CN204976628U - Five degree of freedom industrial robot - Google Patents
Five degree of freedom industrial robot Download PDFInfo
- Publication number
- CN204976628U CN204976628U CN201520476433.4U CN201520476433U CN204976628U CN 204976628 U CN204976628 U CN 204976628U CN 201520476433 U CN201520476433 U CN 201520476433U CN 204976628 U CN204976628 U CN 204976628U
- Authority
- CN
- China
- Prior art keywords
- joint
- wrist
- degree
- ball
- moving module
- 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
- Transmission Devices (AREA)
- Manipulator (AREA)
Abstract
The utility model relates to a five degree of freedom industrial robot, include: realize the three direction movement freedom's of XYZ axle right angle joint, and the wrist joint of realizing two rotational degree of freedom. Compared with the prior art, the utility model has the advantages of compact structure, realized that modularized design, positioning accuracy are high, control is nimble accurate.
Description
Technical field
The utility model relates to a kind of industrial robot, especially relates to a kind of five degree of freedom industrial robot.
Background technology
Industrial robot is the mechanical device being applied to industrial circle and having order automatic executing function.Under severe working environment, industrial robot has more deep using value.At present, in welding and spraying industry, a large amount of applies industrial robot, and it has and adapts to harsh environments, advantage that efficiency is high.But existing industrial robot generally has the less free degree (being about 3 or less), and location and control accuracy not high, the job task that required precision is higher can not be completed.
Utility model content
The purpose of this utility model be exactly a kind of compact conformation be provided in order to overcome defect that above-mentioned prior art exists, achieve modularized design, positioning precision is high, control flexibly five degree of freedom industrial robot accurately.
The purpose of this utility model can be achieved through the following technical solutions:
A kind of five degree of freedom industrial robot, is characterized in that, comprising:
Realize the joint, right angle of XYZ axle three direction one-movement-freedom-degrees;
And realize the wrist joint of two rotary freedoms.
Described joint, right angle comprises structure identical and the X-axis Linear Moving Module group of pairwise orthogonal, Y-axis Linear Moving Module group and Z axis Linear Moving Module group.
Each Linear Moving Module comprises the first AC servo motor, the first shaft coupling, ball screw assembly, line slideway auxiliary, support axle bed and motion platform, and described ball screw assembly, comprises ball-screw and ball-screw nut;
The first described AC servo motor is connected with ball-screw by the first shaft coupling, and described motion platform is fixed with ball-screw nut and line slideway auxiliary respectively, and described support axle bed is used for fixing ball screw assembly, and line slideway auxiliary;
The first described AC servo motor drives ball-screw to rotate by the first shaft coupling, and then promotes motion platform along two line slideway secondary motions by ball-screw nut, realizes the one-movement-freedom-degree in a direction.
The motion platform of described X-axis Linear Moving Module group and the support axle bed of Z axis Linear Moving Module group, the motion platform of Z axis Linear Moving Module group and the motion platform of Y-axis Linear Moving Module group, the support axle bed of Y-axis Linear Moving Module group and wrist joint, the location mode of stepping up adding trip bolt respectively by alignment pin connects.
Described wrist joint is positioned at the end in joint, right angle, comprises realizing the wrist rotary joint of opposed vertical axle 360 rotation and the wrist upset joint of 90 degree, relative level axle upset.
Described wrist rotary joint comprises the second AC servo motor, the second shaft coupling, second harmonic gear, rotating output shaft cover and the second fixed pedestal; The second described AC servo motor is after second harmonic gear reduction, and driven rotary output sleeve rotates, and completes the rotary freedom around vertical axes 360 degree;
Described wrist upset joint comprises the 3rd AC servo motor, the 3rd shaft coupling, third harmonic gear, tumbler gear, upset output shaft and the 3rd fixed pedestal; The 3rd described AC servo motor is through third harmonic gear reduction, and after being commutated by tumbler gear, drive upset output shaft completes the rotary freedom around trunnion axis 90 degree.
Rotating output shaft cover and the wrist of described wrist rotary joint overturn the 3rd fixed pedestal in joint by screw thread compact siro spinning technology.
