CN204800631U - Five -axle linkage robot - Google Patents
Five -axle linkage robot Download PDFInfo
- Publication number
- CN204800631U CN204800631U CN201520522460.0U CN201520522460U CN204800631U CN 204800631 U CN204800631 U CN 204800631U CN 201520522460 U CN201520522460 U CN 201520522460U CN 204800631 U CN204800631 U CN 204800631U
- Authority
- CN
- China
- Prior art keywords
- axis
- supporting seat
- axle
- decelerator
- base
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to a five -axle linkage robot belongs to the robotechnology field, including the X axle, the moving system of Y axle and Z axle, it supports rotary device still to be provided with in X axle moving system's upper end, Y axle moving system fixes and is supporting the rotary device upper end, Z axle moving system passes through Z axle supporting seat and sets up on Y axle moving system's Y axle base, X, Y, the motion of Z axle is linear guide and guide slot matched with linear motion, the draw gear who adopts all includes motor and reduction gear, and the reduction gear is accurate planet gear, the lower extreme of the Z axle base among the Z axle moving system is provided with the tip rotating system who is connected with grabbing device, all adopt the reduction gear of harmonic speed reducer ware as the adjustment velocity ratio among tip rotating system and the support rotating system, the utility model discloses can enough realize the transport of big load object, can accomplish nimble removal again, and movement accuracy be higher.
Description
Technical field
The utility model belongs to robotics, is specifically related to a kind of five-axle linkage robot.
Background technology
Robot is being commonly called as of robot brain device, and robot brain device comprises all simulations
the mankindthe machinery of behavior or thought and simulation other biological, robot mainly realizes the simulation of biological action by multi-shaft interlocked movement and rotation, existing robot mainly comprises coordinate robot and prosthetic robot, the range of movement of coordinate robot has limitation, flexibility ratio is poor, the load that prosthetic robot can be born can reach about 50 kilograms, and prosthetic robot is comparatively flexible, the scope that can move is wider, but the harmonic wave speed reducing machine number of applications in prosthetic robot is more, harmonic wave speed reducing machine cost is higher, the cost of prosthetic robot complete machine is caused to reach about 500,000, and prosthetic robot is comparatively difficult when crawl more than hundred kilograms weights, therefore, need the larger and lower-cost robot of a kind of bearing capacity.
Utility model content
The utility model overcomes the shortcoming that cost in prior art is higher and bearing capacity is poor, provide a kind of five-axle linkage robot, this robot can not only realize flexible operating, and bearing capacity increases substantially, and cost has significant reduction than existing robot.
Concrete technical scheme of the present utility model is:
A kind of five-axle linkage robot, this robot comprises X-axis kinematic system, Y-axis kinematic system and Z axis kinematic system, key point is, X-axis kinematic system comprises the X-axis base that upper surface is provided with X-axis line slideway, lower surface is provided with the supporting seat of the X-axis guide groove be slidably matched with X-axis line slideway and draws the X-axis draw-gear of supporting seat, supporting seat upper end is fixedly installed support rotary system, support the support column that rotary system comprises the vertical direction of whirligig and the end fixed thereon being arranged on supporting seat upper surface, Y-axis kinematic system comprises the Y-axis base that side is provided with Y-axis line slideway, side is provided with the Z axis supporting seat of the Y-axis guide groove be slidably matched with Y-axis line slideway and draws the Y-axis draw-gear of Z axis supporting seat, support column upper end is fixed in Y-axis base one end, Z axis supporting seat is provided with Z axis guide groove at the opposing face being provided with Y-axis line slideway, Z axis kinematic system comprises Z axis supporting seat, the Z axis base of vertical direction and the Z axis draw-gear matched with Z axis base, the Z axis base side Z axis guide groove be provided with on Z axis line slideway and Z axis supporting seat is formed and is slidably matched, the lower end of Z axis base is fixedly installed the end rotary system with grabbing device, end rotary system comprises the end electric rotating machine and end rotary decelerator that vertically arrange from top to bottom, rotary decelerator lower end, end is connected with grabbing device.
