CN104260089B - Five axis robot - Google Patents
Five axis robot Download PDFInfo
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- CN104260089B CN104260089B CN201410512458.5A CN201410512458A CN104260089B CN 104260089 B CN104260089 B CN 104260089B CN 201410512458 A CN201410512458 A CN 201410512458A CN 104260089 B CN104260089 B CN 104260089B
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Abstract
The invention discloses a kind of five axis robot, including vertical shell and horizontal, described horizontal is arranged on the top of described vertical shell；The parts being arranged in vertical shell include the first motor, screw mandrel, elevating bracket, the first main shaft and the second motor；The parts being arranged in horizontal include the 3rd motor, transmission assembly, spindle drum, the second main shaft, the 4th motor, the 5th motor, drive shaft, reductor, output flange；Horizontal is fixed in the top of the first main shaft；Also including that controller and driver, described controller electrically connect with described driver, described driver electrically connects with above-mentioned five motors.The beneficial effects of the present invention is: ensure horizontal space without the comprehensive operation in dead angle, can substitute for artificial lateral operation action completely；Meanwhile, what this programme used is all various general common accessories, reduces complete machine cost.
Description
Technical field
The present invention relates to industry mechanical arm field, particularly relate to five axis robot.
Background technology
Along with expanding economy, the progress of society, recruitment phenomenon in short supply is increasingly severe, particularly some danger
The work post of danger and post, be increasingly difficult to find suitable worker at the production line.And the progress of science and technology also makes different work
The enterprise of industry can introduce industry mechanical arm to substitute workman, but the machinery that domestic market occupation rate is higher
Hands is from external high-end six joints (six axles) and five joints (five axles) mechanical hand mostly, precision good but
Cost is high, need the personnel with high academic degrees of specialty through professional training could operation and maintenance, application cost and after
Phase maintenance cost is high, and the technological transformation innovation fund input for enterprise is a great burden.In particularly
Small enterprise, faces and can recruit without work, can use without work, but carry out technological transformation and put into the office of mechanical hand insufficient funds
Face.It addition, the multi-joint manipulator on market is all vertical, for some the narrowest working places such as
Punch press, hydraulic press, lathe etc. are the most inapplicable, easily produce spatial interference.And the machinery of some horizontal directions
Hands mostly is four axles, has that dead angle in working range is many, action simple question, it is impossible to meet Production requirement.
Summary of the invention
The technical problem to be solved is: for current imported mechanical hands price and applicating maintenance cost
Height, it is less that common vertical mechanical hands fits scope, the problem that four axle horizontal mechanical chiralitys can be low, it is provided that Yi Zhongwu
Axis robot.
In order to solve above-mentioned technical problem, the technical solution used in the present invention is: a kind of five axis robot, bag
Including vertical shell and horizontal, described horizontal is arranged on the top of described vertical shell；
The parts being arranged in vertical shell include the first motor, screw mandrel, elevating bracket, the first main shaft and second
Motor, described screw mandrel and described first main shaft are vertically located in vertical shell, described first motor and screw mandrel
Being in transmission connection, described elevating bracket is connected with screw rod transmission, and the first main shaft is arranged on the upside of elevating bracket, and described
Two motors are arranged on the downside of elevating bracket and are in transmission connection with the lower end of the first main shaft；
The parts being arranged in horizontal include the 3rd motor, transmission assembly, spindle drum, the second main shaft,
4th motor, the 5th motor, drive shaft, reductor, output flange, be located at described second major axis horizontal
In horizontal, described drive shaft is concentrically mounted to inside the second main shaft, described 3rd motor and described biography
Defeated assembly is in transmission connection, and described spindle drum is fixing with the transmission belt of transmission assembly to be connected, and the second main shaft is installed on
Spindle drum, described 4th motor is fixed on spindle drum and is connected with the second spindle drive, described 5th motor
It is fixed on the rear end of the second main shaft and is in transmission connection with drive shaft, before described reductor is installed on the second main shaft
End, drive shaft is connected with the input of reductor, and described output flange is connected with the outfan of reductor；
Horizontal is fixed in the top of the first main shaft；
Also include that controller and driver, described controller electrically connect with described driver, described driver with
Above-mentioned five motors electrical connection.
