CN109202937B

CN109202937B - Modular multi-joint line control robot

Info

Publication number: CN109202937B
Application number: CN201811377430.XA
Authority: CN
Inventors: 周京博; 潘来胜; 李玥华
Original assignee: Hebei University of Science and Technology
Current assignee: Hebei University of Science and Technology
Priority date: 2018-11-19
Filing date: 2018-11-19
Publication date: 2020-07-14
Anticipated expiration: 2038-11-19
Also published as: CN109202937A

Abstract

The invention provides a modular multi-joint line-controlled robot, which comprises a workbench, a plurality of joints, clamping jaws and power mechanisms, wherein the joints, the clamping jaws and the power mechanisms are sequentially connected in series; the bottom layer joints are arranged on the workbench and comprise a shell and a connecting mechanism, two adjacent joints are connected through a rotating shaft, and the rotating shaft is fixedly connected with one of the joints; the rotating shaft is provided with a traction wheel; the power mechanism comprises a box body, a plurality of electric pull rods and pull wires which are connected with the electric pull rods in a one-to-one correspondence manner; each traction wheel is connected with a traction wire, and the clamping jaw is connected with a traction wire. According to the modular multi-joint line control robot, the rotating shaft can drive one joint to rotate and can be in close butt joint with the other joint, and the structures of all the joints are compact; the electric pull rod can accurately control the pull-back length of the traction wire, and the rotating shaft is driven by the traction wheel, the traction wire and the electric pull rod to rotate, so that the joint driven by the rotating shaft can accurately rotate; each joint is controlled by an independent traction line to rotate and move independently, and the motion precision is good.

Description

Modular multi-joint line control robot

Technical Field

The invention belongs to the technical field of robots, and particularly relates to a modular multi-joint line control robot.

Background

The modular robot is composed of standard, mutually independent manufacturing modules, each module having a driving part, a power source, etc. Different modules are combined together and controlled by a control system to form the robot with special functions.

Typical modular robots are serpentine soft robots and parallel robots. The snake-shaped soft robot can imitate the snake-shaped winding motion, linear motion, lateral motion and telescopic motion in nature through the rotation motion of the crossed joints, but the control mode is complex, the joint structure is relatively complex, and the manufacturing cost is high. The parallel robot has the advantages of powerful function, compact structure, high rigidity, large bearing capacity, no accumulated error, high precision and the like, and is widely applied in the field of needing high rigidity, high precision or large load without large working space, however, the parallel robot cannot play a good role in narrow and long environments, and the serial robot is required to make up for the defects of the parallel robot in the environments.

The series robot has the following characteristics: 1. the working space is wide; 2. the motion analysis is easier; 3. coupling effects between the drive shafts can be avoided; 4. each joint motion shaft in the mechanism must be independently controlled, and an encoder and a sensor are matched to improve the precision of the mechanism during motion. A great part of the serial robots are multi-joint robots, the motions of all joints of the robots are independent, the coupling effect between all shafts can be avoided, and the modularized joints can reduce the workload of design work, so that the modularized multi-joint serial robots have an important position in the field of robots.

In the prior art, the serial robot is difficult to achieve higher precision in motion precision control, and because the motion axes of all joints in the mechanism of the serial robot are independent, each joint is easy to generate dynamic errors during motion, and the integral motion precision of the robot is reduced due to the accumulated errors; the multi-joint robot takes a direct current servo motor and a reduction transmission device as power sources of each moving joint and an actuating mechanism, so that the structure among the joints is not compact; in addition, the robots existing in the market cannot increase or decrease the number of joints of the robots according to different work requirements.

Disclosure of Invention

The invention aims to provide a modular multi-joint line control robot taking line control as a driving mode, and aims to solve the technical problems that a serial robot in the prior art is low in motion precision and not compact in connection of joints.

In order to achieve the purpose, the invention adopts the technical scheme that: there is provided a modular articulated robot comprising:

a work table;

the joints are sequentially connected in series, wherein the bottom layer joint is arranged on the workbench; each joint comprises a shell and a connecting mechanism arranged in the shell; the connecting mechanisms of two adjacent joints are connected through a rotating shaft, and the rotating shaft is fixedly connected with one of the connecting mechanisms; a traction wheel is fixed on the rotating shaft; a reset torsion spring is arranged between the traction wheel and the inner wall of the shell;

the clamping jaw is connected with the joint of the top layer;

the power mechanism is connected with the workbench and comprises a box body, a plurality of electric pull rods arranged in the box body and pull wires which are connected with the electric pull rods in a one-to-one correspondence manner; each traction wheel is connected with a traction wire, and the clamping jaw is connected with a traction wire.

