CN104786211B - A kind of Six-DOF industrial robot containing ball screw assembly, - Google Patents

A kind of Six-DOF industrial robot containing ball screw assembly, Download PDF

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Publication number
CN104786211B
CN104786211B CN201510221979.XA CN201510221979A CN104786211B CN 104786211 B CN104786211 B CN 104786211B CN 201510221979 A CN201510221979 A CN 201510221979A CN 104786211 B CN104786211 B CN 104786211B
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revolute pair
ball
fixed
rod
servomotor
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CN104786211A (en
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邰召勤
张良安
万俊
王梦涛
余亮
谭玉良
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ANHUI HUACHUANG INTELLIGENT EQUIPMENT Co Ltd
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ANHUI HUACHUANG INTELLIGENT EQUIPMENT Co Ltd
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Abstract

The present invention discloses a kind of Six-DOF industrial robot containing ball screw assembly, belongs to Industrial Robot Technology field.This robot is made up of waist slew gear, shoulder slew gear, ancon slew gear, wrist luffing mechanism, wrist slew gear and wrist deflection mechanism.The present invention utilizes ball-screw-transmission principle, the deceleration achieving the servo motor output shaft be attached thereto increases turns round function, without the need to buying, expensive RV decelerator or harmonic speed reducer are installed, reduce processing and manufacturing maintenance cost, the drive unit of this Six-DOF industrial robot shoulder slew gear, ancon slew gear, wrist luffing mechanism, wrist slew gear is defined with servomotor, and this drive unit is all installed on waist shell, achieves this Six-DOF industrial robot and there is the performances such as high accuracy, high rigidity, high reliability, high load capacity.

Description

A kind of Six-DOF industrial robot containing ball screw assembly,
Technical field:
The invention belongs to Industrial Robot Technology field, be specifically related to a kind of Six-DOF industrial robot containing ball screw assembly.
Background technology:
The effect of industrial robot in current assembling manufacturing industry seems particularly outstanding, be widely used in the automated production fields such as electronics, chemical industry, automobile, machinery, food, medicine, complete the high-speed job such as such as vanning, piling, welding, assembling, spraying, sorting, detection, especially the production application of tandem type Six-DOF industrial robot, substantially increase production efficiency, improve product quality.At present, existing tandem type Six-DOF industrial robot mostly adopts installs servomotor and the drive unit such as RV decelerator or harmonic speed reducer at each movable joint place, driven machine people operation, such as ABB six-DOF robot, FANUC six-DOF robot, KUKA six-DOF robot, YASKAWA Six-DOF industrial robot etc.Owing to arranging above-mentioned driving device structure at movable joint place, cause existing tandem type industrial robot to be arranged on the parallel connection type industrial robot at frame place relative to drive unit, there is the performance deficiencies such as movement inertia is large, poor rigidity, dynamic response are poor, end cumulative errors are large, running precision is low, reliability is low.Further, due to RV decelerator or harmonic speed reducer expensive, in tandem type industrial robot, each movable joint place arranges RV decelerator or harmonic speed reducer, then add processing and manufacturing cost and the maintenance cost of tandem type industrial robot.
Summary of the invention:
The object of the invention is to overcome above-mentioned deficiency of the prior art, a kind of Six-DOF industrial robot containing ball screw assembly, is provided, this robot can improve the deficiency of existing tandem type industrial robot in rigidity, running precision, reliability etc., and reduces processing and manufacturing cost and the maintenance cost of Six-DOF industrial robot.
A kind of Six-DOF industrial robot containing ball screw assembly, provided by the present invention is made up of waist slew gear, shoulder slew gear, ancon slew gear, wrist luffing mechanism, wrist slew gear and wrist deflection mechanism.
Described waist slew gear comprises the first servomotor 12, RV decelerator 11, base 13 and rotary support 10, described first servomotor 12 is fixed in the inside of described rotary support 10, described RV decelerator 11 is affixed with described base 13, and described rotary support 10 realizes waist gyration by described first servomotor 12 and RV decelerator 11 relative to described base 13.
Described shoulder slew gear comprises the second servomotor 22, first bevel gear group 23, first ball-screw 14, first feed screw nut 21, first feed screw nut seat 20, first slide block group 19, first set of rails 18, shoulder base 17, front large arm 15 and the first revolute pair 16, described second servomotor 22 is fixed in the lateral wall of described rotary support 10, described first set of rails 18 is fixed in the madial wall of described rotary support 10, one end of described first ball-screw 14 is fixed in the madial wall of described rotary support 10, described first ball-screw 14 be arranged in parallel with described first set of rails 18, described first bevel gear group 23 is fixed in the output shaft of described second servomotor 22 and the other end of described first ball-screw 14 respectively, described first feed screw nut 21 is fixed in described first feed screw nut seat 20, described first feed screw nut 21 is arranged in described first ball-screw 14, described first feed screw nut seat 20 is fixed in described first slide block group 19, described shoulder base 17 is fixed in described first slide block group 19, described first slide block group 19 is arranged in described first set of rails 18, one end of described front large arm 15 is connected with described shoulder base 17 by described first revolute pair 16, the other end of described front large arm 15 is connected with forearm 28 by the 6th revolute pair 27.
