CN112060126A

CN112060126A - Three-degree-of-freedom wrist joint robot

Info

Publication number: CN112060126A
Application number: CN202010282281.XA
Authority: CN
Inventors: 鲁精英
Original assignee: Zhongchuang Zhizao Suzhou Intelligent Equipment Technology Co ltd
Current assignee: Zhongchuang Zhizao Suzhou Intelligent Equipment Technology Co ltd
Priority date: 2020-04-11
Filing date: 2020-04-11
Publication date: 2020-12-11

Abstract

The invention discloses a three-degree-of-freedom joint robot which comprises A, C two rotary joints and a turnover joint B and realizes the motion function similar to a human wrist. The turning joint B is arranged at the tail end of the rotating joint A and is coaxial with the turning joint A, the rotating joint C is arranged at the tail end of the turning joint B, three rotational degrees of freedom are achieved, and each rotating joint is composed of a servo motor, a speed reducer special for a precision robot, a shaft body and an accessory. The invention can be independently used as a three-degree-of-freedom joint robot to be arranged on a machine tool, a production line or other automatic equipment to realize the carrying and assembly of materials, and can also be used as a component to be arranged at the tail end of a rectangular coordinate robot or a truss robot to form a novel truss hybrid robot, which is suitable for various occasions such as spraying, welding, carrying, metal processing, medical care and the like, and is particularly suitable for replacing an imported robot in an intelligent manufacturing factory with high speed and high precision.

Description

Three-degree-of-freedom wrist joint robot

Technical Field

The invention relates to a robot, in particular to a wrist joint robot with three degrees of freedom, which is a three-degree-of-freedom robot composed of two rotary joints and an overturning joint and has the morphological function similar to that of a wrist joint of a human body. Can be used in industrial and medical scenes, and belongs to the technical field of robots.

Background

The existing mainstream general industrial robots are joint robots and cartesian robots. Most of the joint robots have more than three degrees of freedom in a serial structure, but the structure cannot be adapted to an intelligent production line of a large-range long-range heavy-load cross-station. The cartesian robot can satisfy the functions described above, but the flexibility and positioning accuracy of its end cannot satisfy the requirements of an intelligent factory. Therefore, in order to solve the practical contradiction, the wrist joint robot with three degrees of freedom and the advantages of the joint robot is designed and used for being used independently or being integrated on a rectangular coordinate robot. Although chinese patent 201310746524.0 mentions a posture wrist, it does not define the motion angle of the joint limited in practice, which brings some inconvenience to the landing application, and the robot in this document is designed to have a load of 6KG, which is not suitable for heavy load (50-1200 KG).

In view of the defects in the prior art and the requirements of practical application, the three-degree-of-freedom wrist joint robot which has the advantages of the joint robot and can be integrated into a truss hybrid robot is specially designed.

Disclosure of Invention

The invention aims to solve the technical defects of a rectangular coordinate robot and provide a wrist joint robot with three degrees of freedom for a composite robot or an automatic assembly production line. The three-degree-of-freedom wrist joint robot is composed of two rotary joints and one turnover joint, and the shape and the function of the three-degree-of-freedom wrist joint robot are similar to those of a human wrist joint. Can be used independently or integrated on a rectangular coordinate robot.

The technical scheme for solving the technical problem is as follows:

a three-degree-of-freedom wrist joint robot comprises two rotary joints and an overturning joint. The ABC rotary joint is arranged at the tail end of a Z-axis of a rectangular coordinate joint or on a base of a workbench surface, an A-axis is a rotary shaft, the moving angle is 0-360 degrees, a B-axis is a crankshaft, the moving angle is 0-180 degrees, a C-axis is a posture axis, and the moving angle is 0-720 degrees. The three shafts are all composed of servo motors, speed reducers special for precision robots, shaft bodies and accessories, the whole machine is stable and efficient to operate, the highest repeated positioning precision can reach +/-0.1mm, and the carrying grabbing device can basically meet the requirements of carrying grabbing equipment work and integrated use in various industries.

The three ABC rotary joints have higher freedom degree, are flexible in movement and suitable for working in various tracks or angles, the A shaft is connected to the tail end of the Z shaft of the cartesian robot or arranged on a base, the path of the A shaft rotates around the Z shaft or the base by 0-360 degrees and does not have any dead point, the B shaft is connected with the tail end of the A shaft, the path of the B shaft can be overturned by 0-180 degrees perpendicular to the axis of the A shaft, the C shaft is connected with the B shaft, and the path of the C shaft can rotate around the axis of the B shaft by 0-360 degrees in multiple points, so that the three ABC shafts can be coordinated and can move independently, the movement range of the A shaft is more multi-angular, the three shafts are precision speed reducers special for the robot and are matched with high-speed servo motors for transmission, and the ABC rotary joint is.

Compared with the prior art, the invention has the beneficial effects that:

a three-freedom wrist joint robot is designed to have a load of 300KG, the maximum load can reach 1200KG after improvement, the repeated positioning accuracy can reach +/-0.1mm at most, the three-freedom wrist joint robot is easy to integrate and attach to other equipment, the three-freedom wrist joint robot is simple in structure, small in occupied space, low in manufacturing cost, easy to integrate, capable of independently operating and integrating, capable of effectively reducing the production and operation cost of enterprises under increasingly tense labor cost, and beneficial help is provided for intelligent upgrading of factories.

Drawings

FIG. 1 is a schematic view of three axes of a rotary joint ABC of the present invention.

Fig. 2 is a diagram of the application of the invention to a truss hybrid robot.

FIG. 3 is a schematic structural view of the A axis and the B axis of the rotary joint

Fig. 4 is a schematic structural view of the C-axis of the rotary joint.

