14, and wrist 14 is connected with forearm 13 by the 14 revolute pair 32, by the 5th driven by servomotor, is realized and being rotated; Instrument deck slew gear comprises end-of-arm tooling deck 15, and end-of-arm tooling deck 15 is connected with wrist 14 by the 15 revolute pair 33, by the 6th driven by servomotor.By the 4th servomotor, the 5th servomotor and three motor drive of the 6th servomotor, realized Three dimensional rotation, and then realized the adjustment of instrument attitude.
Contrast Fig. 1,5,6,7,8, described industrial robot passes through the two-dimensional translation of the winding machine plane being comprised of shoulder swing mechanism and elbow slew gear, forearm is carried out to end-of-arm tooling deck and send to predetermined region; The complete cycle of rotatable platform rotates has realized the position adjustment of carrying out end in spatial dimension, obtains larger working space; The Three dimensional rotation of forearm rotating mechanism, wrist slew gear and instrument deck slew gear has realized the adjustment of instrument attitude; Employing, without the ball-screw auxiliary driving of sideshake, is convenient to realize high-speed cruising and micrometer feed.Above mechanism characteristics has been realized mechanism's various position and attitudes as shown in Figure 5-Figure 8, flexibly and quickly and easily instrument is delivered to space difference work, and obtain good dynamic performance, reach high accuracy, high reliability, operation stability and be convenient to maintaining good characteristic.

Claims (2)

1. the Six-DOF industrial robot driving containing ball screw assembly,, comprises waist slew gear, shoulder swing mechanism, elbow slew gear, forearm rotating mechanism, wrist slew gear, instrument deck slew gear, support and revolving dial; It is characterized in that:
Described waist slew gear is arranged on support by the 16 revolute pair by revolving dial, and the 16 revolute pair, by the first driven by servomotor, realizes waist complete cycle and rotates;
Described shoulder swing mechanism comprises revolving dial, the first ball-screw, the first ball-screw sleeve, first connecting rod, second connecting rod and third connecting rod, the first ball-screw is connected by the first revolute pair with revolving dial, the first ball-screw is connected by the first screw pair with the first ball-screw sleeve, first connecting rod is connected by the 11 revolute pair with the first ball-screw sleeve, first connecting rod is connected by the 3rd revolute pair with revolving dial, first connecting rod is connected by the tenth revolute pair with second connecting rod, third connecting rod is connected by the 4th revolute pair with revolving dial, second connecting rod is connected by the 9th revolute pair with third connecting rod, the first ball-screw is by the second driven by servomotor,
Described elbow slew gear comprises the second ball-screw, the second ball-screw sleeve, the 4th connecting rod, the 5th connecting rod and the 6th connecting rod, the second ball-screw is connected by the second revolute pair with revolving dial, the second ball-screw is connected by the second screw pair with the second ball-screw sleeve, the 4th connecting rod is connected by the 12 revolute pair with the second ball screw sleeve, the 4th connecting rod is connected by the 5th revolute pair with revolving dial, the 4th connecting rod is connected by the 6th revolute pair with the 5th connecting rod, the 5th connecting rod is connected by the 7th revolute pair with the 6th connecting rod, third connecting rod is connected by the 8th revolute pair with the 6th connecting rod, the second ball-screw is by the 3rd driven by servomotor,
Described forearm rotating mechanism, wrist slew gear and tool seat slew gear composition three-dimensional revolving gear, forearm rotating mechanism is connected by the 13 revolute pair with the 6th connecting rod by forearm, by the 4th driven by servomotor being arranged on the 6th connecting rod, wrist slew gear is connected by the 14 revolute pair with wrist by forearm, by the 5th driven by servomotor being arranged on forearm, instrument deck slew gear is connected by the 15 revolute pair with end-of-arm tooling deck by wrist, by the 6th driven by servomotor being arranged in wrist.
2. industrial robot according to claim 1, is characterized in that: the 16 described revolute pair is perpendicular to support; The first revolute pair, the second revolute pair, the 3rd revolute pair, the 4th revolute pair, the 5th revolute pair, the 6th revolute pair, the 7th revolute pair, the 8th revolute pair, the 9th revolute pair, the tenth revolute pair and the 14 revolute pair are parallel to each other, and wherein the 4th revolute pair is coaxial with the 5th revolute pair; The 11 revolute pair is coaxial with the tenth revolute pair, and the 12 revolute pair is coaxial with the 6th revolute pair, and the 13 revolute pair is mutually vertical with the 14 revolute pair, and the 14 revolute pair is mutually vertical with the 15 revolute pair.
CN201310672418.2A 2013-12-07 2013-12-07 A kind of Six-DOF industrial robot driven containing ball screw assembly, CN103737577B (en)