Described ancon slew gear comprises the 3rd servomotor 1, first Timing Belt wheels 5, second ball-screw 24, first Timing Belt 4, second feed screw nut 25, second feed screw nut seat 30, second slide block group 31, second set of rails 29, rear large arm 36, first connecting rod 34, forearm 28, second revolute pair 32, 3rd revolute pair 35, 4th revolute pair 33, 5th revolute pair 26 and the 6th revolute pair 27, described 3rd servomotor 1 is fixed in the outside of described rotary support 10, described second set of rails 29 is fixed in the madial wall of described rotary support 10, one end of described second ball-screw 24 is fixed in described rotary support 10 madial wall, described second ball-screw 24 be arranged in parallel with described second set of rails 29, described first Timing Belt wheels 5 are fixed in the other end of described 3rd servomotor 1 output shaft and described second ball-screw 24 respectively, described first Timing Belt 4 is arranged on described first Timing Belt wheels 5, described second feed screw nut 25 is fixed in described second feed screw nut seat 30, described second feed screw nut 25 is arranged in described second ball-screw 24, described second feed screw nut seat 30 is fixed in described second slide block group 31, described second slide block group 31 is arranged in described second set of rails 29, one end of described rear large arm 36 is connected with described second slide block group 31 by described second revolute pair 32, one end of described first connecting rod 34 is connected with described shoulder base 17 by described 3rd revolute pair 35, one end of described rear large arm 36 is connected with the other end of described first connecting rod 34 by described 4th revolute pair 33, described forearm 28 is connected by the other end of described 5th revolute pair 26 with described rear large arm 36.
Described wrist luffing mechanism comprises the 4th servomotor 2, second Timing Belt wheels 7, 3rd ball-screw 46, second Timing Belt 6, 3rd feed screw nut 47, 3rd feed screw nut seat 48, 3rd slide block group 50, 3rd set of rails 51, second connecting rod 45, third connecting rod 53, double leval jib 38, 5th connecting rod 39, wrist seat 42, 7th revolute pair 52, 8th revolute pair 54, 9th revolute pair 49, tenth revolute pair 43, 11 revolute pair 44, 12 revolute pair 37, 13 revolute pair the 40 and the 14 revolute pair 41, described 4th servomotor 2 is fixed in the outside of described rotary support 10, described 3rd set of rails 51 is fixed in the madial wall of described rotary support 10, one end of described 3rd ball-screw 46 is fixed in the madial wall of described rotary support 10, described 3rd ball-screw 46 be arranged in parallel with described 3rd set of rails 51, described second Timing Belt wheels 7 are fixed in the other end of described 4th servomotor 2 output shaft and described 3rd ball-screw 46 respectively, described second Timing Belt 6 is arranged on described second Timing Belt wheels 7, described 3rd feed screw nut 47 is fixed in described 3rd feed screw nut seat 48, described 3rd feed screw nut 47 is arranged on described 3rd ball-screw 46, described 3rd feed screw nut seat 48 is fixed in described 3rd slide block group 50, described 3rd slide block group 50 is arranged in described 3rd set of rails 51, one end of described second connecting rod 45 is connected with described 3rd slide block group 50 by described 7th revolute pair 52, one end of described third connecting rod 53 is connected with described shoulder base 17 by described 8th revolute pair 54, the other end of described third connecting rod 53 is connected with described second connecting rod 45 by described 9th revolute pair 49, described double leval jib 38 is connected to described front large arm 15 by described tenth revolute pair 43, one end of described double leval jib 38 is connected with the other end of described second connecting rod 45 by described 11 revolute pair 44, one end of described 5th connecting rod 39 is connected with the other end of described double leval jib 38 by described 12 revolute pair 37, the other end of described 5th connecting rod 39 is connected with described wrist seat 42 by described 13 revolute pair 40, described wrist seat 42 is connected with described forearm 28 by described 14 revolute pair 41.
