CN110480762B - Modular three-degree-of-freedom machining robot - Google Patents
Modular three-degree-of-freedom machining robot Download PDFInfo
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- CN110480762B CN110480762B CN201910698563.5A CN201910698563A CN110480762B CN 110480762 B CN110480762 B CN 110480762B CN 201910698563 A CN201910698563 A CN 201910698563A CN 110480762 B CN110480762 B CN 110480762B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B27—WORKING OR PRESERVING WOOD OR SIMILAR MATERIAL; NAILING OR STAPLING MACHINES IN GENERAL
- B27C—PLANING, DRILLING, MILLING, TURNING OR UNIVERSAL MACHINES FOR WOOD OR SIMILAR MATERIAL
- B27C9/00—Multi-purpose machines; Universal machines; Equipment therefor
- B27C9/02—Multi-purpose machines; Universal machines; Equipment therefor with a single working spindle
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Abstract
The invention relates to a modular three-degree-of-freedom processing robot which comprises a mounting plate, a fixed mounting seat, a first linear driving unit, a second linear driving unit, a tail end executing component posture adjusting mechanism and a tail end executing component. The fixed mounting seat is fixedly connected with external equipment, and when the first lead screw rotates, the mounting plate moves up and down, so that the tail end execution component has Z-axis movement freedom; a small sliding plate in the second linear driving unit moves, and the tail end posture adjusting mechanism is driven to rotate through the connecting rod, so that the tail end executing component has the rotational freedom degree of the shaft A; the torque motor in the end actuating component posture adjusting mechanism rotates, so that the end actuating component has a B-axis rotational degree of freedom. The modular three-degree-of-freedom processing robot provided by the invention has the advantages of high integration degree, small size, low manufacturing cost and convenience in installation and use. The invention can be installed on a gantry machine tool or a truss robot and can carry out multiple working procedures of milling, drilling, polishing, deburring, laser processing and the like.
Description
Technical Field
The invention relates to the field of robots, in particular to a modular three-degree-of-freedom processing robot.
Background
In actual machining production, when a workpiece with a large volume is machined, local machining of the workpiece may require multiple degrees of freedom of a machine tool, and in order to meet machining requirements, a large gantry machine tool or a machining center is required. Some small-sized or single-processed products factories cannot bear expensive machine tool cost, or the process is completed by a processing center and is not economical, for example, deburring is performed on some workpieces, although the cutting feed amount is not large in chamfering work, a tail end execution member is required to have multiple degrees of freedom, a common three-axis machine tool is difficult to perform, and a common multi-axis serial manipulator is applied to deburring or local grinding, drilling and the like, so that the serial multi-axis manipulator cannot perform such work well due to the reasons of limited working space, poor repeated positioning accuracy, high use cost and the like of the manipulator.
In the woodworking field, the traditional processing method is that a three-axis gantry machine tool and a plurality of electric spindles are added to directly process a plate with a longer size, but the three-dimensional translational gantry machine tool is difficult to process some complex patterns, the cutting force of wood processing is much smaller than that of steel, and if two-dimensional rotary processing equipment such as an AC swinging head and the like which are universal in the metal processing field are adopted, the cost is too high, the performance is excessive, and the enterprise control cost is not facilitated. In laser processing such as laser welding, laser cutting; in the fields of water jet machining and the like, a carrier is still required to drive a tail end execution component to carry out machining, a multi-shaft series mechanical arm is used as the carrier, and a base of the mechanical arm generally needs to be fixedly connected with the ground, so that the effective working space of the mechanical arm is small, the bearing capacity of the mechanical arm is small, the repeated positioning precision is poor, and the rigidity is poor. The cost of using in-line robotic arms is high if the end effector components are large in size and weight.
Therefore, the invention has the advantages of developing a modular three-degree-of-freedom processing robot which has two rotational degrees of freedom and one translational degree of freedom, small size and low production and use cost, can be connected with the existing gantry machine tool and the truss robot to perform milling, drilling, polishing, deburring, laser processing and the like, and has significance for enterprises with strict cost control, flexible processing and strong equipment universality.
Chinese patent CN201710197043.7 proposes a two-branch three-degree-of-freedom industrial robot, which has two motion branches, one of which has two drives, and the other has one drive.