The beneficial effects of the present invention is: this machinery fingerprint personification body action, use five axle compositions, vertically
Two axles in housing can imitate the foot of human body and the action of waist, and the lifting and the horizontal direction that carry out vertical direction are whole
Body spinning movement；Three axles in horizontal can simulate the action of staff, carries out horizontal direction and stretches, rotates
And the local spinning movement of end, use such design structure to can ensure that the entirely square without dead angle of horizontal space
Bit manipulation, can substitute for artificial lateral operation action completely；Meanwhile, what this programme used is all various general
Logical universal accessories, reduces complete machine cost.
Accompanying drawing explanation
Fig. 1 is the perspective cross section schematic diagram of five axis robot of the embodiment of the present invention.
Label declaration:
100, vertical shell；1, the first motor；2, screw mandrel；3, elevating bracket；4, the first main shaft；
5, the second motor；6, torsion balance dish；7, reduction gearing array；
200, horizontal；8, the 3rd motor；9, transmission assembly；10, spindle drum；11, the second main shaft；
12, the 4th motor；13, the 5th motor；14, drive shaft；15, reductor；16, output flange；
17, controller；18, driver；19, driving wheel；20, cable-pulling chain.
Detailed description of the invention
By describing the technology contents of the present invention in detail, being realized purpose and effect, below in conjunction with embodiment also
Accompanying drawing is coordinated to be explained in detail.
The design of most critical of the present invention is:
Referring to Fig. 1, a kind of five axis robot, including vertical shell 100 and horizontal 200, described water
Flat housing 200 is arranged on the top of described vertical shell 100.
The parts being arranged in vertical shell 100 include that the first motor 1, screw mandrel 2, elevating bracket 3, first are main
Axle 4 and the second motor 5, described screw mandrel 2 and described first main shaft 4 are vertically located in vertical shell 100,
Described first motor 1 is in transmission connection with screw mandrel 2, and described elevating bracket 3 is in transmission connection with screw mandrel 2, and first is main
Axle 4 is arranged on the upside of elevating bracket 3, described second motor 5 be arranged on the downside of elevating bracket 3 and with the first main shaft 4
Lower end be in transmission connection.
The parts being arranged in horizontal 200 include the 3rd motor 8, transmission assembly 9, spindle drum 10, the
Two main shaft the 11, the 4th motor the 12, the 5th motors 13, drive shaft 14, reductor 15, output flange 16,
Described second main shaft 11 is horizontally arranged in horizontal 200, and described drive shaft 14 is concentrically mounted to
Two main shafts 11 are internal, and described 3rd motor 8 is in transmission connection with described transmission assembly 9, described spindle drum 10
Fixing with the transmission belt of transmission assembly 9 and be connected, the second main shaft 11 is installed on spindle drum 10, described 4th motor
12 are fixed on spindle drum 10 and are in transmission connection with the second main shaft 11, and described 5th motor 13 is fixed on second
The rear end of main shaft 11 is also in transmission connection with drive shaft 14, and described reductor 15 is installed on the second main shaft 11
Front end, drive shaft 14 is connected with the input of reductor 15, described output flange 16 and reductor 15
Outfan connects.
Horizontal 200 is fixed in the top of the first main shaft 4.
Also include that controller 17 and driver 18, described controller 17 electrically connect with described driver 18, institute
State driver 18 to electrically connect with above-mentioned motor.
