CN104117990B - A kind of robot wrist towards laser precision machining - Google Patents

A kind of robot wrist towards laser precision machining Download PDF

Info

Publication number
CN104117990B
CN104117990B CN201310141324.2A CN201310141324A CN104117990B CN 104117990 B CN104117990 B CN 104117990B CN 201310141324 A CN201310141324 A CN 201310141324A CN 104117990 B CN104117990 B CN 104117990B
Authority
CN
China
Prior art keywords
described
belt wheel
axle
reducing motor
bevel gear
Prior art date
Application number
CN201310141324.2A
Other languages
Chinese (zh)
Other versions
CN104117990A (en
Inventor
朱思俊
孙元
李晨杰
朱天旭
Original Assignee
中国科学院沈阳自动化研究所
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
Application filed by 中国科学院沈阳自动化研究所 filed Critical 中国科学院沈阳自动化研究所
Priority to CN201310141324.2A priority Critical patent/CN104117990B/en
Publication of CN104117990A publication Critical patent/CN104117990A/en
Application granted granted Critical
Publication of CN104117990B publication Critical patent/CN104117990B/en

Links

Abstract

The present invention relates to laser micropore processor, specifically a kind of robot wrist towards laser precision machining, comprise and realize the A spindle unit that Y-axis is rotated and the B spindle unit realizing Z axis rotation, A spindle unit comprises A axle framework, the first reducing motor and outer connecting shaft, A axle framework is connected with robot arm, first reducing motor is arranged on A axle framework, and the main shaft of the first reducing motor is connected with B spindle unit by outer connecting shaft, drive B spindle unit to realize Y-axis rotates; B spindle unit comprises B axle framework and is arranged on the second reducing motor on B axle framework, bevel gear reversing mechanism and belt wheel transmission mechanism respectively, B axle framework is connected with outer connecting shaft, second reducing motor is by one end interlock of bevel gear reversing mechanism and belt wheel transmission mechanism, and the other end of belt wheel transmission mechanism is connected with actuator, drive this actuator to realize Z axis rotates.Compact conformation of the present invention, applicability is comparatively wide, can realize the motion state that laser Machining head arbitrarily swings at fixing point.

Description

A kind of robot wrist towards laser precision machining

Technical field

The present invention relates to laser micropore processor, specifically a kind of robot wrist towards laser precision machining.

Background technology

The wrist of robot is the parts connecting arm and end effector, its major function is after arm and support achieve three position coordinateses of end effector at working space, three the attitude coordinates of end effector at working space are realized again by wrist, namely three rotary freedoms are realized, by mechanical interface, connect and support tip actuator.

In present stage, the research of mechanical hand is mostly concentrated on multiple degrees of freedom, the research field in the directions such as flexibility and accurately location, but but violate the most basic requirement of producing in reality: 1. simple to operate, 2. mechanism simplifies, 3. low cost, 4. operation principle clearing, 5 applicabilities are wide; Make present a large amount of mechanical hands have very strong applicability at specific area, almost each mechanical hand is for specific crowd, the efficiency of this production reduced greatly.Therefore had now the necessity to the research of simple machine hand, realize structure simple, function understands, the object of highly versatile.

Summary of the invention

The object of the present invention is to provide a kind of robot wrist towards laser precision machining.This robot wrist structure is simply compact, and applicability is comparatively wide, can realize the motion state that laser Machining head arbitrarily swings at fixing point.

The object of the invention is to be achieved through the following technical solutions:

The present invention includes and realize the A spindle unit that Y-axis is rotated and the B spindle unit realizing Z axis rotation, wherein A spindle unit comprises A axle framework, the first reducing motor and outer connecting shaft, described A axle framework is connected with robot arm, described first reducing motor is arranged on A axle framework, and the main shaft of this first reducing motor is connected with B spindle unit by described outer connecting shaft, drive B spindle unit to realize Y-axis rotates; Described B spindle unit comprises B axle framework and is arranged on the second reducing motor on B axle framework, bevel gear reversing mechanism and belt wheel transmission mechanism respectively, B axle framework is connected with described outer connecting shaft, described second reducing motor is by one end interlock of bevel gear reversing mechanism and belt wheel transmission mechanism, and the other end of described belt wheel transmission mechanism is connected with actuator, drive this actuator to realize Z axis rotates.

