CN214187181U - Five-axis robot moving platform and five-axis robot thereof - Google Patents
Five-axis robot moving platform and five-axis robot thereof Download PDFInfo
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- CN214187181U CN214187181U CN202023126800.8U CN202023126800U CN214187181U CN 214187181 U CN214187181 U CN 214187181U CN 202023126800 U CN202023126800 U CN 202023126800U CN 214187181 U CN214187181 U CN 214187181U
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Abstract
The utility model provides a five-axis robot moves platform relates to the robotechnology field, should move the platform including initiative actuating mechanism, driven actuating mechanism and be used for installing initiative actuating mechanism and driven actuating mechanism's mounting platform, driven actuating mechanism is located mounting platform's geometric centre, initiative actuating mechanism distributes around driven actuating mechanism, initiative actuating mechanism and driven actuating mechanism gear engagement transmission, initiative actuating mechanism includes two, a horizontal direction that is used for controlling to move the platform rotates, another vertical direction that is used for controlling to move the platform rotates. The utility model discloses an each initiative actuating mechanism encircles around driven actuating mechanism, and the positive rotation of robot and antiport all can not have the phenomenon of interfering mutually between being snatched the object and moving the platform, and the terminal length of tongs also need not increase simultaneously, and the driven actuating mechanism atress placed in the middle is even, has improved and has snatched the precision.
Description
Technical Field
The utility model belongs to the technical field of the robotechnology and specifically relates to a five-axis robot moves platform and five-axis robot thereof is related to.
Background
At present, robots at home and abroad can be divided into series robots and parallel robots, wherein the series robots are widely applied to the fields of industrial robots and machine tools due to simple control and large working space. However, due to the structural characteristics of the series mechanism, it does not have good rigidity, and in addition, errors are accumulated step by step, and due to these defects, some scholars start to try new robot configurations and then create parallel configurations, and compared with the series configuration, the parallel mechanism has high speed and rigidity, and is not in a superposition relation to errors, so that the reasonable parallel configuration can greatly improve the precision.
The parallel mechanism is divided into a six-degree-of-freedom mechanism and a mechanism with less than six degrees of freedom from the aspect of degree of freedom, the mechanism with less than six degrees of freedom is a five-degree-of-freedom mechanism and mainly comprises a static platform and a movable platform, the movable platform is used as an important component of the robot and is a direct output part for realizing the motion trail of the robot, the stability and the flexibility of the structure directly determine the motion precision of the robot and the functions which can be realized by the robot, and the rotation and overturning transmission of the robot depends on gear meshing transmission.
Traditional robot action wheel and follow driving wheel adopt the mode installation of holding partially, when leading to the robot to carry out reverse rotation, there is the interference between object and the movable platform being grabbed, need increase the terminal length of tongs from this, guarantee that forward rotation and reverse rotation can not have mutual interference yet, but this kind of mode makes tongs atress inhomogeneous, reduces and snatchs the precision.
SUMMERY OF THE UTILITY MODEL
In view of this, one of the objects of the present invention is to provide a five-axis robot moving platform, to solve the problem of the prior art that the moving wheel and the driven wheel forming the robot moving platform are installed in a manner of being inclined to the left, when the robot performs reverse rotation, the robot is grabbed and the moving platform interfere with each other, thereby increasing the length of the end of the gripper, ensuring that the positive rotation and the reverse rotation do not interfere with each other, but making the gripper stressed unevenly in this manner, and reducing the technical problem of grabbing precision.
The second objective of the present invention is to provide a five-axis robot with the above five-axis robot moving platform.
In order to realize one of above-mentioned purpose, the utility model provides a five-axis robot moves platform, include initiative actuating mechanism, driven actuating mechanism and be used for the installation initiative actuating mechanism with driven actuating mechanism's mounting platform, wherein:
driven actuating mechanism is located mounting platform's geometric center, initiative actuating mechanism distribute in driven actuating mechanism's all around, initiative actuating mechanism with driven actuating mechanism gear engagement transmission, initiative actuating mechanism includes two, one is used for control move the horizontal direction of platform and rotate, another is used for control move the vertical direction of platform and rotate.
