CN108000496A - A kind of wu-zhi-shan pig - Google Patents

Abstract

In the five-axis robot provided by the present invention, the driving elements of the first arm, the second arm, the rotary end and the self-rotating end are arranged on the platform of the rotating base module. In addition to the weight of supporting parts, there is no weight of driving components, and high-speed swing or rotation can be performed; at the same time, because the weight is mainly concentrated on the platform, the rotational inertia of the arm is greatly reduced, and the rotating base module can perform high-speed rotation; the rotating base The reducer in the module can be flexibly designed according to the requirements of motion speed and load, so as to adapt to different working conditions and has good practicability.

Description

A five-axis robot

technical field

The invention relates to the field of robots, in particular to a five-axis robot.

Background technique

Robots can be divided into parallel robots and serial robots. Among them, the common type of serial robots is articulated robots. In common articulated robots, the driving components of each arm are installed on the joints connected to the forearm. As the number of arms increases, the load on each arm will increase accordingly, resulting in an increase in the volume of the driving power components of the arm and an increase in the movement speed of the arm. Problems such as slowing down and reducing the accuracy of the arm are not conducive to the high speed of the end of the joint robot.

Therefore, there is a need for an articulated robot with a smaller arm load and a faster running speed at the working end.

Contents of the invention

In order to reduce the weight of the robot arm and increase the speed of the working end, an embodiment of the present invention provides a five-axis robot, which includes a rotating base module, a first arm, a second arm, a first link, a second a connecting rod, a first arm drive assembly, a first link drive assembly, a swivel end, a swivel drive assembly, a swivel transmission assembly, an autorotation end, an autorotation drive assembly, and an autorotation transmission assembly;

The rotating base module includes a rotating base motor, a reducer, a coupling, and a platform;

The shell of the rotating base motor is fixed on a rotating base motor bracket, and the rotating shaft is arranged along the z positive direction and connected to the input end of the reducer;

The output end of the reducer is connected to the input end of the shaft coupling, and the output end of the shaft coupling is connected to the platform;

The rotating base motor drives the platform to rotate through the reducer and coupling;

The platform is parallel to the xy plane, and on the positive direction of the platform x, there are provided a first base rotation shaft connector and a second base rotation shaft connector opposite to the y direction;

Between the opposite surfaces of the first base shaft connector and the second base shaft connector, a cylindrical first base shaft starting end is slidably mounted on the first base shaft connector; a cylindrical second base shaft The starting end of the rotating shaft is slidably installed on the connecting member of the second base rotating shaft; the axis of the first base rotating shaft and the axis of the second base rotating shaft are collinear and parallel to the y-axis;

The starting end of the first arm is slidingly hinged on the first base shaft and/or the second base shaft, and the axis where the hinged position is located is the first joint; the end of the first arm is hinged to the starting end of the second arm, and the hinged position is The axis where it is located is the second joint; the end of the second arm is hinged to the rotary end, and the axis where the hinged position is located is the third joint;

The starting end of the first connecting rod is slidably hinged to the first base shaft and/or the second base rotating shaft, and the end is hinged to the starting end of the second connecting rod; the end of the second connecting rod is hinged to the second arm In the middle or at the end; the first arm, the second arm, the first connecting rod and the second connecting rod form a four-bar linkage mechanism;

The first arm driving assembly is installed on the platform for driving the first arm to rotate around the second base shaft; the first link driving assembly is installed on the platform for driving the The first connecting rod rotates around the first base shaft;

The rotary transmission assembly includes a first rotary pulley, a second rotary pulley, a third rotary pulley and a rotary belt for transmission;

The first revolving pulley is fixed on the first base shaft, the second revolving pulley is arranged on the second joint, and the third revolving pulley is arranged on the third joint, so The third revolving pulley is connected and fixed to the revolving end;

The first revolving pulley, the second revolving pulley, and the third revolving pulley are connected based on a revolving belt;

The slewing drive assembly is installed on the negative side of the connecting part y of the first base shaft, and the output end is connected to the beginning of the first base shaft to drive the base shaft, the first revolving pulley, the second revolving pulley, the second Three swivel pulleys and swivel end rotation;

The rotation end is arranged on the rotation end, and the axis is perpendicular to the third joint axis;

The rotation transmission assembly includes a first rotation pulley, a second rotation pulley, a third rotation pulley, a first bevel gear and a second bevel gear;

The first self-rotating pulley is fixed on the second base shaft, the second self-rotating pulley is arranged on the second joint, and the third self-rotating pulley is arranged on the third joint and is connected with The third rotary pulley is coaxial;

The first bevel gear is fixed and coaxially connected with the third rotation pulley, and the second bevel gear is connected and fixed coaxially with the rotation end; the first bevel gear meshes with the second bevel gear ;

The rotation drive assembly is installed in the positive direction of the second base rotation shaft connector y, and the output end is connected to the beginning of the second base rotation shaft to drive the second base rotation shaft, the first rotation pulley, and the second rotation pulley , the third self-rotation pulley and the first bevel gear rotate synchronously and drive the self-rotation end to rotate around its own axis based on the first bevel gear and the second bevel gear.