Wherein: described A axle framework comprises arm connecting plate and A shaft coupling piece, and wherein arm connecting plate is arranged on robot arm, and A shaft coupling piece is vertically fixed in one end of described arm connecting plate; Described first reducing motor is arranged on A shaft coupling piece, and the main shaft of the first reducing motor passes this A shaft coupling piece, is connected with described outer connecting shaft; Described A axle framework is provided with A axle outside jacket plates, and described first reducing motor is sealed in this A axle outside jacket plates; Described B axle framework comprises B axle connecting plate and B axis fixing plate, and wherein B axle connecting plate is connected with described outer connecting shaft, and B axis fixing plate is fixed in one end of B axle connecting plate; Described second reducing motor, bevel gear reversing mechanism and belt wheel transmission mechanism are arranged on B axis fixing plate respectively; Barrier support plate is connected with between described B axle connecting plate and B axis fixing plate; Described bevel gear reversing mechanism comprises the first bevel gear, the second bevel gear and shell, its housing is arranged on B axis fixing plate, described first bevel gear is connected to the main shaft of the second reducing motor, the gear shaft of the second bevel gear is rotatably installed in described casing by bearing, this second bevel gear and the first bevel gear engaged transmission; The gear shaft of described second bevel gear passes B axis fixing plate, with one end interlock of described belt wheel transmission mechanism; Described B axle framework is provided with B axle outside jacket plates, and described second reducing motor and bevel gear reversing mechanism are sealed in this B axle outside jacket plates; Described B axle framework is provided with belt wheel protection hood, and described belt wheel transmission mechanism is positioned at this belt wheel protection hood; Described belt wheel transmission mechanism comprises the first belt wheel, the second belt wheel and gear band, wherein the first belt wheel and described bevel gear reversing mechanism interlock, the wheel shaft of the second belt wheel is rotatably installed on B axle framework, and passed by B axle framework, connected described actuator, described first belt wheel is connected by gear band with between the second belt wheel; Longitudinal center line, the i.e. Y-axis of described first reducing motor main shaft, with the turning cylinder of actuator turns, i.e. Z axis, intersect vertically mutually.

Advantage of the present invention and good effect are:

1. the present invention is simple and compact for structure, and applicability is comparatively wide, and framework is firm, can realize the motion state that laser Machining head arbitrarily swings at fixing point.

2. the present invention is intersected vertically on welding gun mouth by the extended line of Y-axis and Z axis, namely Y-axis and Z axis are in same two-dimensional space, thus make welding gun can only carry out moving at initial point (namely both joining), can ensure that the movement locus of welding gun is two fixing curvilinear motions like this.

Accompanying drawing explanation

Fig. 1 is overall structure schematic diagram of the present invention;

Fig. 2 is the structural front view after Fig. 1 removes A, B axle outside jacket plates;

Fig. 3 is the structural perspective after Fig. 1 removes A, B axle outside jacket plates;

Wherein: 1 is A axle outside jacket plates, and 2 is arm connecting plate, and 3 is the first reducing motor, 4 is A shaft coupling piece, and 5 is outer connecting shaft, and 6 is B axle connecting plate, 7 is barrier support plate, and 8 is B axis fixing plate, and 9 is the second reducing motor, 10 is bevel gear reversing mechanism, and 11 is B axle outside jacket plates, and 12 is belt wheel protection hood, 13 is belt wheel transmission mechanism, and 14 is laser Machining head, and 15 is the first belt wheel, 16 is the second belt wheel, and 17 is gear band, and 18 is through hole.

Detailed description of the invention

Below in conjunction with accompanying drawing, the invention will be further described.

As shown in Figures 1 to 3, the present invention includes and realize the A spindle unit that Y-axis is rotated and the B spindle unit realizing Z axis rotation, wherein A spindle unit comprises A axle framework, A axle outside jacket plates 1, first reducing motor 3 and outer connecting shaft 5, A axle framework comprises arm connecting plate 2 and A shaft coupling piece 4, arm connecting plate 2 is arranged on robot arm, this arm connecting plate 2 is not only the connector with robot arm, also be the basal plate of whole A spindle unit, carry the weight of whole A spindle unit and support the stability of whole robot wrist; A shaft coupling piece 4 is vertically fixed in one end of arm connecting plate 2, L-shaped with arm connecting plate 2, and this A shaft coupling piece 4 is fixed heads of the first reducing motor 3; A axle outside jacket plates 1 is fixed between arm connecting plate 2 and A shaft coupling piece 4, makes the first reducing motor 3 in closed state, plays safety precautions.First reducing motor 3 is fixed on A shaft coupling piece 4, is directly to play to make actuator (the present embodiment is laser Machining head 14) can around the power origin of A axle (Y-axis) gyroscopic effects; The main shaft of the first reducing motor 3 is through A shaft coupling piece 4, and outer connecting shaft 5 is fixed on the main shaft of the first reducing motor 3, for realizing the gyroscopic effects of laser Machining head 14.