Described wrist slew gear comprises the 5th servomotor 3, 3rd Timing Belt wheels 9, 4th ball-screw 59, 3rd Timing Belt 8, 4th feed screw nut 61, 4th feed screw nut seat 62, Four-slider group 63, 4th set of rails 58, six-bar linkage 57, seven-link assembly 64, 8th connecting rod 56, 9th connecting rod 69, tenth connecting rod 72, first rotating shaft 85, wrist wall cover 71, small synchronous pulley group 75, little Timing Belt 73, second rotating shaft 84, second bevel gear group 81, revolving meber 82, 15 revolute pair 65, 16 revolute pair 66, 17 revolute pair 60, 18 revolute pair 68, 19 revolute pair 55, 20 revolute pair 67, 21 revolute pair 70, 22 revolute pair 86, 23 revolute pair 74, 24 revolute pair the 77 and the 25 revolute pair 83, described 5th servomotor 3 is fixed in the outside of described rotary support 10, described 4th set of rails 58 is fixed in the madial wall of described rotary support 10, one end of described 4th ball-screw 59 is fixed in the madial wall of described rotary support 10, described 4th ball-screw 59 be arranged in parallel with described 4th set of rails 58, described 3rd Timing Belt wheels 9 are fixed in the output shaft of described 5th servomotor 3 and the other end of described 4th ball-screw 59 respectively, described 3rd Timing Belt 8 is arranged on described 3rd Timing Belt wheels 9, described 4th feed screw nut 61 is fixed in described 4th feed screw nut seat 62, described 4th feed screw nut 61 is arranged on described 4th ball-screw 59, described 4th feed screw nut seat 62 is fixed in described Four-slider group 63, described Four-slider group 63 is arranged in described 4th set of rails 58, one end of described six-bar linkage 57 is connected with described Four-slider group 63 by described 15 revolute pair 65, one end of described seven-link assembly 64 is connected with described shoulder base 17 by described 16 revolute pair 66, the other end of described seven-link assembly 64 is connected with described six-bar linkage 57 by described 17 revolute pair 60, described 8th connecting rod 56 is connected with described front large arm 15 by described 18 revolute pair 68, one end of described 8th connecting rod 56 is connected with the other end of described six-bar linkage 57 by described 19 revolute pair 55, one end of described 9th connecting rod 69 is connected by the other end of described 20 revolute pair 67 with described 8th connecting rod 56, the other end of described 9th connecting rod 69 is connected by described 21 revolute pair 70 one end with described tenth connecting rod 72, the other end of described tenth connecting rod 72 is fixed in described first rotating shaft 85, described first rotating shaft 85 is by described 22 revolute pair 86, 23 revolute pair 74 is connected with described forearm 28 and described wrist seat 42 respectively, described second rotating shaft 84 is connected with described wrist seat 42 by described 24 revolute pair 77, described small synchronous pulley group 75 is fixed in one end of described first rotating shaft 85 and the second rotating shaft 84 respectively, described little Timing Belt 73 is arranged in described small synchronous pulley group 75, described wrist wall cover 71 is fixed in the side of described wrist seat 42, described wrist wall cover 71 covers described small synchronous pulley group 75 and little Timing Belt 73, in described second bevel gear group 81, a bevel gear is fixed in the other end of described second rotating shaft 84, another bevel gear in described second bevel gear group 81 is connected to described wrist seat 42 by the 25 revolute pair 83, and another bevel gear in described second bevel gear group 81 and described revolving meber 82 affixed.
Described wrist deflection mechanism comprises the 6th servomotor 76, Cylinder Gear wheels 78, output the 79 and the 26 revolute pair 80, described 6th servomotor 76 is fixed in described revolving meber 82, in described Cylinder Gear wheels 78, a roller gear is fixed in the output shaft of described 6th servomotor 76, in described Cylinder Gear wheels 78, another roller gear is connected with described revolving meber 82 by described 26 revolute pair 80, and in described Cylinder Gear wheels 78 another roller gear and described output 79 affixed.
Described first revolute pair 16, the 3rd revolute pair 35, the 8th revolute pair the 54, the 16 revolute pair 66 are coaxially arranged; Described 6th revolute pair 27, the tenth revolute pair the 43, the 18 revolute pair 68 are coaxially arranged; Described 24 revolute pair the 77 and the 22 revolute pair the 86, the 23 revolute pair 74 be arranged in parallel; Described second ball-screw 24, the 3rd ball-screw 46 and the setting parallel to each other of described 4th ball-screw 59, described second ball-screw 24, the 3rd ball-screw 46 and described 4th ball-screw 59 are vertical with described first ball-screw 14 to be arranged; Length of connecting rod between 4th revolute pair 33 described in described rear large arm 36, the 5th revolute pair 26 two axial lines equals the length of connecting rod between the first revolute pair 16 described in described front large arm 15, the 6th revolute pair 27 two axial lines.
The present invention compared with prior art has following technical characterstic:
(1) the present invention utilizes ball-screw-transmission principle, adopt the combination of servomotor, ball-screw as the method for drive unit, instead of the method for conventional servomotor, RV decelerator or harmonic speed reducer combination as drive unit, effectively have compressed processing of robots cost, and reduce maintenance and repair cost;
(2) the present invention adopts servomotor, ball-screw to combine as drive unit, and be installed on by drive unit in waist shell, reduce each joint motions inertia of robot, transmission sideshake is little, and precision is high, improves robot integral rigidity and bearing capacity.
The present invention utilizes ball-screw-transmission, the deceleration achieving the servo motor output shaft be attached thereto increases turns round function, without the need to buying, expensive RV decelerator or harmonic speed reducer are installed, reduce processing and manufacturing maintenance cost, the drive unit of this Six-DOF industrial robot shoulder slew gear, ancon slew gear, wrist luffing mechanism, wrist slew gear is defined with servomotor, and this drive unit is all installed on waist shell, achieves this Six-DOF industrial robot and there is the performances such as high accuracy, high rigidity, high reliability, high load capacity.
Accompanying drawing illustrates:
Fig. 1 is the Six-DOF industrial robot structural representation containing ball screw assembly, of the present invention;
Fig. 2 is the A place partial enlargement structural representation of Fig. 1;
Fig. 3 is waist slew gear structural representation of the present invention;
Fig. 4 is shoulder slew gear structural representation of the present invention;
Fig. 5 is ancon slew gear structural representation of the present invention;
Fig. 6 is wrist luffing mechanism structural representation of the present invention;
Fig. 7 is wrist slew gear structural representation of the present invention;
Fig. 8 is the A place wrist wall shell internal mechanism of Fig. 7 and wrist deflection mechanism structural representation of the present invention;
Fig. 9 is the B place partial enlargement structural representation of Fig. 7.