Described X-axis draw-gear comprises the X-axis synchronous pulley, X-axis Timing Belt and the X-axis motor that are arranged on X-axis base two ends, X-axis motor is connected by X-axis decelerator with the X-axis synchronous pulley of one end, X-axis Timing Belt is closed is wound around two ends X-axis synchronous pulley, and X-axis Timing Belt upper surface is fixedly connected with supporting seat lower surface.
Described X-axis decelerator is precise planetary reducer.
Described Y-axis draw-gear comprises the Y-axis synchronous pulley, Y-axis Timing Belt and the y-axis motor that are arranged on Y-axis base two ends, y-axis motor is connected by Y-axis decelerator with the Y-axis synchronous pulley of one end, Y-axis Timing Belt is closed is wound around two ends Y-axis synchronous pulley, and Y-axis Timing Belt outer face is fixedly connected with end face Z axis supporting seat being provided with Y-axis guide groove.
Described Y-axis decelerator is precise planetary reducer.
Described Z axis draw-gear comprises the Z axis synchronous pulley, Z axis Timing Belt and the Z axis motor that are arranged on Z axis base two ends, Z axis motor is connected by Z axis decelerator with the Z axis synchronous pulley of one end, Z axis Timing Belt is closed is wound around two ends Z axis synchronous pulley, and Z axis Timing Belt outer face is fixedly connected with end face Z axis supporting seat being provided with Z axis guide groove.
Described Z axis decelerator is precise planetary reducer.
Described whirligig is disposed with from power initiating terminal to clutch end and supports electric rotating machine, synchronization belt transmission system and support rotary decelerator, support electric rotating machine to be connected with the driving wheel of synchronization belt transmission system, the input supporting rotary decelerator is fixedly connected with the follower of synchronization belt transmission system with support column respectively with output.
Described support rotary decelerator is harmonic speed reducer.
Described end rotary decelerator is harmonic speed reducer.
The beneficial effects of the utility model are: the robot in the utility model relies on X-axis, the kinematic system of Y-axis and Z axis is as the main frame supported and move, coordinate robot's range of movement can either be avoided less and inflexible shortcoming, also the poor deficiency that can not realize weight carrying of prosthetic robot bearing capacity can be avoided, and X in robot of the present utility model, Y, the rectilinear movement of Z axis all adopts motor to connect the draw-gear of planetary reduction gear, planetary reduction gear physical dimension is little, Driving Torque is larger, the volume size of complete machine can either be reduced, the heavier object of robot transport can be realized again, rotary support decelerator and the end rotary decelerator of robot of the present utility model all adopt harmonic speed reducer, the small in volume of harmonic speed reducer, kinematic accuracy is higher, stable drive is without impact, and speed ratio is larger, robot can be helped to realize rapid movement, in robot in the utility model, the number of applications of harmonic speed reducer has obvious minimizing than existing prosthetic robot, cost is reduced to below the half of existing robot.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model.
Fig. 2 is the left view of Fig. 1.
Fig. 3 is the top view of Fig. 1.
Fig. 4 is axle geodesic structure schematic diagram of the present utility model.
In accompanying drawing, 1, X-axis motor, 2, y-axis motor, 3, Z axis motor, 4, support electric rotating machine, 5, end electric rotating machine, 6, X-axis base, 7, Y-axis base, 8, Z axis base, 9, supporting seat, 10, support column, 11, support rotary decelerator, 12, X-axis line slideway, 13, Y-axis line slideway, 14, Z axis line slideway, 15, end rotary decelerator, 16, Z axis supporting seat, 17, X-axis Timing Belt.
