CN105459109A - Movable five-axis robot - Google Patents

Movable five-axis robot Download PDF

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Publication number
CN105459109A
CN105459109A CN201610021427.9A CN201610021427A CN105459109A CN 105459109 A CN105459109 A CN 105459109A CN 201610021427 A CN201610021427 A CN 201610021427A CN 105459109 A CN105459109 A CN 105459109A
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CN
China
Prior art keywords
drive unit
servomotor
chain
speed reducing
harmonic wave
Prior art date
Legal status (The legal status 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 status listed.)
Pending
Application number
CN201610021427.9A
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Chinese (zh)
Inventor
张良安
叶增林
张壮
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Anhui University of Technology AHUT
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Anhui University of Technology AHUT
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Application filed by Anhui University of Technology AHUT filed Critical Anhui University of Technology AHUT
Priority to CN201610021427.9A priority Critical patent/CN105459109A/en
Publication of CN105459109A publication Critical patent/CN105459109A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • B25J5/02Manipulators mounted on wheels or on carriages travelling along a guideway
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126Rotary actuators

Abstract

The invention discloses a movable five-axis robot and belongs to the technical field of application of industrial robots. The robot comprises a fixing base, guide rails, sliding blocks, a trochoidal rack, a roller, a robot mounting base, a tail-end mounting seat, a first driving device, a second driving device, a third driving device, a fourth driving device, a fifth driving device, a first branch chain, a second branch chain and a third branch chain, wherein the first branch chain comprises a large arm and a front arm; the second branch chain comprises a small arm, a small arm pull rod and a front arm; and the third branch chain comprises a rear arm, a first attitude holding rod, a triangular connecting frame and a second attitude holding rod. Through adoption of a transmission device composed of the trochoidal rack and roller pins, the robot is applicable to occasions where the robot is required to move; different types of grippers can be mounted at the tail end of the robot so as to finish gripping of different types of objects; and besides, the robot is simple in structure, high in rigidity and stability, simple to manufacture, convenient to mount and debug and low in mechanism manufacturing cost.

Description

A kind of removable wu-zhi-shan pig
Technical field:
The invention belongs to industrial robot applied technical field, be specifically related to a kind of removable wu-zhi-shan pig.
Background technology:
Light industry, medicine, in the automatic production line of the industry such as food and electronics, such as sort, packaging, encapsulation, particularly in material handling, this repetitions such as lathe loading and unloading, uninteresting, in the particularly outstanding work of danger, in order to alleviate human labour intensity, increase work efficiency, the Work machine people settling repetitive operation in space is often needed in flow chart, adopting traditional robot palletizer then to seem need not, or manufacturing cost is too high, if traditional SCARA robot is due to himself factor, its forearm is installed three motors and a ball-screw, so just limit its sphere of action, in-line wu-zhi-shan pig manufacturing cost is too high.But, in translating parallel robot mechanism, adopt the actuator on moving platform to be reduced the Work Space Range of mechanism by the method that power transmission shaft is connected with the motor in frame, limit the raising of end effector acceleration, make position and attitude accuracy be difficult to ensure.Current most domestic robot does not possess the feature of movement, and size is all very large, and the very heavy manufacturing cost that causes is high, assembles pretty troublesome, very inconvenient when carrying, and a lot of industrial applications needs the change of robot end's attitude.And mainly contain spur rack and diagonal-cut rack at the rack-driving of application at present, match with involute spur gear and Involute Helical Gears respectively and use, spur rack with have impact during gears meshing, registration is little, transmission is not steady, diagonal-cut rack with registration during gears meshing with vibration stationarity must improve, but there is axial force, only have 1 to 2 tooth contacts during this two kinds of rack pinion, and there is backlash, have rotational noise, transmission accuracy is low.
Summary of the invention:
The present invention, in order to overcome the above-mentioned deficiency of prior art, provides a kind of removable wu-zhi-shan pig.This robot architecture is simple, easy for installation, can be applied to multiple industrial occasions.