In figure: 1: the three servomotor, 2: the four servomotors, 3: the five servomotors, 4: the first Timing Belts, 5: the first Timing Belt wheels, 6: the second Timing Belts, 7: the second Timing Belt wheels, 8: the three Timing Belts, 9: the three Timing Belt wheels, 10: rotary support, 11:RV decelerator, 12: the first servomotors, 13: base, 14: the first ball-screws, 15: front large arm, 16: the first revolute pairs, 17: shoulder base, 18: the first set of rails, 19: the first slide block groups, 20: the first feed screw nut seats, 21: the first feed screw nuts, 22: the second servomotors, 23: the first bevel gear groups, 24: the second ball-screws, 25: the second feed screw nuts, 26: the five revolute pairs, 27: the six revolute pairs, 28: forearm, 29: the second set of rails, 30: the second feed screw nut seats, 31: the second slide block groups, 32: the second revolute pairs, 33: the four revolute pairs, 34: first connecting rod, 35: the three revolute pairs, 36: rear large arm, 37: the ten two revolute pairs, 38: the double leval jib, 39: the five connecting rods, 40: the ten three revolute pairs, 41: the ten four revolute pairs, 42: wrist seat, 43: the ten revolute pairs, 44: the ten one revolute pairs, 45: second connecting rod, 46: the three ball-screws, 47: the three feed screw nuts, 48: the three feed screw nut seats, 49: the nine revolute pairs, 50: the three slide block groups, 51: the three set of rails, 52: the seven revolute pairs, 53: third connecting rod, 54: the eight revolute pairs, 55: the ten nine revolute pairs, 56: the eight connecting rods, 57: the six-bar linkage, 58: the four set of rails, 59: the four ball-screws, 60: the ten seven revolute pairs, 61: the four feed screw nuts, 62: the four feed screw nut seats, 63: the Four-slider groups, 64: the seven-link assemblies, 65: the ten five revolute pairs, 66: the ten six revolute pairs, 67: the two ten revolute pairs, 68: the ten eight revolute pairs, 69: the nine connecting rods, 70: the two ten one revolute pairs, 71: wrist wall shell, 72: the ten connecting rods, 73: little Timing Belt, 74: the two ten three revolute pairs, 75: small synchronous pulley group, 76: the six servomotors, 77: the two ten four revolute pairs, 78: Cylinder Gear wheels, 79: output, 80: the two ten six revolute pairs, 81: the second bevel gear groups, 82: revolving meber, 83: the two ten five revolute pairs, 84: the second rotating shafts, 85: the first rotating shafts, 86: the two ten two revolute pairs.
Detailed description of the invention:
Below in conjunction with accompanying drawing, the invention will be further described:
As shown in Figure 1, Figure 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, containing a Six-DOF industrial robot for ball screw assembly, mainly comprise the various mechanisms such as waist slew gear, shoulder slew gear, ancon slew gear, wrist luffing mechanism, wrist slew gear and wrist deflection mechanism.
See Fig. 3, waist slew gear is made up of the first servomotor 12, RV decelerator 11, base 13, rotary support 10; RV decelerator 11 side is fixed on base 13, affixed installation bottom opposite side and rotary support 10; First servomotor 12 is affixed to be installed in rotary support 10, and forms the drive unit of waist slew gear with RV decelerator 11; With this, the drive unit that the present invention consists of the first servomotor 12, RV decelerator 11 realizes waist revolute function.
See Fig. 4, shoulder slew gear is made up of the second servomotor 22, first bevel gear group 23, first ball-screw 14, first feed screw nut 21, first feed screw nut seat 20, first slide block group 19, first set of rails 18, shoulder base 17, front large arm 15, first revolute pair 16; One end of first set of rails 18, first ball-screw 14 is affixed is installed on rotary support 10 madial wall the same side, and both are arranged in parallel; Second servomotor 22 is affixed is installed on rotary support 10 lateral wall; First bevel gear group 23 is fixed on the second servomotor 22 output shaft respectively with on the other end of the first ball-screw 14; First feed screw nut 21 is fixed on the first feed screw nut seat 20, and is arranged on the first ball-screw 14 simultaneously; First slide block group 19 is connected with the first feed screw nut seat 20 is affixed, and is arranged in the first set of rails 18 simultaneously; Shoulder base 17 is affixed to be installed in the first slide block group 19, and is connected by the first revolute pair 16 with front large arm 15 one end; With this, the present invention, by the second servomotor 22, first bevel gear group 23, drives the first ball-screw 14, makes the first feed screw nut 21 carry out translational motion, thus drive shoulder base 17, front large arm 15 opposed waist shell 10 carry out translational motion, the existing shoulder revolute function of historical facts or anecdotes.