Furthermore, a first opening and a second opening opposite to the first opening are arranged on the shell; the connecting mechanism comprises a first supporting seat and a second supporting seat, wherein the first supporting seat is arranged in the first opening, the center line of the first supporting seat is parallel to the center line of the first opening, the second supporting seat is fixedly connected with the first supporting seat, and the center line of the second supporting seat is parallel to the center line of the second opening; the included angle between the central line of the second supporting seat and the central line of the first supporting seat is 135 degrees;

one end of the rotating shaft is positioned in the second supporting seat of the previous joint, and the other end of the rotating shaft is fixed in the first supporting seat of the next joint; the center line of the second supporting seat of the previous joint, the center line of the first supporting seat of the next joint and the center line of the rotating shaft connecting the two joints are collinear; the second opening of the former shell corresponds to the first opening of the latter shell.

Further, the pivot with the lateral part that first supporting seat is connected is equipped with a plurality of through-holes, each all be equipped with in the through-hole with the joint piece that first supporting seat meets.

Furthermore, a fixed block with a circular section is arranged at the first opening; the inner wall and the outer wall of the fixed block are respectively connected with the outer wall of the rotating shaft and the inner wall of the first supporting seat; the clamping block is clamped between the fixed block and the first supporting seat.

Further, the fixed block and the first supporting seat are fixed through a fastening screw, and the fastening screw penetrates through the shell.

Furthermore, the rotating shaft is respectively connected with the second opening and the second supporting seat through a first bearing and a second bearing; the rotating shaft is provided with a shaft shoulder, and the traction wheel is fixed between the shaft shoulder and the second bearing.

Furthermore, a fixing plate is arranged on the second supporting seat, one end of the traction wire is fixedly connected to the fixing plate, and the other end of the traction wire bypasses the traction wheel and penetrates out of the rotating shaft.

Furthermore, a wire bundling box is arranged on the workbench; the traction wire is arranged in the wire bundling pipe, and two ends of the traction wire respectively extend out of the wire bundling pipe; one end fixed connection of pencil pipe in on the fixed plate, the other end fixed connection of pencil pipe in the box.

Furthermore, an installation plate is arranged in the box body; a plurality of positioning blocks and fixing frames which correspond to the positioning blocks one by one are arranged on the mounting plate at intervals; the electric pull rod is fixed by the fixing frame, and a telescopic rod of the electric pull rod penetrates through the positioning block.

Further, the work table includes:

a first mobile platform;

the first screw rod mechanism is connected with the first mobile platform and used for driving the first mobile platform to move;

the first driving mechanism is connected with the first lead screw mechanism;

the first fixed seat is fixed on the top surface of the box body, is connected with the first mobile platform and is used for supporting the first lead screw mechanism and the first driving mechanism;

the second fixed seat is fixedly connected to the top surface of the first movable platform;

the second mobile platform is connected with the second fixed seat; the moving direction of the second moving platform is vertical to that of the first moving platform;

the second screw rod mechanism is connected with the second mobile platform, is positioned in the second fixed seat and is used for driving the second mobile platform to move;

the second driving mechanism is connected with the second lead screw mechanism and is positioned on the side part of the second fixed seat;

the base is fixedly connected to the top surface of the second mobile platform and used for fixing the bottom layer joint; the wire harness box is fixed on the base.

The modular multi-joint line control robot provided by the invention has the beneficial effects that: compared with the prior art, the modular multi-joint line-controlled robot can increase or reduce the number of joints according to the working requirements, the number of the joints is adjustable, the joints are sequentially connected in series, two adjacent joints are connected through a rotating shaft, the rotating shaft can drive one joint to rotate and can be tightly butted with the other joint, so that the structure between the joints is compact;

the driving mode of each joint is wire control, the rotating shaft is driven by the traction wheels and the power mechanism to rotate, each traction wheel is driven by one traction wire and one electric pull rod to rotate, the electric pull rod can accurately control the pull-back length of the traction wire, and the rotation angles of the traction wheels and the rotating shaft are accurately controlled by pulling back the traction wire, so that the joints driven by the rotating shaft are accurately rotated; because each joint is controlled by an independent traction line to rotate, each joint moves independently, and the modular multi-joint linear control robot is ensured to have good motion precision;

in addition, each joint is driven to move in a wire control mode, so that the size of the joint is small, the whole structure is more compact, and the application in a narrow working area can be realized;

in addition, the modular joint design is also convenient for production, assembly, debugging, disassembly and later maintenance.