Knowable to foregoing description, the beneficial effects of the present invention is: this machinery fingerprint personification body action, use
Five axle compositions, two axles in vertical shell can imitate the foot of human body and the action of waist, carry out vertical direction
Lifting and horizontal direction integral-rotation action；Three axles in horizontal can simulate the action of staff, carries out water
Square to flexible, rotate and the local spinning movement of end, use such design structure to can ensure that laterally
Space without the comprehensive operation in dead angle, can substitute for artificial lateral operation action completely；Meanwhile, this programme
Use is all various general common accessories, reduces complete machine cost.
Further, also include torsion balance dish 6, be provided with in described torsion balance dish 6 and can the elasticity of pretension send out
Bar, described elastic clockwork spring is connected with described elevating bracket 3.
By foregoing description, use torsion balance dish can play counteracting by the pretension of elastic clockwork spring all
The gravity of the Lift Part being arranged on elevating bracket, the first motor can be driven on whole with the least power consumption
First main shaft in portion and the lifting of horizontal.
Further, between described second motor 5 and described first main shaft 4 by reduction gearing array 7 even
Connect.
By foregoing description, when the second motor rotates, can be more easily by reduction gearing array
Driving vertical first main shaft and be arranged on and then rotation together with horizontal on the first main shaft, such second motor is just
The motor of the high pulling torque of costliness need not be selected.
Further, described second main shaft 11 is connected with a driving wheel 19, described 4th motor 12 and institute
State driving wheel 19 to be in transmission connection.
Further, described controller 17 and driver 18 are installed on the inside of described vertical shell 100.
By foregoing description, by built-in to controller and driver, can avoid mechanical hand in use due to
External factor causes controller or driver to occur damaging.
Further, the sidewall of described horizontal 200 is provided with cable-pulling chain 20.
Knowable to foregoing description, by the cable that arranges cable-pulling chain to avoid to be connected to mechanical hand at mechanical hand
There is problems such as damaging, come off in motion frequently.
Further, described reductor 15 is provided with gas, electrical interface provides corresponding output for follow procedure.
Knowable to foregoing description, mechanical hand can carry out different by the distinct device that gas, electrical interface connect
Work.
Further, described first motor the 1, second motor the 5, the 3rd motor the 8, the 4th motor 12 and the 5th
Motor 13 is all motor.
Knowable to foregoing description, all motors all use motor can be greatly reduced the power of motor of driving,
Reach energy-conservation purpose.
Refer to Fig. 1, embodiments of the invention one are: a kind of five axis robot, including vertical shell 100 He
Horizontal 200.
The parts being arranged in vertical shell 100 include that the first motor 1, screw mandrel 2, elevating bracket 3, first are main
Axle 4 and the second motor 5, screw mandrel 2 and the first main shaft 4 be vertically located in vertical shell 100, screw mandrel 2
Two ends are fixed in vertical shell 100, in the guide rail in the first main shaft 4 receiving and vertical shell 100, the
One motor 1 is in transmission connection with screw mandrel 2, and elevating bracket 3 is in transmission connection with screw mandrel 2, and the first main shaft 4 is arranged on
On the upside of elevating bracket 3, the second motor 5 is arranged on the downside of elevating bracket 3 and with the lower end transmission of the first main shaft 4 even
Connect.First motor 1 drives screw mandrel 2 to rotate by belt so that elevating bracket 3 can move down along screw mandrel 2
Move, and then the first main shaft 4 allowed on elevating bracket 3 moves up and down；Meanwhile, the output of the second motor 5
Axle is connected to the lower end of the first main shaft 4 by reduction gearing row 7 gusts, and such second motor 5 just can drive the
One main shaft 4 rotates.Meanwhile, elevating bracket 3 is also equipped with a torsion balance dish 6, torsion balance
Be provided with in dish 6 can the elastic clockwork spring of pretension, be connected with elevating bracket 3 by elastic clockwork spring.