The removable wu-zhi-shan pig of one provided by the present invention comprises firm banking 8, guide rail 10, slide block 1, trochoid tooth bar 9, roller 20, robot mounting seat 2, end mount pad 5, first drive unit 13, second drive unit 3, the 3rd drive unit 16, four-drive device 11, the 5th drive unit 7, first side chain, the second side chain and the 3rd side chain, described first drive unit 13 comprises servomotor, and described second drive unit 3, the 3rd drive unit 16 and described four-drive device 11 comprise servomotor and harmonic wave speed reducing machine, and described 5th drive unit 7 comprises servomotor and planetary reducer, described first side chain comprises large arm 4 and forearm 19, one end of described large arm 4 is connected with the harmonic wave speed reducing machine on described second drive unit 3 by screw, described forearm 19 is connected by turning joint with the other end of described large arm 4, the servomotor of described second drive unit 3 is fixed by screws in support and covers, the output shaft of the servomotor of described second drive unit 3 is connected by the harmonic wave speed reducing machine of key and described second drive unit 3, the harmonic wave speed reducing machine of described second drive unit 3 is arranged in described robot mounting seat 2 by screw, one end of the harmonic wave speed reducing machine of described second drive unit 3 is connected with servomotor as input, the other end of the harmonic wave speed reducing machine of described second drive unit 3 is connected with described large arm 4 as output, described second side chain comprises forearm 14 and little arm brace 15, one end of described forearm 14 is connected with the harmonic wave speed reducing machine on described 3rd drive unit 16 by screw, described little arm brace 15 is connected by turning joint with the other end of described forearm 14, described forearm 19 is connected by turning joint with described little arm brace 15, the servomotor of described 3rd drive unit 16 is fixed by screws in support and covers, the output shaft of the servomotor of described 3rd drive unit 16 is connected by the harmonic wave speed reducing machine of key and described 3rd drive unit 16, the harmonic wave speed reducing machine of described 3rd drive unit 16 is arranged in described robot mounting seat 2 by screw, one end of the harmonic wave speed reducing machine of described 3rd drive unit 16 is connected with servomotor as input, the other end of the harmonic wave speed reducing machine of described 3rd drive unit 16 is connected with forearm 14 as output, described 3rd side chain comprises postbrachium 12, first protects attitude bar 17, attitude bar 6 protected by triangle joint frame 18 and second, one end of described postbrachium 12 is connected by the harmonic wave speed reducing machine of screw with described four-drive device 11, described first one end protecting attitude bar 17 is connected by turning joint with the other end of described postbrachium 12, one end of described triangle joint frame 18 is connected by turning joint with described first other end protecting attitude bar 17, the other end of described second one end and described triangle joint frame 18 protecting attitude bar 6 is connected through the hinge, the servomotor of described four-drive device 11 is fixed by screws in support and covers, the output shaft of the servomotor of described four-drive device 11 is connected by the harmonic wave speed reducing machine of key and described four-drive device 11, the harmonic wave speed reducing machine of described four-drive device 11 is arranged in described robot mounting seat 2 by screw, one end of the harmonic wave speed reducing machine of described four-drive device 11 is connected with servomotor as input, the other end of the harmonic wave speed reducing machine of described four-drive device 11 is connected with described postbrachium 12 as output, one end of described end mount pad 5 is connected by turning joint with described forearm 19, the other end of described end mount pad 5 is connected by turning joint with described Secondary Report attitude bar 6, the servomotor of described 5th drive unit 7 is connected by the planetary reducer of screw with described 5th drive unit 7, and the planetary reducer of described 5th drive unit 7 is fixed by screws on described end mount pad 5, described forearm 19 in described first side chain is connected by turning joint with the described little arm brace 15 in described second side chain, and described first side chain and the second side chain are connected to form parallelogram sturcutre by revolute pair, described large arm 4 in described first side chain is protected attitude bar 17 with described first in