Drawings

Fig. 1 is a schematic structural diagram of a modular multi-joint robot according to an embodiment of the present invention;

FIG. 2 is a top view of FIG. 1;

FIG. 3 is an enlarged view of a portion of FIG. 2;

FIG. 4 is a schematic diagram illustrating the connection between two adjacent joints of a modular multi-joint robot according to an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a housing of a modular articulated robot according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a power mechanism of a modular multi-joint in-line robot according to an embodiment of the present invention;

FIG. 7 is a top view of FIG. 6;

fig. 8 is a schematic connection diagram of a first mobile platform, a first lead screw mechanism and a first driving mechanism of the modular multi-joint line-controlled robot according to the embodiment of the present invention;

FIG. 9 is a top view of FIG. 8;

fig. 10 is a schematic structural diagram of a clamping jaw of the modular multi-joint line-controlled robot according to the embodiment of the present invention.

In the figure: 10. a joint; 11. a housing; 111. a first opening; 112. a second opening; 12. a connecting mechanism; 121. a first support base; 122. a second support seat; 13. a rotating shaft; 131. a shaft shoulder; 132. a first bearing; 133. a second bearing; 14. a traction wheel; 15. a clamping block; 16. a fixed block; 17. fastening screws; 18. a fixing plate; 19. a return torsion spring; 20. a clamping jaw; 21. a jaw housing; 22. a rotation pin; 23. clamping arms; 231. clamping; 232. a first link; 233. a second link; 24. a spring; 30. a power mechanism; 31. a box body; 32. an electric pull rod; 33. a pull wire; 34. mounting a plate; 35. positioning blocks; 36. a fixed mount; 40. a wire harness box; 41. a wire bundling pipe; 50. a work table; 51. a first mobile platform; 52. a second mobile platform; 53. a base; 54. a first fixed seat; 55. a second fixed seat; 56. a first lead screw mechanism; 561. a first ball screw; 562. a first lead screw nut; 563. a first nut seat; 57. a second lead screw mechanism; 58. a first drive mechanism; 581. a first motor; 582. a first decelerator; 59. a second drive mechanism.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Referring to fig. 1 to 7, a modular articulated robot according to the present invention will now be described. The modular multi-joint line-controlled robot comprises a workbench 50, a plurality of joints 10, clamping jaws 20 and a power mechanism 30 which are sequentially connected in series.

The bottom layer joint 10 is arranged on the workbench 50, and the top layer joint 10 is connected with the clamping jaw 20. The number of joints 10 can be adjusted according to the working requirements, and the joint 10 comprises a housing 11 and a connecting mechanism 12 arranged in the housing 11, as shown in fig. 4. The connecting mechanisms 12 of two adjacent joints 10 are connected through a rotating shaft 13, the rotating shaft 13 is fixedly connected with one of the connecting mechanisms 12, the rotating shaft 13 is a hollow shaft, and a traction wheel 14 is fixed on the rotating shaft 13. A return torsion spring 19 is arranged between the traction wheel 14 and the inner wall of the shell 11.

The power mechanism 30 is connected with the workbench 50, and comprises a box 31, a plurality of electric pull rods 32 arranged in the box 31, and pull wires 33 connected with the electric pull rods 32 in a one-to-one correspondence manner, each pull wheel 14 is connected with one pull wire 33, the pull wires 33 penetrate out of the hollow rotating shaft 13, and the pull wires 33 of the pull wheels 14 are independently arranged. The clamping jaw 20 is connected to a pull wire 33.

In addition, the modular articulated robot of the invention further comprises a control system, and the control system can read the position of the grabber.

The precise control of the expansion and contraction of the electric pull rod 32 is realized by a PMAC motion control card produced by the United states Delta tau company, each motion channel of the motion control card outputs a given pulse number, and the expansion and contraction rod of the electric pull rod 32 can move for a specific displacement. The motion control cards are cascaded, and 128 electric pull rods 32 can be controlled to be linked at most, so that the joint robot can realize the cooperative control of a plurality of joints 10.

