CN112677143A - Extensible plane joint type robot - Google Patents
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- CN112677143A CN112677143A CN202011328773.4A CN202011328773A CN112677143A CN 112677143 A CN112677143 A CN 112677143A CN 202011328773 A CN202011328773 A CN 202011328773A CN 112677143 A CN112677143 A CN 112677143A
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- 238000004519 manufacturing process Methods 0.000 abstract description 23
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Abstract
The invention discloses an extensible planar articulated robot, which comprises: big arm structure of robot: one end of the robot large arm structure is connected with a first rotary joint, and the other end of the robot large arm structure is connected with a second rotary joint; the output end of the second rotary joint is provided with a vertical freedom joint; the robot large arm structure comprises a large arm tail end module and a large arm front end module; a plurality of groups of large arm middle modules are arranged between the large arm tail end module and the large arm front end module; the large arm of the planar joint type robot is formed by modularly transforming the traditional integrated large arm, and a user can select the installation number of modules in the middle of the large arm of the robot according to different working radius requirements, so that the extensible planar joint type robot has various different working radii, and various production requirements of enterprises are met.
Description
Technical Field
The invention relates to an extensible plane joint robot, and belongs to the technical field of robots.
Background
The planar joint type robot belongs to one of cylindrical coordinate type industrial robots, and the main structure mainly comprises 2 mutually parallel rotating joints for positioning an object on a plane and a moving joint perpendicular to the plane, wherein the moving joint is mainly used for completing the motion of a robot end piece in the perpendicular plane. Compared with a common industrial robot, the plane joint type robot has good flexibility in plane motion, high rigidity in vertical motion, superior performances of speed, precision, linearity, verticality and the like, and can quickly and accurately complete operations of inserting, assembling, sorting, packaging and the like. However, the size structure of the traditional plane joint robot at present adopts integrated production, the working space is fixed and unchanged, the robot is assembled and disassembled, different working spaces cannot be realized according to the production requirements of enterprises, and the robot is difficult to adapt to enterprise diversified production. In actual production, when the production line of an enterprise changes and the original working radius of the robot is insufficient, the enterprise needs to buy the robot again to adapt to a new production line. Meanwhile, the traditional plane joint type robot lacks effective analysis and optimization in structural design, and is difficult to meet the requirements of small volume, high load and the like.
On the other hand, the traditional plane joint robot is provided with a plurality of sets of motors and speed reducers on the large arm and the small arm, so that the motion inertia is large, and the requirements on the mechanical and control systems of the robot are high when the high-speed and high-precision motion is realized. Meanwhile, the traditional plane joint type robot joint generally adopts a harmonic reducer, and the vertical degree of freedom joint generally adopts a ball screw, so that the price is high, and the manufacturing cost of the robot is high.
Disclosure of Invention
The invention aims to provide an extensible planar articulated robot, which aims to overcome the defects that different working spaces cannot be realized according to the production requirements of enterprises and the diversified production of the enterprises is difficult to adapt in the prior art.
An expandable planar articulated robot comprising:
big arm structure of robot: one end of the robot large arm structure is connected with a first rotary joint, and the other end of the robot large arm structure is connected with a second rotary joint; the output end of the second rotary joint is provided with a vertical freedom joint;
the robot large arm structure comprises a large arm tail end module and a large arm front end module; and a plurality of groups of large arm middle modules are arranged between the large arm tail end module and the large arm front end module.
Furthermore, the big arm front end module is provided with a first joint reducer mounting hole, and the big arm tail end module is provided with a second joint reducer mounting hole.
Furthermore, a hollow structure is arranged in the module in the middle of the large arm, and reinforcing ribs are arranged in the hollow structure.
Further, the first rotary joint comprises a joint motor;
the output end of the joint motor is connected with a flange type planetary reducer, and the flange type planetary reducer is connected with the large arm tail end module through a reducer mounting platform.
Furthermore, a magnetic ring type angle encoder is arranged at the outer end of the first rotating joint; the inner ring of the magnetic ring type angle encoder is arranged outside the robot large arm structure, and the magnetic ring and the flange type planetary reducer keep coaxiality.
Further, the outer ring of the magnetic ring type angle encoder is fixed on the speed reducer mounting platform, and the magnetic ring type angle encoder is provided with an encoder protection end cover.