Detailed description of the invention
A kind of five-axle linkage robot, this robot comprises X-axis kinematic system, Y-axis kinematic system and Z axis kinematic system, X-axis kinematic system comprises the X-axis base 6 that upper surface is provided with X-axis line slideway 12, lower surface is provided with the supporting seat 9 of the X-axis guide groove be slidably matched with X-axis line slideway 12 and draws the X-axis draw-gear of supporting seat 9, supporting seat 9 upper end is fixedly installed support rotary system, support rotary system and comprise the support column 10 being arranged on the whirligig of supporting seat 9 upper surface and the vertical direction of end fixed thereon, Y-axis kinematic system comprises the Y-axis base 7 that side is provided with Y-axis line slideway 13, side is provided with the Z axis supporting seat 16 of the Y-axis guide groove be slidably matched with Y-axis line slideway 13 and draws the Y-axis draw-gear of Z axis supporting seat 16, support column 10 upper end is fixed in Y-axis base 7 one end, Z axis supporting seat 16 is provided with Z axis guide groove at the opposing face being provided with Y-axis line slideway 13, Z axis kinematic system comprises Z axis supporting seat 16, the Z axis base 8 of vertical direction and the Z axis draw-gear matched with Z axis base 8, the Z axis base 8 side Z axis guide groove be provided with on Z axis line slideway 14 and Z axis supporting seat 16 is formed and is slidably matched, the lower end of Z axis base 8 is fixedly installed the end rotary system with grabbing device, end rotary system comprises the end electric rotating machine 5 and end rotary decelerator 15 that vertically arrange from top to bottom, end rotary decelerator 15 lower end is connected with grabbing device.
Specific embodiment, as shown in Figures 1 to 4, X-axis draw-gear comprises the X-axis synchronous pulley being arranged on X-axis base 6 two ends, X-axis Timing Belt 17 and X-axis motor 1, X-axis motor 1 is connected by X-axis decelerator with the X-axis synchronous pulley of one end, X-axis decelerator is precise planetary reducer, X-axis Timing Belt 17 is closed is wound around two ends X-axis synchronous pulley, X-axis Timing Belt 17 upper surface is fixedly connected with supporting seat 9 lower surface, start X-axis motor 1, X-axis Timing Belt 17 is mobile with the rotation of X-axis synchronous pulley, supporting seat 9 is with X-axis Timing Belt associated movement, and the X-axis line slideway 12 on the X-axis chute of supporting seat 9 and X base 6 produces and is slidably matched, supporting seat 9 moves along X-axis line slideway 12, Y-axis draw-gear comprises the Y-axis synchronous pulley, Y-axis Timing Belt and the y-axis motor 2 that are arranged on Y-axis base 7 two ends, y-axis motor 2 is connected by Y-axis decelerator with the Y-axis synchronous pulley of one end, Y-axis decelerator is precise planetary reducer, Y-axis Timing Belt is closed is wound around two ends Y-axis synchronous pulley, Y-axis Timing Belt outer face is fixedly connected with end face Z axis supporting seat 16 being provided with Y-axis guide groove, after y-axis motor 2 starts, Z axis supporting seat 16 is with Y-axis Timing Belt and move along the Y-axis line slideway 13 on Y-axis base 7, Z axis draw-gear comprises the Z axis synchronous pulley being arranged on Z axis base 8 two ends, Z axis Timing Belt and Z axis motor 3, Z axis motor 3 is connected by Z axis decelerator with the Z axis synchronous pulley of one end, Z axis decelerator is precise planetary reducer, Z axis Timing Belt is closed is wound around two ends Z axis synchronous pulley, Z axis Timing Belt outer face is fixedly connected with end face Z axis supporting seat 16 being provided with Z axis guide groove, after Z axis motor 3 starts, Z axis supporting seat and Y-axis base are integrated and do not have displacement in the Z-axis direction, Z axis base 8 moves along the Z axis guide groove in the vertical direction on Z axis supporting seat.
The whirligig supported in rotary system is disposed with from power initiating terminal to clutch end and supports electric rotating machine 4, synchronization belt transmission system and support rotary decelerator 11, support electric rotating machine 4 to be connected with the driving wheel of synchronization belt transmission system, the input supporting rotary decelerator 11 is fixedly connected with the follower of synchronization belt transmission system with support column 10 respectively with output, supporting rotary decelerator 11 is harmonic speed reducer, after supporting electric rotating machine 4 startup, Timing Belt transfer system drives support rotary decelerator 11 to rotate, support column 10 can realize taking vertical direction as the rotation of rotating shaft.
Under the kinematic system of above-mentioned X, Y, Z axis and the routing motion of support rotary system, the flexible movement of robot in the scope that size own can reach can be realized, when capturing object, the direction of grabbing device can also be changed by the end electric rotating machine in the rotary system of end, what so just can adapt to various different directions treats crawl object, and the end rotary decelerator 15 in the rotary system of end is harmonic speed reducer.