The working process of the modular multi-joint line-controlled robot provided by the invention is as follows:

the control mechanism firstly reads the position of the object to be grabbed, the PMAC motion control card controls the telescopic rods of the electric pull rods 32 to retract, the pull wires 33 are in a stretched state, the electric pull rods 32 drive the pull wires 33 connected with the electric pull rods to move towards the direction of the electric pull rods 32, the pull wires 33 move to drag the pull wheels 14 connected with the electric pull rods to rotate, the pull wheels 14 drive the rotating shafts 13 connected with the electric pull rods to rotate, the rotating shafts 13 drive the joints 10 fixedly connected with the electric pull rods to rotate, so that the joints 10 move, the electric pull rods 32 move independently to drive the joints 10 to move independently, the clamping jaws 20 are driven to reach the position of the object to be grabbed through the accumulation of relative angles during the movement of the joints 10, and the clamping jaws 20 are controlled by the electric pull rods 32 and the pull wires. After the grabbed objects are clamped, the control mechanism continues to send instructions to the electric pull rods 32, so that the clamping jaws 20 drive the grabbed objects to move to the set positions.

After grabbing, the telescopic link of electric pull rod 32 is stretched out by PMAC motion control card control, and the distance between the front end of the telescopic link of electric pull rod 32 and traction wheel 14 shortens, and pull wire 33 is not being in the state of stretching straight, and traction wheel 14 does not receive the traction of pull wire 33, but traction wheel 14 receives the effect of the 19 torsional forces of reset torsion spring, can change back to initial condition, still can drive pull wire 33 winding above that in the rotation process to make pull wire 33 stretch straight.

Specifically, the clamping jaw 20 includes a clamping jaw housing 21, two clamping arms 23, and a spring 24 with one end fixed in the clamping jaw housing 21 and the other end connected with the two clamping arms 23, as shown in fig. 10. The clamping arm 23 includes a clamp 231, a first link 232 fixedly connected to the clamp 231, and a second link 233 rotatably connected to the first link 232 via a rotation pin 22. The center portions of the first links 232 of the two clip arms 23 are also pivotally connected via the pivot pin 22, and the free ends of the second links 233 of the two clip arms 23 are also pivotally connected via the pivot pin 22. The traction wire 33 is connected to the top end of the spring 24 and the rotation pin 22 connecting the two second links 233.

The pulling wire 33 can pull the rotating pin 22 to rotate and the pulling spring 24 to move downward, so as to drive the second connecting rod 233 and the first connecting rod 232 to rotate around their respective hinge points, so that the two clamps 231 are closed to each other, thereby completing the clamping action.

Compared with the prior art, the modularized multi-joint line control robot provided by the invention,

according to the modular multi-joint line control robot, the joints 10 are sequentially connected in series, two adjacent joints 10 are connected through the rotating shaft 13, the rotating shaft 13 can drive one joint 10 to rotate and can be in close butt joint with the other joint 10, so that the structure among the joints 10 is compact; the rotating shaft 13 is driven by the traction wheels 14 and the power mechanism 30 to rotate, each traction wheel 14 is driven by a traction wire 33 and an electric pull rod 32 to rotate, the electric pull rod 32 can accurately control the pull-back length of the traction wire 33, and the rotation angles of the traction wheels 14 and the rotating shaft 13 are accurately controlled by pulling back the traction wire 33, so that the joint 10 driven by the rotating shaft 13 is accurately rotated; because each joint 10 is controlled by the independent traction wire 33 to rotate, each joint 10 moves independently, and the modularized multi-joint linear control robot has good motion precision. . In addition, each joint 10 is driven to move in a wire control mode, so that the joint 10 is small in size, the whole structure is more compact, and the application in a narrow working area can be realized. Furthermore, the modular joint 10 design also facilitates manufacturing, assembly, commissioning, disassembly, and post-maintenance.

Referring to fig. 4 and 5, as an embodiment of the modular robot for articulated wire robot provided by the present invention, the housing 11 is a spherical structure, and has a first opening 111 and a second opening 112 opposite to the first opening 111, see fig. 5. The inner diameter of the first opening 111 is larger than that of the second opening 112, and the center line of the first opening 111 is not parallel to the center line of the second opening 112.