The parts being arranged in horizontal 200 include the 3rd motor 8, transmission assembly 9, spindle drum 10, the
Two main shaft the 11, the 4th motor the 12, the 5th motors 13, drive shaft 14, reductor 15, output flange 16.
Second main shaft 11 is horizontally arranged in horizontal 200, and drive shaft 14 is concentrically mounted to the second main shaft 11
Internal.3rd motor 8 is in transmission connection with transmission assembly 9, and transmission assembly 9 can be a kind of V belt translation assembly,
Belt wheel is located at two ends before and after horizontal 200, belt wheel installs transmission belt, so make spindle drum 10 with
The transmission belt of transmission assembly 9 is fixing to be connected, and so just can drive spindle drum by the rotation of the 3rd motor 8
10 move horizontally in horizontal along its track.Second main shaft 11 is installed on spindle drum 10, the 4th motor
12 are fixed on spindle drum 10, and drive by the driving wheel 19 being arranged on the second main shaft 11
Two main shafts 11 rotate.5th motor 13 is fixed on the rear end of the second main shaft 11 and connects with drive shaft 14 transmission
Connecing, such 5th motor 13 just can drive drive shaft 14 to rotate, and reductor 15 is installed on second further
The front end of main shaft 11, drive shaft 14 is connected with the input of reductor 15, output flange 16 and reductor
The outfan of 15 connects, and this makes it possible to be driven by the 5th motor 13 be installed on output flange 16
Executive item rotates；And owing to reductor 15 is provided with gas, electrical interface, executive item just can be according to controller
The program preset in 17 carries out action.
Horizontal 200 is fixed in the top of the first main shaft 4, so just may be used by the rotation of the first main shaft 4
To drive horizontal 200 to rotate.It addition, be provided with cable-pulling chain on the sidewall of horizontal 200
20 are used for installing the cable of access mechanical hand and preventing these cables from coming off or damaging.
Controller 17 and driver 18 are installed on the inside of vertical shell 100, controller 17 and driver 18
Electrical connection, driver 18 electrically connects with above-mentioned five motors, and these five motors are all motor.
The basic structure of " the circular cylindrical coordinate machinery hands " of the design reference standard of this mechanical hand improves, by
Various universal electrics and mechanical part composition, apply equilibrium principle cleverly, excavate the performance of each component as far as possible,
Accomplish low cost, in high precision；And overall structure is the compactest, mechanically and electrically subdivision is combined into one
Body, is significantly reduced floor space.
This equipment can be according to actually used situation, by human computer conversation's formula control system of independent research, this
Manipulator design becomes the equipment of " fool " formula, makes common low academic also can quickly operate by left-hand seat, solves
Problem in application.Specifically, by using a hand-held teaching box to realize human computer conversation, the most permissible
Control machine very easily to run.When programming, by the most hand-held teaching box, staff drags machine and exists
The space tracking turning point that need to run takes a little, generates a line segment track with every 2, and multiple line segments are linked to be multiple
Miscellaneous broken line movement locus, machine records calculating automatically.Completing in programming, machine automatically generates track journey
Sequence, is pressing run switch every time, then machine is carried out playing back work by the track originally recorded.In programming
During, input and output external connection signal can be enrolled, to control other equipment outside and this mechanical hand
Linkage and synchronization action.
In sum, the present invention provide five axis robot can ensure that horizontal space without the comprehensive behaviour in dead angle
Make, can substitute for artificial lateral operation action completely；Meanwhile, what this programme used is all various common logical
With accessory, reduce complete machine cost；Further, the present invention be conducive to common low academic Fast Learning and
Use.
The foregoing is only embodiments of the invention, not thereby limit the scope of the claims of the present invention, every profit
The equivalents made by description of the invention and accompanying drawing content, or directly or indirectly it is used in relevant technology
Field, is the most in like manner included in the scope of patent protection of the present invention.
Claims (7)
1. an axis robot, it is characterised in that include vertical shell and horizontal,
Described horizontal is arranged on the top of described vertical shell；
The parts being arranged in vertical shell include the first motor, screw mandrel, elevating bracket, the first master
Axle and the second motor, described screw mandrel and described first main shaft are vertically located in vertical shell, institute
Stating the first motor to be connected with screw rod transmission, described elevating bracket is connected with screw rod transmission, the first main shaft
Be arranged on the upside of elevating bracket, described second motor be arranged on the downside of elevating bracket and with the first main shaft
Lower end is in transmission connection；
The parts being arranged in horizontal include the 3rd motor, transmission assembly, spindle drum, the
Two main shafts, the 4th motor, the 5th motor, drive shaft, reductor, output flange, described
Being located in horizontal, described drive shaft is concentrically mounted in the second main shaft two major axis horizontal
Portion, described 3rd motor is in transmission connection with described transmission assembly, described spindle drum and transmission assembly
Transmission belt fixing connect, the second main shaft is installed on spindle drum, and described 4th motor is fixed on master
Being connected on axle bed and with the second spindle drive, described 5th motor is fixed on the rear end of the second main shaft
And be in transmission connection with drive shaft, described reductor is installed on the front end of the second main shaft, drive shaft with
The input of reductor connects, and described output flange is connected with the outfan of reductor；
Horizontal is fixed in the top of the first main shaft；
Also including controller and driver, described controller electrically connects with described driver, described
Driver electrically connects with above-mentioned five motors；
Also include torsion balance dish, be provided with in described torsion balance dish can the elastic clockwork spring of pretension,
Described elastic clockwork spring is connected with described elevating bracket.
Five axis robot the most according to claim 1, it is characterised in that described second
It is connected by reduction gearing array between motor with described first main shaft.
Five axis robot the most according to claim 1, it is characterised in that described second
Being connected with a driving wheel on main shaft, described 4th motor is in transmission connection with described driving wheel.
Five axis robot the most according to claim 1, it is characterised in that described control
Device and driver are installed on the inside of described vertical shell.
Five axis robot the most according to claim 1, it is characterised in that at described water
The sidewall of flat housing is provided with cable-pulling chain.
Five axis robot the most according to claim 1, it is characterised in that described deceleration
Machine is provided with gas, electrical interface provides corresponding output for follow procedure.
Five axis robot the most according to claim 1, it is characterised in that described first
Motor, the second motor, the 3rd motor, the 4th motor and the 5th motor are all motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410512458.5A CN104260089B (en) | 2014-09-29 | 2014-09-29 | Five axis robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410512458.5A CN104260089B (en) | 2014-09-29 | 2014-09-29 | Five axis robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104260089A CN104260089A (en) | 2015-01-07 |
| CN104260089B true CN104260089B (en) | 2016-08-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410512458.5A Active CN104260089B (en) | 2014-09-29 | 2014-09-29 | Five axis robot |
Country Status (1)
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Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5071237B2 (en) * | 2008-05-16 | 2012-11-14 | 株式会社デンソーウェーブ | 5-axis origin position calibration method for 6-axis robot, 6-axis robot controller, articulated robot axis origin position calibration method, and articulated robot controller |
| CN202952265U (en) * | 2012-11-08 | 2013-05-29 | 周武 | Five-axis intelligent manipulator |
| CZ307472B6 (en) * | 2012-11-27 | 2018-10-03 | Fite A.S. | A universal multi-purpose robotic arm with a semi-automatic and automatic effector |
| CN103737587B (en) * | 2014-01-23 | 2016-07-06 | 昆山威创精密机械有限公司 | Intelligence five axis robot |
| CN204076260U (en) * | 2014-09-29 | 2015-01-07 | 黄国俊 | Five axis robot |
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2014
- 2014-09-29 CN CN201410512458.5A patent/CN104260089B/en active Active
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| Publication number | Publication date |
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| CN104260089A (en) | 2015-01-07 |
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