WO2018187881A1 - 高性能直角机器人 - Google Patents

高性能直角机器人 Download PDF

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Publication number
WO2018187881A1
WO2018187881A1 PCT/CN2017/000313 CN2017000313W WO2018187881A1 WO 2018187881 A1 WO2018187881 A1 WO 2018187881A1 CN 2017000313 W CN2017000313 W CN 2017000313W WO 2018187881 A1 WO2018187881 A1 WO 2018187881A1
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WIPO (PCT)
Prior art keywords
axis
telescopic shaft
reducer
shaft
axis mechanism
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PCT/CN2017/000313
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English (en)
French (fr)
Inventor
蔡汉生
黄展源
袁志辉
洪福
洪彬彬
刘玉芒
吴浩边
蔡桂阳
Original Assignee
巨轮智能装备股份有限公司
巨轮（广州）机器人与智能制造有限公司
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Publication of WO2018187881A1 publication Critical patent/WO2018187881A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/123—Linear actuators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators

Definitions

  • the invention relates to a high performance right angle robot.
  • Industrial robot is an important automation equipment for modern manufacturing industry integrating mechanical, electronic, control, computer, sensor, artificial intelligence and other multi-disciplinary advanced technologies. Since the United States developed the world's first industrial robot in 1962, robotics and its products have developed rapidly, and have become automated tools for flexible manufacturing systems, automation plants, and computer integrated manufacturing systems. The widespread use of industrial robots not only improves the quality and quantity of products, but also guarantees personal safety, improving the working environment, reducing labor intensity, increasing labor productivity, saving material consumption and reducing production costs. Like computers and network technologies, the widespread use of industrial robots is increasingly changing human production and lifestyle.
  • the object of the present invention is to provide a high-performance right-angle robot with high flexibility, high positioning accuracy, high speed, stable operation and low noise in response to the above problems.
  • a high performance right angle robot including an X-axis mechanism, a C-axis mechanism, a Y-axis mechanism, a Z-axis mechanism, and a B-axis mechanism;
  • the X-axis mechanism includes a fixed shaft and a large telescopic shaft And small telescopic shaft; large telescopic shaft and fixed shaft are connected by X-axis linear guide, large telescopic shaft is provided with X-axis rack and controlled by X-axis reducer on fixed shaft to form X-axis telescopic movement of fixed telescopic shaft to fixed shaft I;
  • the small telescopic shaft is controlled by the belt transmission between the small telescopic shaft and the large telescopic shaft to form the X-axis telescopic movement of the small telescopic shaft to the large telescopic shaft;
  • the C-axis mechanism includes the C-axis base, the C-axis slewing support and the C-axis deceleration The C-axi
  • the fixed shaft, the large telescopic shaft and the small telescopic shaft are square hollow tubes, and the belt passes through the bottom side hollow portion of the large telescopic shaft, and the pulley of the belt pulley is erected on the large telescopic shaft, and the lower shaft of the fixed shaft is inside.
  • a belt tooth plate is arranged on the wall, and a belt tooth plate is arranged on the outer wall of the lower side tube of the small telescopic shaft, and the X-axis telescopic synchronization of the large telescopic shaft and the large telescopic shaft to the fixed shaft is formed by the engagement of the belt tooth plate and the belt. Linkage.
  • the X-axis reducer, the Y-axis reducer and the Z-axis reducer are both controlled by the operating system to control the forward and reverse rotation of the servo motor; the C-axis reducer and the B-axis reducer are controlled by the operating system.
  • the respective servo motor controls are reversed to achieve a swinging swing.
  • the outer diameter of the C-axis slewing bearing is toothed to mesh with the output gear shaft of the C-axis reducer mounted on the C-axis base.
  • the rail support is made of an I-beam welded structure.
  • the Z-axis screw is a ball screw.