Further, the vertical degree of freedom joint comprises a stepping motor, a mounting bracket, a guide rail, a lead screw, a sliding block and a robot forearm;
the top of installing support is located to step motor, the one end and the step motor of lead screw are connected, and the other end is connected with the installing support bottom, the slider cover is established on the lead screw, be equipped with the guide rail with the slider adaptation on the installing support, the robot forearm is connected with the slider.
Further, the first rotary joint and the second rotary joint are identical in structure; the first rotary joint is connected with a base.
Compared with the prior art, the invention has the following beneficial effects: the flange type planetary reducer is used for replacing the traditional harmonic reducer, and efficient and accurate transmission is realized through simple bolt connection, so that the manufacturing cost of the plane joint type robot is effectively reduced.
The robot rotary joint structure adopts the magnetic ring type angle encoder, and the magnetic ring type angle encoder is arranged at the outer end of the robot rotary joint, so that the actual rotation angle of the robot rotary joint can be accurately measured, while the traditional robot joint encoder is generally arranged on an output shaft of a speed reducer, although the robot joint structure is more compact, the complexity of the robot joint structure is greatly increased, the manufacturing cost of the robot is increased, and the joint encoder is not directly connected with a large arm outside the robot joint, so that the actual rotation angle of the robot joint cannot be actually and effectively measured, and the control error of the robot joint is increased.
The large arm of the planar joint type robot is formed by modularly transforming the traditional integrated large arm, and a user can select the installation number of modules in the middle of the large arm of the robot according to different working radius requirements, so that the extensible planar joint type robot has various different working radii, and various production requirements of enterprises are met.
The vertical degree of freedom structure of the plane joint type robot adopts the ball screw to replace the traditional ball spline screw, effectively simplifies the vertical degree of freedom structure of the plane joint type robot, is easy to manufacture, and reduces the production cost.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic cross-sectional view of the A-joint of the present invention;
FIG. 3 is an exploded view of the A joint of the present invention;
FIG. 4 is a schematic diagram of the construction of the large arm of the robot of the present invention;
FIG. 5 is a schematic view of a C-joint with vertical degrees of freedom according to the present invention;
FIG. 6 is a front view of the robot of the present invention;
fig. 7 is a diagram of an embodiment of the robot of the present invention.
In the figure: 1. a joint motor; 2. a flange-type planetary reducer; 3, connecting holes; 4. Rotating the flange; 5. an outer boss; 6. a robot large arm structure; 7. an encoder protection end cover; 8. A magnetic ring type angle encoder; 9. An encoder mounting bracket; 10. A reducer mounting platform; 11. a boom tip module; 12. a large arm middle module; 13. a boom nose module; 14. a second joint reducer mounting hole; 15. a large arm module bolt mounting hole; 16. reinforcing ribs; 17. a hollow structure; 18. a first joint reducer mounting hole; 19. a stepping motor; 20. a guide rail; 21. a lead screw; 22. a slider; 23. a robot forearm; 24. mounting a bracket; 25. a base; 27. A first joint reducer mounting platform; 28. a first rotary joint; 29. a second rotary joint.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
As shown in fig. 1 to 7, the present invention provides an extensible planar articulated robot, which mainly includes an articulated motor 1, a flange-type planetary reducer 2, a rotary flange 4, an external boss 5, an encoder protection end cover 7, a magnetic ring-type angle encoder 8, an encoder mounting bracket 9, a reducer mounting platform 10, a big arm end module 11, a big arm middle module 12, a big arm front end module 13, a first articulated reducer mounting hole 14, a big arm module bolt mounting hole 15, a reinforcing rib 16, a hollow structure 17, a first articulated reducer mounting hole 18, a stepping motor 19, a guide rail 20, a lead screw 21, a slider 22, a robot small arm 23, a mounting bracket 24, a base 25, and a first articulated reducer mounting platform 27; the invention can be divided into 3 main structures, namely a rotary joint, a robot large arm structure 6 and a vertical freedom degree joint.
The rotary joint structure of the extensible plane joint robot plane joint is shown in figures 1 and 2, and comprises a first rotary joint 28 and a second rotary joint 29, and mainly comprises a joint motor 1, a flange type planetary reducer 2, a rotary flange 4, an external boss 5, an encoder protection end cover 7, a magnetic ring type angle encoder 8, an encoder mounting bracket 9 and a reducer mounting platform 10. Firstly, the flange type planetary reducer 2 is fixed with an external boss 5 and a reducer mounting platform 10 through bolts, one end of the flange type planetary reducer is directly connected with an output shaft of the joint motor 1, and the other end of the flange type planetary reducer penetrates the rotary flange 4 through the connecting hole 3 through bolts to be directly connected with the big arm tail end module 11, so that the flange type planetary reducer 2 can realize relative rotation with the robot big arm structure 6 through the rotary flange 4.