Chinese patent 201711156938.2 proposes a three-degree-of-freedom robot shaper, which combines a three-axis robot with a double-station rotary table, and combines a universal robot device with a machine tool mechanism, thereby having the advantages of high automation degree and low cost. The three-axis robot has the advantages of difficult control programming, poor rigidity and poor repeated positioning precision, and is difficult to meet the high-precision machining requirement.
The invention discloses a three-freedom robot mechanism capable of realizing two-dimensional rotation and one-rotational rotation, which is provided with three branched chains, wherein each branched chain comprises a near frame rod and two parallel long frame rods with equal length, a movable platform is connected with the three branched chains through a spherical hinge, the mechanism is flexible in movement and easy to realize high grabbing and releasing actions, but the long frame rods in the three branched chains of the mechanism are too long, and are easy to deform during working, so that the movement angle of the movable platform is inaccurate.
Chinese patent CN201610985666.6 discloses a three-degree-of-freedom robot mechanism capable of realizing two-level rotation and one-rotation, wherein two coaxial U-frames and one revolute pair are arranged on a fixed frame, and connected with a movable platform through three driving branches.
The invention provides a three-freedom robot, which is provided in Chinese patent CN 201610879835.8.A movable platform is connected with a fixed platform through three branched chains with the same structure, the lower end of a middle restraint rod is fixedly connected with the fixed platform, the upper end of the middle restraint rod is connected with the movable platform through a spherical hinge, two revolute pairs are arranged in the three branched chains, and the upper end of the three branched chains is connected with an upper platform through a spherical hinge or a universal hinge. The mechanism has the advantages of compact structure, strong driving performance and high flexibility, but the mechanism has poor lateral rigidity and large deformation when the upper platform is subjected to horizontal component force.
The invention provides a three-degree-of-freedom robot for minimally invasive surgery, which comprises a frame, a surgery operation module and parallelogram branches, and the mechanism has the advantages of compact structure and high precision. The mechanism is only a plane mechanism, can realize two movements in one plane and one rotation, is formed by a plurality of connecting rod structures, easily has certain gaps in machining and manufacturing, can influence the operation precision of the end actuating component, and has poor rigidity because the rod mechanism is complex.
The invention provides a parallel connection mechanism and a multifunctional five-axis robot in Chinese patent 201010110648, wherein the parallel connection mechanism is provided with five rotating shafts and is mainly used for processing automobile die-casting parts. According to the invention, each rotating part is directly connected with the servo motor through the speed reducer, so that the whole size is larger, the processing working space is small, and the size of the multi-tail-end executing component has more rigorous requirements.
The invention provides a large-stroke hybrid processing robot device for complex curved surfaces, which is provided in Chinese patent CN 201810570722.9.A three-degree-of-freedom force control processing module is arranged on a planar two-degree-of-freedom hybrid mechanical arm, and a full-stroke linear guide rail is arranged at the bottom of the device and can be used for processing large-stroke complex curved surface workpieces.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a modular three-degree-of-freedom processing robot which can realize two rotational degrees of freedom and one mobile degree of freedom.