The connecting mechanism 12 includes a first supporting seat 121 and a second supporting seat 122, the first supporting seat 121 is disposed in the first opening 111, and a center line of the first supporting seat is parallel to a center line of the first opening 111. The second supporting seat 122 is fixedly connected to the first supporting seat 121, and a center line of the second supporting seat 122 is parallel to a center line of the second opening 112 and forms an included angle of 135 ° with the center line of the first supporting seat 121. Specifically, the first supporting seat 121 is a cylindrical structure, and a stepped through hole is formed in the center thereof; the second supporting seat 122 is a revolving body structure with a right trapezoid cross section, and a stepped through hole is also formed in the center thereof. The inclined portion of the second support base 122 is clamped in the first support base 121.

Two adjacent joints 10 are connected by a rotating shaft 13, one end of the rotating shaft 13 is located in the second supporting seat 122 of the previous joint 10, and the end is rotatably connected with the second supporting seat 122. The other end of the rotating shaft 13 is fixed in the first supporting seat 121 of the rear joint 10, and the other end is fixedly connected with the first supporting seat 121. The traction wheel 14 is fixed on the rotating shaft 13 through a spline, the traction wheel 14 drives the rotating shaft 13 to rotate, the rotating shaft 13 can drive the joint 10 fixedly connected with the rotating shaft to rotate, namely the later joint 10, but cannot drive the joint 10 movably connected with the rotating shaft to rotate, namely the previous joint 10.

In order to ensure that two adjacent joints 10 have good tightness when being assembled, the second opening 112 of the previous shell 11 corresponds to the first opening 111 of the next shell 11, and a gap is left between the two openings, so that friction is avoided when the two shells 11 independently operate. And the central line of the second supporting seat 122 of the previous joint 10, the central line of the first supporting seat 121 of the next joint 10 and the central line of the rotating shaft 13 connecting the two joints 10 are collinear, so that the two shells 11 are arranged, on one hand, the close assembly of the two adjacent shells 11 is ensured, and on the other hand, the stable rotation of the rotating shaft 13 is ensured.

In order to fix the rotating shaft 13 and the first supporting seat 121 well, as a specific embodiment of the modular multi-joint wire-controlled robot provided by the present invention, a plurality of through holes are formed in a side portion of the rotating shaft 13 connected to the first supporting seat 121, a clamping block 15 is disposed in each through hole, one end of each clamping block 15 passes through the through hole, and the other end surface is connected to an inner wall of the first supporting seat 121, see fig. 4. The clamping block 15 is used for connecting the rotating shaft 13 and the first supporting seat 121, and is also used for transmitting torque, so that the rotating shaft 13 drives the first supporting seat 121 to further drive the shell 11 to rotate.

Specifically, in order to make the clamping block 15 and the first supporting seat 121 be connected stably, a groove may be further disposed on the inner wall of the first supporting seat 121, and the end of the clamping block 15 is embedded in the groove.

Referring to fig. 4, as a specific embodiment of the modular multi-joint line controlled robot provided by the present invention, a fixing block 16 having a circular cross section is further disposed at the first opening 111, an inner wall and an outer wall of the fixing block 16 are respectively connected to an outer wall of the rotating shaft 13 and an inner wall of the first supporting seat 121, the fixing block 16 and the first supporting seat 121 are fixed by a plurality of fastening screws 17, and the fastening screws 17 pass through the housing 11. The clamping block 15 is clamped between the fixing block 16 and the first supporting seat 121. The fixing block 16 is arranged to connect the first supporting seat 121 and the housing 11, so that the first supporting seat 121 and the housing 11 are firmly assembled, and the assembly is convenient.

Since the rotating shaft 13 is rotatably connected to the second supporting base 122, in order to make the rotating shaft 13 rotate smoothly, as a specific embodiment of the modular articulated robot provided by the present invention, the rotating shaft 13 is connected to the second opening 112 and the second supporting base 122 through the first bearing 132 and the second bearing 133, please refer to fig. 4. The first bearing 132 is fitted into the bearing seat of the second opening 112, and the second bearing 133 is fitted into the bearing seat of the second support seat 122. The first bearing 132 and the second bearing 133 are both located in the same housing 11.

The rotating shaft 13 is provided with a shaft shoulder 131, the traction wheel 14 is fixed between the shaft shoulder 131 and the second bearing 133, and the traction wheel 14 is fixed with the rotating shaft 13 through a spline. The outer circumferential surface of the traction wheel 14 is provided with a groove for winding the traction wire 33.