See Fig. 2, Fig. 5, ancon slew gear is made up of the 3rd servomotor 1, first Timing Belt wheels 5, second ball-screw 24, first Timing Belt 4, second feed screw nut 25, second feed screw nut seat 30, second slide block group 31, second set of rails 29, rear large arm 36, first connecting rod 34, forearm 28, second revolute pair 32, the 3rd revolute pair 35, the 4th revolute pair 33, the 5th revolute pair 26, the 6th revolute pair 27; One end of second set of rails 29, second ball-screw 24 is affixed is installed on rotary support 10 madial wall the same side, and both are arranged in parallel; 3rd servomotor 1 is affixed is installed on rotary support 10 lateral wall; First Timing Belt wheels 5 are the affixed other end being installed on described 3rd servomotor 1 output shaft and described second ball-screw 24 respectively; Described first Timing Belt 4 is arranged at described first Timing Belt wheels 5; Second feed screw nut 25 is affixed to be installed on the second feed screw nut seat 30, and is arranged on the second ball-screw 24 simultaneously; Second slide block group 31 is connected with the second feed screw nut seat 30 is affixed, and is arranged in the second set of rails 29 simultaneously; Rear large arm 36 one end is connected by the second revolute pair 32 with the second slide block group 31; First connecting rod 34 one end is connected by the 3rd revolute pair 35 with shoulder base 17, and the other end is connected with rear large arm 36 by the 4th revolute pair 33; Forearm 28 one end is connected by the 5th revolute pair 26 with rear large arm 36 other end, and is connected with front large arm 15 other end by the 6th revolute pair 27; With this, the present invention is by the 3rd servomotor 1, first Timing Belt 4, first Timing Belt wheels 5, drive the second ball-screw 24, the second feed screw nut 25 is made to carry out translational motion, under the constraint of aforementioned link mechanism, thus large arm 36 opposed waist shell 10 moves after driving, the existing ancon revolute function of historical facts or anecdotes.
See Fig. 2, Fig. 6, wrist luffing mechanism is made up of the 4th servomotor 2, second Timing Belt wheels 7, the 3rd ball-screw 46, second Timing Belt 6, the 3rd feed screw nut 47, the 3rd feed screw nut seat 48, the 3rd slide block group 50, the 3rd set of rails 51, second connecting rod 45, third connecting rod 53, double leval jib 38, the 5th connecting rod 39, wrist seat 42, the 7th revolute pair 52, the 8th revolute pair 54, the 9th revolute pair 49, the tenth revolute pair the 43, the 11 revolute pair the 44, the 12 revolute pair the 37, the 13 revolute pair the 40, the 14 revolute pair 41; One end of 3rd set of rails 51, the 3rd ball-screw 46 is affixed is installed on rotary support 10 madial wall the same side, and both are arranged in parallel; 4th servomotor 2 is affixed is installed on rotary support 10 lateral wall; Second Timing Belt wheels 7 are the affixed other end being installed on described 4th servomotor 2 output shaft and described 3rd ball-screw 46 respectively; Described second Timing Belt 7 is arranged on described second Timing Belt wheels 7; 3rd feed screw nut 47 is affixed to be installed on the 3rd feed screw nut seat 48, and is arranged on the 3rd ball-screw 46 simultaneously; 3rd slide block group 50 is connected with the 3rd feed screw nut seat 48 is affixed, is arranged in the 3rd set of rails 51, is connected simultaneously by the 7th revolute pair 52 with second connecting rod 45 one end; Third connecting rod 53 one end was passed through the 8th revolute pair 54 and was connected with shoulder base 17, and the other end is connected with described second connecting rod 45 by the 9th revolute pair 49; Double leval jib 38 is connected to front large arm 15 side by the tenth revolute pair 43, and one end is connected with second connecting rod 45 other end by the 11 revolute pair 44, and the other end is connected with the 5th connecting rod 39 one end by the 12 revolute pair 37; 5th connecting rod 39 other end is connected with wrist seat 42 by the 13 revolute pair 40; Wrist seat 42 is connected to forearm 28 by the 14 revolute pair 41; With this, the present invention is by the 4th servomotor 2, second Timing Belt 6, second Timing Belt wheels 7, drive the 3rd ball-screw 46, the 3rd feed screw nut 47 is made to carry out translational motion, under linkage constraint, thus drive the relative forearm 28 of wrist seat 42 to carry out gyration, the existing wrist pitching function of historical facts or anecdotes.