  • the five-axis mechanism coordinate robot has high flexibility, and the five-axis mechanism is driven by servo motor, and the positioning accuracy is high;
  • X-axis mechanism, Y-axis mechanism and Z-axis mechanism are profile welding structure, the overall weight is light, compact structure and reasonable structure; convenient material and easy to process; high structural rigidity, maximum load can reach 500Kg;
  • X-axis mechanism, Y-axis mechanism, Z-axis mechanism are linear motion, using precision ball guide, fast moving speed, stable and low noise;
  • the front-end execution device can be freely replaced according to actual needs, and has strong expandability.
  • the invention has the advantages of light overall weight, compact structure, reasonable structure, high overall precision, good structural rigidity, high flexibility, wide working range, fast conveying speed, low running noise and convenient maintenance.
  • FIG. 1 is a front view showing the structure of an embodiment of the present invention
  • Figure 2 is a schematic plan view showing the structure of the embodiment of Figure 1;
  • Figure 3 is a side view of the structure of Figure 1 along the P direction;
  • Fig. 4 is a schematic enlarged view of the portion A of Fig. 1;
  • the present embodiment is a high performance right angle robot including an X-axis mechanism, a C-axis mechanism, a Y-axis mechanism, a Z-axis mechanism, and a B-axis mechanism;
  • the X-axis mechanism includes a fixed shaft 1 and a large telescopic shaft.
  • the large telescopic shaft and the fixed shaft are connected by the X-axis linear guide 4, the large telescopic shaft is provided with the X-axis rack 5 and is controlled by the X-axis reducer 6 on the fixed shaft to form a large telescopic shaft to the fixed shaft
  • the X-axis telescopic movement I; the small telescopic shaft is controlled by the belt 7 between the small telescopic shaft and the large telescopic shaft to form the X-axis telescopic movement of the small telescopic shaft to the large telescopic shaft
  • the C-axis mechanism includes the C-axis base 8, C
  • the shaft slewing support 9 and the C-axis reducer 10 are controlled by the C-axis reducer to control the C-axis slewing support to constitute the swing swing II of the Z-axis mechanism
  • the Y-axis mechanism includes the Y-axis linear guide 11, the guide rail support 12 and the Y-axis reducer 13.
  • the guide rail support is provided with a Y-axis rack 14 and is controlled by a Y-axis reducer to constitute a back-and-forth movement of the C-axis mechanism along the Y-axis;
  • the Z-axis mechanism includes a bracket 15, a Z-axis screw 16 and a Z-axis linear guide 17, The bracket is connected to the C-axis swivel support, and the fixed shaft of the X-axis mechanism passes the screw nut 18 and Z of the Z-axis screw The screw is connected;
  • the Z-axis screw is driven by the Z-axis reducer 19, and the up-and-down transmission control of the screw nut constitutes the up-and-down movement of the X-axis mechanism along the Z-axis linear guide IV;
  • the B-axis mechanism includes the B-axis reducer 20 and the front end performs
  • the device 21 and the B-axis reducer are fixed to the front end of the small telescopic shaft of the X-axis mechanism,
  • the X-axis reducer 6, the Y-axis reducer 13 and the Z-axis reducer 19 are controlled by the respective servo motors controlled by the operating system to realize the telescopic movement;
  • the C-axis reducer 10 and the B-axis reducer 20 Controlled by the respective servo motor controlled by the operating system
  • the reverse rotation realizes the swinging swing;
  • the outer diameter of the C-axis slewing bearing 9 is toothed to mesh with the output gear shaft of the C-axis reducer mounted on the C-axis base;
  • the guide rail support 12 is made of I-beam welded structure;
  • the lead screw 16 is a ball screw.
  • the operating system controls the X-axis servo motor to rotate forward and backward.
  • the X-axis servo motor is output to the X-axis pinion shaft through the X-axis reducer.
  • the X-axis pinion shaft meshes with the X-axis rack to drive the large telescopic shaft.
  • Telescopic movement; the small telescopic shaft is simultaneously telescopically synchronized with the large telescopic shaft under the traction of the belt;
  • Rotary swing of Z-axis mechanism II The operating system controls the C-axis servo motor to rotate in the forward and reverse direction.