The second support seat 122 is provided with a fixing plate 18, and one end of the traction wire 33 is fixedly connected to the fixing plate 18, and the other end thereof passes around the traction wheel 14 and penetrates out of the rotating shaft 13, and is fixed on the electric pull rod 32. A return torsion spring 19 is further disposed between the traction wheel 14 and the housing 11, and the return torsion spring 19 is used for returning the traction wheel 14 to the initial position.

As the power mechanism 30 is provided with the plurality of traction wires 33, in order to arrange the traction wires 33 regularly and uniformly, as a specific embodiment of the modular articulated robot provided by the invention, the workbench 50 is provided with the wire binding box 40; the drawing wire 33 is arranged in the wiring pipe 41, and two ends of the drawing wire 33 respectively extend out of the wiring pipe 41; the wiring tube 41 is made of flexible material and has one end fixedly connected to the fixing plate 18 and the other end fixedly connected to the inside of the box 31.

Each pull wire 33 passes through one of the bundle tubes 41 without crossing between the pull wires 33, so that each pull wire 33 can be independently retracted or extended.

In order to stably fix the electric pull rod 32 in the box 31, as a specific embodiment of the modular articulated robot provided by the present invention, a mounting plate 34 is provided in the box 31; the mounting plate 34 is provided with a plurality of positioning blocks 35 and fixing brackets 36 corresponding to the positioning blocks 35 at intervals. The electric pull rod 32 is fixed by the fixing frame 36, and the telescopic rod of the electric pull rod 32 passes through the positioning block 35, see fig. 6 and 7.

Specifically, at least two layers of mounting plates 34 are arranged in the box body 31, the mounting plates 34 are parallel to the bottom surface of the box body 31, a plurality of fixing holes are formed in the mounting plates 34 at equal intervals, and the positioning blocks 35 are embedded into the fixing holes. Mount 36 and mounting panel 34 fixed connection, mount 36 are including the horizontal fixed part, vertical portion, horizontal connecting portion and the circular arc portion that connect gradually, and horizontal connecting portion is located the top of locating piece 35, and vertical portion and circular arc portion are located the both sides of locating piece 35 respectively, and electric pull rod 32 is by vertical portion, horizontal connecting portion and circular arc portion joint. The positioning block 35 is provided with a through hole through which the telescopic rod of the electric pull rod 32 passes.

In order to implement the above functions, as an embodiment of the modular articulated line-controlled robot provided by the present invention, the working platform 50 includes the following components (see fig. 1, 2, 8, and 9):

a first mobile platform 51;

the first screw mechanism 56 is connected with the first moving platform 51 and used for driving the first moving platform 51 to move;

a first drive mechanism 58 connected to the first lead screw mechanism 56;

a first fixed seat 54 connected to the first movable platform 51 and supporting a first screw mechanism 56 and a first driving mechanism 58; the first lead screw mechanism 56 is positioned inside the first fixed seat 54, and the first driving mechanism 58 is positioned on the side of the first fixed seat 54;

a second fixed seat 55 fixedly connected to the top surface of the first movable platform 51;

the second movable platform 52 is connected with the second fixed seat 55; the moving direction of the second moving platform 52 is perpendicular to the moving direction of the first moving platform 51;

the second screw mechanism 57 is connected to the second moving platform 52 and located inside the second fixing seat 55, and is configured to drive the second moving platform 52 to move;

a second driving mechanism 59 connected to the second screw mechanism 57 and located at a side of the second fixing base 55;

and a base 53 fixedly connected to the top surface of the second movable platform 52 for fixing the lower joint 10.

The first driving mechanism 58 drives the first lead screw mechanism 56 to operate, the first lead screw mechanism 56 can drive the first movable platform 51 to move, and the first movable platform 51 can drive the second fixed seat 55 and the base 53 to move; while the first moving platform 51 moves, the second driving mechanism 59 can drive the second screw mechanism 57 to operate, and the second screw mechanism 57 can drive the second moving platform 52 to move, and further drive the base 53 to move.

Because the moving direction of the first moving platform 51 is perpendicular to the moving direction of the second moving platform 52, the base 53 can move to any point of a quadrangle formed by the first fixing seat 54 and the second fixing seat 55, and the modular multi-joint line-controlled robot can complete the movement with two degrees of freedom on the moving plane.