Specifically, the present invention is realized by:
the invention provides a modular three-degree-of-freedom processing robot, which comprises a mounting plate, a fixed mounting seat, a first linear driving unit, a second linear driving unit, a tail end executing component and a tail end executing component posture adjusting mechanism, wherein the fixed mounting seat is arranged on the mounting plate;
the mounting plate comprises a web plate, two rib plates, a first driving mechanism mounting plate and a second driving mechanism mounting plate, wherein the two rib plates are respectively positioned at two sides of the web plate;
the first linear driving unit is positioned on the first end surface of the mounting plate and comprises a first driving mechanism, a first transmission mechanism, a first guide rail and a first sliding block;
the first driving mechanism is fixed on the upper portion of a first driving mechanism mounting plate, the first driving mechanism is connected with a first transmission mechanism, the first guide rail is mounted on one side of the first end face of the web plate, a first sliding block is mounted inside the fixed mounting seat, the fixed mounting seat is connected with the first transmission mechanism, the fixed mounting seat is connected with the first guide rail in the mounting plate through the first sliding block, and the mounting plate is located inside the fixed mounting seat;
the second linear driving unit is positioned on the second end face of the mounting plate and comprises a second driving mechanism, a second guide rail, a second sliding block, a second transmission mechanism and a sliding plate; the second driving mechanism is arranged on the second driving mechanism mounting plate and connected with the second transmission mechanism, the second guide rail is arranged on one side of the second end surface of the web plate, the first end surface of the sliding plate is provided with a second sliding block, the second end surface of the sliding plate is provided with a connecting rod mounting hole, the sliding plate is connected with the second transmission mechanism, and the sliding plate is connected with the second guide rail through the second sliding block;
the tail end executing component posture adjusting mechanism comprises a posture adjusting rack, a connecting rod, a torque motor and a connecting plate; the interior of a posture adjusting rack in the posture adjusting mechanism of the tail end executing component is hollow, trunnions are arranged on two sides of the middle of the posture adjusting rack, a connecting rod mounting hole is formed in the tail of the posture adjusting rack, a first end of the connecting rod is connected with the connecting rod mounting hole in the second end face of the sliding plate, a second end of the connecting rod is connected with the connecting rod mounting hole in the tail of the posture adjusting rack, the posture adjusting rack is connected with mounting holes in the bottoms of two rib plates in the mounting plate through the trunnions on two sides of the middle of the posture adjusting rack, the torque motor is mounted in the posture adjusting rack, and the tail end executing component is connected with the torque motor in the posture adjusting mechanism of the;
when the first driving mechanism drives the first transmission mechanism to drive the mounting plate to move, the mounting plate generates displacement on the Z axis, so that the tail end executing component has Z-axis moving freedom; when the second driving mechanism drives the second transmission mechanism to drive the sliding plate to move, the sliding plate can move, the posture adjusting rack is driven by the connecting rod to rotate around the rotation axis A of the posture adjusting rack and the mounting plate, and the tail end executing component has the rotation degree of freedom of the axis A; when a torque motor in the attitude adjusting mechanism of the tail end executing component rotates, the tail end executing component is driven to rotate through the connecting plate, so that the tail end executing component has a rotational degree of freedom of a shaft B, and the shaft B is a rotational axis of the torque motor;
the rotation axes of the posture adjusting frame and the connecting rod, the rotation axes of the posture adjusting frame and the mounting plate and the rotation axis of the torque motor are positioned in the same plane, the rotation axes of the posture adjusting frame and the connecting rod are parallel to the rotation axis of the posture adjusting frame and the mounting plate, and the rotation axes of the posture adjusting frame and the mounting plate are perpendicular to the rotation axis of the torque motor.
Preferably, the first driving mechanism is a first motor, the first transmission mechanism is a first lead screw, an output shaft of the first motor is connected with the first lead screw, the first lead screw is mounted on the other side of the first end surface of the web plate, which is opposite to the first guide rail, through a first lead screw supporting seat, a first screw nut is further mounted inside the fixed mounting seat, the fixed mounting seat is connected with the first lead screw through the first screw nut,
the second driving mechanism is a second motor, the second transmission mechanism is a second lead screw, an output shaft of the second motor is connected with the second lead screw, the second lead screw is mounted on the other side, opposite to the second guide rail, of the second end face of the web plate through a second lead screw supporting seat, a second nut is further arranged on the first end face of the sliding plate, and the sliding plate is connected with the second transmission mechanism through the second nut.
Preferably, the first driving mechanism is a first driving cylinder, the first transmission mechanism is a first driving cylinder extension shaft, a cylinder barrel of the first driving cylinder is connected with the upper part of the first end surface of the web plate of the mounting plate, the first driving cylinder extension shaft is connected with the fixed mounting seat,
the second driving mechanism is a second driving cylinder, the second transmission mechanism is a second driving cylinder extension shaft, a cylinder barrel of the second driving cylinder is connected with the upper portion of the second end face of the web plate of the mounting plate, and the second driving cylinder extension shaft is connected with the sliding plate.
Preferably, the mounting plate is H-shaped, and the fixed mounting seat is rectangular.
Preferably, the length of the bottom surface of the web is smaller than the length of the two ribs, and the bottom parts of the two webs are provided with mounting holes.
Preferably, a torque motor in the end actuating member posture adjusting mechanism is a direct current speed reducing motor or a servo motor and a speed reducer are matched with each other.
Preferably, the end effector is an electric spindle, a laser or a water tool bit.
Preferably, the electric spindle is capable of mounting a drill, a milling cutter or a rotary file.
