CN104858875A - Novel three-axis robot structure - Google Patents
Novel three-axis robot structure Download PDFInfo
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Abstract
The invention relates to a novel three-axis robot structure. The novel three-axis robot structure comprises a double-Y-axis driving and guiding system assembly (100), X-axis driving and guiding system assemblies (200), a machine frame (300), a working part (400) and diagonal arm assemblies (500), wherein the X-axis driving and guiding system assemblies (200) are symmetrically fixed to the two sides of the machine frame (300), the double-Y-axis driving and guiding system assembly (100) is installed on the working plane determined by the X-axis driving and guiding system assemblies (100), the multiple groups of diagonal arm assemblies (500) are symmetrically distributed below the double-Y-axis driving and guiding system assembly (100) in a hoisted mode, and the other ends of the diagonal arm assemblies (500) are connected with the working part (400) to form a multi-rod connecting structure. The novel three-axis robot structure has the advantages of being stable, high integration degree, low in cost, wide in application range, novel and simple in structure, and high in operation stability.
Description
Technical field
The present invention relates to robot field, particularly relate to a kind of novel three-axis robot structure.
Background technology
Along with China's economic continues that stable development, the industrial structure are constantly upgraded, the increasing of human cost, automatization level improves constantly, industrial robot have with it work continuously, the advantage such as efficiency is high, strong adaptability is widely used in industrial production, as being applied in photovoltaic apparatus, loading and unloading manipulator, transplant apparatus, automatic double surface gluer, patch device, to be engaged in the process of manufacture of heavy type or high duplication high-precision requirement.
Wherein three-axis robot is most widely used, and its typical apply has laser welding machine tool, laser cutting machine tool, glue spreader, chip mounter, miniature numerical control lathe, carving milling machine and 3D printer.
The most frequently used three-axis robot structure of industry is that under rectangular coordinate system, three axles are orthogonal, and line rail leads, and operate portions is arranged on single shaft.This three-axis robot is because its design is convenient, structure is simply widely used, but it exists following shortcoming:
1, rectangular coordinate system three-axis robot, each axle is independent, and driver element often needs servo-actuated, distributes more discrete, is unfavorable for cost control.
2, in medium-sized, high-speed applications, this version Z axis design comparatively difficulty.Wherein the first situation: being designed to Z axis is work top lifting, and plane positioning at least needs two groups of driver elements and transmission guidance set, means that cost increases.The second situation: Z axis is that operate portions is servo-actuated, its installation accuracy requires higher, and needs synchronous all the other diaxon driver element performance parameters of raising.
Industry typical case three-axis robot structure also has three axles parallel arm structure parallel to each other under rectangular coordinate system.Simple, each shaft space of its structure is uniform, facilitates adjustment and installation, is widely used in every profession and trade in recent years.But its Existential Space utilization rate is lower, the shortcomings such as flake bearing is easy to wear, the restriction of flake bearing crank degree scope.
Summary of the invention
The object of this invention is to provide a kind of novel three-axis robot structure, it under guarantee precision and stable prerequisite, effectively can be simplified Z-axis transmission structure and forms, and installation and debugging relative simplicity, effectively reduce costs.
Object of the present invention is achieved through the following technical solutions:
The invention provides a kind of novel three-axis robot structure, it comprises:
Two Y-axis transmission guidance system assembly; X-axis transmission guidance system assembly; Frame; Operate portions; Oblique pull arm assembly;
X-axis transmission guidance system assembly symmetry is fixed on frame both sides;
Two Y-axis transmission guidance system assembly is installed on described X-axis transmission guidance system assembly and determines on working face;
Oblique pull arm assembly is many groups and is symmetric and is lifted on below two Y-axis transmission guidance system assembly, and connects and composes many bars syndeton in the other end and operate portions.
Further, described two Y-axis transmission guidance system assemblies comprise:
Two Y-axis slide unit; Y-axis drive motors; Shaft coupling; Linear guide rail assembly; Two Y-axis support; Leading screw termination bearing and leading screw and nut assembly;
Described pair of Y-axis slide unit is installed on linear guide rail assembly, and can be free to slide left and right; Linear guide rail assembly is installed on two Y-axis support; Two Y-axis support two ends are installed on the X-axis transmission guidance system assembly of both sides;
Y-axis drive motors is fixedly mounted on two Y-axis support two ends respectively; Y-axis drive motors is connected to one end of leading screw and nut assembly by shaft coupling; The two ends of leading screw and nut assembly by leading screw termination seat supports, and is fixed on two Y-axis support by leading screw termination bearing.
Further, described X-axis transmission guidance system assembly comprises:
X-axis drive motors, shaft coupling, leading screw termination bearing, leading screw and nut assembly, feed screw nut mount pad and linear guide rail assembly;
Described X-axis drive motors is fixed on the electric machine support of frame; Described X-axis drive motors is connected with described leading screw and nut assembly by described shaft coupling, and described leading screw and nut assembly are fixed in described frame by described leading screw termination bearing; Described feed screw nut mount pad is fixed on the two ends of described leading screw and nut assembly;
Described linear guide rail assembly is fixed in described frame;
Described linear guide rail assembly and feed screw nut mount pad are together connected on the two Y-axis supports on described pair of Y-axis transmission guidance system assembly.
Further, described oblique pull arm assembly comprises:
Operate portions oblique pull arm bearing, bearing, fastening pivot pin, oblique pull arm and slide unit oblique pull arm bearing;
Described operate portions oblique pull arm bearing is connected with operate portions; Described slide unit oblique pull arm bearing is connected on described pair of Y-axis slide unit;
Described operate portions oblique pull arm bearing is connected by oblique pull arm with slide unit oblique pull arm bearing, and middle by bearing transition, fastener shaft sells out into location and installation.
Further, described oblique pull arm is multiple.
As can be seen from the technical scheme of the invention described above, the present invention under guarantee precision and stable prerequisite, effectively can simplify Z-axis transmission structure and forms, make three-axis mounting drive more centralized arrangement, and the cable routing being conducive to three axle systems is arranged; And its installation and debugging relative simplicity, effectively reduce costs.Therefore the present invention has stable, the more high and low cost of integrated level, applies wide advantage.Its novel structure, succinct, and there is good operation stability.
Accompanying drawing explanation
Fig. 1 is complete machine structure of the present invention composition schematic diagram;
Fig. 2 is that complete machine structure of the present invention composition disassembles schematic diagram;
Fig. 3 is principle of the present invention and calculates schematic diagram;
Fig. 4 is two Y-axis transmission guidance system assembly schematic diagrames;
Fig. 5 is X-axis transmission guidance system assembly schematic diagram;
Fig. 6 is oblique pull arm assembly schematic diagram.
In accompanying drawing:
Two Y-axis transmission guidance system assembly 100; X-axis transmission guidance system assembly 200; Frame 300; Operate portions 400; Oblique pull arm assembly 500; Two Y-axis slide unit 101; Y-axis drive motors 102; Shaft coupling 103; Linear guide rail assembly 104; Slide block 104-1; Two Y-axis support 105; Leading screw termination bearing 106; Leading screw and nut assembly 107; X-axis drive motors 201; Shaft coupling 202; Leading screw termination bearing 203; Leading screw and nut assembly 204; Feed screw nut mount pad 205; Linear guide rail assembly 206; Operate portions oblique pull arm bearing 501; Bearing 502; Fastening pivot pin 503; Oblique pull arm 504; Slide unit oblique pull arm bearing 505.
Detailed description of the invention
Below with reference to accompanying drawing, the present invention is described in further details.
The novel three-axis robot structure of one provided by the invention, it replaces two vertical axises in conventional vertical three-axis robot with one group of parallel axes, can be used as the abundant three axle series of products of novel three-axis structure and selects.The structure composition of a kind of novel three-axis robot structure of the present invention as depicted in figs. 1 and 2, comprises two Y-axis transmission guidance system assembly 100; X-axis transmission guidance system assembly 200; Frame 300; Operate portions 400; Oblique pull arm assembly 500.
Frame 300 is fixing or be positioned over ground.
X-axis transmission guidance system assembly 200 is two groups, and it is bolted on frame 300 both sides.
Two Y-axis transmission guidance system assembly 100 be fastened by bolts coordination be installed on two groups of X-axis transmission guidance system assemblies 200 determine on working face.
Oblique pull arm assembly 500 is two covers, is lifted on below two Y-axis transmission guidance system assembly 100 by bolt.
The two ends of operate portions 400 are bolted two groups of oblique pull arm assemblies 500, form stable many bars syndeton.
During work, the X-axis transmission guidance system assembly 200 of frame 300 both sides is for two Y-axis transmission guidance system assembly 100 of being installed on it and and the operate portions 400 of top loading, oblique pull arm assembly 500 provide driving and the guiding of X-direction.Two Y-axis transmission guidance system assembly 100 is that two cover oblique pull arm assemblies 500 of lifting on it provide Y-direction to drive and guiding, by oblique pull arm assembly 500, the motion of the Y-direction of two Y-axis transmission guidance system assembly 100 is converted to the direction change in location of operate portions 400 in Y, Z-direction.The X provided in conjunction with X-axis transmission guidance system assembly 200 is to position control, and position operate portions 400 being formed to X, Y, Z Three-bearing controls completely.
Above-mentioned novel three-axis robot structure adopts two groups of parallel axes (i.e. two Y-axis transmission guidance system assembly 100) for locating two slide units (the two Y-axis slide units on two Y-axis transmission guidance system assembly 100), by the pin joint position of the motion and relative motion and oblique pull arm assembly 500 upper end that control two slide units respectively, thus control operate portions 400 spatial point position in the Y-axis direction and move with the spatial point position of Z axis vertical direction.Introduce three axle vertical with two Y-axis and cantilever determined Y, Z motion breadth simultaneously, thus the space three-dimensional degree three-dimensional in the portion that finishes the work location.Complete machine below in conjunction with the simplification shown in Fig. 3 forms resolution principle, is described the position control that operate portions 400 forms X, Y, Z Three-bearing the present invention:
The motion control of the △ z of operate portions and conversion:
The right angled triangle that oblique pull arm assembly 500 is formed with two Y-axis transmission guidance system assembly 100 meets: L
2=a
2+ b
2; Wherein L is the hypotenuse of this right angled triangle; A is the straight flange in this right angled triangle Z-direction (i.e. vertical direction); B is the straight flange in this right angled triangle Y direction.
If a, b are original state value, known have height value change △ z in operate portions can be scaled the change of the slide unit of two Y-axis to optional position.Rise to example with operate portions 400, △ y1 is the distance that left end y-axis motor drives corresponding slide unit movement, and △ y2 is the distance that right-hand member y-axis motor drives corresponding slide unit movement.
Its strategy moves to left for △ y1 gets negative value slide unit, and △ y2 gets and moves right on the occasion of slide unit, and retrains the equal i.e. △ y1=-△ y2=△ y ' of its running length.
(b+ △ y ')+(a-△ z)
2=L
2formula (1)
That is:
Formula (2)
In formula: △ y ' is for operate portions 400 is at the axial changing value of single Y; △ z is that operate portions 400 is at vertical height change value.Namely have the Y-axis changing value of the relative work origin in optional position:
The motion control of the △ y of operate portions 400 and conversion:
The △ y Motion of operate portions 400 is Y-axis bi-motor move distance △ y in the same way simultaneously, namely
△ y1=△ y formula (5)
△ y2=△ y formula (6)
The motion control of the △ x of operate portions 400 and conversion:
The △ x Motion of operate portions 400 is that X motor drives two Y-axis transmission guidance system assembly 100 and the operate portions 400 that is installed on it by X-axis move distance △ x, that is:
△ x=△ x formula (7)
Operate portions 400 is independent and do not interfere at the Motion Control Strategies of each dimension, and directly superposition can obtain:
△ x=△ x formula (8)
Formula (6), formula (7) are identical with the relevant parameter in above-mentioned formula with the parameter in formula (8), are not described in detail here.