The rotating output shaft cover of described wrist rotary joint is connected by ball bearing mechanism with the second fixed pedestal.
The rotating output shaft of described wrist rotary joint is arranged with the groove for ball bearing mechanism, and the second described fixed pedestal is provided with corresponding groove.
The steel ball that the ball bearing mechanism stated comprises steel ball spacer assembly and is arranged on respectively on steel ball spacer assembly.
Compared with prior art, the utility model has the following advantages:
(1) the utility model overall structure is comparatively simple, and wherein, each own degree of rectangular co-ordinate agent structure can adopt modularized design, and two, the wrist joint free degree also has structural similarity, has strong versatility.
(2) of the present utility model have five frees degree, can realize multivariant pose adjustment, adapts to the work materials in Multiple Shape and cross section, completes complicated welding and the functional requirement of spraying.
(3) the utility model agent structure have employed cartesian co-ordinate type, effectively saves working space, and wrist have employed joint type, has taken into account the complex task requirement of operation.Meanwhile, the utility model completes the balance of development cost and functional realiey, has good cost performance.
(4) the utility model, linear degrees of freedom, by AC servo machinery driving, slows down through ball screw assembly, and is provided support by line slideway auxiliary and lead; Rotary freedom, by AC servo machinery driving, through harmonic reduction gear, has higher positioning precision, can meet high-precision mission requirements.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram;
Fig. 2 is Linear Moving Module group schematic diagram;
Fig. 3 is main body annexation key diagram;
Fig. 4 wrist joint schematic diagram;
The crucial connection diagram of Fig. 5 wrist rotary joint.
Number in the figure: 101 is X-axis Linear Moving Module group, 102 is Y-axis Linear Moving Module group, and 103 is Z axis Linear Moving Module group, and 104 is wrist rotary joint, and 105 is wrist upset joint;
201 is AC driven motor, and 202 is shaft coupling, and 203 is ball-screw, and 204 is ball-screw nut, and 205 is straight-line guide rail slide block, and 206 is line slideway ram, and 207 is motion platform, and 208 for supporting axle bed;
301 is the motion platform of X-axis Linear Moving Module group, 302 is the support axle bed of Z axis Linear Moving Module group, 303 is the motion platform of Z axis Linear Moving Module group, 304 is the motion platform of Y-axis Linear Moving Module group, 305 is the support axle bed of Y-axis Linear Moving Module group, and 306 is the fixed pedestal of wrist joint;
401 is the AC servo motor of wrist rotary joint, 402 is the power shaft shaft coupling of wrist rotary joint harmonic gear, 403 is wrist rotary joint harmonic gear, 404 is the output shaft coupler of wrist rotary joint harmonic gear, 405 is the rotating output shaft cover of wrist rotary joint, 406 is the AC servo motor that wrist overturns joint, 407 is the power shaft shaft coupling that wrist overturns joint harmonic gear, 408 is the harmonic gear that wrist overturns joint, 409 is the tumbler gear that wrist overturns joint, 410 is the upset output shaft that wrist overturns joint, 411 is the fixed pedestal that wrist overturns joint, 412 is the fixed pedestal of wrist rotary joint,
503 for rotating output shaft cover and fixed pedestal process respective grooves, and 504 is steel ball, and 505 is steel ball spacer assembly.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the utility model is described in detail.
Embodiment
As described in Figure 1, a kind of five degree of freedom high accuracy industrial robot, comprises the joint, right angle realizing XYZ axle three direction one-movement-freedom-degrees and the wrist joint realizing two rotary freedoms.
Described joint, right angle is made up of the three module groups that structure identical parameters is different, is X-axis Linear Moving Module group 101, Y-axis Linear Moving Module group 102 and Z axis Linear Moving Module group 103 respectively.Three's pairwise orthogonal, realizes the one-movement-freedom-degree in XYZ axle three directions.
Described wrist joint is positioned at the end in joint, right angle, overturns joint 105 form by the wrist in order to realize wrist rotary joint 104 that opposed vertical axle 360 rotates and the 90 degree of upsets of relative level axle.
