WO2022134512A1 - Five-axis robot motion platform and five-axis robot thereof - Google Patents

Abstract

Provided is a five-axis robot motion platform, relating to the technical field of robotics; the motion platform comprises a driving drive mechanism (1), a driven drive mechanism (2), and a mounting platform (3) used for mounting the driving drive mechanism (1) and the driven drive mechanism (2); the driven drive mechanism (2) is located in the geometric center of the mounting platform (3); the driving drive mechanism (1) is distributed around the periphery of the driven drive mechanism (2); the driving drive mechanism (1) and the driven drive mechanism (2) are driven by gear meshing; comprised are two driving drive mechanisms (1), one is used for controlling the horizontal rotation of the motion platform, and the other is used for controlling the vertical rotation of the motion platform. Each driving drive mechanism (1) surrounds a driven drive mechanism (2); There is no mutual interference between the forward rotation and reverse rotation of the robot and the gripped object and the motion platform; also, the length of the end of the gripper does not need to be increased, and the centered driven drive mechanism evenly bears forces, improving gripping accuracy.

Description

Five-axis robot moving platform and its five-axis robot technical field

The invention relates to the technical field of robots, in particular to a five-axis robot moving platform and its five-axis robot.

Background technique

At present, robots at home and abroad can be divided into serial robots and parallel robots. Among them, serial robots have been widely used in the field of industrial robots and machine tools because of their simple control and large working space. However, due to the structural characteristics of the series mechanism, it does not have good stiffness, and the error is accumulated step by step. Due to these defects, some scholars began to try new robot configurations, and then the parallel configuration was born, which is different from the series configuration. Compared with the parallel mechanism, the parallel mechanism has high speed and high rigidity, and it does not have a superposition relationship for the error, so a reasonable parallel configuration can greatly improve the accuracy.

Parallel mechanisms can be divided into six degrees of freedom mechanisms and mechanisms with less than six degrees of freedom, and mechanisms with less than six degrees of freedom, such as five-degree-of-freedom mechanisms, are mainly composed of a static platform and a moving platform, and the moving platform is used as a robot. The important part of the robot is the direct output part of the robot to realize the motion trajectory. The stability and flexibility of its structure will directly determine the motion accuracy of the robot and the functions that the robot can achieve. The rotation and flip transmission of the robot rely on gear meshing transmission.

The traditional robot driving wheel and driven wheel are installed in a paranoid way, resulting in interference between the grasped object and the moving platform when the robot performs reverse rotation. Therefore, it is necessary to increase the length of the end of the gripper to ensure forward rotation and reverse rotation. There will be no mutual interference in the rotation, but this method makes the gripper force uneven and reduces the gripping accuracy.

SUMMARY OF THE INVENTION

In view of this, one of the purposes of the present invention is to provide a five-axis robot moving platform, so as to solve the problem that the driving wheel and the driven wheel constituting the robot moving platform in the prior art are installed in a paranoid manner. When the robot performs reverse rotation, it is There is interference between the grasped object and the moving platform, so it is necessary to increase the length of the end of the gripper to ensure that there is no mutual interference between forward rotation and reverse rotation, but this method makes the gripper force uneven and reduces the gripping force. Accuracy technical issues.

Another object of the present invention is to provide a five-axis robot including the above-mentioned five-axis robot moving platform.

In order to achieve one of the above purposes, the present invention provides a five-axis robot moving platform, including an active drive mechanism, a driven drive mechanism, and a mounting platform for installing the active drive mechanism and the driven drive mechanism, wherein:

The driven drive mechanism is located at the geometric center of the installation platform, and the active drive mechanism is distributed around the driven drive mechanism. The driving mechanism includes two, one is used to control the horizontal rotation of the movable platform, and the other is used to control the vertical rotation of the movable platform.

According to a preferred embodiment, the active drive mechanism includes a first drive shaft, a first drive gear, a second drive shaft and a second drive gear, the first drive shaft and the second drive shaft passing through the entire length longitudinally. The installation platform, the first driving gear is installed at the end of the first driving shaft, the second driving gear is installed at the end of the second driving shaft, and the horizontal plane where the first driving gear is located is located in the Below the horizontal plane where the second driving gear is located.

According to a preferred embodiment, the driven drive mechanism includes a first driven gear and a second driven gear, the first driven gear is located below the second driven gear, and the central axes coincide, so 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 drive mechanism further includes a vertical shaft and a driving bevel gear, the vertical shaft simultaneously penetrates the second driven gear, the first driven gear and the first driven gear in a vertical direction. The gear and the driving bevel gear, the second driven gear is drivingly connected with the vertical shaft, the rotation of the second driven gear drives the vertical shaft to rotate, and the driving bevel gear rotates accordingly.

