CN104493820A - Robot front-end arm based on rear-mounted wrist point motor - Google Patents
Robot front-end arm based on rear-mounted wrist point motor Download PDFInfo
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- CN104493820A CN104493820A CN201410811264.5A CN201410811264A CN104493820A CN 104493820 A CN104493820 A CN 104493820A CN 201410811264 A CN201410811264 A CN 201410811264A CN 104493820 A CN104493820 A CN 104493820A
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Abstract
The invention provides a robot front-end arm based on a rear-mounted wrist point motor. A robot terminal executor is arranged at the forefront of the front-end arm; the front-end arm comprises a speed reducer and a motor; the speed reducer and the motor are coaxial; the axis of the speed reducer and the axis of the motor pass through a wrist point of the front-end arm; the speed reducer is arranged at the rear of the wrist point; the motor is arranged at the rear of the speed reducer; and the motor is connected with the speed reducer through a motor shaft. The driving motor of the front-end arm is placed at the rear end of the wrist point of a wrist of the front-end arm, the center of gravity moves backwards, the stability of a whole structure of a robot is improved, and the problem of instability due to over-large inertia and over-large overshooting in a moving process is solved, and the robot is lightweight in structure and is intelligent.
Description
Technical field
The invention belongs to field in intelligent robotics, be specifically related to a kind of robot front end arm based on wrist point motor postposition.
Background technology
Intelligent robot is as high accuracy, the agility process equipment of high flexibility, serves as the assistant of the mankind in different fields, or (workload is large at rugged environment, dangerous strong) in replace the mankind and work alone, ensure that product quality and production efficiency.At present, rapidly, application starts to nonmanufacturing industry and service trade expansion in the sector development.The raising of the development swift and violent along with industrial robot and intelligent robot level, current industrial robot is applied in field in many ways, and a lot of factory is still based on handwork at home, the market that industrial robot is wide and development are at a high speed accelerated domestic automatic field and are strided forward to the new epoch.
China's intelligent industrial robot research is more lays particular emphasis on technological innovation, and ignore robot body structure lightweight, intelligentized optimal design, the high-quality performance of the industrial robot of articulated arm makes it obtain in each field of industry to use widely, but in engineering, the difficulty in many engineerings has been encountered in multiarticulate research, especially the problem such as length, weight, center of gravity of front end arm.Joint is many and mechanical arm that is length is difficult to due to huge weight apply in practice, and the bottleneck problem in weight issue is driver element problem.The main body of current driving is motor, and the weight of motor, center of gravity are problems to be solved, the installation site of motor and quantity thereof are then direct acting factors, are all motor is fixed on joint to drive arm in traditional multiple articulated type arm design.To a long and heavier multiple joint manipulator, a kind of like this structure cannot obtain application, and due to the increasing of motional inertia, the increasing of overshoot, must cause Controller gain variations complicated in motion planning.
Summary of the invention
The object of the invention is to design a kind of robot front end arm based on wrist point motor postposition method, the drive motors of front end arm is placed in the rear end of wrist wrist point, center of gravity also will move to backward, enhance the integrally-built stability of robot, solve in motion process, inertia excessive, the unstability that the increasing of overshoot brings, makes robot architecture's lightweight, intellectuality.
Technical scheme of the present invention is: a kind of robot front end arm based on wrist point motor postposition, and the wrist point forefront of described front end arm arranges end effector of robot; Described front end arm comprises reductor and motor; Described reductor and motor coaxle are arranged, and axis crosses the wrist point of front end arm; Described reductor after described motor is arranged at reductor, and is connected by motor shaft between motor with reductor after being arranged at wrist point.
Further, the distance between described wrist point and reductor front end face is 22-25mm.
Further, the distance between described reductor rear end face and motor front end face is 24-26mm.
Further, the distance between the front end face of described end effector of robot and wrist point is 115-125mm.