Can be found out by above-mentioned formula, when the locus in known work portion 400 and target location mobile trend thereof, solve by simple formula, obtain the position coordinates of each axle drive system.
Below each subsystem is described in detail:
As shown in Figure 4, it comprises two Y-axis slide unit 101 to the structure of two Y-axis transmission guidance system assembly 100; Y-axis drive motors 102; Shaft coupling 103; Linear guide rail assembly 104; Two Y-axis support 105; Leading screw termination bearing 106 and leading screw and nut assembly 107.
Two Y-axis slide unit 101 is two, is all installed on the slide block 104-1 of linear guide rail assembly 104, can be free to slide left and right; Linear guide rail assembly 104 is fixed and is installed on two Y-axis support 105;
Y-axis drive motors 102 is two, is fixedly mounted on two Y-axis support 105 two ends respectively; Y-axis drive motors 102 is connected to one end of leading screw and nut assembly 107 by shaft coupling 103; The two ends of leading screw and nut assembly 107 is supported by leading screw termination bearing 106, and is fixed on two Y-axis support 105 by leading screw termination bearing 106;
Two Y-axis support 105 two ends are fixedly installed on the linear guide rail assembly 206 of X-axis transmission guidance system assembly 200 of both sides, and fix with the leading screw of both sides X-axis transmission guidance system assembly 200 and nut assembly 204;
Leading screw and nut assembly 107 are two groups, in parallel arrangement; Each group leading screw and nut assembly 107 are tightened together with a two Y-axis slide unit 101 by bolt.
During work, Y-axis drive motors 102 provides Power output to drive shaft coupling 103 and connected leading screw and nut assembly 107 to rotate, and the final pair Y-axis slide unit 101 that drives slides along linear guide rail assembly 104 direction.Said system two groups side by side, controls a Y-axis slide unit 101 respectively along linear guide rail assembly 104 direction translation.
As shown in Figure 5, it comprises X-axis drive motors 201, shaft coupling 202, leading screw termination bearing 203, leading screw and nut assembly 204, feed screw nut mount pad 205, linear guide rail assembly 206 to the structure composition of X-axis transmission guidance system assembly 200.
X-axis drive motors 201 is fixed on the electric machine support of frame 300; Leading screw and nut assembly 206 are fixed in frame 300 by leading screw termination bearing 203, and X-axis drive motors 201 is connected with leading screw and nut assembly 206 by shaft coupling 202.Feed screw nut mount pad 205 is secured by bolts in the two ends of leading screw and nut assembly 206.Linear guide rail assembly 206 is secured by bolts in frame 300, and final linear guide rail assembly 206 and feed screw nut mount pad 205 are together bolted to connection on two Y-axis support 105.
During work, X-axis drive motors 201 provides Power output to drive the connected leading screw of shaft coupling 202 and nut assembly 204, and the final pair Y-axis support 105 that drives slides along linear guide rail assembly 206 direction.Said system two groups side by side, lays respectively at two Y-axis support 105, the two Y-axis transmission guidance system assembly 100 of common control along linear guide rail assembly 206 determine direction translation.
Above-mentioned operate portions 400 comprises: work erecting bed, and is arranged on the function equipment on described work erecting bed.The two ends of described work erecting bed are connected with one end of described oblique pull arm assembly 500.
Oblique pull arm assembly 500 is two groups, and two groups symmetrical, and each group is all connected and fixed with the work erecting bed of operate portions 400 by the operate portions oblique pull arm bearing 501 of below, and slide unit oblique pull arm bearing 505 is fixedly connected on a two Y-axis slide unit 101.