According to a preferred embodiment, the driving mechanism comprises a first driving shaft, a first driving gear, a second driving shaft and a second driving gear, the first driving shaft and the second driving shaft longitudinally penetrate through the mounting platform, the first driving gear is mounted at the tail end of the first driving shaft, the second driving gear is mounted at the tail end of the second driving shaft, and the horizontal plane where the first driving gear is located below the horizontal plane where the second driving gear is located.
According to a preferred embodiment, the driven driving mechanism comprises a first driven gear and a second driven gear, the first driven gear is located below the second driven gear, central axes of the first driven gear and the second driven gear coincide, the first driving gear is in meshed connection with the first driven gear, and the second driving gear is in meshed connection with the second driven gear.
According to a preferred embodiment, the driven driving mechanism further comprises a vertical shaft and a driving bevel gear, the vertical shaft sequentially penetrates through the second driven gear, the first driven gear and the driving bevel gear along the vertical direction, the second driven gear is in driving connection with the vertical shaft, the second driven gear rotates to drive the vertical shaft to rotate, and the driving bevel gear rotates along with the vertical shaft.
According to a preferred embodiment, the driven driving mechanism further comprises a driven bevel gear and a transverse shaft, the driven bevel gear is horizontally mounted on the transverse shaft, and the driving bevel gear is in meshed connection with the driven bevel gear.
According to a preferred embodiment, the device further comprises an output mechanism, wherein the output mechanism is U-shaped, and the tail ends of the output mechanism are arranged at two ends of the transverse shaft and connected with the transverse shaft.
According to a preferred embodiment, the output mechanism comprises a bending connecting rod, a rotating end cover and an output disc, one end of the bending connecting rod is symmetrically arranged at two ends of the transverse shaft, the rotating end cover is arranged at the tail end of the transverse shaft, and the other end of the bending connecting rod is provided with the output disc.
According to a preferred embodiment, the mounting platform is an equilateral triangle, the mounting platform has three mounting holes, the mounting holes are distributed with the geometric center of the mounting platform as the center, and the two active driving mechanisms are respectively mounted on two of the mounting holes.
According to a preferred embodiment, three corners of the mounting platform are simultaneously chamfered and provided, and a hollow connecting column is mounted, is horizontally arranged, is located on the same horizontal plane with the mounting platform and is used for being connected with the static platform.
In order to realize two of the above-mentioned purposes, the utility model provides a five-axis robot, including the aforesaid arbitrary five-axis robot move the platform, still include quiet platform and power unit, quiet platform is located move the top of platform, power unit install in on the quiet platform, and with be located move on the platform initiative actuating mechanism drive connection.
The utility model provides a five-axis robot moves platform has following technological effect:
(1) this kind of move platform, compare with the platform that moves among the prior art, mainly include initiative actuating mechanism, driven actuating mechanism and be used for installing initiative actuating mechanism and driven actuating mechanism's mounting platform, driven actuating mechanism is located mounting platform's geometric center, and initiative actuating mechanism distributes around driven actuating mechanism, the positive rotation of robot and antiport, the object is grabbed and the platform is moved and all can not have the phenomenon of interfering mutually, the terminal length of tongs also need not increase simultaneously, driven actuating mechanism atress placed in the middle is even, the precision of grabbing has been improved.
(2) The utility model discloses a horizontal direction of initiative actuating mechanism and the controllable braking platform of driven actuating mechanism cooperation rotates, and another initiative actuating mechanism rotates with the vertical direction of the controllable braking platform of driven actuating mechanism cooperation, and initiative actuating mechanism is the gear engagement transmission with driven actuating mechanism's connected mode, has improved five-axis robot and has moved the life of platform.
The utility model provides a five-axis robot has following technological effect:
compared with the five-axis robot in the prior art, the five-axis robot comprises a movable platform, a static platform and a power mechanism, wherein the static platform is located above the movable platform, the power mechanism is installed on the static platform and is in driving connection with a driving mechanism located on the movable platform, and the power mechanism on the static platform provides driving force for the driving mechanism, so that the movable platform can rotate and overturn.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic perspective view of a movable platform according to an embodiment of the present invention;
FIG. 2 is a top view of the movable platform of FIG. 1;
FIG. 3 is a schematic view of the internal structure of the movable platform of FIG. 1;
fig. 4 is a schematic structural view of the movable platform in fig. 1.