described 3rd side chain and is connected by turning joint, the two ends of described triangle joint frame 18 are protected attitude bar 17 with described large arm 4 and described first respectively and are connected through the hinge, and described first side chain and the 3rd side chain are connected to form parallelogram sturcutre by revolute pair, described guide rail 10, slide block 1, trochoid tooth bar 9, roller 20, robot mounting seat 2 and described first drive unit 1 form the mobile module of robot, and described roller 20 is vertically mounted on immediately below described first drive unit 13, the servomotor of described first drive unit 13 is fixed by screws in described robot mounting seat 2, the output shaft of the servomotor of described first drive unit 13 is connected with described roller 20 by key, by screw and pad, described roller 20 is made axial restraint with the servomotor of described first drive unit 13, described trochoid tooth bar 9 is fixed by screws on described firm banking 8, described robot mounting seat 2 and described slide block 1 are connected by screw, and described slide block 1 is arranged on described guide rail 10, and described guide rail 10 is arranged on described firm banking 8 by screw, described mobile module is driven by described first drive unit 13, completes the movement of whole robot by the rolling pin 22 on described roller 20 with coordinate transmission and the described slide block 1 of described trochoid tooth bar 9 with the transmission that coordinates of described guide rail 10.
Described roller 20 comprises the first loading plate 21, rolling pin 22 and the second loading plate 23; Described rolling pin 22 two ends are arranged on described first loading plate 21 and described second loading plate 23 by needle bearing 24, and described rolling pin 22 two ends are locked by locking nut 25; Described rolling pin 22 coordinates with described trochoid tooth bar 9 carries out transmission.
The present invention, by the path of the second drive unit, the 3rd drive unit drived control end, drives the attitude changing end by four-drive device.Mobile module employing roller coordinates transmission with trochoid tooth bar, and trochoid roller rack-driving is a kind of linear transmission mechanism based on cycloidal tooth profile; This mechanism have high accuracy, at a high speed, the advantage such as the little and Long Distances transmission of noise.This robot architecture is simple, and it is simply light to build installation process; The inertia simultaneously maintaining mechanism is preferably little, high-speed high acceleration, the feature of high position precision and repetitive positioning accuracy.
The present invention converges to the power that the second drive unit and four-drive device export on large arm and forearm, by the forearm that crosses and little arm brace by power transmission to end, play the effect of structural constraint simultaneously.Article two, side chain crosses formation parallelogram sturcutre, makes end effector have the clear and definite characteristics of motion and positioning precision.In addition the postbrachium on the second drive unit, the 3rd drive unit, large arm and the first report attitude bar are formed parallelogram sturcutre, thus the attitude of robot end can be kept.And postbrachium is driven by the 3rd drive unit, can change the attitude of robot end, to reach required functional requirement.
The present invention has following technical characterstic:
(1) robot motion of the present invention drives by different servomotors, reductor, and robot end can expand, and adds a handgrip, uses pneumatic actuation.
(2) two power sources are transported on end by two transmission branch chain by the present invention.
(3) postbrachium on the second drive unit, the 3rd drive unit, large arm and the first report attitude bar are formed parallelogram sturcutre by the present invention, thus can keep the attitude of robot end.And postbrachium is driven by the 3rd drive unit, can change the attitude of robot end, to reach required functional requirement.
(4) end of the present invention drives master arm to drive by drive unit, and slave arm coordinates the movement locus of master arm restriction actuator; Ensure that end effector has clear and definite movement locus and positional precision, and make that structure of the present invention is simple, inertia is little.
(5) what mobile module of the present invention adopted roller and trochoid tooth bar coordinates transmission, and trochoid roller rack-driving is a kind of novel linear transmission mechanism based on cycloidal tooth profile.This mechanism have high accuracy, at a high speed, the advantage such as the little and Long Distances transmission of noise.