The invention has the beneficial effects as follows:
(1) drive motors of front end arm is placed in the rear end of wrist wrist point, center of gravity also will move to backward, enhance the integrally-built stability of robot, solve in motion process, inertia excessive, the unstability that the increasing of overshoot brings.Move the movement mechanism apparatus such as bearing, shaft retaining ring, reductor not affecting wrist joint wrist point place after motor, improve the flexibility of arm, add the compliant motion in space.Make robot architecture's lightweight, intellectuality.Front end reductor gyration puts reductor end by motor transmission power in robot arm, and reductor outwards exports transfer motion power by flange, the simple and flexible movements of structure.The lightweight quantification in front end can be ensured, can power demand be met again, thus realize the requirement of " lightweight ", " high speed " of mechanical arm.
(2) drive motors of front end arm is placed in the rear end of wrist wrist point, the wrist point of end effector of robot distance wrist is nearer, and space is less, more flexible to make end effector be the centre of sphere with wrist point.
(3) can, by front end gripper unit, be applied in the robot of other models, there is good versatility and certain extensibility.
Accompanying drawing explanation
Fig. 1 is robot of the present invention front end arm wrist point motor postposition schematic diagram.
Fig. 2 is robot arm joint structural representation of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is further illustrated.
As shown in Figure 1, a kind of robot front end arm 10 based on wrist point motor postposition, (wrist point: robot arm joint drives based on motor, reductor, this point of the spaced winding of two joint of robot rotates the wrist point of described front end arm 10.) forefront arranges end effector of robot 11.Described front end arm comprises reductor 8 and motor 7.Described reductor 8 and motor 7 are coaxially arranged, and axis crosses the wrist point of front end arm; After described reductor 8 is arranged at wrist point, after described motor 7 is arranged at reductor 8, and be connected by motor shaft between motor 7 with reductor 8.Distance between described wrist point and reductor 8 front end face is 23.5mm.Distance between described reductor 8 rear end face and motor 7 front end face is 25mm.Distance between the front end face of described end effector of robot 11 and wrist point is 120mm.
The drive motors of front end arm is placed in the rear end of wrist wrist point by the present invention, and center of gravity also will move to backward, enhances the integrally-built stability of robot, solves in motion process, inertia excessive, the unstability that the increasing of overshoot brings.Move the movement mechanism apparatus such as bearing, shaft retaining ring, reductor not affecting wrist joint wrist point place after motor, improve the flexibility of arm, add the compliant motion in space.Make robot architecture's lightweight, intellectuality.Front end reductor gyration puts reductor end by motor transmission power in robot arm, and reductor outwards exports transfer motion power by flange, the simple and flexible movements of structure.The lightweight quantification in front end can be ensured, can power demand be met again, thus realize the requirement of " lightweight ", " high speed " of mechanical arm.
The drive motors of front end arm is placed in the rear end of wrist wrist point, the wrist point of end effector of robot distance wrist nearer (distance between the front end face of existing robot front end arm end effector and wrist point is the shortest also wants 225mm, and the distance in the present invention between the front end face of end effector and wrist point can shorten to 120mm) makes end effector be the centre of sphere with wrist point, and space is less, more flexible.
Based on the exploitativeness of foregoing invention, can, by front end gripper unit, be applied in the robot of other models, there is good versatility and certain extensibility.
As shown in Figure 2, the free degree n=6 of the total assembling structure of robot, integrated model is primarily of base, shoulder foundry goods, the first arm, elbow joint, the second arm, a few part composition of wrist.Its particularity is, wrist wrist point place, joint, front end adopts motor postposition method, motor is arranged on wrist point rear and carrys out Direct driver arm front end speed reducer device.
First, the main task of base supports and complete arm revolution, realizes its motion in whole space.Work drive motor 1 on base is fixed on Ws axle (Ws refers to: robot base waist joint) base, and rotates reductor flexibly and connects.The profile of base adopts circular configuration, all respectively there is a boss on its four limits, is fixed on by base on operating desk, makes it ensure the stability of motion when doing the larger motion of momentum.