Preferably, the fixed mount can be connected to a gantry machine or a truss robot.
Compared with the prior art, the invention has the following beneficial effects:
1. the modular three-degree-of-freedom processing robot has two linear drives and one rotation drive, the control system is simpler, and the first linear drive unit and the second linear drive unit are arranged on the front surface and the back surface of the mounting plate, so that the modular three-degree-of-freedom processing robot is compact in structure and convenient to maintain.
2. The modular three-degree-of-freedom processing robot can be applied to various processing occasions by using a plurality of end executing components; if the end effector is an electric spindle, a milling cutter, a drill, a rotary file, etc. can be mounted thereon.
3. The modular three-degree-of-freedom processing robot can be connected with a gantry machine tool or a truss robot through the fixed mounting seat, and has high universality.
Drawings
FIG. 1 is a schematic three-dimensional view of the front side of a modular three-degree-of-freedom machining robot in accordance with the present invention;
FIG. 2 is a three-dimensional schematic view of the back of the modular three-degree-of-freedom machining robot of the present invention;
FIG. 3 is a schematic diagram of the front side of the modular three-degree-of-freedom machining robot of the present invention;
FIG. 4 is a schematic diagram of the front side of the modular three-degree-of-freedom machining robot mounting plate of the present invention;
FIG. 5 is a schematic view of the back side of the modular three-degree-of-freedom machining robot mounting plate of the present invention;
FIG. 6 is a schematic view of a modular three-degree-of-freedom machining robot according to the present invention cut away from the middle;
fig. 7 is a three-dimensional schematic view of a second linear driving unit in embodiment 2 of the modular three-degree-of-freedom machining robot according to the present invention;
FIG. 8 is a schematic view of the connection between the modular three-degree-of-freedom machining robot and the gantry machine tool according to the present invention;
fig. 9 is a schematic diagram of the connection between the modular three-degree-of-freedom processing robot and the truss robot according to the present invention.
Some of the reference numbers in the figures are as follows:
1-mounting a plate; 2-fixing the mounting seat; 3-a first linear drive unit; 4-a second linear drive unit; 5-a tail end executing component posture adjusting mechanism; 6-end effector member; 7-gantry machine tool; 8-truss robot; 101-a web; 102-a rib; 103-a first motor mounting plate; 104-a second motor mounting plate; 301-a first motor; 302-a first guide rail; 303-a first slider; 304-a first lead screw; 305-a first screw; 306-a first lead screw support seat; 401-a second electric machine; 402-a second guide rail; 403-a second slider; 404-a second lead screw; 405-a second screw; 406-a second lead screw support seat; 407-a skateboard; 408-a driving cylinder; 501-posture adjusting machine frame; 502-a connecting rod; 503-torque motor; 504-connecting plate.
Detailed Description
Exemplary embodiments, features and aspects of the present invention will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
Detailed description of the preferred embodiment 1
As shown in fig. 1, the modular three-degree-of-freedom processing robot includes a mounting plate 1, a fixed mounting base 2, a first linear driving unit 3, a second linear driving unit 4, a tail end actuating member posture adjusting mechanism 5, and a tail end actuating member 6. Wherein the mounting panel is the H type, and fixed mounting base 2 is the rectangle.
The mounting plate 1 comprises a web plate 101, two rib plates 102, a first motor mounting plate 103 and a second motor mounting plate 104, and the first driving linear unit 3 comprises a first motor 301, a first guide rail 302, a first sliding block 303, a first lead screw 304, a first nut 305 and a first lead screw supporting seat 306. The second linear driving unit 4 comprises a second motor 401, a second guide rail 402, a second slider 403, a second lead screw 404, a second nut 405, a second lead screw support base 406 and a sliding plate 407; the end effector posture adjustment mechanism 5 includes a posture adjustment frame 501, a link 502, a torque motor 503, and a connection plate 504.
As shown in fig. 4, two ribs 102 in the mounting plate 1 are located on both sides of the web 101, and a first motor mounting plate 103 is located between a first end surface, i.e., the top end of the front surface, of the web 101 and the two ribs 102.
As shown in fig. 5, a second motor mounting plate 104 is arranged between the second end surface, i.e. the upper part of the back surface, of the web 101 and the two ribs 102. The lower part of the web 101 is shorter than the two ribs 102, and the bottom parts of the two webs 101 are provided with mounting holes.