Described X-axis Linear Moving Module group 101, Y-axis Linear Moving Module group 102 and Z axis Linear Moving Module group 103 have the design of unified modules, only different on the design selection of parameters of operating part, be all made up of AC driven motor described in Fig. 2 201, shaft coupling 202, ball screw assembly, (being made up of ball-screw 203 and nut 204), line slideway auxiliary (being made up of straight-line guide rail slide block 205 and ram 206), support axle bed 208 and motion platform 207.
Described Z axis Linear Moving Module group 101 is connected with ball-screw 203 by shaft coupling 202 by AC driven motor 201, motion platform 207 is fixed by four slide blocks 204 of screw and two ball-screw nuts 204 and two line slideway auxiliaries, supports axle bed 208 for fixing ball screw assembly, (205 and 206) and line slideway auxiliary (205 and 206).
Described Z axis Linear Moving Module group 101, AC servo motor 201 drives ball-screw 203 to rotate by shaft coupling 202, and then promote motion platform 207 along two line slideway auxiliaries (205 and 206) rectilinear motion by feed screw nut 204, realize the one-movement-freedom-degree of Z-direction.
Described X-axis Linear Moving Module group 102 and Y-axis Linear Moving Module group 103, have the identical parts of same X-axis Linear Moving Module group and connect and the kind of drive, do not repeating.
As Fig. 3, the motion platform 301 of described X-axis Linear Moving Module group and the support axle bed 302 of Z axis Linear Moving Module group, the motion platform 303 of Z axis Linear Moving Module group and the motion platform 304 of Y-axis Linear Moving Module group, the support axle bed 305 of Y-axis Linear Moving Module group and the fixed pedestal 306 of wrist joint, the location mode of stepping up adding trip bolt respectively by alignment pin connects;
As Fig. 1 and Fig. 4, described wrist rotary joint 104 is made up of AC servo motor 401, shaft coupling (402 and 404), harmonic gear 403, rotating output shaft cover 405 and fixed pedestal 412.Described wrist upset joint 105 is made up of AC servo motor 406, shaft coupling 407, harmonic gear 408, tumbler gear 409, upset output shaft 410 and fixed pedestal 411.
As Fig. 4, the rotating output shaft cover 405 of described wrist rotary joint and the fixed pedestal 411 in wrist upset joint are by screw thread compact siro spinning technology.
As Fig. 5, the rotating output shaft cover 405 of described wrist rotary joint and the connected mode of fixed pedestal 412, by processing respective grooves 503 on rotating output shaft cover and fixed pedestal, the steel ball 504 of reasonable strength be installed in the trench and adopt steel ball spacer assembly 505, completing the function that rotating output shaft cover rotates with less resistance.
As Fig. 4, described wrist rotary joint drives AC servo motor 401 after harmonic gear 403 slows down, and drives wrist rotating output shaft cover 405 to rotate, completes the rotary freedom around vertical axes 360 degree; Wrist upset joint drive AC servo motor 406 slows down through harmonic gear 408, and after tumbler gear 409 commutates, drive wrist upset output shaft 410 completes the rotary freedom around trunnion axis 90 degree.
Compared with prior art, compact conformation, achieves modularized design to the utility model patent, can be adapted to the work materials in multiple difformity and cross section, completes spraying welding and waits several functions, and positioning precision is high, it is accurate flexibly to control.