The utility model is by X, Y, in the kinematic system of Z axis, the decelerator of motor is all set to precise planetary reducer, precise planetary reducer has high rigidity, high-precision feature, stability in use is higher, and there is high torque ratio, rotating speed can be reduced, improve torque, inertia can be mated preferably, movement velocity and precision are more easily controlled, support rotary decelerator and the end rotary decelerator of this robot then adopt harmonic speed reducer, the volume of harmonic speed reducer is little, lightweight, but gearratio can reach i=70 ~ 500, transmission efficiency is higher, service life is also longer, and stable drive, without impacting, running precision is high, in addition, harmonic speed reducer is also higher in radial and axial bearing capacity, the needs that robot captures heavy objects can be met, the quantity of the harmonic speed reducer that the robot in the utility model uses greatly reduces, the cost of whole robot has obvious reduction.
Claims (10)
1. a five-axle linkage robot, this robot comprises X-axis kinematic system, Y-axis kinematic system and Z axis kinematic system, it is characterized in that: X-axis kinematic system comprises the X-axis base (6) that upper surface is provided with X-axis line slideway (12), lower surface is provided with the supporting seat (9) of the X-axis guide groove be slidably matched with X-axis line slideway (12) and draws the X-axis draw-gear of supporting seat (9), supporting seat (9) upper end is fixedly installed support rotary system, support rotary system and comprise the support column (10) being arranged on the whirligig of supporting seat (9) upper surface and the vertical direction of end fixed thereon, Y-axis kinematic system comprises the Y-axis base (7) that side is provided with Y-axis line slideway (13), side is provided with the Z axis supporting seat (16) of the Y-axis guide groove be slidably matched with Y-axis line slideway (13) and draws the Y-axis draw-gear of Z axis supporting seat (16), support column (10) upper end is fixed in Y-axis base (7) one end, the opposing face that Z axis supporting seat (16) is being provided with Y-axis line slideway (13) is provided with Z axis guide groove, Z axis kinematic system comprises Z axis supporting seat (16), the Z axis base (8) of vertical direction and the Z axis draw-gear matched with Z axis base (8), Z axis base (8) the side Z axis guide groove be provided with on Z axis line slideway (14) and Z axis supporting seat (16) is formed and is slidably matched, the lower end of Z axis base (8) is fixedly installed the end rotary system with grabbing device, end rotary system comprises the end electric rotating machine (5) and end rotary decelerator (15) that vertically arrange from top to bottom, end rotary decelerator (15) lower end is connected with grabbing device.
2. a kind of five-axle linkage robot according to claim 1, it is characterized in that: described X-axis draw-gear comprises the X-axis synchronous pulley, X-axis Timing Belt (17) and the X-axis motor (1) that are arranged on X-axis base (6) two ends, X-axis motor (1) is connected by X-axis decelerator with the X-axis synchronous pulley of one end, X-axis Timing Belt (17) is closed is wound around two ends X-axis synchronous pulley, and X-axis Timing Belt (17) upper surface is fixedly connected with supporting seat (9) lower surface.
3. a kind of five-axle linkage robot according to claim 2, is characterized in that: described X-axis decelerator is precise planetary reducer.
4. a kind of five-axle linkage robot according to claim 1, it is characterized in that: described Y-axis draw-gear comprises the Y-axis synchronous pulley, Y-axis Timing Belt and the y-axis motor (2) that are arranged on Y-axis base (7) two ends, y-axis motor (2) is connected by Y-axis decelerator with the Y-axis synchronous pulley of one end, Y-axis Timing Belt is closed is wound around two ends Y-axis synchronous pulley, and Y-axis Timing Belt outer face is fixedly connected with end face Z axis supporting seat (16) being provided with Y-axis guide groove.
5. a kind of five-axle linkage robot according to claim 4, is characterized in that: described Y-axis decelerator is precise planetary reducer.