B spindle unit entirety is connected with outer connecting shaft 5, is driven rotate around Y-axis by the first reducing motor 3.B spindle unit comprises B axle framework, the second reducing motor 9, bevel gear reversing mechanism 10, B axle outside jacket plates 11, belt wheel protection hood 12 and belt wheel transmission mechanism 13, wherein B axle framework comprises B axle connecting plate 6 and B axis fixing plate 8, B axle connecting plate 6 is connected with outer connecting shaft 5, is the basal plate supporting whole B spindle unit; B axis fixing plate 8 is fixed in one end of B axle connecting plate 6, L-shaped with B axle connecting plate 6, and this B axis fixing plate 8 is used to the fixed head fixing the second reducing motor 9, is also used to the installation version of installing belt wheel protection hood 12 and belt wheel transmission mechanism 13.Second reducing motor 9 and bevel gear reversing mechanism 10 are positioned at the side of B axis fixing plate 8, and B axle outside jacket plates 11 is fixed between B axle connecting plate 6 and B axis fixing plate 8, the second reducing motor 9 and bevel gear reversing mechanism 10 is closed, plays safeguard protection effect.Being connected with barrier support plate 7 between B axle connecting plate 6 and B axis fixing plate 8, for consolidating B axle connecting plate 6 and B axis fixing plate 8 stationary state between the two, making B spindle unit more fixed.Bevel gear reversing mechanism 10 comprises the first bevel gear, the second bevel gear and shell, shell is arranged on B axis fixing plate 8, is co-located at the same side of B axis fixing plate 8 with the second reducing motor 9, first bevel gear is connected to the main shaft of the second reducing motor 9, the gear shaft of the second bevel gear is rotatably installed in casing by bearing, this second bevel gear and the first bevel gear engaged transmission; The gear shaft of the second bevel gear is passed by the through hole 18 that B axis fixing plate 8 is offered.Belt wheel transmission mechanism 13 is positioned at the opposite side of B axis fixing plate 8, and belt wheel protection hood 12 is fixed on B axis fixing plate 8, and belt wheel transmission mechanism 13 is covered in inside, is used for safeguarding belt wheel transmission mechanism 13, plays safeguard protection effect; Belt wheel transmission mechanism comprises the first belt wheel 15, second belt wheel 16 and gear band 17, first belt wheel 15 is arranged on the gear shaft of the second bevel gear, the wheel shaft of the second belt wheel 16 is rotatably installed on B axis fixing plate 8, and by B axis fixing plate 8 through, connect laser Machining head 14, first belt wheel 15 and be connected by gear band 17 with between the second belt wheel 16.

Installation of the present invention and operation principle are:

First to be fixed on arm connecting plate 2 by A shaft coupling piece 4 thus to realize the basic framework of whole A spindle unit, then the first reducing motor 3 is bolted on A shaft coupling piece 4, again outer connecting shaft 5 is arranged on the main shaft of the first reducing motor 3, A axle outside jacket plates 1 is finally installed, whole like this A spindle unit just installs, and first puts aside.Then B axle connecting plate 6 is fixed on B axis fixing plate 8, thus realizes the basic framework of B spindle unit, then barrier support plate 7 is arranged between B axis fixing plate 8 and B axle connecting plate 6, thus realize strengthening fixing B axle framework, making B spindle unit more solid and reliable; Then the second reducing motor 9 is installed on B axis fixing plate 8, is transferred on the first belt wheel 15 by bevel gear reversing mechanism 10, then the second belt wheel 16 is arranged on B axis fixing plate 8, load onto gear band 17, such belt wheel transmission mechanism 13 has just installed; Belt wheel protection hood 12 is loaded onto, and this B spindle unit installs like this.Finally A spindle unit and B spindle unit are linked together by middle outer connecting shaft 5, the robot wrist of whole laser precision machining just installs.

The present invention directly controls the motion state of laser Machining head 14 by two reducing motors, A axle directly drives B spindle unit and laser Machining head 14 to rotate around A axle by the running of control first reducing motor 3, control the operating condition of laser Machining head 14 in Y-axis, B axle passes in belt wheel transmission mechanism 13 by the second deceleration motor 9 after bevel gear reversing mechanism 10 transmission, the direction of motion of transmission is changed again through the transmission of belt wheel, realize the operating condition of laser Machining head 14 at Z axis, and intersected vertically on the welding gun mouth of laser Machining head 14 by the extended line of Y-axis and Z axis, namely Y-axis and Z axis are in same two-dimensional space, thus make welding gun can only carry out moving at initial point (namely both joining), can ensure that the movement locus of welding gun is two fixing curvilinear motions like this.