Claims (6)
1. a five degree of freedom industrial robot, is characterized in that, comprising:
Realize the joint, right angle of XYZ axle three direction one-movement-freedom-degrees;
And realize the wrist joint of two rotary freedoms;
Described joint, right angle comprises structure identical and the X-axis Linear Moving Module group of pairwise orthogonal, Y-axis Linear Moving Module group and Z axis Linear Moving Module group;
Each Linear Moving Module comprises the first AC servo motor, the first shaft coupling, ball screw assembly, line slideway auxiliary, support axle bed and motion platform, and described ball screw assembly, comprises ball-screw and ball-screw nut;
The first described AC servo motor is connected with ball-screw by the first shaft coupling, and described motion platform is fixed with ball-screw nut and line slideway auxiliary respectively, and described support axle bed is used for fixing ball screw assembly, and line slideway auxiliary;
The first described AC servo motor drives ball-screw to rotate by the first shaft coupling, and then promotes motion platform along two line slideway secondary motions by ball-screw nut, realizes the one-movement-freedom-degree in a direction;
Described wrist joint is positioned at the end in joint, right angle, comprises realizing the wrist rotary joint of opposed vertical axle 360 rotation and the wrist upset joint of 90 degree, relative level axle upset;
Described wrist rotary joint comprises the second AC servo motor, the second shaft coupling, second harmonic gear, rotating output shaft cover and the second fixed pedestal; The second described AC servo motor is after second harmonic gear reduction, and driven rotary output sleeve rotates, and completes the rotary freedom around vertical axes 360 degree;
Described wrist upset joint comprises the 3rd AC servo motor, the 3rd shaft coupling, third harmonic gear, tumbler gear, upset output shaft and the 3rd fixed pedestal; The 3rd described AC servo motor is through third harmonic gear reduction, and after being commutated by tumbler gear, drive upset output shaft completes the rotary freedom around trunnion axis 90 degree.
2. a kind of five degree of freedom industrial robot according to claim 1, it is characterized in that, the motion platform of described X-axis Linear Moving Module group and the support axle bed of Z axis Linear Moving Module group, the motion platform of Z axis Linear Moving Module group and the motion platform of Y-axis Linear Moving Module group, the support axle bed of Y-axis Linear Moving Module group and wrist joint, the location mode of stepping up adding trip bolt respectively by alignment pin connects.
3. a kind of five degree of freedom industrial robot according to claim 1, is characterized in that, rotating output shaft cover and the wrist of described wrist rotary joint overturn the 3rd fixed pedestal in joint by screw thread compact siro spinning technology.
4. a kind of five degree of freedom industrial robot according to claim 1, is characterized in that, the rotating output shaft cover of described wrist rotary joint is connected by ball bearing mechanism with the second fixed pedestal.
5. a kind of five degree of freedom industrial robot according to claim 1, is characterized in that, the rotating output shaft of described wrist rotary joint is arranged with the groove for ball bearing mechanism, and the second described fixed pedestal is provided with corresponding groove.
6. a kind of five degree of freedom industrial robot according to claim 1, is characterized in that, the steel ball that described ball bearing mechanism comprises steel ball spacer assembly and is arranged on respectively on steel ball spacer assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520476433.4U CN204976628U (en) | 2015-07-03 | 2015-07-03 | Five degree of freedom industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520476433.4U CN204976628U (en) | 2015-07-03 | 2015-07-03 | Five degree of freedom industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204976628U true CN204976628U (en) | 2016-01-20 |
Family
ID=55111044
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520476433.4U Expired - Fee Related CN204976628U (en) | 2015-07-03 | 2015-07-03 | Five degree of freedom industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204976628U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106113029A (en) * | 2016-07-12 | 2016-11-16 | 诺伯特智能装备（山东）有限公司 | Mechanical arm |