Wherein, fig. 1-4:
1. an active drive mechanism; 101. a first drive shaft; 102. a first drive gear; 103. a second driving shaft; 104. a second driving gear;
2. a driven drive mechanism; 201. a second driven gear; 202. a first driven gear; 203. a vertical shaft; 204. a drive bevel gear; 205. a driven bevel gear; 206. a transverse axis; 207. a bending type connecting rod; 208. rotating the end cover; 209. an output tray;
3. mounting a platform; 301. mounting holes; 302. a hollow connecting column; 4. ball head connecting piece.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be described in detail below. It is to be understood that the embodiments described are only some embodiments of the invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
In the description of the present invention, it is to be noted that, unless otherwise specified, "a plurality" means two or more; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
As described in the background art, in the prior art, a driving wheel and a driven wheel of a five-axis robot are installed in a deflection manner, so that when the robot performs reverse rotation, interference exists between a gripped object and a movable platform, and the gripping effect is affected, therefore, the defect is overcome by increasing the length of the tail end of a gripper under a general condition, so that the phenomenon of mutual interference does not exist in both forward rotation and reverse rotation, but the gripper is stressed unevenly due to the manner, and the gripping precision is reduced.
The technical solution of the present invention will be described in detail with reference to the accompanying drawings.
Example 1:
the five-axis robot moving platform provided by the embodiment, as shown in fig. 1 to 4, includes a driving mechanism 1, a driven driving mechanism 2, and a mounting platform 3 for mounting the driving mechanism 1 and the driven driving mechanism 2.
The driving mechanism 1 serves as a power mechanism of the movable platform and provides power for the movement of the driven driving mechanism 2.
The driven driving mechanism 2 is used as an actuating mechanism of the movable platform to realize rotation and turnover of the robot gripper.
The mounting platform 3 is regular in shape and aims to mount the driving mechanism 1 and the driven driving mechanism 2.
The specific installation mode is as follows: driven actuating mechanism 2 is located mounting platform 3's geometric center, for example when mounting platform 3 is triangle-shaped, geometric center then is triangle-shaped's focus, initiative actuating mechanism 1 distributes around driven actuating mechanism 2, and the distance between each initiative actuating mechanism 1 and the driven actuating mechanism 2 can equal, also can the inequality, all is the utility model discloses an within the protection scope, initiative actuating mechanism 1 distributes around the focus of the mounting platform 3 of triangle-shaped shape promptly, and the robot forward rotation and antiport all can not exist the phenomenon of interfering mutually between snatched the object and moving the platform, and the terminal length of tongs also need not increase simultaneously, and the driven actuating mechanism 2 atress placed in the middle is even, has improved and has snatched the precision.
Furthermore, the driving mechanism 1 is in gear engagement transmission with the driven driving mechanism 2, the driving mechanism 1 comprises two driving mechanisms, one driving mechanism is in gear engagement with the driven driving mechanism 2 and is used for controlling the horizontal direction rotation of the movable platform, the other driving mechanism is also in gear engagement with the driven driving mechanism 2 and is used for controlling the vertical direction rotation of the movable platform, and the service life of the five-axis robot movable platform is prolonged.
The driving mechanism 1 specifically includes a first driving shaft 101, a first driving gear 102, a second driving shaft 103 and a second driving gear 104, as shown in fig. 3 and 4, the first driving shaft 101 and the second driving shaft 103 longitudinally pass through the mounting platform 3, the first driving gear 102 is mounted at the end of the first driving shaft 101, the second driving gear 104 is mounted at the end of the second driving shaft 103, a horizontal plane where the first driving gear 102 is located below a horizontal plane where the second driving gear 104 is located, and is engaged and connected with the driven driving mechanism 2, wherein the first driving gear 102 realizes rotation of the moving platform in a horizontal direction, and the second driving gear 104 realizes rotation of the moving platform in a vertical direction.
The driven driving mechanism 2 specifically includes a first driven gear 202 and a second driven gear 201, as shown in fig. 3 and 4, the first driven gear 202 and the second driven gear 201 are simultaneously installed below the mounting platform 3, the first driven gear 202 is located below the second driven gear 201, central axes of the first driven gear 202 and the second driven gear 201 are overlapped, the first driving gear 102 is engaged with the first driven gear 202 in the horizontal direction, the first driving gear 102 is driven by an external force to rotate 360 degrees, so as to realize the rotation of the first driven gear 202360 degrees, the second driving gear 104 is engaged with the second driven gear 201 in the horizontal direction, and the second driving gear 104 is driven by the external force to rotate 360 degrees, so as to realize the rotation of the second driven gear 201360 degrees.