In a preferred embodiment, the reducer includes a reducer housing, an input shaft, an input gear, two spur gears, two crankshafts, a first planet carrier, a first RV gear and a second RV gear with the same number of teeth, and a second Planet carrier;

Inside the reducer casing, the second planet carrier, the second RV gear, the first RV gear, and the first planet carrier are sequentially installed from the z negative direction to the z positive direction;

The first planetary carrier and the second planetary carrier are fitted on the inner wall of the reducer casing based on the outer peripheral angular contact bearing; the inner wall of the reducer casing corresponds to the position of the first RV gear and the second RV gear, uniformly Installed with pin teeth one more than the number of teeth of the first RV gear and the second RV gear;

The input shaft and the two crankshafts pass through the second planet carrier, the second RV gear, the first RV gear, and the first planet carrier sequentially from the negative direction of the reducer housing z;

The end of the input shaft is in the through hole of the first planet carrier and is connected with the input gear, and the ends of the two crankshafts are in the through hole of the first planet carrier and are respectively connected with the two Spur gear connected;

The two spur gears are symmetrically arranged outside the input gear and meshed with the input gear;

The crank shafts are from the positive direction of z to the negative direction of z, which are respectively the first rotating shaft part, the first crank part, the second crank part and the second rotating shaft part;

In the crankshaft, the outer circumference of the first rotating shaft is fitted on the inner wall of the through hole of the first planetary carrier based on a tapered roller bearing; the outer circumference of the second rotating shaft is fitted on the second inner wall based on a tapered roller bearing. The inner wall of the through hole of the planet carrier; the axes of the first rotating shaft part and the second rotating shaft part are collinear and parallel to the axis of the input shaft;

The first crank portions of the two crankshafts are respectively connected to the first RV gear based on needle bearings; the second crank portions of the two crankshafts are respectively connected to the second RV gear based on the needle bearings. Hole wall connection;

Driven by the two crankshafts, the first RV gear and the second RV gear mesh with the pin teeth;

Heat dissipation holes are provided on the first planet carrier, the second planet carrier, the first RV gear and the second RV gear.

In a preferred embodiment, the first planet carrier is provided with an output connection hole for power output and a conical roller bearing contact surface for the conical roller bearing to contact;

The distance between the heat dissipation hole and the output connection hole is at least one tenth of the diameter of the output connection hole;

The distance between the cooling hole and the contact surface of the conical roller bearing is at least one tenth of the diameter of the contact surface of the conical roller bearing.

In a preferred embodiment, the first RV gear and the second RV gear are respectively provided with crank connection holes connected to the first crank part or the second crank part of the crankshaft;

The distance between the cooling hole and the connecting hole of the crank part is at least one tenth of the diameter of the connecting hole of the crank part;

The distance between the cooling hole and the bottom circle of the teeth of the first RV gear is at least the tooth height of the teeth of the first RV gear;

On the second RV gear, the distance between the cooling holes and the bottom circle of the teeth of the second RV gear is at least the tooth height of the teeth of the second RV gear.

In a preferred embodiment, the positive z surfaces and negative z surfaces of the first RV gear and the second RV gear are respectively provided with wear-resistant ceramic coatings.

In a preferred embodiment, the first arm is parallel to the second connecting rod and has the same length; the first connecting rod is parallel to the second arm.

In a preferred embodiment, the length of the second arm is greater than or equal to the length of the first link.

In a preferred embodiment, the first arm drive assembly includes a first arm drive base, a first arm drive motor, a first arm drive screw, a first arm drive slider, and a first arm drive connector;

The first arm drive base is hinged in the negative x direction of the platform;

The first arm driving screw and the first arm driving slider are installed in a first arm driving housing, the first arm driving slider is sleeved on the first arm driving screw, and the first arm The driving connector is connected and fixed to the drive slider of the first arm; the driving connector of the first arm is connected and fixed to the beginning of the first arm, and is coaxial with the screw rod;

The first arm driving shell and the first arm driving motor are fixed side by side on the first arm driving base; the rotating shaft of the first arm driving motor and one end of the first arm driving screw are on the The drive base of the first arm is based on gear connection transmission;

The first arm driving link drives the first arm to rotate around the second base rotation axis.

In a preferred embodiment, the first connecting rod driving assembly includes a first connecting rod driving base, a first connecting rod driving motor, a first connecting rod driving screw, a first connecting rod driving slider and a first connecting rod driving connection pieces;

The first connecting rod drives the base to be hinged in the x-negative direction of the platform;

The first connecting rod driving screw and the first connecting rod driving slider are installed in the first connecting rod driving housing, and the first connecting rod driving slider is sleeved on the first connecting rod driving screw, so The first connecting rod driving connector is connected and fixed with the first connecting rod driving slider; the first connecting rod driving connecting part is connected and fixed with the starting end of the first connecting rod, and is coaxial with the screw rod;

The first connecting rod driving shell and the first connecting rod driving motor are fixed side by side on the first connecting rod driving base; the rotating shaft of the first connecting rod driving motor and the first connecting rod driving screw One end of the first connecting rod is connected and transmitted based on a gear in the first connecting rod driving base;

The first connecting rod driving connector drives the first connecting rod to rotate around the first base rotation axis.

In a preferred embodiment, the first arm is a hollow column structure; the second arm is composed of two second arm cover plates, and more than one second arm fixing member is passed between the two second arm cover plates The connection is fixed.

In the five-axis robot provided by the present invention, the parts in the reducer adopt a lightweight design, which is beneficial to reduce the weight of the whole machine and the volume of the rotating base; It is lighter, and the end runs faster; based on the rotating base module and the four-bar linkage mechanism to control the running track of the end, the control difficulty is relatively low.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the 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. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 shows the schematic diagram of the three-dimensional structure of the five-axis robot of the embodiment of the present invention;

Fig. 2 shows the front view of the five-axis robot of the embodiment of the present invention;

Fig. 3 shows the A-A sectional schematic diagram of the embodiment of the present invention;

Fig. 4 shows the B-B sectional schematic diagram of the embodiment of the present invention;

Fig. 5 shows the top view of the five-axis robot of the embodiment of the present invention;

Fig. 6 shows the front view of the first arm of the embodiment of the present invention;

Fig. 7 shows the front view of the first connecting rod of the embodiment of the present invention;

Fig. 8 shows the motion structure diagram of the embodiment of the present invention;

Fig. 9 shows a partial enlarged view of a front view of a five-axis robot according to an embodiment of the present invention;

Fig. 10 shows a front full sectional view of the rotating base module according to the embodiment of the present invention;

Fig. 11 shows a front perspective view 1 of the reducer according to the embodiment of the present invention;

Figure 12 shows a top view of the reducer according to the embodiment of the present invention;

Figure 13 shows the second front perspective view of the reducer according to the embodiment of the present invention;

Fig. 14 shows a top view of the first planet carrier according to the embodiment of the present invention;

Fig. 15 shows a top view of the first RV gear according to the embodiment of the present invention;

Fig. 16 shows a front sectional view of the coupling according to the embodiment of the present invention.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

The embodiment of the present invention provides a five-axis robot. The rotating base module of the five-axis robot has a compact overall structure, realizes the deceleration of the motor in a small volume, can bear a large load, and has good stability; the reducer Lightweight design can be carried out according to the requirements of the workload, which can be applied to a variety of load occasions; there are no heavy driving elements and complicated transmission mechanisms on the first arm and the second arm, and the movement speed is relatively fast; the rotational movement based on the rotating base module The motion of the five-axis robot is controlled by the principle of the four-bar linkage mechanism. The calculation of the end trajectory of the five-axis robot is relatively simple, and the software control is easier to implement.

Fig. 1 shows a schematic diagram of a three-dimensional structure of a five-axis robot according to an embodiment of the present invention, Fig. 2 shows a front view of a five-axis robot according to an embodiment of the present invention, and Fig. 5 shows a top view of a five-axis robot according to an embodiment of the present invention.

The five-axis robot provided by the embodiment of the present invention includes a rotating base module 901, a first arm 102, a second arm 103, a first link 105, a second link 104, a first arm drive assembly 107, and a first link 106 The drive assembly, the rotary end 844 , the rotary drive assembly 801 , the rotary transmission assembly, the autorotation end 845 , the autorotation drive assembly 802 and the autorotation transmission assembly.

The rotating base module includes a rotating base motor 206, a reducer 207, a coupling 208, and a platform 101;

The casing 201 of the rotating base motor is fixed on a rotating base motor bracket, and the rotating shaft is arranged along the z positive direction and connected to the input end of the reducer 207;

The output end of the reducer 207 is connected to the input end of the shaft coupling 208, and the output end of the shaft coupling 208 is connected to the platform 101;

The rotating base motor 206 drives the platform 101 to rotate through a reducer 207 and a coupling 208 .

In the following, the components above the platform will be introduced first, and then the rotating base module will be introduced.

First of all, it should be noted that in order to reduce the weight of the first arm 102 and the second arm 103, the structure of the first arm 102 in the embodiment of the present invention is a hollow columnar structure, specifically a square hollow columnar structure; the second arm 103 passes through two The second arm cover plate is composed of two second arm cover plates connected and fixed by more than one second arm fixing member; in specific implementation, various forms of arm structures can be set.

The platform 101 is parallel to the xy plane. In a specific implementation, the top surface of the platform 101 is a plane, which is parallel to the xy plane, and its shape is not unique.

On the positive direction of the platform x, there are provided a first base rotation axis connecting piece 109 and a second base rotation axis connecting piece 111 opposite in the y direction;

Figure 3 shows the sectional view of the A-A section. For the simplicity of the view, only the part with the sectional plane is shown; the section line of the bearing is not shown in the figure due to its complexity; in order to reduce friction, the relative sliding parts The connection between them is based on the bearing and the bearing sleeve. Since this connection method is relatively common in the industry, it will not be introduced in detail. Between the opposite faces of the first base shaft connector 109 and the second base shaft connector 111, a cylindrical first base shaft 108 is slidably mounted on the first base shaft connector 109; The starting end 815 of the second base rotation shaft 110 is slidably installed on the connecting member of the second base rotation shaft; the axis of the first base rotation shaft and the axis of the second base rotation shaft are collinear and parallel to the y-axis.

The first end of the first arm 102 is slidingly hinged on the first base shaft 108 and/or the second base shaft 110 , the first arm 102 in the embodiment of the present invention is a hollow columnar structure, sliding and hinged across the first base shaft 108 and the second base shaft 110; the end of the first arm 102 is hinged to the beginning of the second arm 103; the end of the second arm 103 is hinged to the turning end.

The beginning end of the first connecting rod 105 is slidingly hinged on the first base rotating shaft 108 and/or the second base rotating shaft 110, and the end is hinged on the beginning end of the second connecting rod 104; the end of the second connecting rod 104 is hinged on On the middle or end of the second arm 103; the first arm 102, the second arm 103, the first connecting rod 105 and the second connecting rod 104 form a four-bar linkage;

The first arm driving assembly 107 is installed on the platform 101, and is used to drive the first arm 102 to rotate around the first base rotation axis 108 and/or the second base rotation axis 110; the first connecting rod drives The component 106 is mounted on the platform 101 and is used to drive the first connecting rod 105 to rotate around the first base rotation axis 108 .

It should be noted that the first arm drive assembly and the second arm drive assembly can control and maintain the position of the four-bar linkage structure composed of the first arm, the second arm, the first link and the second link; the position of the rotary end It is controlled by the slewing drive assembly 801 and the slewing transmission assembly; the position of the autorotation end is controlled by the autorotation drive assembly 802 and the autorotation transmission assembly.

Wherein, the first basic rotating shaft 108 is driven by a rotary driving assembly 801 . The rotary drive assembly 801 includes a rotary drive motor 810, a rotary drive reducer 811, and supporting bearings and bearing sleeves. The beginning of the first base shaft 108 is slidably installed on the first base shaft connector 109, and the end is fixed with a first rotary pulley 813; the rotary drive reducer 811 is fixed on the first base shaft 108; the rotary drive motor 810 is decelerated by rotary drive The device 811 is connected with the first base shaft connector 109; the rotary drive motor 810 drives the first rotary pulley 813 to rotate through the rotary drive reducer 811 and the first base shaft 108.