As shown in fig. 3, the first linear driving unit 3 is located on the first end surface of the mounting plate 1, the first motor 301 in the first linear driving unit 3 is connected to the first lead screw 304, the first motor 301 is fixed on the upper portion of the first motor mounting plate 103, the first lead screw 304 is mounted on the first end surface of the web 101 through the first lead screw supporting seat 306, and the first guide rail 302 is mounted on the first end surface of the web 101.
As shown in fig. 6, a first slider 303 and a first nut 305 are mounted inside the fixed mount 2. The fixed mounting base 2 is connected with a first lead screw 304 through a first nut 305, the fixed mounting base 2 is connected with a first guide rail 302 which is arranged on a first end surface of the mounting plate 2 through a first sliding block 303, and as shown in fig. 6, the mounting plate 1 is positioned inside the fixed mounting base 2. As shown in fig. 2, the second linear driving unit 4 is located at the second end face of the mounting plate 1, the second motor 401 is mounted on the second motor mounting plate 104, the second motor 401 is connected to the second lead screw 404, the second lead screw 404 is fixed to the second end face of the web 101 in the mounting plate 1 through the second lead screw supporting seat 406, and the second guide rail 402 is mounted on the second end face of the web 101. The first end surface of the sliding plate 407 has a second slider 403 and a second nut 405, and the second end surface of the sliding plate 407 has a link mounting hole. The slide plate 407 is connected to the second lead screw 404 by a second nut 405, and the slide plate 407 is connected to a second guide rail 402 fixed to the second end surface of the mounting plate 1 by a second slider 403. As shown in fig. 2, the posture adjusting frame 501 of the posture adjusting mechanism 5 of the end executing member is hollow, trunnions are arranged at two sides of the middle part of the posture adjusting frame 501, and a connecting rod mounting hole is arranged at the tail part of the posture adjusting frame 501. One end of a connecting rod 502 in the tail end executing component posture adjusting mechanism 5 is connected with a connecting rod mounting hole on the second end face of the sliding plate 407, the other end of the connecting rod 502 is connected with a connecting rod mounting hole on the tail portion of the posture adjusting rack 501, the posture adjusting rack 501 is connected with mounting holes at the bottoms of two rib plates 102 in the mounting plate 1 through trunnions on two sides of the middle of the posture adjusting rack, a torque motor 503 is mounted inside the posture adjusting rack 501, and the tail end executing component 6 is connected with the torque motor 503 in the tail end executing component posture adjusting mechanism 5 through a connecting plate 504. The posture adjusting rack 501 and the connecting rod 502 are rotation axes O, the posture adjusting rack 501 and the mounting plate 1 are rotation axes a, and the rotation axis of the torque motor 503 is a rotation axis B. The rotation axis O, the rotation axis A and the rotation axis B are located in the same plane, the rotation axis O is parallel to the rotation axis A, and the rotation axis O and the rotation axis A are perpendicular to the rotation axis B.
The fixed mounting base 2 is fixedly connected with an external device, and because the first lead screw 304 is fixed with the web 101 in the mounting plate 1 through the first lead screw supporting base 306, when the first lead screw 304 is driven by the first motor 301 to rotate, the mounting plate 1 can move along the Z axis, so that the end effector 6 has a degree of freedom of movement along the Z axis.
The second motor 401 of the second linear driving unit 4 is connected to a second lead screw 404, the second lead screw 404 is connected to a sliding plate 407 through a second nut 405, and the sliding plate 407 is connected to a second guide rail 402 fixed to the second end surface of the web 101 through a second slider 403, so that when the second motor 401 drives the second lead screw 404 to rotate, the sliding plate 407 moves.
One end of the connecting rod 502 is connected with a connecting rod mounting hole at the second end face of the sliding plate 407, the other end of the connecting rod 502 is connected with a connecting rod mounting hole at the tail of the posture adjusting rack 501, and the posture adjusting rack 501 is connected with a mounting hole at the bottom of the rib plate 102 through a middle trunnion. When the sliding plate 407 moves, the posture adjusting rack 501 rotates around the axis a under the driving of the connecting rod 502, so that the end executing component 6 has a rotational degree of freedom of the axis a; when the torque motor 503 in the end effector posture adjustment mechanism 5 rotates, the end effector 6 is driven to rotate by the connecting plate 504, so that the end effector 6 has a rotational degree of freedom of the B axis.