See Fig. 7, Fig. 8, Fig. 9, wrist slew gear is by the 5th servomotor 3, 3rd Timing Belt wheels 9, 4th ball-screw 59, 3rd Timing Belt 8, 4th feed screw nut 61, 4th feed screw nut seat 62, Four-slider group 63, 4th set of rails 58, six-bar linkage 57, seven-link assembly 64, 8th connecting rod 56, 9th connecting rod 69, tenth connecting rod 72, first rotating shaft 85, wrist wall cover 71, small synchronous pulley group 75, little Timing Belt 73, second rotating shaft 84, second pair of bevel gear group 81, revolving meber 82, 15 revolute pair 65, 16 revolute pair 66, 17 revolute pair 60, 18 revolute pair 68, 19 revolute pair 55, 20 revolute pair 67, 21 revolute pair 70, 22 revolute pair 86, 23 revolute pair 74, 24 revolute pair 77, 25 revolute pair 83 forms, one end of 4th set of rails 58, the 4th ball-screw 59 is affixed is installed on rotary support 10 madial wall the same side, and both are arranged in parallel, 5th servomotor 3 is affixed is installed on rotary support 10 lateral wall, 3rd Timing Belt wheels 9 are the affixed other end being installed on described 5th servomotor 3 output shaft and described 4th ball-screw 59 respectively, described 3rd Timing Belt 8 is arranged on described 3rd Timing Belt wheels 9, 4th feed screw nut 61 is affixed to be installed on the 4th feed screw nut seat 62, and is arranged on the 4th ball-screw 59 simultaneously, Four-slider group 63 is connected with the 4th feed screw nut seat 62 is affixed, is arranged in the 4th set of rails 58, and is connected with six-bar linkage 57 one end by the 15 revolute pair 65 simultaneously, seven-link assembly 64 one end is connected with shoulder base 17 by the 16 revolute pair 66, and the other end is connected with six-bar linkage by the 17 revolute pair 60, 8th connecting rod 56 is connected to front large arm 15 opposite side by the 18 revolute pair 68, and one end is connected by the 19 revolute pair 55 with six-bar linkage 57 other end, and the other end is connected by the 20 revolute pair 67 with the 9th connecting rod 69 one end, 9th connecting rod 69 other end is connected with the tenth connecting rod 72 one end by the 21 revolute pair 70, tenth connecting rod 72 other end is fixed in described first rotating shaft 85, ensures that the tenth connecting rod 72 and the first rotating shaft 85 do not have relative motion, first rotating shaft 85 is connected to forearm 28 and wrist seat 42 by the 22 revolute pair the 86, the 23 revolute pair 74, second rotating shaft 84 is connected to wrist seat 42 by the 24 revolute pair 77, in small synchronous pulley group 75, a belt wheel is fixed in first rotating shaft 85 one end, and another belt wheel is fixed in second rotating shaft 84 one end, little Timing Belt 73 is arranged in small synchronous pulley group 75, ensures that small synchronous pulley group 75 is synchronized with the movement, wrist wall cover 71 is fixed in wrist seat 42 side, is covered in small synchronous pulley group 75 and little Timing Belt 73, in second rotating shaft 84 other end and the second bevel gear group 81, a bevel gear is affixed, in second bevel gear group 81, another bevel gear is connected and installed on described wrist seat 42 by the 25 revolute pair 83, and simultaneously another bevel gear affixed with revolving meber 82 in this second bevel gear group 81, is integrally formed, with this, the present invention is by the 5th servomotor 3, the 3rd Timing Belt 8, the 3rd Timing Belt wheels 9, drive the 4th ball-screw 59, the 4th feed screw nut 61 is made to carry out translational motion, under linkage constraint, thus drive the relative wrist seat 42 of revolving meber 82 to carry out gyration, the existing wrist revolute function of historical facts or anecdotes.
See Fig. 8, wrist deflection mechanism is made up of the 6th servomotor 76, Cylinder Gear wheels 78, output the 79, the 26 revolute pair 80; 6th servomotor 76 is affixed to be installed on revolving meber 82; In Cylinder Gear wheels 78, a roller gear is fixed in the 6th servomotor 76 output shaft; Another roller gear in Cylinder Gear wheels 78 is connected and installed on revolving meber 82 by the 26 revolute pair 80, and another roller gear simultaneously in these Cylinder Gear wheels 78 is also connected with output 79 is affixed; With this, the present invention, by the 6th servomotor 76, drives Cylinder Gear wheels 78, makes the relative revolving meber 82 of output 79 carry out gyration, the existing wrist deflection of historical facts or anecdotes.
See Fig. 1, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, the first revolute pair 16, the 3rd revolute pair 35, the 8th revolute pair the 54, the 16 revolute pair 66 are coaxially arranged in shoulder base 17 junction; 6th revolute pair 27, the tenth revolute pair the 43, the 18 revolute pair 68 are coaxially arranged in junction, front large arm 15 one end; 24 revolute pair the 77 and the 22 revolute pair the 86, the 23 revolute pair 74 is arranged in parallel in wrist seat 42 liang of junctions; In waist shell 10, the second ball-screw 24, the 3rd ball-screw 46, the 4th ball-screw 59 layout parallel to each other, and be arranged vertically with the first ball-screw 14; Length of connecting rod in rear large arm 36 between the 4th revolute pair 33, the 5th revolute pair 26 two axial lines equals the length of connecting rod between the first revolute pair 16 in front large arm 15, the 6th revolute pair 27 two axial lines.
A kind of Six-DOF industrial robot containing ball screw assembly, of the present invention can realize the adjustment of output position and the adjustment of attitude; Position adjustment is mainly through being moved as the waist slew gear, shoulder slew gear, ancon slew gear etc. of drive unit by servomotor, ball-screw, and output carries out locus translation; Pose adjustment primarily of servomotor, ball-screw as drive unit wrist luffing mechanism, wrist slew gear and moved as the wrist deflection mechanism of drive unit by servomotor, Cylinder Gear wheels, output carries out spatial attitude gyration.
Below be schematically described the present invention and embodiment thereof, this description does not have restricted, and shown in accompanying drawing is also one of embodiments of the present invention, and actual structure is not limited thereto.So all equalizations of doing according to shape, structure, feature and the spirit described in the claims in the present invention scope change and modify, and all should be included in right of the present invention.