The second base shaft 110 is driven by the rotation driving assembly 801 . The autorotation drive assembly 802 includes an autorotation drive motor 817, an autorotation drive reducer 816, and supporting bearings and bearing sleeves. The beginning of the second base shaft 110 is slidably installed on the second base shaft connector 111, and the end is fixed with the first rotary pulley 814; the rotation drive reducer 816 is fixed on the second base shaft connector 111; the rotation drive motor 817 is The drive reducer 816 is connected to the second base shaft 110 ; the autorotation drive motor 817 drives the first autorotation pulley 814 to rotate through the autorotation drive reducer 815 and the second base shaft 110 .

Figure 4 shows the schematic diagram of the section structure of the B-B section. For the simplicity of the view, only the part with the section plane is shown; the section line of the bearing is not shown in the figure due to its complexity; in order to reduce friction, the relative sliding parts The connection between components is based on bearings and bearing sleeves. Since this connection method is relatively common in the industry, it will not be introduced in detail. The end of the first arm 104 is hinged to the beginning of the second arm 103 . Specifically, the second joint rotation axis 834 runs through the positive y surface and the negative y surface of the first arm 104 along the y direction. The second rotary sleeve 833 and the second autorotation sleeve 832 are slidably installed on the second joint shaft 834, wherein the second rotary sleeve 833 is slidably installed on the negative surface of the first arm 104y, inside the first arm 104 and The second rotation pulley 836 and the second rotation pulley 2 835 are respectively connected and fixed on the outside; the second rotation sleeve 832 is slidably installed on the front surface of the first arm 104y, and is respectively connected and fixed on the inside and outside of the first arm 104 There are second rotation belt pulley one 837 and second rotation belt pulley two 838. The two second arm cover plates 137 of the second arm are slidably installed on the second rotary sleeve 833 and the second autorotation sleeve 832 respectively.

Fig. 5 shows a top view of the embodiment of the present invention, in which the parts unrelated to the rotary motion of the rotary end and the autorotative motion of the self-rotating end are not shown, and the partial enlarged view is a cross-sectional view of the end of the second arm. The end of the second arm 103 is provided with a third joint shaft 842 penetrating along the y direction; the positive end of the third joint shaft 842 y is fixedly connected with the third rotation pulley 840, and the negative end of the y side is slidably installed with a third rotary sleeve 843 , the third revolving sleeve 843 is slidably installed on the negative surface of the second arm 103y, wherein the third revolving sleeve 843 is connected and fixed with a third revolving pulley 847 in the negative direction of y.

The rotating end 844 of the embodiment of the present invention is slidably installed on the third joint rotating shaft 842 , the negative y end is connected and fixed with the third rotating sleeve 843 , and the axis of the rotating end 845 is perpendicular to the axis of the third joint rotating shaft 842 .

A first bevel gear 841 is fixedly connected to the third joint rotating shaft 842, and a second bevel gear 846 is fixedly connected to the rotation end; the first bevel gear 841 meshes with the second bevel gear 842, and their axes are perpendicular to each other.

Combining with the above description of the structure of the components of the five-axis robot above the platform in the embodiment of the present invention, the following summarizes the swivel motion of the swivel end and the autorotation motion of the autorotation end in the embodiment of the present invention.

The rotary transmission assembly includes a first rotary pulley, a second rotary pulley one, a second rotary pulley two, a third rotary pulley, and rotary belt one and rotary belt two for transmission. The rotary drive assembly drives the first base shaft to rotate, driving the first rotary pulley to rotate; the first rotary pulley drives the second rotary pulley to rotate based on the rotary belt one; the second rotary pulley one and the second rotary pulley two are based on The second rotary sleeve is connected and fixed and moves synchronously; the second rotary pulley drives the third rotary pulley to move based on the rotary belt two; the third rotary pulley and the rotary end are connected and fixed based on the third rotary sleeve and rotate synchronously.

The rotation transmission assembly includes the first rotation pulley, the second rotation pulley one, the second rotation pulley two, the third rotation pulley, the first bevel gear, the second bevel gear and the rotation belt one and the rotation belt for transmission 2. The rotation drive assembly drives the second base shaft to rotate, driving the first rotation pulley to rotate; the first rotation pulley drives the second rotation pulley to rotate based on the rotation belt one; the second rotation pulley and the second rotation pulley 2. The second rotation sleeve is connected and fixed and moves synchronously; the second rotation belt pulley 2 drives the third rotation pulley to move based on the rotation belt 2; the third rotation pulley and the first bevel gear are connected and fixed based on the third joint shaft, and Synchronous rotation; the second bevel gear meshes with the first bevel gear orthogonally and is driven by the first bevel gear to realize rotation; the rotating end connected with the second bevel gear rotates around its own axis on the rotating end.

Fig. 1 shows a schematic diagram of a three-dimensional structure of a five-axis robot according to an embodiment of the present invention, Fig. 2 shows a front view of a five-axis robot according to an embodiment of the present invention, and Fig. 5 shows a top view of a five-axis robot according to an embodiment of the present invention.

The first base rotating shaft and the second base rotating shaft are not only used as transmission components, but also used to suspend the starting end of the first arm 102 and the starting end of the first connecting rod 105 to a set height, so that the first base rotating shaft and the second base rotating shaft are aligned with the first base rotating shaft. There is a space between the platforms for the movement of the first arm 102 and the first connecting rod 105 to avoid interference between the first arm 102 and the first connecting rod 105 and the platform 101 .

Fig. 1 shows a schematic diagram of a three-dimensional structure of the first arm of the embodiment of the present invention, and Fig. 6 shows a front view of the structure of the first arm of the embodiment of the present invention. In specific implementation, the first end of the first arm 102 is slidingly hinged on the first base shaft 108 and the second base shaft 110, and the end is hinged to the beginning of the second arm 103; in order to drive the first arm 107 For installation and connection, the first arm 102 extends from the first arm connecting piece in the direction that the starting end deviates from the end, and the first arm connecting piece is hinged to the output end of the first arm driving assembly. It should be noted that the first arm connecting piece and the first arm are relatively fixed, and the axial length of the first arm connecting piece is smaller than the axial length of the first arm. Based on the principle of leverage, the small size of the first arm connecting piece can be made After passing through the fulcrums of the first base rotation axis 108 and the second base rotation axis 110, the displacement is amplified to a large distance displacement of the end of the first arm, which is beneficial to the rapid movement of the end of the first arm.

Fig. 1 shows a schematic diagram of a three-dimensional structure of a first connecting rod according to an embodiment of the present invention, and Fig. 7 shows a front view of the structure of a first connecting rod according to an embodiment of the present invention. The beginning of the first connecting rod 105 is hinged on the first base rotating shaft 108, and the end is hinged with the starting end of the second connecting rod 104; in order to install and connect the first connecting rod drive assembly 103, the first connecting rod 105 is at the starting end away from the end In the direction of , the first connecting rod connecting piece extends, and the first connecting rod connecting piece is hinged to the output end of the first connecting rod driving assembly 106 . It should be noted that the first connecting rod connecting piece and the first connecting rod are relatively fixed, and the axial length of the first connecting rod connecting piece is smaller than the axial length of the first connecting rod. Based on the principle of leverage, the first connecting rod can be The small displacement of the rod connecting piece is amplified to a large distance displacement of the end of the first connecting rod through the fulcrum of the first base rotating shaft 108, which is beneficial to the rapid movement of the end of the first connecting rod.

The beginning of the second link 104 is hinged on the end of the first link 105 , and the end is hinged on the middle of the second arm 103 or the end of the second arm 103 . In specific implementation, the second connecting rod 104 often adopts a hollow connecting rod to reduce its weight.

Further, the first arm 102 , the second arm 103 , the first connecting rod 105 and the second connecting rod 104 can be made of aluminum or aluminum alloy with low density to further reduce their weight.

Fig. 8 shows a schematic diagram of the motion of the five-axis robot. In combination with the front view of the five-axis robot shown in Fig. 2, the first arm, the second arm, the first link, and the second link are replaced by straight lines, respectively Replace each hinge point with a circle, wherein, the naming of each hinge point is as follows: the first base rotating shaft and the second base rotating shaft are arranged on the same straight line, and this position is summarized as the first hinge point 121, and the end of the first connecting rod 105 is connected to the second base rotating shaft. The hinge point at the beginning of the connecting rod 104 is the second hinge point 122, the hinge point between the end of the first arm 102 and the beginning of the second arm 103 is the third hinge point 123, and the hinge point between the end of the second connecting rod 104 and the second arm 103 is The fourth hinge point 124; it can be concluded from the motion diagram that the first arm 102, the second arm 103, the first connecting rod 105 and the second connecting rod 104 form a four-bar linkage mechanism.

In specific implementation, the end of the second arm 103 can be set near the fourth hinge point 124. Since the end of the second arm 103 is closer to the fourth hinge point 124 at this time, based on the principle of leverage, the end of the second arm 103 The displacement relative to the beginning of the second arm 103 is reduced, which is conducive to improving the control accuracy of the end of the second arm 103; but based on the structural limitations of the four-bar linkage, this arrangement will result in a relatively small range of motion at the end of the second arm 103. Small.

Therefore, in practice, the length of the second arm 103 can also be extended so that the end protrudes from the fourth hinge point 124. This arrangement is conducive to increasing the range of motion of the second arm 103, making it suitable for more working environments. .

In the specific implementation, although the four-bar linkage mechanism of any structure can realize the corresponding displacement control of the end of the second arm, in order to make the control calculation of the end of the second arm more convenient, each side of the four-bar linkage mechanism in the embodiment of the present invention The length can be set as the following parameters: the first arm 102 is parallel to the second link 104 and has the same length; the first link 105 is parallel to the second arm 103; at this time, the The four-bar linkage mechanism is a parallelogram, the attitudes of the first arm 102 and the second link 104 are the same, the attitudes of the second arm 103 and the first link 105 are the same, and the calculation of the end can be based on the length of the first link, the length of the first arm The length, the length of the second arm, and the angle between the first link and the first arm are quickly obtained, which makes the design and control of the software easier.

The above is an introduction to the structure of the parts of the five-axis robot above the platform in the embodiment of the present invention. In the embodiment of the present invention, the four-bar linkage mechanism composed of the parts above the platform has two moving links, respectively the first arm 102 and the first link 105, by controlling the movement of the first arm 102 and the first link 105, the movement of the end of the second arm 103 can be realized, and the driving of the first arm and the first link will be introduced below.

Fig. 9 shows a partial enlarged view of the first link driving assembly according to the embodiment of the present invention. The first connecting rod driving assembly includes a first connecting rod driving base 130, a first connecting rod driving motor 131, a first connecting rod driving connector 133, a first connecting rod driving screw 134 and a first connecting rod driving slider 135;

The first link driving base 130 is hinged to the negative x direction of the platform, and the hinge point is the first link driving base hinge point 120 . The first connecting rod driving motor 131 is fixed on the first connecting rod driving base 130; the rotating shaft of the first connecting rod driving motor 131 extends into the first connecting rod driving base 130; the first connecting rod driving screw 134 and the first connecting rod driving slider 135 are installed in the first connecting rod driving housing 136, and the first connecting rod driving slider 135 is sleeved on the first connecting rod driving screw 134, and the first connecting rod The driving connector 133 is connected and fixed with the first connecting rod driving slider 135; the first connecting rod driving connecting member 133 is coaxial with the first connecting rod driving screw 134, and is connected with the first connecting rod 105 start connection fixed;

The first connecting rod driving housing 136 and the first connecting rod driving motor 131 are fixed side by side on the first connecting rod driving base 130; the rotating shaft of the first connecting rod driving motor 131 and the first connecting rod driving motor 131 One end of the rod driving screw 134 is connected and transmitted based on a gear in the first connecting rod driving base 130 .

In specific implementation, the first connecting rod driving motor 131 drives the first connecting rod driving screw 134 to rotate, and drives the first connecting rod driving slider 135 to move axially along the first connecting rod driving screw 134; The rod driving connector 133 is driven by the first connecting rod driving slider 135 and rotates around the first base rotation axis, and drives the first connecting rod to rotate around the first base rotation axis through the principle of leverage.

Similarly, the structure of the first arm drive assembly is the same as that of the first link drive assembly, wherein the hinge point 129 of the first link drive base and the hinge point 120 of the first link drive base are often arranged on a straight line parallel to the y-axis above, and adopt the way of integrated processing, and the rest of the structural components are the same, and the introduction will not be repeated.

It should be noted that when the driving screw of the first link is on the same line as the axis of the first link, or when the driving screw of the first arm is on the same line as the first arm, the five-axis robot in the embodiment of the present invention will have a Motion dead zone, the first link or the first arm cannot be effectively controlled and moved; One arm is not on the same line to avoid this from happening.

The swivel base module located below the platform is described below.

Fig. 1 shows a schematic three-dimensional structural view of the rotating base module of the embodiment of the present invention, and Fig. 10 shows a full sectional view of the rotating base module of the embodiment of the present invention, wherein, because the sectional view of the reducer 207 is relatively complicated, it cannot be expressed on the overall structural diagram Clearly, the specific structure of the reducer 207 will be introduced later.

The rotating base module provided by the embodiment of the present invention includes a rotating base motor 206 , a reducer 207 , a coupling 208 , and a platform 101 .

The shell of the rotating base motor 206 is fixed on a rotating base motor bracket 201, and the rotating shaft is arranged along the positive z direction and connected to the input end of the reducer. In the embodiment of the present invention, the rotating base motor bracket 201 serves as a support for the entire rotating base module at the same time. Therefore, the rotating base motor bracket 201 in the embodiment of the present invention is in the shape of a barrel, and the bottom plate extends outward away from the center of the circle. A plurality of reinforcing ribs are arranged between the base motor brackets 201 to provide better stability. In specific implementation, the rotating base motor bracket 201 can be integrally processed by casting. In addition, on the top of the rotating base motor bracket 201 The cover is covered by a top plate with a through hole in the middle, which reduces the entry of dust while providing a fixing point for the reducer bracket 202 . The rotating base motor 201 is fixed in the inner cavity of the rotating base motor bracket 201, the specific position is on the middle part of the bottom plate, and the rotating shaft faces the z positive direction.

In specific implementation, combined with the structural characteristics of the rotating base module in the embodiment of the present invention, the rotating base motor bracket 201, the reducer bracket 202 and the coupling bracket 203 introduced later can be molded through integral casting to enhance the overall structure of the rotating base module rigidity.

Above the rotating base motor 206 is a reducer 207, the input end of the reducer 207 is connected with the rotating shaft of the rotating base motor 206, and the output end is connected with the input end of the coupling.

The reducer of the embodiment of the present invention is installed in the middle of the reducer bracket 202. Figure 11 shows a perspective view of the reducer of the embodiment of the present invention. Because the reducer has symmetry, only one side of the symmetry plane is shown. view for easy understanding. The reducer of the embodiment of the present invention includes a reducer housing 216, an input shaft 210, an input gear 211, two spur gears 213, two crankshafts 212, a first planet carrier 214, a first RV gear 218 and a second RV gear with the same number of teeth. RV gear 219, second planet carrier 226.

Inside the reducer housing 216 , from the negative z direction to the positive z direction, the second planet carrier 226 , the second RV gear 219 , the first RV gear 218 , and the first planet carrier 214 are installed in sequence.

Wherein, the first planetary carrier 226 and the second planetary carrier 214 are installed on the inner wall of the reducer casing 216 based on the outer peripheral angular contact bearing 215; the inner wall of the reducer casing 216 corresponds to the first RV gear 218, the second On the position of the second RV gear 219, there are uniformly installed pin teeth 217 with one more teeth than the first RV gear and the second RV gear.

The upper middle part of the first planet carrier 214 is provided with an input gear through hole 261 for the input gear to rotate, and the input gear through hole symmetrically extends out a spur gear through hole 262 for the spur gear to rotate; the input gear 211 is installed on the input gear. In the gear through hole, two spur gears 213 are installed respectively in the two spur gear through holes; the two spur gears 213 are arranged symmetrically outside the input gear 211 and mesh with the input gear 211 .

The input shaft 210 and the two crank shafts 212 pass through the second planet carrier 226, the second RV gear 219, the first RV gear 218, and the first planet carrier 214 sequentially from the negative direction of the housing z; The end of the input shaft 210 is in the input gear through hole of the first planet carrier 214 and is connected with the input gear 211 therein, and the ends of the two crankshafts 212 are in the spur gear through hole of the first planet carrier And are respectively connected with the two spur gears 213 therein.

It should be noted that the input gear and the spur gear are meshed through spur teeth. Therefore, there is only an interaction force between the input gear and the spur gear on the xy plane, and the force in the z direction is almost zero. Therefore, When designing the structure, force calculation, etc., it is only necessary to focus on the force on the xy plane; in the z direction, only the self-weight and installation method of the input gear and spur gear need to be considered, and there is no need to carry out any relevant work on the z Force calculation.

The structures of the two crankshafts 212 are the same, wherein each crankshaft 212 includes a first crank part and a second crank part respectively located at two ends of the crankshaft and a first crank part and a second crank part in the middle, starting from the negative direction of z, followed by the second The shaft portion 225 , the second crank portion 224 , the first crank portion 223 , and the first shaft portion 222 .

Wherein, the spur gear 213 is installed on the end of the first rotating shaft part 222. In specific implementation, the outer circumference of the end of the first rotating shaft part 222 can also be processed into a spur tooth surface; between the spur gear 213 and the first crank part 223 A tapered roller bearing 220 is sheathed on the first rotating shaft portion 222 of the crankshaft 212 , and the crankshaft 212 is matedly connected with the first planet carrier 214 based on the tapered roller bearing 220 . It should be noted that the tapered roller bearings 220 of the two crankshafts 212 at this position are connected to the first planetary carrier 214 at the same time.

The first crank portion 223 of the crank shaft 212 is connected to the first RV gear based on the needle bearing 221; the second crank portion 224 of the crank shaft 212 is connected to the second RV gear based on the needle bearing 221; it should be noted that the two cranks The first crank part 223 of the shaft 212 is connected with the first RV gear at the same time, and the connection position is symmetrical with respect to the axis of the first RV gear. Since the first crank parts 223 of the two crank shafts 212 are respectively eccentrically rotating in opposite directions, the first The motion trajectory of the RV gear is a cycloidal motion; similarly, the motion trajectory of the second RV gear is an epicycloid trajectory; since the outer circumference of the first RV gear and the second RV gear are pin teeth matched with it, the first RV gear and the second RV gear The teeth of the second RV gear mesh successively with the needle teeth for force transmission.

The above is the connection relationship between the various components of the reducer. In the actual operation of the reducer according to the embodiment of the present invention, it is mainly composed of a front-stage deceleration and a rear-stage deceleration.

The front-stage reduction is a spur gear reduction mechanism composed of the input gear and two spur gears; the rear-stage reduction is mainly a differential gear reduction mechanism composed of the crankshaft, RV gear, and pin teeth on the housing.

In the spur gear reduction mechanism of the previous stage, the input gear and the spur gear are decelerated according to the gear ratio. For example, the input gear in the embodiment of the present invention has 12 teeth, the spur gear has 42 teeth, and the reduction ratio is 3.5, that is, the input shaft drives the input gear For 3.5 turns, the spur gear turns 1 turn.

In the differential gear reduction mechanism of the latter stage, specifically the cycloidal pinwheel reduction mechanism, the number of teeth of the RV gear in the embodiment of the present invention is 39, and the number of pin teeth of the reducer housing is one larger than the number of teeth of the RV gear, which is 40; One revolution, the relative rotation between the RV gear and the reducer housing is at an angle of 1 tooth, that is, the relative rotation between the RV gear and the reducer housing is 1 revolution, and the crankshaft needs to rotate 40 revolutions. Therefore, the differential gear reduction mechanism of the rear stage The reduction ratio is 40, therefore, the total reduction ratio of the reducer in the embodiment of the present invention is 140.

If the first planetary carrier and the second planetary carrier are fixed, the axial direction of the crankshaft shaft is relatively fixed. At this time, the reducer casing can be used as the output end of the reducer; if the reducer casing is fixed, the first planetary The carrier and the second planet carrier can be used as output terminals. Considering the installation environment of the reducer, a common implementation is to fix the reducer casing, and use the first planetary carrier and the second planetary carrier as the output ends of the reducer.

In the specific implementation, it is also necessary to consider the fixing method of the parts in the reducer housing in the z direction. Since the reducer in the embodiment of the present invention mainly relies on the meshing of the teeth to transmit power, and the input gear and the spur gear, the RB gear and the pinion All parts are straight tooth fit, and each part is mainly stressed on the xy plane, therefore, only a certain supporting force is provided in the z direction to ensure that the parts do not fall out of the reducer housing.

FIG. 13 shows the second perspective view of the reducer according to the embodiment of the present invention, which is mainly used to show the connection mode between the first planetary carrier 214 and the second planetary carrier 226 . The embodiment of the present invention relies on the cooperation between the first planetary carrier 214 , the second planetary carrier 226 and the reducer casing 216 to realize the fixing of components in the reducer casing in the z direction. The specific fixing method is:

The first planet carrier 214 is above its angular contact bearing 215, the wire diameter increases, and it is pressed on the angular contact bearing under the action of gravity; the second planet carrier 226 is based on the screw 263 passing through the second RV gear 219 and the first RV gear 218 and the first The planetary carrier 214 is connected and fastened together; the second planetary carrier is under the angular contact bearing, the wire diameter increases, and when the screw 263 is locked, it is pressed on the angular contact bearing.

Referring to the top view of the speed reducer of the embodiment of the present invention shown in FIG. 12, the first planetary carrier 214 and the second planetary carrier 226 of the embodiment of the present invention are locked by four sets of screws 263. On the one hand, the first planetary carrier 214 and the second planetary carrier 214 A clamping force is formed between the two planetary carriers 226, and the first RV gear and the second RV gear between the two are clamped to ensure that they can mesh at the position corresponding to the needle teeth of the reducer housing; on the other hand, The first planetary carrier 214 and the second planetary carrier 226 are installed on both sides of the first RV gear and the second RV gear respectively, and are connected to the two crankshafts, so that the reaction force of the RB gear on the reducer casing can be relatively balanced to output.

In specific operation, the input shaft 210 is the input end; the input shaft 210 is connected with the input gear 211, and the rotation speed of the input gear 211 is the same as that of the input shaft 210; the input gear 211 is connected with the spur gear 213 for pre-stage deceleration.