The structure composition of each group oblique pull arm assembly 500 as shown in Figure 6, comprises operate portions oblique pull arm bearing 501; Bearing 502; Fastening pivot pin 503; Oblique pull arm 504 and slide unit oblique pull arm bearing 505.
Oblique pull arm 504 in each group oblique pull arm assembly 500 is three, and it forms parallel four-bar linkage in positive apparent direction together, guarantees that operate portions oblique pull arm bearing 501 is towards parallel all the time with slide unit oblique pull arm bearing 505.Three oblique pull arms 504 form triangle rock-steady structure in locus simultaneously, guarantee that workbench is steady further.Above-mentioned oblique pull arm 504 also can be two or more.
Operate portions oblique pull arm bearing 501 is connected by oblique pull arm 504 with slide unit oblique pull arm bearing 505, and middle by bearing 502 transition, fastening pivot pin 503 completes location and installation.
Above-mentioned oblique pull arm 504 is hinged is single-degree-of-freedom rotation, and bearing 502 can adopt standard rolling bearing, and its transmission accuracy and tired birthday noodle easily ensure.
The two groups of oblique pull arm assemblies 500 be arranged symmetrically with effectively can ensure that the stand of operate portions 400 has comparatively high bearing capacity, and resistance to capsizing.
During work, operate portions 400 and two groups of Y-axis slide units, 101, two groups of oblique pull arm assemblies 500, form quadric chain jointly.Slide unit oblique pull arm bearing 505 is fixedly connected on a two Y-axis slide unit 101, and two Y-axis slide unit 101 drives the horizontal movement of slide unit oblique pull arm bearing 505 by driving, and drives the position horizontal movement of oblique pull arm 504 upper extreme point.The conversion of motion in the same way of two groups of two Y-axis slide units 101 is moving horizontally of operate portions, and the vertical direction that the relative motion of two two Y-axis slide units 101 is converted into operate portions 400 moves.
Although with preferred embodiment openly as above, embodiment does not limit the present invention in the present invention.Without departing from the spirit and scope of the invention, any equivalence change done or retouching, belong to the protection domain of the present invention equally.Therefore the content that protection scope of the present invention should define with the claim of the application is standard.
Claims (5)
1. a novel three-axis robot structure, is characterized in that, described novel three-axis robot structure comprises:
Two Y-axis transmission guidance system assembly (100); X-axis transmission guidance system assembly (200); Frame (300); Operate portions (400); Oblique pull arm assembly (500);
X-axis transmission guidance system assembly (200) symmetry is fixed on frame (300) both sides;
Two Y-axis transmission guidance system assembly (100) is installed on described X-axis transmission guidance system assembly (200) and determines on working face;
Oblique pull arm assembly (500) is symmetric and is lifted on two Y-axis transmission guidance system assembly (100) below for many groups, and connects and composes many bars syndeton in the other end and operate portions (400).
2. novel three-axis robot structure according to claim 1, is characterized in that, described two Y-axis transmission guidance systems assembly (100) comprising:
Two Y-axis slide unit (101); Y-axis drive motors (102); Shaft coupling (103); Linear guide rail assembly (104); Two Y-axis support (105); Leading screw termination bearing (106) and leading screw and nut assembly (107);
Described pair of Y-axis slide unit (101) is installed on linear guide rail assembly (104), and can be free to slide left and right; Linear guide rail assembly (104) is installed on two Y-axis support (105); Two Y-axis support (105) two ends are installed on X-axis transmission guidance system assembly (200) of both sides;
Y-axis drive motors (102) is fixedly mounted on two Y-axis support (105) two ends respectively; Y-axis drive motors (102) is connected to one end of leading screw and nut assembly (107) by shaft coupling (103); The two ends of leading screw and nut assembly (107) is supported by leading screw termination bearing (106), and is fixed on two Y-axis support (105) by leading screw termination bearing (106).