Specific example 2
In the second linear driving unit 4 of the modular three-degree-of-freedom processing robot of the present invention, as shown in fig. 7, the second motor 401 and the second lead screw 404 in the second linear driving unit 4 can be replaced by a driving cylinder 408, the cylinder of the driving cylinder 408 is connected with the upper portion of the second end face of the web 101 in the mounting plate 1, and the extension rod of the driving cylinder 408 is connected with the sliding plate 407. The slide plate 407 is connected to the end effector attitude adjusting mechanism 5 via a link 502, and the driving cylinder 408 extends to extend the rod, pushing the slide plate 407, and causing the end effector 6 to rotate about the axis a.
Similarly, the first motor can also be a first driving cylinder, the first lead screw is a first driving cylinder extension shaft, a cylinder barrel of the first driving cylinder is connected with the upper part of the first end face of the web plate of the mounting plate, and the first driving cylinder extension shaft is connected with the fixed mounting seat.
The other parts are connected in the same manner as in embodiment 1, and are not described in detail herein. In addition, in other embodiments, the driving of the first linear driving unit and the second linear driving unit may also be a combination of an electric cylinder or a hydraulic cylinder or an electric motor and a rack and pinion mechanism.
Specific example 3
The modular three-degree-of-freedom processing robot can be connected with a gantry machine tool 7 through the fixed mounting seat 2, so that the tail end executing component 6 can realize three degrees of freedom of movement and two degrees of freedom of rotation, and the processing requirements on complex workpieces are met.
The other parts are connected in the same manner as in example 1.
Specific example 4
The modular three-degree-of-freedom processing robot can be connected with the truss robot 8 through the fixed mounting seat 2, so that the tail end executing component 6 can move in a long distance, and the processing requirement on large-size complex workpieces is met.
The other parts are connected in the same manner as in example 1.
Finally, it should be noted that: the above-mentioned embodiments are only used for illustrating the technical solution of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. A modular three-freedom-degree processing robot is characterized in that: the device comprises a mounting plate, a fixed mounting seat, a first linear driving unit, a second linear driving unit, a tail end executing component and a tail end executing component posture adjusting mechanism;
the mounting plate comprises a web plate, two rib plates, a first driving mechanism mounting plate and a second driving mechanism mounting plate, wherein the two rib plates are respectively positioned at two sides of the web plate;
the first linear driving unit is positioned on the first end surface of the mounting plate and comprises a first driving mechanism, a first transmission mechanism, a first guide rail and a first sliding block;
the first driving mechanism is fixed on the upper portion of a first driving mechanism mounting plate, the first driving mechanism is connected with a first transmission mechanism, the first guide rail is mounted on one side of the first end face of the web plate, a first sliding block is mounted inside the fixed mounting seat, the fixed mounting seat is connected with the first transmission mechanism, the fixed mounting seat is connected with the first guide rail in the mounting plate through the first sliding block, and the mounting plate is located inside the fixed mounting seat;
the second linear driving unit is positioned on the second end face of the mounting plate and comprises a second driving mechanism, a second guide rail, a second sliding block, a second transmission mechanism and a sliding plate; the second driving mechanism is arranged on the second driving mechanism mounting plate and connected with the second transmission mechanism, the second guide rail is arranged on one side of the second end surface of the web plate, the first end surface of the sliding plate is provided with a second sliding block, the second end surface of the sliding plate is provided with a connecting rod mounting hole, the sliding plate is connected with the second transmission mechanism, and the sliding plate is connected with the second guide rail through the second sliding block;
the tail end executing component posture adjusting mechanism comprises a posture adjusting rack, a connecting rod, a torque motor and a connecting plate; the interior of a posture adjusting rack in the posture adjusting mechanism of the tail end executing component is hollow, trunnions are arranged on two sides of the middle of the posture adjusting rack, a connecting rod mounting hole is formed in the tail of the posture adjusting rack, a first end of the connecting rod is connected with the connecting rod mounting hole in the second end face of the sliding plate, a second end of the connecting rod is connected with the connecting rod mounting hole in the tail of the posture adjusting rack, the posture adjusting rack is connected with mounting holes in the bottoms of two rib plates in the mounting plate through the trunnions on two sides of the middle of the posture adjusting rack, the torque motor is mounted in the posture adjusting rack, and the tail end executing component is connected with the torque motor in the posture adjusting mechanism of the;