According to a preferred embodiment, the driven drive mechanism further comprises a driven bevel gear and a transverse shaft, the driven bevel gear is horizontally mounted on the transverse shaft, the driving bevel gear and the driven bevel Gear meshing connection.

According to a preferred embodiment, an output mechanism is further included, the output mechanism is U-shaped, and the ends are mounted on both ends of the transverse shaft and are connected with the transverse shaft.

According to a preferred embodiment, the output mechanism includes a bending connecting rod, a rotating end cover and an output disc, one end of the bending connecting rod is symmetrically arranged at both ends of the transverse shaft, and the rotating end cover It is installed at the 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 around the geometric center of the mounting platform, and the two active driving mechanisms are respectively mounted on two of the mounting holes.

According to a preferred embodiment, the three corners of the installation platform are chamfered at the same time, and a hollow connecting column is installed. The hollow connecting column is horizontally arranged and located on the same horizontal plane as the installation platform for connecting with the static platform. .

In order to achieve the second above-mentioned purpose, the present invention provides a five-axis robot, including any one of the five-axis robot moving platforms described above, and further comprising a static platform and a power mechanism, wherein the static platform is located above the moving platform, The power mechanism is mounted on the static platform and is drivingly connected with the active drive mechanism located on the moving platform.

The five-axis robot moving platform provided by the present invention has the following technical effects:

(1) This kind of moving platform, compared with the moving platform in the prior art, mainly includes an active driving mechanism, a driven driving mechanism and an installation platform for installing the active driving mechanism and the driven driving mechanism, and the driven driving mechanism is located in the The geometric center of the installation platform, and the active drive mechanism is distributed around the driven drive mechanism, the robot rotates forward and reverse, and there is no mutual interference between the grasped object and the moving platform. The length does not need to be increased, and the driven driving mechanism in the center receives even force, which improves the grasping accuracy.

(2) One active driving mechanism and the driven driving mechanism of the present invention cooperate with the horizontal direction of the controllable braking platform to rotate, the other active driving mechanism and the driven driving mechanism cooperate with the vertical direction of the controllable braking platform to rotate, and the active driving mechanism and the slave The connection mode of the moving drive mechanism is gear meshing transmission, which improves the service life of the moving platform of the five-axis robot.

The five-axis robot provided by the present invention has the following technical effects:

Compared with the five-axis robot in the prior art, this kind of five-axis robot includes a moving platform, a static platform and a power mechanism. The static platform is located above the moving platform, and the power mechanism is installed on the static platform, which is different from the one located on the moving platform. The active drive mechanism is driven to connect, that is, the power mechanism on the static platform provides the driving force for the active drive mechanism, so as to realize the rotation and overturn of the moving platform.

Description of drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained according to these drawings without creative efforts.

1 is a schematic three-dimensional structure diagram of a moving platform according to an embodiment of the present invention;

Fig. 2 is the top view of the moving platform in Fig. 1;

Fig. 3 is the internal structure schematic diagram of the moving platform in Fig. 1;

FIG. 4 is a schematic structural diagram of the moving platform in FIG. 1 .

Among them, Figure 1-Figure 4:

1. Active drive mechanism; 101, first drive shaft; 102, first drive gear; 103, second drive shaft; 104, second drive gear;

2. Driven drive mechanism; 201, second driven gear; 202, first driven gear; 203, vertical shaft; 204, driving bevel gear; 205, driven bevel gear; 206, horizontal shaft; 207, folding Bending connecting rod; 208, rotating end cover; 209, output disc;

3. Installation platform; 301, installation hole; 302, hollow connecting column; 4, ball joint.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be described in detail below. Obviously, the described embodiments are only some, but not all, embodiments of the present invention. Based on the embodiments of the present invention, all other implementations obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that, unless otherwise specified, "a plurality of" means two or more; the terms "upper", "lower", "left", "right", "inside" ", "outside", "front end", "rear end", "head", "tail", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, only for the convenience of describing the present invention and The description is simplified rather than indicating or implying that the device or element referred to must have a particular orientation, be constructed and operate in a particular orientation, and therefore should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," etc. are used for descriptive purposes only and should not be construed to indicate or imply relative importance.

As mentioned in the background art, in the prior art, the driving wheel and the driven wheel of the five-axis robot are installed in a paranoid manner, which causes interference between the object to be grasped and the moving platform when the robot performs reverse rotation, which affects the grasping effect. Generally, this defect is overcome by increasing the length of the end of the gripper, so as to ensure that there is no mutual interference between forward rotation and reverse rotation, but this method causes uneven force on the gripper and reduces the grasping accuracy.

The technical solutions of the present invention will be described in detail below with reference to the accompanying drawings.