The modules corresponding to the numbers in the figure are as follows,

an A-axis servo motor 6, an A-axis harmonic speed reducer 7, an A-axis body 8, a driving wheel 9, a high-precision seamless belt 10, a driven wheel 11, a B-axis harmonic speed reducer 12, a B-axis body 13, a B-axis servo motor 14, a B + C-axis rotation group 15, a precision deep groove ball bearing 16, an axis harmonic speed reducer 17, a C-axis servo motor 18, an axis body 19, a rotation connecting seat 20 and an electric control part 21

Detailed Description

The present invention will be described in detail with reference to specific examples.

As shown in fig. 1 to 4, the wrist joint robot with three degrees of freedom according to the present invention includes a rotation a-axis 22, a turning B-axis 23, a rotation C-axis 24, and an electric control unit 21.

The A axis 22, the B axis 23 and the C axis 24 of the rotary joint are evolved from the tail end of a six-axis industrial robot, and due to the fact that the rotary joint has high freedom degree, the rotary joint is flexible in movement and suitable for working in various tracks or angles.

The A shaft 22 is connected to the tail end of the Z shaft 4 or the base and is coaxial with the Z shaft 4 or the base, and the path of the A shaft 22 rotates around the axis of the Z shaft 4 or the mounting base by 0-360 degrees without any dead point;

the B shaft 23 is connected with the tail end of the A shaft 22, and can turn over 0-180 degrees towards the other side by taking the axis perpendicular to the A shaft as an initial position;

the C shaft 24 and the B shaft 23 are connected in a nested manner and are coaxial, and the path of the C shaft can rotate around the axis of the B shaft 23 at multiple points of 0-360 degrees;

therefore, the A shaft 22, the B shaft 23 and the C shaft 24 are matched with each other in a three-shaft manner, can be linked and can move independently, so that the movement range of the A shaft 22 is more multi-angular, wherein the A shaft 22 is formed by connecting an A shaft servo motor 6, an A shaft harmonic speed reducer 7, an A shaft body 8 and accessories; the B shaft 23 is formed by connecting a driving wheel 9, a high-precision seamless belt 10, a driven wheel 11, a B shaft harmonic speed reducer 12, a B shaft body 13, a B shaft servo motor 14, a B + C shaft rotating group 15 and accessories thereof; the C shaft 24 consists of a precision deep groove ball bearing 16, a C shaft harmonic speed reducer 17, a C shaft servo motor 18, a C shaft body 19, a rotary connecting seat 20 and accessories.

The A shaft 22, the B shaft 23 and the C shaft 24 of the rotary joint are all precision robot harmonic reducers and are matched with high-rotation-speed servo motors for transmission, and the rotary joint is particularly suitable for various high-precision carrying or grabbing actions.

The three-degree-of-freedom wrist joint robot has the characteristics of high speed, high precision, heavy load, flexible action, economy and high efficiency, can be widely used for machining precision parts, assembly line assembly and integration to the tail end of a machine tool or a rectangular coordinate robot to form a novel composite robot, is used for cross-station automatic production line linkage, and can also be used for replacing heavy manual labor in the medical care industry after improvement.

The heavy load of the invention is a design load of 300KG, and can reach 1200KG after improvement; the high precision is that the repeated positioning precision of the whole machine is + -0.1mm, and the repeated positioning precision reaches the same-line leading level within the load range of 300 kg.

The present invention is not limited to the above-mentioned embodiments, and those skilled in the art can make various modifications and changes within the scope of the present invention by continuously performing creative improvement and further optimizing the arm length, the load and the precision.

Claims

1. A three-degree-of-freedom wrist joint robot comprises a rotation A shaft, a turnover B shaft, a posture C shaft (rotation warping posture) and an electric control part, and is characterized in that: the three-degree-of-freedom wrist joint robot overturning joint B is arranged at the tail end of the rotary joint A and is coaxial with the rotary joint A, the rotary joint C is arranged at the tail end of the overturning joint B, three rotational degrees of freedom are achieved, and each rotary joint is composed of a servo motor, a speed reducer special for a precision robot, a shaft body and an accessory. The electric control part is separately arranged on the working table or the ground.

2. The three-degree-of-freedom wrist joint robot according to claim 1, wherein: the shaft A is connected to the working table top or the ground base, and the path of the shaft A rotates around the axis of the base by 0-360 degrees without any dead point. The A shaft is formed by connecting an A shaft servo motor, an A shaft harmonic speed reducer, an A shaft body and an accessory.

3. The three-degree-of-freedom wrist joint robot according to claim 2, wherein: the B shaft is connected with the tail end of the A shaft, and can turn 0-180 degrees towards the other side by taking the axis vertical to the A shaft as an initial position. The B shaft is formed by connecting a driving wheel, a high-precision seamless belt, a driven wheel, a B shaft harmonic speed reducer, a B shaft body, a B shaft servo motor, a B + C shaft rotating group and accessories thereof.

4. The three-degree-of-freedom wrist joint robot according to claim 3, wherein: the C shaft and the B shaft are connected in a nested manner and are coaxial, and the path of the C shaft and the B shaft can rotate around the axis of the B shaft at multiple points of 0-360 degrees; the C shaft consists of a precision deep groove ball bearing, a C shaft harmonic speed reducer, a C shaft servo motor, a C shaft body, a rotary connecting seat and accessories.

5. The three-degree-of-freedom wrist joint robot according to claim 4, wherein: therefore, the three shafts of the A shaft, the B shaft and the C shaft can be linked and can move independently, so that the movement range of the device is more multi-angular.

6. The three-degree-of-freedom wrist joint robot according to claim 5, wherein: the arm lengths, the precision and the loads of the A axis, the B axis and the C axis of the robot can be customized according to actual conditions.