when the first driving mechanism drives the first transmission mechanism to drive the mounting plate to move, the mounting plate generates displacement on the Z axis, so that the tail end executing component has Z-axis moving freedom; when the second driving mechanism drives the second transmission mechanism to drive the sliding plate to move, the sliding plate can move, the posture adjusting rack is driven by the connecting rod to rotate around the rotation axis A of the posture adjusting rack and the mounting plate, and the tail end executing component has the rotation degree of freedom of the axis A; when a torque motor in the attitude adjusting mechanism of the tail end executing component rotates, the tail end executing component is driven to rotate through the connecting plate, so that the tail end executing component has a rotational degree of freedom of a shaft B, and the shaft B is a rotational axis of the torque motor;
the rotation axes of the posture adjusting frame and the connecting rod, the rotation axes of the posture adjusting frame and the mounting plate and the rotation axis of the torque motor are positioned in the same plane, the rotation axes of the posture adjusting frame and the connecting rod are parallel to the rotation axis of the posture adjusting frame and the mounting plate, and the rotation axes of the posture adjusting frame and the mounting plate are perpendicular to the rotation axis of the torque motor.
2. The modular three-degree-of-freedom machining robot of claim 1, wherein: the first driving mechanism is a first motor, the first transmission mechanism is a first lead screw, an output shaft of the first motor is connected with the first lead screw, the first lead screw is arranged on the other side, opposite to the first guide rail, of the first end surface of the web plate through a first lead screw supporting seat, a first screw nut is further arranged inside the fixed mounting seat, the fixed mounting seat is connected with the first lead screw through the first screw nut,
the second driving mechanism is a second motor, the second transmission mechanism is a second lead screw, an output shaft of the second motor is connected with the second lead screw, the second lead screw is mounted on the other side, opposite to the second guide rail, of the second end face of the web plate through a second lead screw supporting seat, a second nut is further arranged on the first end face of the sliding plate, and the sliding plate is connected with the second transmission mechanism through the second nut.
3. The modular three-degree-of-freedom machining robot of claim 1, wherein: the first driving mechanism is a first driving cylinder, the first transmission mechanism is a first driving cylinder extension shaft, a cylinder barrel of the first driving cylinder is connected with the upper part of the first end surface of the web plate of the mounting plate, the first driving cylinder extension shaft is connected with the fixed mounting seat,
the second driving mechanism is a second driving cylinder, the second transmission mechanism is a second driving cylinder extension shaft, a cylinder barrel of the second driving cylinder is connected with the upper portion of the second end face of the web plate of the mounting plate, and the second driving cylinder extension shaft is connected with the sliding plate.
4. The modular three-degree-of-freedom machining robot of claim 1, wherein: the mounting panel is the H type, fixed mounting seat is the rectangle.
5. The modular three-degree-of-freedom machining robot of claim 1, wherein: the length of the bottom surface of the web plate is smaller than the length of the two rib plates, and mounting holes are formed in the bottoms of the two web plates.
6. The modular three-degree-of-freedom machining robot of claim 1, wherein: the torque motor in the tail end executing component posture adjusting mechanism is a direct current speed reducing motor or a servo motor and a speed reducer are matched with each other.
7. The modular three-degree-of-freedom machining robot of claim 1, wherein: the end executing component is an electric spindle, a laser or a water cutter head.
8. The modular three-degree-of-freedom machining robot of claim 7, wherein: the electric spindle can be equipped with a drill, a milling cutter or a rotary file.
9. The modular three-degree-of-freedom machining robot of claim 4, wherein: the fixed mounting seat can be connected with a gantry machine tool or a truss robot.
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| CN201910698563.5A CN110480762B (en) | 2019-07-31 | 2019-07-31 | Modular three-degree-of-freedom machining robot |
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| CN201910698563.5A CN110480762B (en) | 2019-07-31 | 2019-07-31 | Modular three-degree-of-freedom machining robot |
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| CN110480762A CN110480762A (en) | 2019-11-22 |
| CN110480762B true CN110480762B (en) | 2020-06-02 |
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