Example 1:

A five-axis robot moving platform provided in this embodiment, as shown in FIGS. 1-4 , includes an active drive mechanism 1, a driven drive mechanism 2, and an installation platform for installing the active drive mechanism 1 and the driven drive mechanism 2 3.

The active drive mechanism 1 serves as the power mechanism of the moving platform, and provides power for the movement of the driven drive mechanism 2 .

The driven drive mechanism 2 is used as the actuator of the moving platform to realize the rotation and turnover of the robot gripper.

The installation platform 3 has a regular shape, and the purpose is to install the active driving mechanism 1 and the driven driving mechanism 2 .

The specific installation method is: the driven drive mechanism 2 is located at the geometric center of the installation platform 3. For example, when the installation platform 3 is a triangle, the geometric center is the center of gravity of the triangle, and the active drive mechanism 1 is distributed around the driven drive mechanism 2. Each The distance between the active drive mechanism 1 and the driven drive mechanism 2 can be equal or unequal, all within the protection scope of the present invention, that is, the active drive mechanism 1 is distributed around the center of gravity of the triangular-shaped installation platform 3, and the robot is By rotating in the opposite direction and in the opposite direction, there is no mutual interference between the grasped object and the moving platform, and the length of the end of the gripper does not need to be increased. .

Further, the active driving mechanism 1 and the driven driving mechanism 2 are geared for transmission. The active driving mechanism 1 includes two, one of which is engaged with the driven driving mechanism 2 through gears to control the horizontal rotation of the moving platform, and the other is the same. It is also meshed with the driven drive mechanism 2 through gears to control the vertical rotation of the moving platform, which improves the service life of the moving platform of the five-axis robot.

The active 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 FIG. 4, the first driving shaft 101 and the second driving The shaft 103 passes through the installation platform 3 longitudinally, the first driving gear 102 is installed at the end of the first driving shaft 101, the second driving gear 104 is installed at the end of the second driving shaft 103, and the horizontal plane where the first driving gear 102 is located is located at the second Below the horizontal plane where the driving gear 104 is located, it is meshed with the driven drive mechanism 2, wherein the first driving gear 102 realizes the horizontal rotation of the moving platform, and the second driving gear 104 realizes the vertical rotation of the moving platform.

The driven drive mechanism 2 specifically includes a first driven gear 202 and a second driven gear 201. As shown in Figures 3 and 4, the first driven gear 202 and the second driven gear 201 are simultaneously installed on the installation platform 3, and the first driven gear 202 is located below the second driven gear 201, the central axes coincide, the first driving gear 102 is meshed with the first driven gear 202 in the horizontal direction, and the first driving gear Driven to rotate 360 degrees to achieve 360-degree rotation of the first driven gear 202, the second driving gear 104 is meshed with the second driven gear 201 in the horizontal direction, and the second driving gear 104 is driven by an external force to rotate 360 degrees to achieve The second driven gear 201 rotates 360 degrees.

The driven drive mechanism 2 further includes a vertical shaft 203 and a driving bevel gear 204. As shown in Figures 3 and 4, one end of the vertical shaft 203 is located under the installation platform 3, and the other end runs through the second shaft in the vertical direction. The driven gear 201, the first driven gear 202 and the driving bevel gear 204, the second driven gear 201 is drivingly connected with the vertical shaft 203, that is, the second driven gear 201 transmits the rotation of the second driving gear 104 to the vertical axis The shaft 203, the driving bevel gear 204 rotates therewith.

The driven drive mechanism 2 also includes a driven bevel gear 205 and a transverse shaft 206. As shown in FIG. 3 and FIG. 4, the driven bevel gear 205 is horizontally mounted on the transverse shaft 206. Meshing connection, the driving bevel gear 204 is driven by the rotating vertical shaft 203 to link the driving bevel gear 204 to rotate 360 degrees. Because the driving bevel gear 204 and the driven bevel gear 205 are meshed and connected, the driven bevel gear 205 is realized 360 degrees of rotation, The transverse axis 206 rotates accordingly.

The specific transmission method is as follows: the first driving gear 102 and the second driving gear 104 that obtain power, respectively transmit the power to the first driven gear 202 (responsible for the rotation of the Z-axis of the robot) and the second driven gear 201 through gear meshing. , the first driven gear 202 drives the driving bevel gear 204 to rotate through the rotation of the vertical shaft 203, and the driving bevel gear 204 meshes with the driven bevel gear 205 to convert the rotation in the Z-axis direction into the rotation in the X-axis direction.

Further, an output mechanism is also included. The output mechanism can be used to install a gripper. As shown in Figures 1 and 3, the output mechanism is U-shaped, and its ends are installed at both ends of the transverse shaft 206 and connected to the transverse shaft 206. The rotation of the shaft 206 drives the output mechanism to move accordingly.

The output mechanism specifically includes a bending connecting rod 207, a rotating end cover 208 and an output disc 209. As shown in FIG. 3, one end of the bending connecting rod 207 is symmetrically arranged on both ends of the transverse shaft 206, and the rotating end cover 208 is installed on the horizontal shaft 206. The end of the transverse shaft 206 can protect the end of the transverse shaft 206, and the other end of the bent connecting rod 207 is provided with an output disc 209, and a gripper can be installed on the output disc 209, so as to connect the first driving gear 102 and the second driving gear 104. movement is transmitted to the gripper.

In an embodiment of the present invention, the installation platform 3 is an equilateral triangle, and the three corners of the installation platform 3 are chamfered at the same time. On the same horizontal plane, the ball joint 4 passes through the hollow connecting column 302 to facilitate connection with the static platform.

As shown in FIG. 2 , the installation platform 3 also has three installation holes 301 . The installation holes 301 are distributed around the geometric center of the installation platform 3 , specifically the center of gravity of the triangular installation platform 3 is the geometric center. They are respectively installed on two of the installation holes 301, so as to realize a five-axis robot moving platform, add an active drive mechanism 1, change the specific structure under the installation platform 3, and directly form a six-axis robot moving platform to achieve five-axis and six-axis robot moving platform. The axis realizes the purpose of fast switching.

Example 2:

On the basis of Embodiment 1, this embodiment provides a five-axis robot, which includes the moving platform mentioned in Embodiment 1, and also includes a static platform and a power mechanism. The static platform is located above the moving platform, and the power mechanism is installed on the static platform. On the platform, and drivingly connected with the active drive mechanism 1 located on the moving platform, that is, the power mechanism on the static platform provides driving force for the active drive mechanism 1, thereby realizing the rotation and turnover of the moving platform.

The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention. should be included within the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims (10)

1. A five-axis robot moving platform, characterized in that it includes an active drive mechanism, a driven drive mechanism, and a mounting platform for installing the active drive mechanism and the driven drive mechanism, wherein:

   The driven drive mechanism is located at the geometric center of the installation platform, and the active drive mechanism is distributed around the driven drive mechanism. The driving mechanism includes two, one is used to control the horizontal rotation of the movable platform, and the other is used to control the vertical rotation of the movable platform.
2. The five-axis robot moving platform according to claim 1, wherein the active 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 drive shaft longitudinally passes through the installation platform, the first drive gear is installed at the end of the first drive shaft, the second drive gear is installed at the end of the second drive shaft, the The horizontal plane where the first driving gear is located is below the horizontal plane where the second driving gear is located.
3. The five-axis robot moving 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 at the second driven gear Below the gears, and the central axes are coincident, the first driving gear is meshed with the first driven gear, and the second driving gear is meshed 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, and the vertical shaft passes through the second shaft simultaneously and sequentially in the vertical direction. The driven gear, the first driven gear and the drive bevel gear, the second driven gear is drivingly connected with the vertical shaft, and the rotation of the second driven gear drives the vertical shaft to rotate, The drive bevel gear rotates accordingly.
5. The five-axis robot moving platform according to claim 4, wherein the driven drive mechanism further comprises a driven bevel gear and a lateral shaft, the driven bevel gear is horizontally installed on the lateral shaft, so The driving bevel gear is meshed with the driven bevel gear.
6. Five-axis robot moving platform according to claim 5, is characterized in that, also comprises output mechanism, described output mechanism is U-shaped, and the end is mounted on both ends of described transverse shaft, and is connected with described transverse shaft.
7. The five-axis robot moving platform according to claim 6, wherein the output mechanism comprises a bending connecting rod, a rotating end cover and an output disc, and one end of the bending connecting rod is symmetrically arranged in the transverse direction. At both ends of the shaft, the rotating end cover is installed at the end of the transverse shaft, and the other end of the bending connecting rod is provided with the output disc.
8. The five-axis robot moving platform according to any one of claims 1 to 7, wherein the installation platform is an equilateral triangle, and the installation platform has three installation holes, and the installation holes are based on the installation platform. The geometric center of the device is distributed in the center, and the two active drive 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 installation platform are chamfered at the same time, and a hollow connecting column is installed, and the hollow connecting column is horizontally arranged and connected to the installation platform. On the same level, it is used to connect with the static platform.
10. A five-axis robot, characterized in that it includes the five-axis robot moving platform according to any one of claims 1-9, and also includes a static platform and a power mechanism, wherein the static platform is located above the moving platform, and the power The mechanism is mounted on the static platform and is drivingly connected with the active drive mechanism located on the moving platform.

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