Accompanying drawing illustrates:
Fig. 1 is the structural representation of the removable wu-zhi-shan pig of the present invention;
The structural representation of the first side chain and the second side chain in Tu2Shi robot of the present invention;
The structural representation of the first side chain and the 3rd side chain in Tu3Shi robot of the present invention;
The parallelogram sturcutre of terminal angle is kept in Tu4Shi robot of the present invention;
The structural representation of roller and trochoid tooth bar in Tu5Shi robot of the present invention;
The sectional structure schematic diagram of roller and trochoid tooth bar in Tu6Shi robot of the present invention;
The sectional structure schematic diagram of end is performed in Tu7Shi robot of the present invention.
In figure: 1: slide block; 2: robot mounting seat; 3: the second drive units; 4: large arm; 5: end mount pad; Protect attitude bar at 6: the second; 7: the five drive units; 8: firm banking; 9: trochoid tooth bar; 10: guide rail; 11: the four-drive devices; 12: postbrachium; 13: the first drive units; 14: forearm; 15: little arm brace; 16: the three drive units; 17: the first report attitude bars; 18: triangle joint frame; 19: forearm; 20: roller; 21: the first loading plates; 22: rolling pin; 23: the second loading plates; 24: needle bearing; 25: locking nut; 26: expansion sleeve; 27: handgrip mounting flange.
Detailed description of the invention:
Below in conjunction with accompanying drawing, the invention will be further described:
The removable wu-zhi-shan pig of one provided by the present invention comprises firm banking 8, guide rail 10, slide block 1, trochoid tooth bar 9, roller 20, robot mounting seat 2, end mount pad 5, first drive unit 13, second drive unit 3, the 3rd drive unit 16, four-drive device 11, the 5th drive unit 7, first side chain, the second side chain, the 3rd side chain; Described first side chain comprises large arm 4, forearm 19; Described second side chain comprises forearm 14, little arm brace 15; Described 3rd side chain comprises postbrachium 12, first and protects attitude bar 17, triangle joint frame 18, second guarantor attitude bar 6; Described first drive unit 13 comprises servomotor 20; Described second drive unit 3, the 3rd drive unit 16, four-drive device 11 are by servomotor and harmonic wave speed reducing machine composition; Described 5th drive unit 7 is made up of servomotor and planetary reducer.Described guide rail 10, slide block 1, trochoid tooth bar 9, roller 20, robot mounting seat 2, first drive unit 13 form the mobile module of robot.
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, firm banking 8 screw level is fixed on ground, two guide rails be arranged in parallel 10 are fixed on firm banking 8 by screw level, and robot mounting seat 2 is horizontally fixed on slide block 1 by screw, and slide block 1 is arranged on guide rail 10; First drive unit 13 is installed in robot mounting seat 2 by screw, and the servo motor output shaft of the first drive unit 13 and roller by key transmission, and make axial restraint with screw; Trochoid tooth bar 9 is installed on firm banking 8 by screw level; Driven by the first drive unit, drive roller 20 to rotate, coordinate transmission by the rolling pin 22 on roller 20 with trochoid tooth bar thus drive moving horizontally of whole robot mounting seat 2.Second drive unit 3 is vertically mounted in robot mounting seat 2, and the 3rd drive unit 16 is installed vertically in robot mounting seat 2, the second drive unit 3 and the symmetrical arranged concentric of the 3rd drive unit 16.Four-drive device 11 is installed vertically in robot mounting seat 2.5th drive unit is installed vertically on end mount pad 5, and the servo motor output shaft of the 5th drive unit drives planetary reducer, and planetary reducer output shaft drives expansion sleeve 26, thus drives handgrip mounting flange 27 to rotate.Second drive unit 3 drives large arm 4,3rd drive unit 16 drives forearm 14, and large arm 4 drives forearm 19, and forearm 14 drives little arm brace 15; little arm brace 15 forms crossing of power with forearm 19, thus the second drive unit 3 and the 3rd drive unit 16 drive forearm 19 to export jointly.Four-drive device 11 drives postbrachium 12, and postbrachium 12 drives first guarantor's attitude bar 17, first to protect attitude bar 17 and drives triangle joint frame 18, and triangle joint frame 18 drives Secondary Report attitude bar 6, thus drives end mount pad 5 to rotate, to reach the effect that end is nodded.