6. a kind of five-axle linkage robot according to claim 1, it is characterized in that: described Z axis draw-gear comprises the Z axis synchronous pulley, Z axis Timing Belt and the Z axis motor (3) that are arranged on Z axis base (8) two ends, Z axis motor (3) is connected by Z axis decelerator with the Z axis synchronous pulley of one end, Z axis Timing Belt is closed is wound around two ends Z axis synchronous pulley, and Z axis Timing Belt outer face is fixedly connected with end face Z axis supporting seat (16) being provided with Z axis guide groove.
7. a kind of five-axle linkage robot according to claim 6, is characterized in that: described Z axis decelerator is precise planetary reducer.
8. a kind of five-axle linkage robot according to claim 1, it is characterized in that: described whirligig is disposed with from power initiating terminal to clutch end and supports electric rotating machine (4), synchronization belt transmission system and support rotary decelerator (11), support electric rotating machine (4) to be connected with the driving wheel of synchronization belt transmission system, the input supporting rotary decelerator (11) is fixedly connected with the follower of synchronization belt transmission system with support column (10) respectively with output.
9. a kind of five-axle linkage robot according to claim 8, is characterized in that: described support rotary decelerator (11) is harmonic speed reducer.
10. a kind of five-axle linkage robot according to claim 1, is characterized in that: described end rotary decelerator (15) is harmonic speed reducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520522460.0U CN204800631U (en) | 2015-07-17 | 2015-07-17 | Five -axle linkage robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520522460.0U CN204800631U (en) | 2015-07-17 | 2015-07-17 | Five -axle linkage robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204800631U true CN204800631U (en) | 2015-11-25 |
Family
ID=54585521
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520522460.0U Expired - Fee Related CN204800631U (en) | 2015-07-17 | 2015-07-17 | Five -axle linkage robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204800631U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104985592A (en) * | 2015-07-17 | 2015-10-21 | 付建生 | Five-axis linkage robot |
-
2015
- 2015-07-17 CN CN201520522460.0U patent/CN204800631U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104985592A (en) * | 2015-07-17 | 2015-10-21 | 付建生 | Five-axis linkage robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103737587B (en) | Intelligence five axis robot | |
| CN204772545U (en) | Improvement structure of five manipulators of intelligence | |
| CN104985592A (en) | Five-axis linkage robot | |
| CN207290102U (en) | A kind of production line automatic Picking manipulator | |
| CN203003891U (en) | Economical selective compliance assembly robot arm (SCARA) robot | |
| CN103846911B (en) | A kind of high speed six-degree of freedom parallel manipulator | |
| CN106903712B (en) | Two-degree-of-freedom collinear mechanical arm joint based on differential rope transmission | |
| CN204525455U (en) | A kind of variable topological four-freedom parallel mechanism | |
| CN103252683A (en) | Five-freedom-degree parallel-serial numerically-controlled machine tool | |
| CN202448136U (en) | 6 degree-of-freedom (6 DOF) parallel robot with few branched chains | |
| CN201701439U (en) | Rectangular coordinate type and articulated type combined Chinese traditional massage robot | |
| CN204800631U (en) | Five -axle linkage robot | |
| CN201669702U (en) | Five-degree-of-freedom parallel manipulator mechanism | |
| CN202037603U (en) | Wheel suspension mobile and parallel manipulator mechanism | |
| CN102152135A (en) | Hybrid-drive heavy-load two-degree-of-freedom positioner for hydraulic screw rod | |
| CN202241278U (en) | Series-parallel combined type automatic welding robot with eight degrees of freedom | |
| CN101780671A (en) | Decoupling parallel mechanism | |
| CN201529709U (en) | Novel six-axis numerical control stock stop used for numerical control plate bender | |
| CN104827485A (en) | Linear drive robot joint with bar linkage mechanism | |
| CN202948907U (en) | Substrate transmission robot arm | |
| CN205766125U (en) | A kind of three-axis robot | |
| CN210284436U (en) | Series-parallel hybrid arm/leg mechanism for bionic robot forelimb mechanical system | |
| CN209774647U (en) | Four-axis robot with large return arm | |
| CN203331033U (en) | Mechanical hand transmission mechanism | |
| CN208084331U (en) | A kind of robot connecting shaft structure |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151125 Termination date: 20210717 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |