CN111571565A

CN111571565A - Seven-axis industrial robot

Info

Publication number: CN111571565A
Application number: CN201910119621.4A
Authority: CN
Inventors: 陈立博; 王金涛; 朱维金; 孙宝龙; 刘亚超; 李宇庆; 杨琦; 姜楠; 陈贵军; 于伟光; 孙喜胜; 刘金鹤
Original assignee: Shenyang Siasun Robot and Automation Co Ltd
Current assignee: Shenyang Siasun Robot and Automation Co Ltd
Priority date: 2019-02-18
Filing date: 2019-02-18
Publication date: 2020-08-25

Abstract

The invention relates to an industrial robot, in particular to a seven-axis industrial robot. Including the base that rotates the connection in proper order, the waist seat, first big arm, the big arm of second, the elbow, the forearm, wrist portion and end flange, wherein waist seat and base can wind first axis relative rotation, the one end and the waist seat of first big arm are connected, the other end is connected with the one end of the big arm of second, the other end and the elbow of the big arm of second are connected, first big arm and waist seat can wind second axis relative rotation, first big arm and the big arm of second can wind third axis relative rotation, the big arm of second and elbow can wind fourth axis relative rotation, the second axis, third axis and fourth axis are parallel to each other. The invention has high flexibility, low control difficulty and wide application range.

Description

Seven-axis industrial robot

Technical Field

The invention relates to an industrial robot, in particular to a seven-axis industrial robot which is applied to polishing or spraying of concave surfaces of complex components in the industries of polishing, bathroom and spraying.

Background

Compared with a six-axis spraying robot, the seven-axis spraying robot is also called as a redundant robot, the additional axis of the seven-axis spraying robot allows the robot to avoid certain specific targets, the end effector can conveniently reach specific positions and can be more flexibly adapted to certain special working environments, the seven-axis motion system achieves greater mobility, and the spraying robot is usually provided with six axes. The running rails in the walls of the painting booth ensure that the robot can move parallel to the vehicle body in the painting booth, thus reaching all the vehicle body areas. In particular in interior coating, this improves the accessibility of many areas and avoids collisions with the vehicle. With a completely new and optimized control system, the seven-axis applicator robot moves along the vehicle body in a consistent, even more coordinated, painting path. Efficiency to in the spray booth promotes: the seven axis robot eliminates the walking track and the seventh axis enables the robot to reach many locations better, especially for interior painting, than the six axis robot for interior painting applications. However, the existing seven-axis spraying robot still has the problems that the configuration is only suitable for side sounding spraying, and sounding polishing and spraying cannot be achieved by digging up and down, so that the robot has limitations.

Disclosure of Invention

In view of the above problems, an object of the present invention is to provide a seven-axis industrial robot to solve the problems of polishing or spraying the inner concave surface of a complex component in the industries of polishing, bathroom and spraying, and avoiding obstacles due to kinematic interference.

In order to achieve the purpose, the invention adopts the following technical scheme:

the utility model provides a seven-axis industrial robot, includes base, waist seat, first big arm, the big arm of second, elbow, forearm, wrist portion and the terminal flange that rotates the connection in proper order, wherein waist seat and base can wind first axis relative rotation, the one end and the waist seat of first big arm are connected, and the other end is connected with the one end of the big arm of second, the other end and the elbow of the big arm of second are connected, first big arm and waist seat can wind second axis relative rotation, first big arm and the big arm of second can wind third axis relative rotation, the big arm of second and elbow can wind fourth axis relative rotation, second axis, third axis and fourth axis are parallel to each other.

The first axis and the second axis are perpendicular.

The forearm and elbow are relatively rotatable about a fifth axis which is orthogonal to the fourth axis.

The wrist and forearm being relatively rotatable about a sixth axis, the sixth axis 6 being orthogonal to the fifth axis.

The end flange and wrist are relatively rotatable about a seventh axis that is orthogonal to the sixth axis.

The invention has the advantages and beneficial effects that:

1. the invention polishes or sprays the inner concave surface of the complex component in the polishing, bathroom and spraying industries, and improves the kinematical interference obstacle avoidance capability, namely the kinematic redundancy.

2. The invention polishes or sprays the inner concave surface of the complex component in the polishing, bathroom and spraying industries, does not need an external linear motion sliding table, and has simple anti-explosion strategy.

3. The invention polishes or sprays the inner concave surface of the complex component in the polishing, bathroom and spraying industries, does not need an external linear motion sliding table, and has short assembly period and quick response.

4. The invention has high flexibility, low control difficulty and wide application range.

5. The invention has less singular solution for the lower redundancy control condition.

Drawings

FIG. 1 is an isometric view of the present invention;

FIG. 2 is a front view of the present invention'

FIG. 3 is a left side view of FIG. 2;

FIG. 4 is a top view of FIG. 2;

fig. 5 is an exploded view of the present invention.

In the figure: 1 is the first axis, 2 is the second axis, 3 is the third axis, 4 is the fourth axis, 5 is the fifth axis, 6 is the sixth axis, 7 is the seventh axis, 8 is the base, 9 is the waist seat, 10 is first big arm, 11 is the big arm of second, 12 is the elbow, 13 is the forearm, 14 is the wrist portion, 15 is the end flange.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.