As a specific embodiment of the modular articulated line controlled robot provided by the present invention, the first screw mechanism 56 comprises a first ball screw 561, a first screw nut 562 sleeved on the first ball screw 561, and a first nut seat 563 for clamping the first screw nut 562; the first moving platform 51 is fixed to the first nut holder 563.

The first drive mechanism 58 includes a first motor 581, and a first reduction gear 582 whose input shaft is connected to an output shaft of the first motor 581. An output shaft of the first speed reducer 582 is connected to the first ball screw 561.

The second screw mechanism 57 comprises a second ball screw, a second screw nut sleeved on the second ball screw, and a second nut seat clamping the second screw nut; the second moving platform 52 is fixed to the first nut holder 563. The second screw mechanism 57 has the same structure as the first screw mechanism 56 except that the mounting direction of the second screw mechanism 57 is perpendicular to the mounting direction of the first screw mechanism 56.

The second driving mechanism 59 includes a second motor and a second speed reducer having an input shaft connected to an output shaft of the second motor, and the output shaft of the second speed reducer is connected to the second ball screw. The second driving mechanism 59 has the same structure as the first driving mechanism 58 except that the mounting direction of the second driving mechanism 59 is perpendicular to the mounting direction of the first driving mechanism 58.

In the embodiment, the moving platform is moved by using a transmission mode of the ball screw and the screw nut, and the transmission mode is stable and can ensure that the moving position is accurate.

Referring to fig. 1, as a specific embodiment of the modular multi-joint line control robot provided by the present invention, a first fixing base 54 is fixed on the top surface of the box 31, and the wire bundling box 40 is fixed on the base 53. That is, the housing 31 is a support for the modular articulated robot, and the traction wire 33 in the housing 31 is threaded into the wire harness box 40 through the table 50.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. Modular articulated robot, characterized in that includes:

a work table;

the clamping jaw is connected with the joint of the top layer;

2. The modular articulated robot of claim 1, wherein the housing defines a first opening and a second opening opposite the first opening; the connecting mechanism comprises a first supporting seat and a second supporting seat, wherein the first supporting seat is arranged in the first opening, the center line of the first supporting seat is parallel to the center line of the first opening, the second supporting seat is fixedly connected with the first supporting seat, and the center line of the second supporting seat is parallel to the center line of the second opening; the included angle between the central line of the second supporting seat and the central line of the first supporting seat is 135 degrees;

3. The modular articulated robot of claim 2, wherein the side of the shaft connected to the first support base has a plurality of through holes, and each of the through holes has a locking block connected to the first support base.

4. The modular articulated line robot of claim 3, wherein the first opening is provided with a fixed block having a circular ring-shaped cross section; the inner wall and the outer wall of the fixed block are respectively connected with the outer wall of the rotating shaft and the inner wall of the first supporting seat; the clamping block is clamped between the fixed block and the first supporting seat.

5. The modular articulated line controlled robot of claim 4, wherein the fixed block and the first support base are fixed by a fastening screw, and the fastening screw passes through the housing.

6. The modular articulated robot of claim 5, wherein the shaft is connected to the second opening and the second support base via a first bearing and a second bearing, respectively; the rotating shaft is provided with a shaft shoulder, and the traction wheel is fixed between the shaft shoulder and the second bearing.

7. The modular articulated wire-controlled robot of claim 6, wherein the second support base is provided with a fixed plate, and one end of the traction wire is fixed on the fixed plate, and the other end of the traction wire passes through the traction wheel and penetrates out of the rotating shaft.

8. The modular articulated robot of claim 7, wherein a wire binding box is provided on the table; the traction wire is arranged in the wire bundling pipe, and two ends of the traction wire respectively extend out of the wire bundling pipe; one end fixed connection of pencil pipe in on the fixed plate, the other end fixed connection of pencil pipe in the box.

9. The modular articulated line robot of claim 1, wherein a mounting plate is provided within the housing; a plurality of positioning blocks and fixing frames which correspond to the positioning blocks one by one are arranged on the mounting plate at intervals; the electric pull rod is fixed by the fixing frame, and a telescopic rod of the electric pull rod penetrates through the positioning block.

10. The modular articulated robot of claim 8, wherein the table comprises:

a first mobile platform;

the first driving mechanism is connected with the first lead screw mechanism;