As shown in Figure 1 and Figure 2, described first side chain, the second side chain are interconnected respectively by rotation is hinged.Due to the second drive unit 3 and the 3rd drive unit 16 arranged concentric, i.e. one end arranged concentric of large arm 4 and forearm 14; Two installing holes of two installing holes on forearm 14 and one end on forearm 19 are apart from equal; Two installing holes in large arm 4 and two installing holes on little arm brace 15 are apart from equal; As shown in Figure 2,3rd drive unit 16 and forearm 14 mounting center hole are designated as Q (being all the second drive unit 3 and large arm 4 mounting center hole); forearm 14 is designated as P with the concentric installing hole on little arm brace 15; little arm brace 15 is designated as M with the concentric installing hole on forearm 19; forearm 19 is designated as N with the concentric installing hole in large arm 4; because installing hole is apart from equal; MPNQ forms a parallelogram; wherein Q point is fixed; by the rotation of QP and QN, make 19, forearm planar do two degree-of-freedom motion.
As shown in Figure 1, Figure 3, described first side chain, the 3rd side chain are interconnected respectively by rotation is hinged.Two installing holes and first in large arm 4 protect two installing holes on attitude bar 17 apart from equal; Two installing holes of two installing hole distances on triangle joint frame 18 and one end installing hole distance on center mounting hole to postbrachium 12 on the second drive unit 3 are apart from equal; As shown in Figure 3, second drive unit 3 is designated as S with large arm 4 mounting center hole, large arm 4 is designated as R with the concentric installing hole in one end of triangle joint frame 18, the concentric installing hole that postbrachium 12 and first protects attitude bar 17 is designated as T, first protects attitude bar 17 is designated as U with the concentric installing hole of triangle joint frame 18, concentric installing hole and the postbrachium 12 and first of set four-drive device 11 and postbrachium 12 report the distance between the concentric installing hole of attitude bar 17 to be 170mm, axis and horizontal plane angulation are 36.18 degree, so the distance that the distance between ST can be made to equal between RU.Because installing hole is apart from equal, RSTU forms a parallelogram, to keep the attitude of triangle joint frame 18.
As Figure 1 and Figure 4, described end mount pad 5, second protects attitude bar 6, forearm 19, triangle connection element 18 respectively by rotating hinged being interconnected.Two installing holes on end mount pad 5 and the installing hole of two on triangle connection element 18 are apart from equal, second protects two installing holes on attitude bar 6 with the installing hole of two on forearm 19 apart from equal, as shown in Figure 4, the concentric installing hole that end mount pad 5 and second is protected on attitude bar 6 is designated as A, the other end of end mount pad 5 is designated as B with the concentric installing hole on forearm 19, forearm 19 is designated as C with the concentric installing hole on triangle connection element, second protects attitude bar 6 is designated as D with the concentric installing hole on triangle connection element 18, because installing hole is apart from equal, ABCD forms a parallelogram, triangle connection element 18 is designated as E with another concentric installing hole of forearm, set triangle connection element angle DCE is 111.56 degree, so can make guarantor's attitude parallelogram sturcutre RSTU and triangle connection element 18 angled, thus keep end with and plane-parallel, drive postbrachium 12 can change again terminal angle by four-drive device 11 simultaneously and reach functional requirement.