  • the C-axis servo motor is output on the C-axis pinion shaft through the C-axis reducer, which drives the C-axis rotary support outer ring to rotate, realizing the Z-axis mechanism. Swing swing
  • the C-axis mechanism moves back and forth along the Y-axis.
  • III The operating system controls the Y-axis servo motor to reverse.
  • the Y-axis servo motor is output to the Y-axis pinion shaft through the Y-axis reducer.
  • the Y-axis pinion shaft and the Y-axis rack are. Engagement drives the C-axis base to move back and forth on the rail support;
  • the up-and-down movement of the X-axis mechanism along the Z-axis linear guide IV The operating system controls the Z-axis servo motor to rotate in the forward and reverse directions, and the Z-axis servo motor drives the Z-axis screw through the Z-axis reducer, which is converted into the up and down movement of the screw nut, thereby driving The X-axis mechanism moves up and down along the Z-axis linear guide;
  • the B-axis mechanism swings the X-axis mechanism V:
  • the B-axis servo motor transmits the rotary motion to the front-end actuator through the B-axis reducer.
  • the invention distinguishes the coordinate robot from the structure, and has a simple structure compared with the articulated right angle robot.
  • the three linear motion axes all use linear guide rails, and the rotary shaft adopts a slewing support and a reducer, and each axis independently moves, positioning accuracy and repetition. High positioning accuracy, fast speed, smooth operation and low noise.

Abstract

一种高性能直角机器人，包括X轴机构、C轴机构、Y轴机构、Z轴机构和B轴机构；X轴机构的小伸缩轴（3）随同大伸缩轴（2）对固定轴（1）构成X轴伸缩运动（Ⅰ）；C轴机构的C轴减速器（10）传动控制C轴回转支撑（9）构成Z轴机构的回转摆动（Ⅱ）；Y轴机构的导轨支座（12）设置Y轴齿条（14）并由Y轴减速器（13）传动控制构成C轴机构沿Y轴的来回运动（Ⅲ）；Z轴机构的Z轴丝杆（16）通过Z轴减速器（19）带动，由丝杆螺母（18）的上下传动控制构成X轴机构沿Z轴直线导轨的上下运动（Ⅳ）；B轴机构的B轴减速器（20）固定在X轴机构的小伸缩轴（3）的前端，通过B轴减速器（20）控制回转摆动传输到前端执行装置（21）而构成B轴机构对X轴机构的回转摆动（Ⅴ）。所述高性能直角机器人具有灵活度高、定位精度高、速度快、运转平稳且噪音低的优点。

Description

高性能直角机器人 技术领域
本发明涉及一种高性能直角机器人。
背景技术
工业机器人是集机械、电子、控制、计算机、传感器、人工智能等多学科先进技术于一体的现代制造业重要的自动化装备。自从1962年美国研制出世界上第一台工业机器人以来，机器人技术及其产品发展很快，已成为柔性制造系统、自动化工厂、计算机集成制造系统的自动化工具。广泛采用工业机器人，不仅可提高产品的质量与数量，而且保障人身安全、改善劳动环境、减轻劳动强度、提高劳动生产率、节约材料消耗以及降低生产成本有着十分重要的意义。和计算机、网络技术一样，工业机器人的广泛应用正在日益改变着人类的生产和生活方式。
20世纪80年代以来，工业机器人技术逐渐成熟，并很快得到推广，目前已经在工业生产的许多领域得到应用。目前，工业机器人有很大一部分应用于制造业的物流搬运中。极大的促进物流自动化，随着生产的发展，搬运机器人的各方面的性能都得到了很大的改善和提高。气动机械手大量的应用到物流搬运机器人领域。在手爪的机械结构方面根据所应用场合的不同以及对工件夹持的特殊要求，采取了多种形式的机械结构来完成对工件的夹紧和防止工件脱落的锁紧措施。
目前，上述工业机器人的自动化、灵活度，尤其是性能方面还存在诸多不足。
发明内容
本发明的目的是针对上述问题，提供一种灵活度高、定位精度高、速度快、运转平稳且噪音低的高性能直角机器人。
本发明是这样实现的：一种高性能直角机器人，包括X轴机构、C轴机构、Y轴机构、Z轴机构和B轴机构；X轴机构包括固定轴、大伸缩轴 和小伸缩轴；大伸缩轴与固定轴通过X轴直线导轨连接，大伸缩轴设置X轴齿条并由固定轴上的X轴减速器传动控制构成大伸缩轴对固定轴的X轴伸缩运动I；小伸缩轴通过小伸缩轴与大伸缩轴之间的皮带传动控制构成小伸缩轴对大伸缩轴的X轴伸缩运动I；C轴机构包括C轴底座、C轴回转支撑和C轴减速器，由C轴减速器传动控制C轴回转支撑构成Z轴机构的回转摆动II；Y轴机构包括Y轴直线导轨、导轨支座和Y轴减速器，导轨支座设置Y轴齿条并由Y轴减速器传动控制构成C轴机构沿Y轴的来回运动III；Z轴机构包括支架、Z轴丝杆和Z轴直线导轨，支架连接于C轴回转支撑上，X轴机构的固定轴通过Z轴丝杆的丝杆螺母与Z轴丝杆连接；Z轴丝杆通过Z轴减速器带动，由丝杆螺母的上下传动控制构成X轴机构沿Z轴直线导轨的上下运动IV；B轴机构包括B轴减速器和前端执行装置，B轴减速器固定在X轴机构的小伸缩轴的前端，通过B轴减速器控制回转摆动传输到前端执行装置而构成B轴机构对X轴机构的回转摆动V。
本发明，固定轴、大伸缩轴和小伸缩轴均为方形空心管，皮带穿过大伸缩轴的底侧镂空部，皮带的带轮之轮轴架设于大伸缩轴上，固定轴的下侧管内壁上设置有皮带齿板，小伸缩轴的下侧管外壁设置有皮带齿板，由皮带齿板与皮带的啮合构成小伸缩轴对大伸缩轴、大伸缩轴对固定轴的X轴伸缩同步联动。
本发明，X轴减速器、Y轴减速器和Z轴减速器均由操作系统控制的各自的伺服电机控制正反转而实现伸缩运动；C轴减速器和B轴减速器均由操作系统控制的各自伺服电机控制正反转而实现回转摆动。
本发明，C轴回转支撑的外径带齿而与安装在C轴底座上的C轴减速器的输出齿轮轴啮合。
本发明，导轨支座采用工字钢组焊结构。
本发明，Z轴丝杆采用滚珠丝杆。
本发明的有益效果是：
1)、五轴机构坐标式机器人灵活度高，五轴机构均采用伺服电机驱动，定位精度高；
2)、X轴机构、Y轴机构、Z轴机构均为型材组焊结构，整体重量轻、结构紧凑、结构合理；、取材便利且易加工；结构刚性高，最大负载可以达到500Kg；
3)、X轴机构、Y轴机构、Z轴机构均为直线运动，采用精密滚珠导轨，运动速度快，平稳且噪音低；
4)、B轴机构和C轴机构的回转采用RV减速器和回转支撑，传动比大，输出扭力大；各轴行程大，工作范围广，工作环境要求低；
5)、前端执行装置可以根据实际需要自由更换，拓展性强。
本发明，具有整体重量轻、结构紧凑、结构合理、整体精度高、结构刚性好、灵活度高、工作范围广、搬运速度快、运行噪音小、维护方便的优点。
下面实施例结合附图说明对本发明作进一步的说明。
附图说明
图1是本发明的一个实施例的主视结构示意图；
图2是图1实施例的俯视图结构示意图；
图3是图1的沿P向的侧视结构示意图；
图4是图1的A部放大结构示意图。
图中，1、固定轴；2、大伸缩轴；3、小伸缩轴；4、X轴直线导轨；5、X轴齿条；6、X轴减速器；7、皮带；8、C轴底座；9、C轴回转支撑；10、C轴减速器；11、Y轴直线导轨；12、导轨支座；13、Y轴减速器；14、Y轴齿条；15、支架；16、Z轴丝杆；17、Z轴直线导轨；18、丝杆螺母；19、Z轴减速器；20、B轴减速器；21、前端执行装置；22、带轮；23、轮轴；24、25、皮带齿板；I、X轴伸缩运动；II、Z轴机构的回转摆动；III、C轴机构沿Y轴的来回运动；IV、X轴机构沿Z轴直线导轨的上下运动；V、B轴机构对X轴机构的回转摆动。
具体实施方式
参照图1至图4，本实施例是一种高性能直角机器人，包括X轴机构、C轴机构、Y轴机构、Z轴机构和B轴机构；X轴机构包括固定轴1、大伸缩轴2和小伸缩轴3；大伸缩轴与固定轴通过X轴直线导轨4连接，大伸缩轴设置X轴齿条5并由固定轴上的X轴减速器6传动控制构成大伸缩轴对固定轴的X轴伸缩运动I；小伸缩轴通过小伸缩轴与大伸缩轴之间的皮带7传动控制构成小伸缩轴对大伸缩轴的X轴伸缩运动I；C轴机构包括C轴底座8、C轴回转支撑9和C轴减速器10，由C轴减速器传动控制C轴回转支撑构成Z轴机构的回转摆动II；Y轴机构包括Y轴直线导轨11、导轨支座12和Y轴减速器13，导轨支座设置Y轴齿条14并由Y轴减速器传动控制构成C轴机构沿Y轴的来回运动III；Z轴机构包括支架15、Z轴丝杆16和Z轴直线导轨17，支架连接于C轴回转支撑上，X轴机构的固定轴通过Z轴丝杆的丝杆螺母18与Z轴丝杆连接；Z轴丝杆通过Z轴减速器19带动，由丝杆螺母的上下传动控制构成X轴机构沿Z轴直线导轨的上下运动IV；B轴机构包括B轴减速器20和前端执行装置21，B轴减速器固定在X轴机构的小伸缩轴的前端，通过B轴减速器控制回转摆动传输到前端执行装置而构成B轴机构对X轴机构的回转摆动V；固定轴1、大伸缩轴2和小伸缩轴3均为方形空心管，皮带7穿过大伸缩轴的底侧镂空部，皮带的带轮22之轮轴23架设于大伸缩轴上，固定轴的下侧管内壁上设置有皮带齿板24，小伸缩轴的下侧管外壁设置有皮带齿板25，由皮带齿板与皮带的啮合构成小伸缩轴对大伸缩轴、大伸缩轴对固定轴的X轴伸缩同步联动；X轴减速器6、Y轴减速器13和Z轴减速器19均由操作系统控制的各自的伺服电机控制正反转而实现伸缩运动；C轴减速器10和B轴减速器20均由操作系统控制的各自伺服电机控制正反转而实现回转摆动；C轴回转支撑9的外径带齿而与安装在C轴底座上的C轴减速器的输出齿轮轴啮合；导轨支座12采用工字钢组焊结构；Z轴丝杆16采用滚珠丝杆。
本发明的工作过程，如下：
X轴伸缩运动I：操作系统控制X轴伺服电机正反转，X轴伺服电机通过X轴减速器输出到X轴小齿轮轴上，X轴小齿轮轴与X轴齿条啮合带动大伸缩轴伸缩运动；小伸缩轴在皮带的牵引下与大伸缩轴同时伸缩同步联动；