In the aspect of the structure of the magnetic ring type angle encoder 8, the magnetic ring type angle encoder 8 is installed at the outer end of the first rotary joint, so that the actual rotation angle of the robot rotary joint can be accurately measured, as shown in fig. 1 and 2, the inner ring of the magnetic ring type angle encoder 8 is installed outside the robot boom, and the magnetic ring and the flange type planetary reducer 2 keep coaxial. Then use encoder installing support 9 to fix the outer lane of magnetic ring formula angle encoder 8 on reduction gear mounting platform 10, encoder protection end cover 7 also installs on encoder installed part 6, plays the effect of protection magnetic ring formula angle encoder 8.
When the joint motor 1 rotates, the joint motor 1 transmits power to the flange type planetary reducer 2 through the motor output shaft, the flange type planetary reducer 2 realizes speed reduction through the reduction gear, and transmits rotary motion to the rotary flange 4, so that the rotary flange 4 rotates, and as the rotary flange 4 and the robot large arm tail end module 11 are fixed through bolts, when the rotary flange 4 rotates, the robot large arm tail end module 11 rotates relative to the flange type planetary reducer 2, and as the flange type planetary reducer 2 and the reducer mounting platform 10 are fixed through bolts, the robot large arm tail end module 11 and the reducer mounting platform 10 rotate relative to each other, so that the rotary motion of a joint is realized. Meanwhile, the inner ring of the magnetic ring type angle encoder 8 is fixed on the robot boom tail end module 11, and the outer ring of the magnetic ring type angle encoder 8 is fixed on the speed reducer mounting platform 11 through the encoder mounting support 9, so that the inner ring and the outer ring of the magnetic ring type angle encoder 8 can rotate relatively along with the rotation of the robot joint, and the rotation angle of the robot joint is accurately reflected.
The first rotary joint 28 and the second rotary joint 29 of the expandable planar joint robot have the same structure, and as shown in fig. 5, the first joint reducer mounting platform 27 in the first rotary joint is fixed to the base 25 to be integrated with the base 25. When the first rotary joint 28 of the robot rotates, the robot boom tip module 13 and the first joint reducer mounting platform 27 rotate relative to each other, and since the first joint reducer mounting platform 27 and the base 25 are fixed relative to each other, the robot boom tip module 13 rotates relative to the base 25, and the rotary motion of the first joint is realized.
As shown in fig. 3, the robot large arm structure 6 mainly comprises a large arm end module 11, a large arm middle module 12, a large arm front end module 13, a second joint reducer mounting hole 14, a large arm module bolt mounting hole 15, a reinforcing rib 16, a hollow structure 17 and a first joint reducer mounting hole 18. Firstly, the traditional integrated large arm is subjected to modularized transformation and is divided into a large arm front end module 13, a large arm middle module 12 and a large arm tail end module 11, wherein the large arm front end module 13 and the large arm tail end module 11 are respectively provided with a first joint reducer mounting hole 18 and a second joint reducer mounting hole 14, so that the large arm front end module and the large arm tail end module are respectively connected with a rotating flange 4 of a flange type planetary reducer 2 of a first joint and a second joint of a robot to play a role of associating the first joint and the second joint of the robot, the robot large arm middle module 12 is composed of a plurality of identical modules, and a user can select the mounting number of the modules in the middle of the robot large arm structure 6 according to different working radius requirements, so that the robot large arm structure 6 has various different working radii, and various production requirements of enterprises are met. In order to facilitate free disassembly and assembly of the modules of the robot large arm structure 6 and enhance strength and rigidity of the joint, the modules of the robot large arm structure 6 are provided with large arm module bolt mounting holes 15, so that the modules are connected by bolts, and meanwhile, in order to facilitate installation of bolts for connecting the surfaces, the modules of the large arm are designed to be hollow structures 17, so that an installer can conveniently put the bolts into and screw the bolts. In order to achieve the purposes of attractive overall appearance of the robot, reducing connection errors and improving the strength and rigidity of the robot, the connecting flange for connecting the flange type planetary reducer 2 is designed in the large arm front end module and the large arm tail end module, the large arm of the robot is directly connected with the flange type planetary reducer 2, accordingly, the joint structure is simplified, the connection errors are reduced, and meanwhile, reinforcing ribs 16 are designed inside each module of the large arm, so that the strength of the large arm module is further improved. In order to reduce the weight of the large arm of the planar articulated robot, the large arm structure 6 of the robot is made of 7075 high-strength aluminum alloy.
As shown in fig. 4, the vertical degree-of-freedom joint is mainly composed of a stepping motor 19, a guide rail 20, a lead screw 21, a slider 22, a robot arm 23, and a mounting bracket 24. The slide block 22 is mounted on the lead screw 21 and the guide rail 20, and then fixed on the reducer mounting platform 10 through the mounting bracket 24, and the robot arm 23 is fixed on the sliding platform through bolts. When the stepping motor 19 rotates, the lead screw 21 is driven to rotate, and at the same time, the slide block 22 slides along the guide rail 20 under the traction of the lead screw 21, so that the vertical movement of the small arm 23 of the robot is realized. The design of the invention effectively simplifies the structure of the vertical degree of freedom of the plane joint type robot, is easy to manufacture and reduces the production cost.
The working process is as follows:
as shown in fig. 5, in order to better explain the superiority of the present invention, a 3-degree-of-freedom planar joint robot is taken as an example (other degrees of freedom can be designed using the same structure), and the robot includes a robot base, a first rotary joint 28, a robot arm structure, a second rotary joint, a vertical degree-of-freedom joint, and a robot arm 23.
Firstly, a 1 st rotary joint is arranged in a robot base, and then a robot large arm is used for connecting the 1 st rotary joint and a second rotary joint; then the vertical joint is arranged on the reducer mounting platform 10 of the second rotary joint, and finally the robot small arm 23 is arranged on the slide block 22 of the vertical freedom joint, thus forming a complete 3-freedom plane joint type robot.
Because the big arm of robot adopts the modularized design, the user can select big arm module number according to the operation requirement of different workspace. For example, if a smaller working radius is required, the user can directly connect the big arm front end module 13 and the big arm end module 11, so that a smaller working radius is obtained; if a larger working radius is required, the user can obtain different working spaces by increasing the number of the middle modules 12 of the large arm by a certain amount.
The robot operation, the rotation of 3 motors of user control robot respectively, and the motor directly transmits power for flange formula planetary reducer, and the reduction gear directly drives corresponding arm through rotatory flange and rotates, and simple structure has effectively reduced mechanical structure's complexity.
The main technical scheme of the invention comprises the structural design of a rotary joint, the modular design of a large arm and the design of vertical freedom. The invention has the following main innovation points for constructing the plane joint robot:
the flange type planetary reducer is used for replacing the traditional harmonic reducer, and efficient and accurate transmission is realized through simple bolt connection, so that the manufacturing cost of the plane joint type robot is effectively reduced.
The robot rotary joint structure adopts the magnetic ring type angle encoder, and the magnetic ring type angle encoder is arranged at the outer end of the robot rotary joint, so that the actual rotation angle of the robot rotary joint can be accurately measured, while the traditional robot joint encoder is generally arranged on an output shaft of a speed reducer, although the robot joint structure is more compact, the complexity of the robot joint structure is greatly increased, the manufacturing cost of the robot is increased, and the joint encoder is not directly connected with a large arm outside the robot joint, so that the actual rotation angle of the robot joint cannot be actually and effectively measured, and the control error of the robot joint is increased.
The large arm of the planar joint type robot is formed by modularly transforming the traditional integrated large arm, and a user can select the installation number of modules in the middle of the large arm of the robot according to different working radius requirements, so that the extensible planar joint type robot has various different working radii, and various production requirements of enterprises are met.
The vertical degree of freedom structure of the plane joint type robot adopts the ball screw to replace the traditional ball spline screw, effectively simplifies the vertical degree of freedom structure of the plane joint type robot, is easy to manufacture, and reduces the production cost.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (8)
1. An expandable planar articulated robot, comprising:
big arm structure of robot: one end of the robot large arm structure is connected with a first rotary joint, and the other end of the robot large arm structure is connected with a second rotary joint; the output end of the second rotary joint is provided with a vertical freedom joint;
the robot large arm structure comprises a large arm tail end module and a large arm front end module; and a plurality of groups of large arm middle modules are arranged between the large arm tail end module and the large arm front end module.