The motor 2 of shoulder foundry goods is fixed on Sh (Sh refers to: robot shoulder joint) and takes on foundry goods, and the opereating specification of the first arm is determined, for balancing the motion of arm along the range of movement at shoulder foundry goods reductor place with arm.By hollow decelerator by power transmission on the gear be fixed on the first arm, drive the revolution of the first arm.The inner chamber of the first arm adopts hollow curved boom structural design, is convenient to the installation therein of drag chain and cable and tracheae and transmission.
Motor 3 on first arm is fixed on Eb (Eb refers to: robot ' s arm joint) the first arm foundry goods, and motor shaft Direct driver reductor makes the second arm do oscillating motion along hollow reducer.
Motor 4 on elbow joint is fixed on Rt (Rt refers to: Robot elbow joint) elbow foundry goods joint, motor output power is by synchronously bringing transmission, toothed belt transmission is little, lightweight with its volume, structure is simple and gearratio accurate, and ensure that the flexibility of arm motion and the accuracy of location.
The motor 5 of the second arm is fixed on Bn (Bn refers to: robot horizontal) arm foundry goods, and synchronizing wheel drives Timing Belt, meanwhile, ensure that the normal rotation in the continuity that Timing Belt transmits and joint.The continuity of toothed belt transmission is not by the impact of joint rotation.Each arm not only can independently move, and also can move simultaneously.
The motor 6 of wrist is fixed in Tr (Tr refers to: robot forearm joint) forearm foundry goods, center of gravity also will move to rear, enhance the integrally-built stability of robot, solve in motion process, inertia excessive, the unstability that the increasing of overshoot brings, makes robot architecture's efficient and light weight operate.
The range of movement of the second arm is subject to the restriction of its structure.Before the motion of arm arrives locations of structures, it must be made automatically to stop.The limit of sports record position of the second arm makes arm joint stop rotation, if arm motion is to desired position, make joint stop rotation by controller, arm is parked in arrived position.To recover the motion of arm, can by controller opens, arm recovers original motion.When arm motion is to extreme position, brake simultaneously, arm stop motion.
The present invention is a kind of robot architecture's optimization method based on wrist point motor postposition method of design.The work characteristics of analysis robot and basic demand, Optimal Structure Designing is carried out to robot front end arm, and based on robot front end wrist wrist point motor postposition, arm size obtains optimum data, determine the key dimension of robot front end wrist, make robot architecture's optimization.
Set up based on wrist point motor postposition robot wrist cast model in the present invention, the model of 3D robot is imported in finite element analysis software ANSYS, it is carried out to the model analysis of complete machine, obtain its intrinsic frequency, for avoiding resonance in work, and provide fundamental basis for later structure optimization.Main consideration is about the driver element center of gravity problem of joint weight.The installation site of motor and quantity thereof are then direct acting factors, are all motor is fixed on joint to drive arm in traditional multiple articulated type arm design.
The present invention carries out accuracy Design consideration to robot, first differential transform method is used to establish the error model of welding robot, error analysis is carried out to robot, then analyzes the susceptibility of each joint error, finally give manufacturing tolerance and the comprehensive expression formula of rigging error equally accurate.By the motor postposition of robot front end arm in wrist point, alleviate robot arm front end load, and improve the sensitivity of mechanical arm motor activity.
The loading condition of the equipment in the present invention is very complicated, when meeting lifting force, guarantees the Rigidity and strength characteristic of robot architecture's device, meets work characteristics and the base regime requirement of robot.
The present invention design on power transmission, main implementing method is: after moving to wrist point after the power set of front end, by motor shaft by power transmission to front end reductor, power transmission is outwards transmitted power to front end flange by reductor.Motor postposition does not affect the movement mechanism apparatus such as bearing, shaft retaining ring, reductor at wrist joint wrist point place, improves the flexibility of arm, adds the compliant motion in space, the simple and flexible movements of structure.The lightweight quantification in front end can be ensured, can power demand be met again.
A kind of robot architecture's optimization method based on wrist point motor postposition method of the present invention, the feature of the drive system of robot is that the quality of drive system wants light as far as possible, and the power output of unit mass wants high, and efficiency also wants high; Reaction speed wants fast, and namely require that moment mass ratio and moment rotary inertia are than large, can start braking continually, rotating switches; Drive flexible as far as possible, offset deviation and velocity deviation little; Safe and reliable; Operation and maintenance is convenient; Reasonable in economy, especially will reduce usage space as far as possible.
The part that the present invention does not relate to prior art that maybe can adopt same as the prior art is realized.
Although the present invention with preferred embodiment disclose as above, so itself and be not used to limit the present invention.Persond having ordinary knowledge in the technical field of the present invention, without departing from the spirit and scope of the present invention, when being used for a variety of modifications and variations.Therefore, protection scope of the present invention is when being as the criterion depending on those as defined in claim.
Claims (4)
1., based on a robot front end arm for wrist point motor postposition, the wrist point forefront of described front end arm arranges end effector of robot (11); It is characterized in that: comprise reductor (8) and motor (7); Described reductor (8) and motor (7) are coaxially arranged, and axis crosses the wrist point of front end arm; After described reductor (8) is arranged at wrist point, after described motor (7) is arranged at reductor (8), and be connected by motor shaft between motor (7) with reductor (8).
2. a kind of robot front end arm based on wrist point motor postposition according to claim 1, is characterized in that: the distance between described wrist point and reductor (8) front end face is 22-25mm.
3. a kind of robot front end arm based on wrist point motor postposition according to claim 1, is characterized in that: the distance between described reductor (8) rear end face and motor (7) front end face is 24-26mm.
4. a kind of robot front end arm based on wrist point motor postposition according to claim 1, is characterized in that: the distance between the front end face of described end effector of robot (11) and wrist point is 115-125mm.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410811264.5A CN104493820B (en) | 2014-12-23 | 2014-12-23 | A kind of robot front end arm based on wrist point motor postposition |
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| CN201410811264.5A CN104493820B (en) | 2014-12-23 | 2014-12-23 | A kind of robot front end arm based on wrist point motor postposition |
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| CN104493820A true CN104493820A (en) | 2015-04-08 |
| CN104493820B CN104493820B (en) | 2016-09-14 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109175999A (en) * | 2018-09-25 | 2019-01-11 | 苏州富强科技有限公司 | To the assembling structure and assembly method of axis mechanism, robot assembly |
| CN110962125A (en) * | 2019-12-05 | 2020-04-07 | 齐鲁工业大学 | Cutting machining robot body parameter description method based on sensitivity analysis |
| CN111660287A (en) * | 2020-05-20 | 2020-09-15 | 湖南科技职业学院 | Industrial robot composite clamp |
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| CN202763838U (en) * | 2012-09-28 | 2013-03-06 | 天津通广集团谷津高科技有限公司 | Rear-motor transmission structure for fifth shaft and sixth shaft of multi-joint industrial robot |
| CN103707292A (en) * | 2013-12-30 | 2014-04-09 | 上海交通大学 | Six-degree-of-freedom industrial robot based on X-Y-Z rectangular coordinate joint and posture wrist |
| CN204366957U (en) * | 2014-12-23 | 2015-06-03 | 南京熊猫电子股份有限公司 | A kind of robot front end arm based on wrist point motor postposition |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109175999A (en) * | 2018-09-25 | 2019-01-11 | 苏州富强科技有限公司 | To the assembling structure and assembly method of axis mechanism, robot assembly |
| CN109175999B (en) * | 2018-09-25 | 2023-08-29 | 苏州富强科技有限公司 | Assembly structure and assembly method of shaft aligning mechanism and robot assembly |
| CN110962125A (en) * | 2019-12-05 | 2020-04-07 | 齐鲁工业大学 | Cutting machining robot body parameter description method based on sensitivity analysis |
| CN110962125B (en) * | 2019-12-05 | 2022-10-04 | 齐鲁工业大学 | Cutting machining robot body parameter description method based on sensitivity analysis |
| CN111660287A (en) * | 2020-05-20 | 2020-09-15 | 湖南科技职业学院 | Industrial robot composite clamp |
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| CN104493820B (en) | 2016-09-14 |
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