| CN106181962A (en) * | 2016-07-12 | 2016-12-07 | 诺伯特智能装备（山东）有限公司 | Transportation industrial robot |
| CN108381559A (en) * | 2018-04-02 | 2018-08-10 | 顺丰科技有限公司 | Manage part mechanical arm, Li Jian robots and its control method |
| CN108714888A (en) * | 2018-05-31 | 2018-10-30 | 四川省海瑞科汽车零部件有限公司 | A kind of right angle coordinate manipulator of high speed fine positioning |
| CN108957674A (en) * | 2018-09-21 | 2018-12-07 | 长春理工大学 | Five degree of freedom motion platform support device |
| CN109382818A (en) * | 2017-08-02 | 2019-02-26 | 深圳市元硕自动化科技有限公司 | A kind of four axis mechanisms of band rotation |
| CN110155676A (en) * | 2019-07-01 | 2019-08-23 | 深圳市泰科盛自动化系统有限公司 | Group screen device |
| CN110774258A (en) * | 2018-07-30 | 2020-02-11 | 中国科学院沈阳自动化研究所 | Automatic follow ration powder charge robot |
-
2015
- 2015-07-03 CN CN201520476433.4U patent/CN204976628U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106113029A (en) * | 2016-07-12 | 2016-11-16 | 诺伯特智能装备（山东）有限公司 | Mechanical arm |
| CN106181962A (en) * | 2016-07-12 | 2016-12-07 | 诺伯特智能装备（山东）有限公司 | Transportation industrial robot |
| CN109382818A (en) * | 2017-08-02 | 2019-02-26 | 深圳市元硕自动化科技有限公司 | A kind of four axis mechanisms of band rotation |
| CN108381559A (en) * | 2018-04-02 | 2018-08-10 | 顺丰科技有限公司 | Manage part mechanical arm, Li Jian robots and its control method |
| CN108381559B (en) * | 2018-04-02 | 2024-04-16 | 顺丰科技有限公司 | Workpiece arranging mechanical arm, workpiece arranging robot and control method of workpiece arranging robot |
| CN108714888A (en) * | 2018-05-31 | 2018-10-30 | 四川省海瑞科汽车零部件有限公司 | A kind of right angle coordinate manipulator of high speed fine positioning |
| CN110774258A (en) * | 2018-07-30 | 2020-02-11 | 中国科学院沈阳自动化研究所 | Automatic follow ration powder charge robot |
| CN108957674A (en) * | 2018-09-21 | 2018-12-07 | 长春理工大学 | Five degree of freedom motion platform support device |
| CN110155676A (en) * | 2019-07-01 | 2019-08-23 | 深圳市泰科盛自动化系统有限公司 | Group screen device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204976628U (en) | Five degree of freedom industrial robot | |
| CN107443173B (en) | Large-stroke high-rigidity serial-parallel machine tool with reconfigurable characteristic | |
| CN104772628B (en) | A kind of freedom degree parallel connection mainshaft head mechanism | |
| CN103737577A (en) | Six-freedom-degree industrial robot with ball screw pair transmission | |
| CN102626870B (en) | Three-DOF (Degree of Freedom) parallel spindle head with single-DOF hinge | |
| CN104625767B (en) | Parallel mechanism with two rotation degrees of freedom and one translation degree of freedom of space | |
| CN112123323B (en) | 4UPU-UP redundant drive parallel robot | |
| CN103495971A (en) | Five degree-of-freedom combined robot platform | |
| CN105415352A (en) | Six-DOF (degrees of freedom) three-dimensional-manipulation robot | |
| CN103753355A (en) | Multi-axis linkage device capable of realizing five-surface machining | |
| CN109877807A (en) | One kind (2PRU-PUR)-PP five-axle linkage series-parallel robot | |
| CN106166739B (en) | A kind of linear type parallel robot | |
| CN110026967A (en) | A kind of 2PRU-2PUR three freedom redundancy driven Parallel Kinematic Manipulator | |
| CN103240614B (en) | A kind of redundant drive five-axle linkage series-parallel machine tool | |
| CN100503150C (en) | Digital control machine tool with five degrees of freedom in parallel and series | |
| CN108858142B (en) | Five-freedom-degree parallel robot | |
| CN215093584U (en) | Three-freedom-degree parallel mechanism with continuous rotating shaft | |
| CN111438682B (en) | Industrial mobile overturning platform with three degrees of freedom of two rotations and one movement | |
| CN102152135A (en) | Hybrid-drive heavy-load two-degree-of-freedom positioner for hydraulic screw rod | |
| CN104625198A (en) | Three-degree-of-freedom parallel mechanism and machine tool adopting same | |
| CN204397504U (en) | A kind of parallel machine | |
| CN110695716A (en) | Five-freedom-degree redundant drive hybrid machine tool for machining complex curved surface of large workpiece | |
| CN110116400A (en) | A kind of PRS-PRU-PUR parallel institution | |
| CN109108671A (en) | One kind is for processing five axis series-parallel machine tool of tubular components | |
| CN210879639U (en) | Four-degree-of-freedom hybrid robot |
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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160120 Termination date: 20180703 |