Y-axis of the present invention (A axle) is the longitudinal center line direction of the first reducing motor 3 main shaft, and B axle is the longitudinal center line direction of the second reducing motor 9 main shaft, and Z axis is the longitudinal center line direction of the second belt wheel 16 wheel shaft.

Claims (9)

1. the robot wrist towards laser precision machining, it is characterized in that: comprise and realize the A spindle unit that Y-axis is rotated and the B spindle unit realizing Z axis rotation, wherein A spindle unit comprises A axle framework, the first reducing motor (3) and outer connecting shaft (5), described A axle framework is connected with robot arm, described first reducing motor (3) is arranged on A axle framework, and the main shaft of this first reducing motor (3) is connected with B spindle unit by described outer connecting shaft (5), drive B spindle unit to realize Y-axis rotates; Described B spindle unit comprises B axle framework and is arranged on the second reducing motor (9) on B axle framework, bevel gear reversing mechanism (10) and belt wheel transmission mechanism (13) respectively, B axle framework is connected with described outer connecting shaft (5), described second reducing motor (9) is by one end interlock of bevel gear reversing mechanism (10) with belt wheel transmission mechanism (13), and the other end of described belt wheel transmission mechanism (13) is connected with actuator, drive this actuator to realize Z axis rotates;
Described A axle framework comprises arm connecting plate (2) and A shaft coupling piece (4), wherein arm connecting plate (2) is arranged on robot arm, and A shaft coupling piece (4) is vertically fixed in one end of described arm connecting plate (2); Described first reducing motor (3) is arranged on A shaft coupling piece (4), and the main shaft of the first reducing motor (3) passes this A shaft coupling piece (4), is connected with described outer connecting shaft (5).
2. by the robot wrist towards laser precision machining described in claim 1, it is characterized in that: described A axle framework is provided with A axle outside jacket plates (1), described first reducing motor (3) is sealed in this A axle outside jacket plates (1).
3. by the robot wrist towards laser precision machining described in claim 1, it is characterized in that: described B axle framework comprises B axle connecting plate (6) and B axis fixing plate (8), wherein B axle connecting plate (6) is connected with described outer connecting shaft (5), and B axis fixing plate (8) is fixed in one end of B axle connecting plate (6); Described second reducing motor (9), bevel gear reversing mechanism (10) and belt wheel transmission mechanism (13) are arranged on B axis fixing plate (8) respectively.
4., by the robot wrist towards laser precision machining described in claim 3, it is characterized in that: between described B axle connecting plate (6) and B axis fixing plate (8), be connected with barrier support plate (7).
5. by the robot wrist towards laser precision machining described in claim 3, it is characterized in that: described bevel gear reversing mechanism (10) comprises the first bevel gear, the second bevel gear and shell, its housing is arranged on B axis fixing plate (8), described first bevel gear is connected to the main shaft of the second reducing motor (9), the gear shaft of the second bevel gear is rotatably installed in described shell by bearing, this second bevel gear and the first bevel gear engaged transmission; The gear shaft of described second bevel gear passes B axis fixing plate, with one end interlock of described belt wheel transmission mechanism (13).
6. by the robot wrist towards laser precision machining described in claim 1 or 3, it is characterized in that: described B axle framework is provided with B axle outside jacket plates (11), described second reducing motor (9) and bevel gear reversing mechanism (10) are sealed in this B axle outside jacket plates (11).
7. by the robot wrist towards laser precision machining described in claim 1 or 3, it is characterized in that: described B axle framework is provided with belt wheel protection hood (12), described belt wheel transmission mechanism (13) is positioned at this belt wheel protection hood (12).
8. by the robot wrist towards laser precision machining described in claim 7, it is characterized in that: described belt wheel transmission mechanism comprises the first belt wheel (15), the second belt wheel (16) and gear band (17), wherein the first belt wheel (15) and described bevel gear reversing mechanism (10) interlock, the wheel shaft of the second belt wheel (16) is rotatably installed on B axle framework, and passed by B axle framework, connected described actuator, described first belt wheel (15) is connected by gear band (17) with between the second belt wheel (16).
9., by the robot wrist towards laser precision machining described in claim 1, it is characterized in that: longitudinal center line, the i.e. Y-axis of described first reducing motor (3) main shaft, with the turning cylinder of actuator turns, i.e. Z axis, intersect vertically mutually.
CN201310141324.2A 2013-04-23 2013-04-23 A kind of robot wrist towards laser precision machining CN104117990B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201310141324.2A CN104117990B (en) 2013-04-23 2013-04-23 A kind of robot wrist towards laser precision machining

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201310141324.2A CN104117990B (en) 2013-04-23 2013-04-23 A kind of robot wrist towards laser precision machining

Publications (2)

Publication Number Publication Date
CN104117990A CN104117990A (en) 2014-10-29
CN104117990B true CN104117990B (en) 2015-12-16

Family

ID=51763746

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201310141324.2A CN104117990B (en) 2013-04-23 2013-04-23 A kind of robot wrist towards laser precision machining

Country Status (1)

Country Link
CN (1) CN104117990B (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104493812A (en) * 2014-12-17 2015-04-08 魏运峰 Stacker robot
CN105034608A (en) * 2015-07-10 2015-11-11 辽宁科技大学 Industrial robot laser marking machine

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5497674A (en) * 1991-06-04 1996-03-12 Kawasaki Jukogyo Kabushiki Kaisha Industrial robot
CN1736652A (en) * 2004-08-20 2006-02-22 发那科株式会社 Laser processing robot system
CN201020718Y (en) * 2006-12-31 2008-02-13 比亚迪股份有限公司 Mechanical arm
CN102049783A (en) * 2009-11-10 2011-05-11 鸿富锦精密工业(深圳)有限公司 Robot structure
CN103029137A (en) * 2012-12-19 2013-04-10 北京配天大富精密机械有限公司 Robot wrist part, robot upper arm and arc welding robot
CN203197916U (en) * 2013-04-23 2013-09-18 中国科学院沈阳自动化研究所 Robot wrist for laser precise processing

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1094985A (en) * 1996-09-24 1998-04-14 Tokico Ltd Robot arm mechanism

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5497674A (en) * 1991-06-04 1996-03-12 Kawasaki Jukogyo Kabushiki Kaisha Industrial robot
CN1736652A (en) * 2004-08-20 2006-02-22 发那科株式会社 Laser processing robot system
CN201020718Y (en) * 2006-12-31 2008-02-13 比亚迪股份有限公司 Mechanical arm
CN102049783A (en) * 2009-11-10 2011-05-11 鸿富锦精密工业(深圳)有限公司 Robot structure
CN103029137A (en) * 2012-12-19 2013-04-10 北京配天大富精密机械有限公司 Robot wrist part, robot upper arm and arc welding robot
CN203197916U (en) * 2013-04-23 2013-09-18 中国科学院沈阳自动化研究所 Robot wrist for laser precise processing

Also Published As

Publication number Publication date
CN104117990A (en) 2014-10-29

Similar Documents

Publication Publication Date Title
JP3952955B2 (en) Articulated robot
CN103737578B (en) A kind of space multi-freedom-degreecontrollable controllable mechanism type fine setting welding robot
CN100393484C (en) Three-translation and one-rotation parallel mechanism
US8516920B2 (en) Robot arm assembly
CN101708611B (en) Parallel mechanism with three-dimensional translation and one-dimensional rotation
CN103029123B (en) Light-weight six-shaft universal robot
US20130118288A1 (en) Robot arm assembly
CN102441889A (en) Parallel-connection robot
CN102528817B (en) Three-degree-of-freedom parallel-connection mechanical wrist
US8607659B2 (en) Robotic arm assembly
JP2013052460A (en) Robot
CN103097087B (en) Comprise the industrial robot of parallel motion and operation device
CN103737209A (en) Welding robot with symmetrical mechanisms
US20110126661A1 (en) Industrial robot
TWI418452B (en) A wrist unit for an industrial robot
CN103737577B (en) A kind of Six-DOF industrial robot driven containing ball screw assembly,
CN105252521B (en) Multiple degrees of freedom industrial robot manipulator
CN103737208A (en) Multi-degree-of-freedom welding robot
CN101844350B (en) Three freedom degree parallel robot mechanism
CN102837306A (en) Electric push rod manipulator
CN102059696B (en) Parallel mechanism
CN201366596Y (en) Multi-axis linkage mechanism
CN102883859B (en) Industrial robot having an apparatus for driving an attachable/detachable four-bar link mechanism
CN103722552B (en) A kind of controllable multi-degree-of-freedom manipulator
US8429996B2 (en) Robot arm assembly

Legal Events

Date Code Title Description
PB01 Publication
C06 Publication
SE01 Entry into force of request for substantive examination
C10 Entry into substantive examination
GR01 Patent grant
C14 Grant of patent or utility model
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20151216

Termination date: 20170423

CF01 Termination of patent right due to non-payment of annual fee