Claims (2)

1. containing a Six-DOF industrial robot for ball screw assembly, it is characterized in that this robot is made up of waist slew gear, shoulder slew gear, ancon slew gear, wrist luffing mechanism, wrist slew gear and wrist deflection mechanism, described waist slew gear comprises the first servomotor (12), RV decelerator (11), base (13) and rotary support (10), described the first servomotor (12) is fixed in the inside of described rotary support (10), described RV decelerator (11) is affixed with described base (13), and described rotary support (10) is realized waist gyration by described the first servomotor (12) and RV decelerator (11) with respect to described base (13), described shoulder slew gear comprises the second servomotor (22), the first bevel gear group (23), the first ball-screw (14), the first feed screw nut (21), the first feed screw nut seat (20), the first slide block group (19), the first set of rails (18), shoulder base (17), front large arm (15) and the first revolute pair (16), described the second servomotor (22) is fixed in the lateral wall of described rotary support (10), described the first set of rails (18) is fixed in the madial wall of described rotary support (10), one end of described the first ball-screw (14) is fixed in the madial wall of described rotary support (10), described the first ball-screw (14) be arranged in parallel with described the first set of rails (18), described the first bevel gear group (23) is fixed in respectively the output shaft of described the second servomotor (22) and the other end of described the first ball-screw (14), described the first feed screw nut (21) is fixed in described the first feed screw nut seat (20), described the first feed screw nut (21) is arranged in described the first ball-screw (14), described the first feed screw nut seat (20) is fixed in described the first slide block group (19), described shoulder base (17) is fixed in described the first slide block group (19), described the first slide block group (19) is arranged in described the first set of rails (18), one end of described front large arm (15) is connected with described shoulder base (17) by described the first revolute pair (16), the other end of described front large arm (15) is connected with forearm (28) by the 6th revolute pair (27), described ancon slew gear comprises the 3rd servomotor (1), the first Timing Belt wheels (5), the second ball-screw (24), the first Timing Belt (4), the second feed screw nut (25), the second feed screw nut seat (30), the second slide block group (31), the second set of rails (29), rear large arm (36), first connecting rod (34), forearm (28), the second revolute pair (32), 3rd revolute pair (35), 4th revolute pair (33), 5th revolute pair (26) and the 6th revolute pair (27), described 3rd servomotor (1) is fixed in the outside of described rotary support (10), described the second set of rails (29) is fixed in the madial wall of described rotary support (10), one end of described the second ball-screw (24) is fixed in described rotary support (10) madial wall,Described the second ball-screw (24) be arranged in parallel with described the second set of rails (29), described the first Timing Belt wheels (5) are fixed in respectively the other end of described 3rd servomotor (1) output shaft and described the second ball-screw (24), described the first Timing Belt (4) is arranged on described the first Timing Belt wheels (5), described the second feed screw nut (25) is fixed in described the second feed screw nut seat (30), described the second feed screw nut (25) is arranged in described the second ball-screw (24), described the second feed screw nut seat (30) is fixed in described the second slide block group (31), described the second slide block group (31) is arranged in described the second set of rails (29), one end of described rear large arm (36) is connected with described the second slide block group (31) by described the second revolute pair (32), one end of described first connecting rod (34) is connected with described shoulder base (17) by described 3rd revolute pair (35), one end of described rear large arm (36) is connected with the other end of described first connecting rod (34) by described 4th revolute pair (33), described forearm (28) is connected with the other end of described rear large arm (36) by described 5th revolute pair (26), described wrist luffing mechanism comprises the 4th servomotor (2), the second Timing Belt wheels (7), 3rd ball-screw (46), the second Timing Belt (6), 3rd feed screw nut (47), 3rd feed screw nut seat (48), 3rd slide block group (50), 3rd set of rails (51), second connecting rod (45), third connecting rod (53), double leval jib (38), 5th connecting rod (39), wrist seat (42), 7th revolute pair (52), 8th revolute pair (54), 9th revolute pair (49), tenth revolute pair (43), 11 revolute pair (44), 12 revolute pair (37), 13 revolute pair (40) and the 14 revolute pair (41), described 4th servomotor (2) is fixed in the outside of described rotary support (10), described 3rd set of rails (51) is fixed in the madial wall of described rotary support (10), one end of described 3rd ball-screw (46) is fixed in the madial wall of described rotary support (10), described 3rd ball-screw (46) be arranged in parallel with described 3rd set of rails (51), described the second Timing Belt wheels (7) are fixed in respectively the other end of described 4th servomotor (2) output shaft and described 3rd ball-screw (46), described the second Timing Belt (6) is arranged on described the second Timing Belt wheels (7), described 3rd feed screw nut (47) is fixed in described 3rd feed screw nut seat (48), described 3rd feed screw nut (47) is arranged on described 3rd ball-screw (46), described 3rd feed screw nut seat (48) is fixed in described 3rd slide block group (50), described 3rd slide block group (50) is arranged in described 3rd set of rails (51), one end of described second connecting rod (45) is connected with described 3rd slide block group (50) by described 7th revolute pair (52), one end of described third connecting rod (53) is connected with described shoulder base (17) by described 8th revolute pair (54),The other end of described third connecting rod (53) is connected with described second connecting rod (45) by described 9th revolute pair (49), described double leval jib (38) is connected