WO2022134512A1 - Plate-forme de mouvement de robot à cinq axes, et robot à cinq axes associé - Google Patents

Plate-forme de mouvement de robot à cinq axes, et robot à cinq axes associé Download PDF

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Publication number
WO2022134512A1
WO2022134512A1 PCT/CN2021/102251 CN2021102251W WO2022134512A1 WO 2022134512 A1 WO2022134512 A1 WO 2022134512A1 CN 2021102251 W CN2021102251 W CN 2021102251W WO 2022134512 A1 WO2022134512 A1 WO 2022134512A1
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WO
WIPO (PCT)
Prior art keywords
driven
driving
gear
drive mechanism
platform
Prior art date
Application number
PCT/CN2021/102251
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English (en)
Chinese (zh)
Inventor
李星渊
李东岳
刘松涛
Original Assignee
辰星（天津）自动化设备有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from CN202023126800.8U external-priority patent/CN214187181U/zh
Priority claimed from CN202011533144.5A external-priority patent/CN112549003A/zh
Application filed by 辰星（天津）自动化设备有限公司 filed Critical 辰星（天津）自动化设备有限公司
Priority to JP2022600124U priority Critical patent/JP3240824U/ja
Publication of WO2022134512A1 publication Critical patent/WO2022134512A1/fr

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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

Definitions

  • the invention relates to the technical field of robots, in particular to a five-axis robot moving platform and its five-axis robot.
  • serial robots have been widely used in the field of industrial robots and machine tools because of their simple control and large working space.
  • 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.
  • the parallel mechanism 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • the two active driving mechanisms are respectively mounted on two of the mounting holes.
  • 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. .
  • 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.
  • 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.
  • 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.
  • 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.
  • FIG. 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 .
  • Active drive mechanism 101, first drive shaft; 102, first drive gear; 103, second drive shaft; 104, second drive gear;
  • Installation platform 301, installation hole; 302, hollow connecting column; 4, ball joint.
  • 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.
  • 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.
  • a five-axis robot moving platform provided in this embodiment 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.
  • the geometric center is the center of gravity of the triangle
  • 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. .
  • 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.
  • 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.
  • 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
  • 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.
  • 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.
  • the installation platform 3 is an equilateral triangle, and the three corners of the installation platform 3 are chamfered at the same time.
  • the ball joint 4 passes through the hollow connecting column 302 to facilitate connection with the static platform.
  • 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.
  • 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.
  • 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.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention se rapporte au domaine technique de la robotique et concerne une plate-forme de mouvement de robot à cinq axes. La plate-forme de mouvement comprend un mécanisme d'entraînement moteur (1), un mécanisme d'entraînement mené (2) et une plate-forme de montage (3) utilisé pour monter le mécanisme d'entraînement moteur (1) et le mécanisme d'entraînement mené (2). Le mécanisme d'entraînement mené (2) est situé dans le centre géométrique de la plate-forme de montage (3). Le mécanisme d'entraînement moteur (1) est distribué autour de la périphérie du mécanisme d'entraînement mené (2). Le mécanisme d'entraînement moteur (1) et le mécanisme d'entraînement mené (2) sont entraînés par un engrenage. Deux mécanismes d'entraînement moteurs (1) sont inclus, l'un est utilisé pour commander la rotation horizontale de la plate-forme de mouvement, et l'autre est utilisé pour commander la rotation verticale de la plate-forme de mouvement. Chaque mécanisme d'entraînement moteur (1) entoure un mécanisme d'entraînement mené (2). Il n'y a pas d'interférence mutuelle entre la rotation vers l'avant et la rotation vers l'arrière du robot et l'objet saisi et la plate-forme de mouvement. De même, il n'est pas nécessaire d'augmenter la longueur de l'extrémité de l'élément de préhension, et le mécanisme d'entraînement mené centré supporte uniformément les forces, améliorant ainsi la précision de préhension.
PCT/CN2021/102251 2020-12-22 2021-06-25 Plate-forme de mouvement de robot à cinq axes, et robot à cinq axes associé WO2022134512A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2022600124U JP3240824U (ja) 2020-12-22 2021-06-25 ５軸ロボット用可動プラットフォーム及びその５軸ロボット

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN202023126800.8 2020-12-22
CN202011533144.5 2020-12-22
CN202023126800.8U CN214187181U (zh) 2020-12-22 2020-12-22 五轴机器人动平台及其五轴机器人
CN202011533144.5A CN112549003A (zh) 2020-12-22 2020-12-22 五轴机器人动平台及其五轴机器人

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WO2022134512A1 true WO2022134512A1 (fr) 2022-06-30

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008092540A1 (fr) * 2007-01-29 2008-08-07 Robert Bosch Gmbh Dispositif permettant de déplacer et de positionner un objet dans l'espace
CN102615641A (zh) * 2012-03-27 2012-08-01 天津大学 一种五自由度并联动力头
CN102975203A (zh) * 2012-12-04 2013-03-20 天津大学 一种高速五自由度并联机械手
CN104057442A (zh) * 2014-06-10 2014-09-24 上海交通大学 五自由度混联机器人
CN107139162A (zh) * 2017-06-12 2017-09-08 清华大学 具有双动平台结构的并联分拣机器人
CN112549003A (zh) * 2020-12-22 2021-03-26 辰星（天津）自动化设备有限公司 五轴机器人动平台及其五轴机器人

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008092540A1 (fr) * 2007-01-29 2008-08-07 Robert Bosch Gmbh Dispositif permettant de déplacer et de positionner un objet dans l'espace
CN102615641A (zh) * 2012-03-27 2012-08-01 天津大学 一种五自由度并联动力头
CN102975203A (zh) * 2012-12-04 2013-03-20 天津大学 一种高速五自由度并联机械手
CN104057442A (zh) * 2014-06-10 2014-09-24 上海交通大学 五自由度混联机器人
CN107139162A (zh) * 2017-06-12 2017-09-08 清华大学 具有双动平台结构的并联分拣机器人
CN112549003A (zh) * 2020-12-22 2021-03-26 辰星（天津）自动化设备有限公司 五轴机器人动平台及其五轴机器人

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