3. novel three-axis robot structure according to claim 2, is characterized in that, described X-axis transmission guidance system assembly (200) comprising:
X-axis drive motors (201), shaft coupling (202), leading screw termination bearing (203), leading screw and nut assembly (204), feed screw nut mount pad (205) and linear guide rail assembly (206);
Described X-axis drive motors (201) is fixed on the electric machine support of frame (300); Described X-axis drive motors (201) is connected with described leading screw and nut assembly (206) by described shaft coupling (202), and described leading screw and nut assembly (206) are fixed in described frame (300) by described leading screw termination bearing (203); Described feed screw nut mount pad (205) is fixed on the two ends of described leading screw and nut assembly (206);
Described linear guide rail assembly (206) is fixed in described frame (300);
Described linear guide rail assembly (206) and feed screw nut mount pad (205) are together connected on the two Y-axis supports (105) on described pair of Y-axis transmission guidance system assembly (100).
4. the novel three-axis robot structure according to Claims 2 or 3, is characterized in that, described oblique pull arm assembly (500) comprising:
Operate portions oblique pull arm bearing (501), bearing (502), fastening pivot pin (503), oblique pull arm (504) and slide unit oblique pull arm bearing (505);
Described operate portions oblique pull arm bearing (501) is connected with operate portions (400); Described slide unit oblique pull arm bearing (505) is connected on described pair of Y-axis slide unit (101);
Described operate portions oblique pull arm bearing (501) is connected by oblique pull arm (504) with slide unit oblique pull arm bearing (505), and middle by bearing (502) transition, fastening pivot pin (503) completes location and installation.
5. novel three-axis robot structure according to claim 4, is characterized in that, described oblique pull arm (504) is for multiple.
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| CN201510310267.5A CN104858875A (en) | 2015-06-05 | 2015-06-05 | Novel three-axis robot structure |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108784863A (en) * | 2018-08-09 | 2018-11-13 | 安徽工程大学 | Artificial tooth gear blank abnormal curved surface processing unit (plant) |
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| US20030077139A1 (en) * | 2001-10-18 | 2003-04-24 | Tsann-Huei Chang | Gantry type hybrid parallel linkage five-axis machine tool |
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| CN102990458A (en) * | 2012-11-26 | 2013-03-27 | 西北工业大学 | Three-dimensional automatic feeding, discharging and detecting device |
| CN204076250U (en) * | 2014-09-11 | 2015-01-07 | 北京国电通网络技术有限公司 | Double track digital control horizontal beam type manipulator |
| CN104308831A (en) * | 2014-09-22 | 2015-01-28 | 汕头大学 | Parallel robot driven by double-rotor linear motor |
-
2015
- 2015-06-05 CN CN201510310267.5A patent/CN104858875A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01252379A (en) * | 1988-03-31 | 1989-10-09 | Shin Meiwa Ind Co Ltd | 3D manipulator |
| US20030077139A1 (en) * | 2001-10-18 | 2003-04-24 | Tsann-Huei Chang | Gantry type hybrid parallel linkage five-axis machine tool |
| CN101508109A (en) * | 2009-03-27 | 2009-08-19 | 东北大学 | Double parallel-connection superposition multifunctional robot |
| CN101890577A (en) * | 2009-07-27 | 2010-11-24 | 萨尔瓦尼尼意大利股份公司 | The executor that under low inertia, is used for the laser cutting machine of flat metal sheets |
| CN102990458A (en) * | 2012-11-26 | 2013-03-27 | 西北工业大学 | Three-dimensional automatic feeding, discharging and detecting device |
| CN204076250U (en) * | 2014-09-11 | 2015-01-07 | 北京国电通网络技术有限公司 | Double track digital control horizontal beam type manipulator |
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| CN108784863A (en) * | 2018-08-09 | 2018-11-13 | 安徽工程大学 | Artificial tooth gear blank abnormal curved surface processing unit (plant) |
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Application publication date: 20150826 |