in described front large arm (15) by described tenth revolute pair (43), one end of described double leval jib (38) is connected with the other end of described second connecting rod (45) by described 11 revolute pair (44), one end of described 5th connecting rod (39) is connected with the other end of described double leval jib (38) by described 12 revolute pair (37), the other end of described 5th connecting rod (39) is connected with described wrist seat (42) by described 13 revolute pair (40), described wrist seat (42) is connected with described forearm (28) by described 14 revolute pair (41), described wrist slew gear comprises the 5th servomotor (3), 3rd Timing Belt wheels (9), 4th ball-screw (59), 3rd Timing Belt (8), 4th feed screw nut (61), 4th feed screw nut seat (62), Four-slider group (63), 4th set of rails (58), six-bar linkage (57), seven-link assembly (64), 8th connecting rod (56), 9th connecting rod (69), tenth connecting rod (72), the first rotating shaft (85), wrist wall cover (71), small synchronous pulley group (75), little Timing Belt (73), the second rotating shaft (84), the second bevel gear group (81), revolving meber (82), 15 revolute pair (65), 16 revolute pair (66), 17 revolute pair (60), 18 revolute pair (68), 19 revolute pair (55), 20 revolute pair (67), 21 revolute pair (70), 22 revolute pair (86), 23 revolute pair (74), 24 revolute pair (77) and the 25 revolute pair (83), described 5th servomotor (3) is fixed in the outside of described rotary support (10), described 4th set of rails (58) is fixed in the madial wall of described rotary support (10), one end of described 4th ball-screw (59) is fixed in the madial wall of described rotary support (10), described 4th ball-screw (59) be arranged in parallel with described 4th set of rails (58), described 3rd Timing Belt wheels (9) are fixed in respectively the output shaft of described 5th servomotor (3) and the other end of described 4th ball-screw (59), described 3rd Timing Belt (8) is arranged on described 3rd Timing Belt wheels (9), described 4th feed screw nut (61) is fixed in described 4th feed screw nut seat (62), described 4th feed screw nut (61) is arranged on described 4th ball-screw (59), described 4th feed screw nut seat (62) is fixed in described Four-slider group (63), described Four-slider group (63) is arranged in described 4th set of rails (58), one end of described six-bar linkage (57) is connected with described Four-slider group (63) by described 15 revolute pair (65), one end of described seven-link assembly (64) is connected with described shoulder base (17) by described 16 revolute pair (66)The other end of described seven-link assembly (64) is connected with described six-bar linkage (57) by described 17 revolute pair (60), described 8th connecting rod (56) is connected with described front large arm (15) by described 18 revolute pair (68), one end of described 8th connecting rod (56) is connected with the other end of described six-bar linkage (57) by described 19 revolute pair (55), one end of described 9th connecting rod (69) is connected with the other end of described 8th connecting rod (56) by described 20 revolute pair (67), the other end of described 9th connecting rod (69) is connected with one end of described tenth connecting rod (72) by described 21 revolute pair (70), the other end of described tenth connecting rod (72) is fixed in described the first rotating shaft (85), described the first rotating shaft (85) is by described 22 revolute pair (86), 23 revolute pair (74) is connected with described forearm (28) and described wrist seat (42) respectively, described the second rotating shaft (84) is connected with described wrist seat (42) by described 24 revolute pair (77), described small synchronous pulley group (75) is fixed in respectively one end of described the first rotating shaft (85) and the second rotating shaft (84), described little Timing Belt (73) is arranged in described small synchronous pulley group (75), described wrist wall cover (71) is fixed in the side of described wrist seat (42), described wrist wall cover (71) covers described small synchronous pulley group (75) and little Timing Belt (73), in described the second bevel gear group (81), a bevel gear is fixed in the other end of described the second rotating shaft (84), another bevel gear in described the second bevel gear group (81) is connected in described wrist seat (42) by the 25 revolute pair (83), and another bevel gear and described revolving meber (82) in described the second bevel gear group (81) are affixed, described wrist deflection mechanism comprises the 6th servomotor (76), Cylinder Gear wheels (78), output (79) and the 26 revolute pair (80), described 6th servomotor (76) is fixed in described revolving meber (82), in described Cylinder Gear wheels (78), a roller gear is fixed in the output shaft of described 6th servomotor (76), in described Cylinder Gear wheels (78), another roller gear is connected with described revolving meber (82) by described 26 revolute pair (80), and in described Cylinder Gear wheels (78) another roller gear and described output (79) affixed.
2. a kind of Six-DOF industrial robot containing ball screw assembly, according to claim 1, is characterized in that described first revolute pair (16), the 3rd revolute pair (35), the 8th revolute pair (54), the 16 revolute pair (66) are coaxially arranged; Described 6th revolute pair (27), the tenth revolute pair (43), the 18 revolute pair (68) are coaxially arranged; Described 24 revolute pair (77) and the 22 revolute pair (86), the 23 revolute pair (74) setting parallel to each other; Described second ball-screw (24), the 3rd ball-screw (46) and described 4th ball-screw (59) setting parallel to each other, described second ball-screw (24), the 3rd ball-screw (46) and described 4th ball-screw (59) is vertical with described first ball-screw (14) arranges; (length of connecting rod between 260 two axial lines equals the length of connecting rod between the first revolute pair (16) described in described front large arm (15), the 6th revolute pair (27) two axial lines for 4th revolute pair (33) described in described rear large arm (36), the 5th revolute pair.
CN201510221979.XA 2015-05-04 2015-05-04 A kind of Six-DOF industrial robot containing ball screw assembly, Active CN104786211B (en)

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