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Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104162888A (en) * 2014-08-01 2014-11-26 大连四达高技术发展有限公司 Six-freedom-degree floating mechanism
CN104259619A (en) * 2014-08-22 2015-01-07 哈尔滨工程大学 Portable cutting manipulator
CN104552921A (en) * 2014-12-31 2015-04-29 东莞理工学院 Plastic laser hybrid welding system
CN104551478A (en) * 2014-12-23 2015-04-29 广西大学 Method for carrying out welding construction by utilizing six-degree of freedom controllable mechanism type movable connecting rod mechanism
CN104551475A (en) * 2014-12-23 2015-04-29 广西大学 Method for carrying out welding construction by using rotation-controlled connection rod mechanism
CN104625495A (en) * 2014-12-17 2015-05-20 广西大学 Six-freedom-degree series moving type welding robot with multiple connecting rods
CN104625517A (en) * 2014-12-17 2015-05-20 广西大学 Seven-degree-of-freedom controllable mechanism type movable welding hand
CN104669247A (en) * 2015-01-23 2015-06-03 温州职业技术学院 Six-axis manipulator
CN104827485A (en) * 2015-04-23 2015-08-12 广东工业大学 Linear drive robot joint with bar linkage mechanism
CN104999360A (en) * 2015-07-14 2015-10-28 马鞍山市同创机械设备制造有限公司 Grinding robot platform
CN105127633A (en) * 2015-09-06 2015-12-09 北京中电华强焊接工程技术有限公司 Seven-axis industrial welding robot
CN105437225A (en) * 2015-08-05 2016-03-30 台州学院 Six-degree-of-freedom manipulator
CN105965546A (en) * 2016-07-26 2016-09-28 青岛北洋天青数联智能股份有限公司 Waist device for pelletizing robot
CN106002934A (en) * 2016-01-21 2016-10-12 盐城工学院 Industrial mechanical arm
CN106426177A (en) * 2016-11-11 2017-02-22 西北机器有限公司 Robot for precise assembling
CN107249827A (en) * 2015-02-20 2017-10-13 川崎重工业株式会社 Industrial robot
CN111015626A (en) * 2018-10-10 2020-04-17 上银科技股份有限公司 Mechanical arm

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Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104162888A (en) * 2014-08-01 2014-11-26 大连四达高技术发展有限公司 Six-freedom-degree floating mechanism
CN104259619A (en) * 2014-08-22 2015-01-07 哈尔滨工程大学 Portable cutting manipulator
CN104625517A (en) * 2014-12-17 2015-05-20 广西大学 Seven-degree-of-freedom controllable mechanism type movable welding hand
CN104625495A (en) * 2014-12-17 2015-05-20 广西大学 Six-freedom-degree series moving type welding robot with multiple connecting rods
CN104551475A (en) * 2014-12-23 2015-04-29 广西大学 Method for carrying out welding construction by using rotation-controlled connection rod mechanism
CN104551478A (en) * 2014-12-23 2015-04-29 广西大学 Method for carrying out welding construction by utilizing six-degree of freedom controllable mechanism type movable connecting rod mechanism
CN104552921A (en) * 2014-12-31 2015-04-29 东莞理工学院 Plastic laser hybrid welding system
CN104669247A (en) * 2015-01-23 2015-06-03 温州职业技术学院 Six-axis manipulator
CN107249827A (en) * 2015-02-20 2017-10-13 川崎重工业株式会社 Industrial robot
CN104827485A (en) * 2015-04-23 2015-08-12 广东工业大学 Linear drive robot joint with bar linkage mechanism
CN104999360A (en) * 2015-07-14 2015-10-28 马鞍山市同创机械设备制造有限公司 Grinding robot platform
CN105437225A (en) * 2015-08-05 2016-03-30 台州学院 Six-degree-of-freedom manipulator
CN105127633A (en) * 2015-09-06 2015-12-09 北京中电华强焊接工程技术有限公司 Seven-axis industrial welding robot
CN106002934A (en) * 2016-01-21 2016-10-12 盐城工学院 Industrial mechanical arm
CN105965546A (en) * 2016-07-26 2016-09-28 青岛北洋天青数联智能股份有限公司 Waist device for pelletizing robot
CN106426177A (en) * 2016-11-11 2017-02-22 西北机器有限公司 Robot for precise assembling
CN111015626A (en) * 2018-10-10 2020-04-17 上银科技股份有限公司 Mechanical arm
CN111015626B (en) * 2018-10-10 2021-02-19 上银科技股份有限公司 Mechanical arm

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