2. The expandable planar articulated robot of claim 1, wherein the upper arm front end module is provided with a first joint reducer mounting hole, and the upper arm end module is provided with a second joint reducer mounting hole.
3. The expandable planar articulated robot of claim 1, wherein the middle module of the upper arm has a hollow structure therein, and the hollow structure has a reinforcing rib therein.
4. The expandable planar articulated robot of claim 1, wherein the first rotary joint comprises an articulation motor;
the output end of the joint motor is connected with a flange type planetary reducer, and the flange type planetary reducer is connected with the large arm tail end module through a reducer mounting platform.
5. The expandable planar articulated robot of claim 1, wherein the outer end of the first rotary joint is provided with a magnetic ring type angle encoder; the inner ring of the magnetic ring type angle encoder is arranged outside the robot large arm structure, and the magnetic ring and the flange type planetary reducer keep coaxiality.
6. The expandable planar articulated robot of claim 5, wherein the outer ring of the magnetic ring angular encoder is fixed on the reducer mounting platform, and the magnetic ring angular encoder is provided with an encoder protection end cap.
7. The expandable planar articulated robot of claim 1, wherein the vertical degree of freedom joint comprises a stepper motor, a mounting bracket, a guide rail, a lead screw, a slider, and a robotic arm;
the top of installing support is located to step motor, the one end and the step motor of lead screw are connected, and the other end is connected with the installing support bottom, the slider cover is established on the lead screw, be equipped with the guide rail with the slider adaptation on the installing support, the robot forearm is connected with the slider.
8. The expandable planar articulated robot of claim 1, wherein the first and second rotary joints are identical in structure; the first rotary joint is connected with a base.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011328773.4A CN112677143A (en) | 2020-11-24 | 2020-11-24 | Extensible plane joint type robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011328773.4A CN112677143A (en) | 2020-11-24 | 2020-11-24 | Extensible plane joint type robot |
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| CN112677143A true CN112677143A (en) | 2021-04-20 |
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| CN202011328773.4A Pending CN112677143A (en) | 2020-11-24 | 2020-11-24 | Extensible plane joint type robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114770605A (en) * | 2022-05-19 | 2022-07-22 | 常州大学 | Robot measurement calibration system |
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| JPH0241890A (en) * | 1988-08-01 | 1990-02-13 | Fanuc Ltd | Fitting structure for encoder of industrial robot |
| CN101758497A (en) * | 2010-01-05 | 2010-06-30 | 浙江大学 | Charging and blanking robot of punch press |
| JP2010158753A (en) * | 2009-01-09 | 2010-07-22 | Seiko Epson Corp | Multi-articulated robot |
| JP3175497U (en) * | 2012-02-24 | 2012-05-17 | 月平 馬 | SCARA robot |
| CN106493712A (en) * | 2016-09-30 | 2017-03-15 | 东莞新友智能科技有限公司 | The horizontal articulated industrial robot of four axles of one kind |
| CN106956253A (en) * | 2017-04-19 | 2017-07-18 | 南京理工大学 | Three Degree Of Freedom cylindrical coordinates industrial robot |
| CN107097208A (en) * | 2016-02-19 | 2017-08-29 | 康茂股份公司 | Multi-axis industrial robot |
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2020
- 2020-11-24 CN CN202011328773.4A patent/CN112677143A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0241890A (en) * | 1988-08-01 | 1990-02-13 | Fanuc Ltd | Fitting structure for encoder of industrial robot |
| JP2010158753A (en) * | 2009-01-09 | 2010-07-22 | Seiko Epson Corp | Multi-articulated robot |
| CN101758497A (en) * | 2010-01-05 | 2010-06-30 | 浙江大学 | Charging and blanking robot of punch press |
| JP3175497U (en) * | 2012-02-24 | 2012-05-17 | 月平 馬 | SCARA robot |
| CN107097208A (en) * | 2016-02-19 | 2017-08-29 | 康茂股份公司 | Multi-axis industrial robot |
| CN106493712A (en) * | 2016-09-30 | 2017-03-15 | 东莞新友智能科技有限公司 | The horizontal articulated industrial robot of four axles of one kind |
| CN106956253A (en) * | 2017-04-19 | 2017-07-18 | 南京理工大学 | Three Degree Of Freedom cylindrical coordinates industrial robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114770605A (en) * | 2022-05-19 | 2022-07-22 | 常州大学 | Robot measurement calibration system |
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