As shown in Fig. 1, Fig. 5, Fig. 6, mobile module employing roller of the present invention coordinates transmission with trochoid tooth bar, and trochoid roller rack-driving is a kind of linear transmission mechanism based on cycloidal tooth profile.Roller 20 is made up of the first loading plate 21, rolling pin 22, second loading plate 23, needle bearing 24, locking nut 25, and rolling pin 22 two ends are arranged on the first loading plate 21 and the second loading plate 23 by needle bearing 24, and two ends are locked by locking nut 25.Described rolling pin 22 coordinates transmission with trochoid tooth bar 9, thus reaches the effect of movement.
As shown in Figure 1, Figure 7 shows, handgrip mounting flange 27 installs end effector, for whole arm end provides one degree of freedom, is generally completed by pneumatic actuation cylinder.Certainly, in the specific implementation, adopt other any one can realize same movement function version be all fine as type of drive.
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, if those of ordinary skill in the art enlightens by it, when not departing from the invention aim, designing the frame mode similar to this technical scheme and embodiment without creationary, all should protection scope of the present invention be belonged to.

Claims (2)

1. a removable wu-zhi-shan pig, is characterized in that this robot comprises firm banking (8), guide rail (10), slide block (1), trochoid tooth bar (9), roller (20), robot mounting seat (2), end mount pad (5), the first drive unit (13), the second drive unit (3), the 3rd drive unit (16), four-drive device (11), the 5th drive unit (7), the first side chain, the second side chain and the 3rd side chain, described first drive unit (13) comprises servomotor, described second drive unit (3), the 3rd drive unit (16) and described four-drive device (11) comprise servomotor and harmonic wave speed reducing machine, and described 5th drive unit (7) comprises servomotor and planetary reducer, described first side chain comprises large arm (4) and forearm (19), one end of described large arm (4) is connected with the harmonic wave speed reducing machine on described second drive unit (3) by screw, described forearm (19) is connected by turning joint with the other end of described large arm (4), the servomotor of described second drive unit (3) is fixed by screws in support and covers, the output shaft of the servomotor of described second drive unit (3) is connected by the harmonic wave speed reducing machine of key and described second drive unit (3), the harmonic wave speed reducing machine of described second drive unit (3) is arranged in described robot mounting seat (2) by screw, one end of the harmonic wave speed reducing machine of described second drive unit (3) is connected with servomotor as input, the other end of the harmonic wave speed reducing machine of described second drive unit (3) is connected with described large arm (4) as output, described second side chain comprises forearm (14) and little arm brace (15), one end of described forearm (14) is connected with the harmonic wave speed reducing machine on described 3rd drive unit (16) by screw, described little arm brace (15) is connected by turning joint with the other end of described forearm (14), described forearm (19) is connected by turning joint with described little arm brace (15), the servomotor of described 3rd drive unit (16) is fixed by screws in support and covers, the output shaft of the servomotor of described 3rd drive unit (16) is connected by the harmonic wave speed reducing machine of key and described 3rd drive unit (16), the harmonic wave speed reducing machine of described 3rd drive unit (16) is arranged in described robot mounting seat (2) by screw, one end of the harmonic wave speed reducing machine of described 3rd drive unit (16) is connected with servomotor as input, the other end of the harmonic wave speed reducing machine of described 3rd drive unit (16) is connected with described forearm (14) as output, described 3rd side chain comprises postbrachium (12), first protects attitude bar (17), attitude bar (6) protected by triangle joint frame (18) and second, one end of described postbrachium (12) is connected by the harmonic wave speed reducing machine of screw with described four-drive device (11), described first one end protecting attitude bar (17) is connected by turning joint with the other end of described postbrachium (12), the other end that attitude bar (17) is protected in one end and described first of described triangle joint frame (18) is connected by turning joint, the other end of described second one end and described triangle joint frame (18) protecting attitude bar (6) is connected through the hinge, the servomotor of