The driven driving mechanism 2 further includes a vertical shaft 203 and a drive bevel gear 204, as shown in fig. 3 and 4, one end of the vertical shaft 203 is located below the mounting platform 3, the other end of the vertical shaft 203 simultaneously and sequentially penetrates through the second driven gear 201, the first driven gear 202 and the drive bevel gear 204 along the vertical direction, the second driven gear 201 is in driving connection with the vertical shaft 203, that is, the second driven gear 201 transmits the rotation of the second driving gear 104 to the vertical shaft 203, and the drive bevel gear 204 rotates therewith.
The driven driving mechanism 2 further comprises a driven bevel gear 205 and a transverse shaft 206, as shown in fig. 3 and 4, the driven bevel gear 205 is horizontally mounted on the transverse shaft 206, the drive bevel gear 204 is meshed with the driven bevel gear 205, the drive bevel gear 204 is driven by the rotating vertical shaft 203 to link the drive bevel gear 204360 degrees to rotate, and the drive bevel gear 204 is meshed with the driven bevel gear 205 to realize the 205360 degrees of rotation, so that the transverse shaft 206 correspondingly rotates.
The specific transmission mode is as follows: the first driving gear 102 and the second driving gear 104 which obtain power respectively transmit the power to a first driven gear 202 (responsible for the rotation of the Z axis of the robot) and a second driven gear 201 through gear engagement, the first driven gear 202 rotates through a vertical shaft 203 to drive a driving bevel gear 204 to rotate, the driving bevel gear 204 is engaged with a driven bevel gear 205, and the rotation in the Z axis direction is converted into the rotation in the X axis direction.
Further, the device further comprises an output mechanism, the output mechanism can be used for installing the hand grip, as shown in fig. 1 and fig. 3, the output mechanism is U-shaped, the tail ends of the output mechanism are installed at two ends of the transverse shaft 206 and connected with the transverse shaft 206, and the rotation of the transverse shaft 206 drives the output mechanism to correspondingly move.
The output mechanism specifically comprises a bent connecting rod 207, a rotating end cover 208 and an output disc 209, as shown in fig. 3, one end of the bent connecting rod 207 is symmetrically arranged at two ends of the transverse shaft 206, the rotating end cover 208 is mounted at the tail end of the transverse shaft 206 and can protect the tail end of the transverse shaft 206, the other end of the bent connecting rod 207 is provided with the output disc 209, and a gripper can be mounted on the output disc 209 so as to transmit the motion of the first driving gear 102 and the second driving gear 104 to the gripper.
The utility model discloses an in the embodiment, mounting platform 3 is equilateral triangle, and the chamfer setting simultaneously in mounting platform 3's three angle, chamfer end have hollow connecting post 302, and hollow connecting post 302 level sets up to be located same horizontal plane with mounting platform 3, hollow connecting post 302 is passed to bulb connecting piece 4, and the convenience is connected with quiet platform.
As shown in fig. 2, the mounting platform 3 further has three mounting holes 301, the mounting holes 301 are distributed with the geometric center of the mounting platform 3 as the center, specifically, the center of gravity of the triangular mounting platform 3 is used as the geometric center, and the two active driving mechanisms 1 are respectively mounted on the two mounting holes 301, so that the five-axis robot moving platform is realized, one active driving mechanism 1 is added, the specific structure below the mounting platform 3 is changed, the six-axis robot moving platform can be directly formed, and the purpose of realizing quick switching between the five axis and the six axis is achieved.
Example 2:
on the basis of embodiment 1, the present embodiment provides a five-axis robot, including the moving platform mentioned in embodiment 1, further including a static platform and a power mechanism, where the static platform is located above the moving platform, and the power mechanism is installed on the static platform and is in driving connection with the driving mechanism 1 located on the moving platform, that is, the power mechanism on the static platform provides driving force for the driving mechanism 1, so as to realize rotation and turnover of the moving platform.