Z轴机构的回转摆动II：操作系统控制C轴伺服电机正反转，C轴伺服电机通过C轴减速器输出在C轴小齿轮轴上，带动C轴回转支撑外圈转动，实现Z轴机构的回转摆动；
C轴机构沿Y轴的来回运动III：操作系统控制Y轴伺服电机正反转，Y轴伺服电机通过Y轴减速器输出到Y轴小齿轮轴上，Y轴小齿轮轴与Y轴齿条啮合带动C轴底座在导轨支座上来回运动；
X轴机构沿Z轴直线导轨的上下运动IV：操作系统控制Z轴伺服电机正反转，Z轴伺服电机通过Z轴减速器带动Z轴丝杆，转化为丝杆螺母的上下运动，从而带动X轴机构沿Z轴直线导轨的上下运动；
B轴机构对X轴机构的回转摆动V：B轴伺服电机通过B轴减速器将回转运动传输到前端执行装置。
本发明，从结构上区分属于坐标式机器人，相对于关节式直角机器人，结构简单，三个直线运动轴均使用直线导轨，回转轴采用回转支撑和减速器，各轴独立运动，定位精度和重复定位精度高，速度快，运转平稳且噪音低。

Claims (6)

  1. 一种高性能直角机器人，其特征在于：包括X轴机构、C轴机构、Y轴机构、Z轴机构和B轴机构；
    所述X轴机构包括固定轴(1)、大伸缩轴(2)和小伸缩轴(3)；所述大伸缩轴与固定轴通过X轴直线导轨(4)连接，大伸缩轴设置X轴齿条(5)并由固定轴上的X轴减速器(6)传动控制构成大伸缩轴对固定轴的X轴伸缩运动(I)；所述小伸缩轴通过小伸缩轴与大伸缩轴之间的皮带(7)传动控制构成小伸缩轴对大伸缩轴的X轴伸缩运动(I)；
    所述C轴机构包括C轴底座(8)、C轴回转支撑(9)和C轴减速器(10)，由C轴减速器传动控制C轴回转支撑构成Z轴机构的回转摆动(II)；
    所述Y轴机构包括Y轴直线导轨(11)、导轨支座(12)和Y轴减速器(13)，导轨支座设置Y轴齿条(14)并由Y轴减速器传动控制构成C轴机构沿Y轴的来回运动(III)；
    所述Z轴机构包括支架(15)、Z轴丝杆(16)和Z轴直线导轨(17)，所述支架连接于C轴回转支撑上，所述X轴机构的固定轴通过Z轴丝杆的丝杆螺母(18)与Z轴丝杆连接；所述Z轴丝杆通过Z轴减速器(19)带动，由丝杆螺母的上下传动控制构成X轴机构沿Z轴直线导轨的上下运动(IV)；
    所述B轴机构包括B轴减速器(20)和前端执行装置(21)，所述B轴减速器固定在X轴机构的小伸缩轴的前端，通过B轴减速器控制回转摆动传输到前端执行装置而构成B轴机构对X轴机构的回转摆动(V)。
  2. 根据权利要求1所述的高性能直角机器人，其特征在于：所述固定轴(1)、大伸缩轴(2)和小伸缩轴(3)均为方形空心管，所述皮带(7)穿过大伸缩轴的底侧镂空部，皮带的带轮(22)之轮轴(23)架设于大伸缩轴上，所述固定轴的下侧管内壁上设置有皮带齿板(24)，所述小伸缩轴 的下侧管外壁设置有皮带齿板(25)，由皮带齿板与皮带的啮合构成小伸缩轴对大伸缩轴、大伸缩轴对固定轴的X轴伸缩同步联动。
  3. 根据权利要求1或2所述的高性能直角机器人，其特征在于：所述X轴减速器(6)、Y轴减速器(13)和Z轴减速器(19)均由操作系统控制的各自的伺服电机控制正反转而实现伸缩运动；所述C轴减速器(10)和B轴减速器(20)均由操作系统控制的各自伺服电机控制正反转而实现回转摆动。
  4. 根据权利要求3所述的高性能直角机器人，其特征在于：所述C轴回转支撑(9)的外径带齿而与安装在C轴底座上的C轴减速器的输出齿轮轴啮合。
  5. 根据权利要求4所述的高性能直角机器人，其特征在于：所述导轨支座(12)采用工字钢组焊结构。
  6. 根据权利要求5所述的高性能直角机器人，其特征在于：所述Z轴丝杆(16)采用滚珠丝杆。
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