described four-drive device (11) is fixed by screws in support and covers, the output shaft of the servomotor of described four-drive device (11) is connected by the harmonic wave speed reducing machine of key and described four-drive device (11), the harmonic wave speed reducing machine of described four-drive device (11) is arranged in described robot mounting seat (2) by screw, one end of the harmonic wave speed reducing machine of described four-drive device (11) is connected with servomotor as input, the other end of the harmonic wave speed reducing machine of described four-drive device (11) is connected with described postbrachium (12) as output, one end of described end mount pad (5) is connected by turning joint with described forearm (19), the other end of described end mount pad (5) is connected by turning joint with described Secondary Report attitude bar (6), the servomotor of described 5th drive unit (7) is connected by the planetary reducer of screw with described 5th drive unit (7), and the planetary reducer of described 5th drive unit (7) is fixed by screws on described end mount pad (5), described forearm (19) in described first side chain is connected by turning joint with the described little arm brace (15) in described second side chain, and described first side chain and the second side chain are connected to form parallelogram sturcutre by revolute pair, described large arm (4) in described first side chain is protected attitude bar (17) with described first in described 3rd side chain and is connected by turning joint, the two ends of described triangle joint frame (18) are protected attitude bar (17) with described large arm (4) and described first respectively and are connected through the hinge, and described first side chain and the 3rd side chain are connected to form parallelogram sturcutre by revolute pair, the mobile module of described guide rail (10), slide block (1), trochoid tooth bar (9), roller (20), robot mounting seat (2) and described first drive unit (1) composition robot, described roller (20) is vertically mounted on immediately below described first drive unit (13), the servomotor of described first drive unit (13) is fixed by screws in described robot mounting seat (2), the output shaft of the servomotor of described first drive unit (13) is connected with described roller (20) by key, by screw and pad, described roller (20) and the servomotor of described first drive unit (13) is made axial restraint, described trochoid tooth bar (9) is fixed by screws on described firm banking (8), described robot mounting seat (2) and described slide block (1) are connected by screw, described slide block (1) is arranged on described guide rail (10), and described guide rail (10) is arranged on described firm banking (8) by screw, described mobile module is driven by described first drive unit (13), completes the movement of whole robot by the rolling pin (22) on described roller (20) with coordinate transmission and the described slide block (1) of described trochoid tooth bar (9) with the transmission that coordinates of described guide rail (10).
2. the removable wu-zhi-shan pig of one according to claim 1, is characterized in that described roller (20) comprises the first loading plate (21), rolling pin (22) and the second loading plate (23); Described rolling pin (22) two ends are arranged on described first loading plate (21) and described second loading plate (23) by needle bearing (24), and described rolling pin (22) two ends are by locking nut (25) locking; Described rolling pin (22) coordinates with described trochoid tooth bar (9) carries out transmission.
CN201610021427.9A 2016-01-11 2016-01-11 Movable five-axis robot Pending CN105459109A (en)

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CN106078715A (en) * 2016-08-22 2016-11-09 德奥通用航空股份有限公司 Point dish machine taking dish mechanical arm and application thereof on point dish machine
CN108000496A (en) * 2017-12-27 2018-05-08 华南智能机器人创新研究院 A kind of wu-zhi-shan pig
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CN109590985A (en) * 2017-09-22 2019-04-09 电装波动株式会社 Mobile robot
CN110270984A (en) * 2018-08-30 2019-09-24 南京禹智智能科技有限公司 A kind of anti-rock industrial robot mobile platform
CN110681614A (en) * 2019-08-08 2020-01-14 南通大学 Robot palletizer sorting device based on computer vision
CN112060071A (en) * 2020-09-11 2020-12-11 惠安县螺阳林飞燕汽车维修中心 Robot for automobile maintenance
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CN112060071A (en) * 2020-09-11 2020-12-11 惠安县螺阳林飞燕汽车维修中心 Robot for automobile maintenance
CN112211979A (en) * 2020-09-27 2021-01-12 西北工业大学 Planet roller trochoid curved surface composite transmission device

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Application publication date: 20160406