As shown in fig. 1 to 5, the seven-axis industrial robot provided by the present invention includes a base 8, a waist seat 9, a first large arm 10, a second large arm 11, an elbow 12, a small arm 13, a wrist joint 14 and a terminal flange 15, which are rotatably connected in sequence, wherein the waist seat 9 and the base 8 can relatively rotate around a first axis 1, one end of the first large arm 10 is connected with the waist seat 9, the other end of the first large arm is connected with one end of the second large arm 11, the other end of the second large arm 11 is connected with the elbow 12, the first large arm 10 and the waist seat 9 can relatively rotate around a second axis 2, and the first axis 1 and the second axis 2 are perpendicular to each other. The first large arm 10 and the second large arm 11 are relatively rotatable about a third axis 3, the second large arm 11 and the elbow 12 are relatively rotatable about a fourth axis 4, and the second axis 2, the third axis 3 and the fourth axis 4 are parallel to each other.

The forearm 13 and the elbow 12 are relatively rotatable about a fifth axis 5, the fifth axis 5 being orthogonal to the fourth axis 4. The wrist portion 14 and the forearm 13 are relatively rotatable about a sixth axis 6, the sixth axis 6 being perpendicular to the fifth axis 5. The end flange 15 and the wrist portion 14 are relatively rotatable about a seventh axis 7, the seventh axis 7 being perpendicular to the sixth axis 6. The end flange 15 may be connected to the end effector at one end, the end flange 15 providing seven redundant degrees of freedom for the end effector.

Compared with the configuration of the existing seven-axis spraying robot, the second axis 2, the third axis 3 and the fourth axis 4 of the seven-axis spraying robot are parallel to each other, and the second axis 2, the third axis 3 and the fourth axis 4 of the existing seven-axis spraying robot are perpendicular to each other. Because the first big arm 10 and the second big arm 11 are determined in length, in the inverse solution operation process of the robot kinematics, the space distance between the two axes 2 and the fourth axis 4 can be changed, and the flexibility is high. The existing seven-axis spraying robot cannot be changed, so that the application of spraying inside a complex space is limited. Compared with the common six-degree-of-freedom vertical multi-joint manipulator configuration, the configuration of the invention has the advantages that the second axis 2, the third axis 3 and the fourth axis 4 are redundant shaft structures, and redundant singular solutions (the singular solutions are the axis superposition configuration for reducing the degree of freedom, namely the kinematics solution condition for reducing the degree of freedom) cannot be caused. Compared with the common six-degree-of-freedom vertical articulated manipulator configuration, the configuration of the existing seven-axis spraying robot has the advantages that the second axis 2, the third axis 3 and the fourth axis 4 are of non-redundant axis structures, and redundant singular solutions (the singular solutions are kinematic solution conditions for reducing degrees of freedom and are coincident configurations of axes of reducing degrees of freedom) can be caused.

The seven-axis industrial robot provided by the invention has seven degrees of freedom, can realize seven-axis linkage coupling to enable the tail end flange 15 to move a space track relative to the base 8, and comprises a seven-axis linkage coupling moving straight line and a coupling moving space curve which can be realized by the seven-axis industrial robot. The end effector connected with the invention is a device commonly used in the industry, such as a polishing head, a deburring head, a spray gun and the like, and is a device commonly used in all robots.

According to the seven-axis industrial robot provided by the invention, the seven-axis control cabinet can be configured, offline programming demonstration can be carried out by combining with offline programming through upper computer software, the polishing or the spraying of the concave surface of a complex component in the industries of polishing, bathroom and spraying is carried out, the kinematic interference obstacle avoidance capability is improved, namely the kinematic redundancy is improved; meanwhile, an external linear motion sliding table is not needed, the explosion-proof strategy is simple, the assembly period is short, and the effect is fast.

The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A seven-axis industrial robot is characterized by comprising a base (8), a waist seat (9), a first large arm (10), a second large arm (11), an elbow (12), a small arm (13), a wrist joint part (14) and a tail end flange (15) which are sequentially connected in a rotating manner, wherein the waist seat (9) and the base (8) can rotate relatively around a first axis (1), one end of the first large arm (10) is connected with the waist seat (9), the other end of the first large arm is connected with one end of the second large arm (11), the other end of the second large arm (11) is connected with the elbow (12), the first large arm (10) and the waist seat (9) can rotate relatively around a second axis (2), the first large arm (10) and the second large arm (11) can rotate relatively around a third axis (3), and the second large arm (11) and the elbow (12) can rotate relatively around a fourth axis (4), the second axis (2), the third axis (3) and the fourth axis (4) are parallel to each other.

2. The seven-axis industrial robot according to claim 1, characterized in that the first axis (1) and the second axis (2) are perpendicular orthogonal.

3. The seven-axis industrial robot according to claim 1, characterized in that the small arm (13) and the elbow (12) are relatively rotatable about a fifth axis (5), the fifth axis (5) being orthogonal to the fourth axis (4).

4. A seven-axis industrial robot according to claim 3, characterized in that the wrist joint (14) and the small arm (13) are relatively rotatable about a sixth axis (6), the sixth axis 6 being perpendicular orthogonal to the fifth axis (5).

5. Seven-axis industrial robot according to claim 4, characterized in that the end flange (15) and the wrist joint (14) are relatively rotatable around a seventh axis (7), the seventh axis (7) being perpendicular orthogonal to the sixth axis (6).