The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and all should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The utility model provides a five-axis robot moves platform which characterized in that, includes initiative actuating mechanism, driven actuating mechanism and is used for the installation initiative actuating mechanism with driven actuating mechanism's mounting platform, wherein:
driven actuating mechanism is located mounting platform's geometric center, initiative actuating mechanism distribute in driven actuating mechanism's all around, initiative actuating mechanism with driven actuating mechanism gear engagement transmission, initiative actuating mechanism includes two, one is used for control move the horizontal direction of platform and rotate, another is used for control move the vertical direction of platform and rotate.
2. The five-axis robot moving platform according to claim 1, wherein the driving mechanism comprises a first driving shaft, a first driving gear, a second driving shaft and a second driving gear, the first driving shaft and the second driving shaft longitudinally penetrate through the mounting platform, the first driving gear is mounted at the tail end of the first driving shaft, the second driving gear is mounted at the tail end of the second driving shaft, and the horizontal plane where the first driving gear is located below the horizontal plane where the second driving gear is located.
3. The five-axis robotic platform according to claim 2, wherein the driven driving mechanism comprises a first driven gear and a second driven gear, the first driven gear is located below the second driven gear, central axes of the first driven gear and the second driven gear coincide, the first driving gear is in meshed connection with the first driven gear, and the second driving gear is in meshed connection with the second driven gear.
4. The five-axis robot moving platform according to claim 3, wherein the driven driving mechanism further comprises a vertical shaft and a driving bevel gear, the vertical shaft sequentially penetrates through the second driven gear, the first driven gear and the driving bevel gear along the vertical direction, the second driven gear is in driving connection with the vertical shaft, the second driven gear rotates to drive the vertical shaft to rotate, and the driving bevel gear rotates along with the vertical shaft.
5. The five-axis robot moving platform according to claim 4, wherein the driven driving mechanism further comprises a driven bevel gear and a transverse shaft, the driven bevel gear is horizontally mounted on the transverse shaft, and the driving bevel gear is in meshed connection with the driven bevel gear.
6. The five-axis robotic platform according to claim 5, further comprising an output mechanism, wherein the output mechanism is U-shaped, and ends of the output mechanism are mounted at two ends of the transverse shaft and connected with the transverse shaft.
7. The five-axis robot moving platform according to claim 6, wherein the output mechanism comprises a bent connecting rod, rotating end covers and an output disc, one end of the bent connecting rod is symmetrically arranged at two ends of the transverse shaft, the rotating end covers are mounted at the tail ends of the transverse shaft, and the other end of the bent connecting rod is provided with the output disc.
8. The five-axis robot platform according to any one of claims 1 to 7, wherein the mounting platform is an equilateral triangle, the mounting platform has three mounting holes, the mounting holes are distributed around a geometric center of the mounting platform, and two active driving mechanisms are respectively mounted on two of the mounting holes.
9. The five-axis robot moving platform according to claim 8, wherein three corners of the mounting platform are simultaneously chamfered and a hollow connecting column is mounted, the hollow connecting column is horizontally arranged and located at the same horizontal plane with the mounting platform for connection with a static platform.
10. A five-axis robot, characterized in that, includes the five-axis robot moving platform of any claim 1-9, still includes quiet platform and power unit, quiet platform is located the top of moving platform, power unit install in on quiet platform, and with be located move platform on the initiative actuating mechanism drive connection.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023126800.8U CN214187181U (en) | 2020-12-22 | 2020-12-22 | Five-axis robot moving platform and five-axis robot thereof |
| PCT/CN2021/102251 WO2022134512A1 (en) | 2020-12-22 | 2021-06-25 | Five-axis robot motion platform and five-axis robot thereof |
| JP2022600124U JP3240824U (en) | 2020-12-22 | 2021-06-25 | Movable platform for 5-axis robot and its 5-axis robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023126800.8U CN214187181U (en) | 2020-12-22 | 2020-12-22 | Five-axis robot moving platform and five-axis robot thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214187181U true CN214187181U (en) | 2021-09-14 |
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ID=77655741
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202023126800.8U Active CN214187181U (en) | 2020-12-22 | 2020-12-22 | Five-axis robot moving platform and five-axis robot thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214187181U (en) |
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2020
- 2020-12-22 CN CN202023126800.8U patent/CN214187181U/en active Active
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