The spur gear 213 drives the crankshaft 212 to rotate, and the crankshaft 212 drives the first RV gear 218 and the second RV gear 219 to alternately swing, and successively engage with the pin teeth of the reducer casing; since the reducer casing 216 of the embodiment of the present invention is fixed, The deceleration of the rear stage of the reducer is specifically represented by the slow rotation of the crankshaft 212 around the input shaft; since the first planetary carrier 214 and the second planetary carrier 226 are connected to the two crankshafts 212, the first planetary carrier 214 is on the crankshaft 212 Driven, it revolves around the input shaft 210 slowly, and can be used as an output end to connect with other components.

Similarly, the second planet carrier 226 can also be used as an output end.

From the structure of the reducer described above, it can be seen that between the first planetary carrier, the first RV gear, the second RV gear and the second planetary carrier, the z direction is mainly fixed by clamping; when the reducer is in operation, The first planet carrier, the first RV gear, the second RV gear, and the second planet carrier are mutually rotating, and the contact surfaces are mutually sliding. Therefore, in specific implementation, the first planet carrier, the first RV gear 1. The z-direction contact surface of the second RV gear and the second planet carrier needs to be processed into a smooth surface to reduce friction. Since the first planetary carrier, the first RV gear, the second RV gear and the second planetary carrier are often made of metal, when the reducer is stationary, molecular motion may occur between the smooth contact surfaces, forming adhesion, which is easy to damage Reducer wear.

Therefore, in specific implementation, the contact position between the first planetary carrier, the first RV gear, the second RV gear and the second planetary carrier can be used on the crankshaft, and gaskets can be added to connect the first planetary carrier, the first The RV gear, the second RV gear and the second planet carrier are separated; after adding the gasket, the first planet carrier, the first RV gear, and the second RV gear can form a certain gap between each other, but due to the contact between the gasket and each component The area is small, and it is prone to wear and loss during high-speed motion; the powder from the washer wear is easy to mix into the grease, and the performance of the grease decreases, which affects the performance of the reducer.

Therefore, wear-resistant ceramic coatings can also be provided on the z-positive and z-negative faces of the first RV gear and the second RV gear.

Wear-resistant ceramics are special corundum ceramics made of Al2O3 as the main raw material, rare metal oxides as flux, and fired at a high temperature of 1700 degrees, and then combined with special rubber and high-strength organic/inorganic binders. The product has excellent characteristics such as high hardness, excellent wear resistance, light weight, firm bonding, and good heat resistance, and its structure is relatively stable. In the speed reducer of the embodiment of the present invention, it is used as the isolation medium between the first planet carrier, the first RV gear, the second RV gear and the second planet carrier, which can prevent the first planet carrier, the first RV gear, Molecular motion occurs between the second RV gear and the second planet carrier due to long-term static, forming adhesion; it should be noted that the surface of wear-resistant ceramics needs to be polished smooth to reduce frictional resistance.

Furthermore, the reducer in the embodiment of the present invention is mainly used in heavy-load application scenarios, and has the characteristics of small size and large reduction ratio; when the load is low and the speed is fast, the reducer can be designed for lightweight , to reduce the weight of the reducer.

Figure 12 shows the top view of the reducer according to the embodiment of the present invention, and Figure 14 shows the top view of the first planetary carrier after the improvement of the embodiment of the present invention, the structure of the second planetary carrier is similar to the structure of the first planetary carrier, and will not be repeated. . In FIG. 14 , the thick solid line indicates the main force-bearing position of the first planet carrier at the main force-bearing position, and the design on the first planet carrier 214 is as follows:

The first planet carrier 214 is provided with an input gear through hole 261 for receiving the input shaft 211 and the input gear 211 , and a spur gear through hole 262 for receiving the crankshaft 212 and the spur gear 213 . In addition, in order to realize the installation and power output of the first planet carrier 214 , there are also threaded holes for connecting screws 263 and output connection holes 264 for connecting with external components.

The position where the first planet carrier 214 is mainly stressed includes the output connection hole 264 and the tapered roller bearing mounting surface 270 in contact with the tapered roller bearing 220. In the top view shown in FIG. 14, due to the viewing angle, the tapered roller bearing Mounting surface 270 is shown in dashed lines. Wherein, the output connection port 264 is connected with the output of the external parts, and bears a large force; the conical roller bearing mounting surface 270 is mainly subjected to the reaction force given to the crankshaft by the reducer casing through the RV gear. Since the conical roller bearing and the conical roller bearing mounting surface 270 are in annular contact, the main stress on the conical roller bearing mounting surface 270 is along the tangential direction of the circular motion of the crank shaft, taking the clockwise motion direction shown in Figure 14 as an example , the orientation of the crank shaft based on the force given by the conical roller bearing to the conical roller bearing mounting surface 270 is the direction indicated by the arrow lead on the conical roller bearing mounting surface 270 in FIG. 5 .

Fig. 14 shows a schematic top view of the improved first planet carrier. In specific implementation, in order to reduce the weight of the speed reducer in the embodiment of the present invention, heat dissipation holes can be opened on the first planet carrier 214 and the second planet carrier. On the one hand, the weight of the planet carrier can be reduced, thereby reducing the weight of the speed reducer; On the one hand, increasing its exposed area is used to speed up the heat dissipation inside the reducer so that it can work at a higher speed.

It should be noted that, considering the above-mentioned stress characteristics of the first planet carrier, in order to avoid the conical roller bearing mounting surface 270 and the output connection hole 264 being too thin around the wall thickness, the first planet carrier will be damaged due to stress concentration. damage, the setting of the heat dissipation holes is to avoid being too close to the tapered roller bearing mounting surface 270 and the output connection hole 264; The distance from the tapered roller bearing mounting surface 270 is at least 0.1D1; similarly, the distance between the cooling holes around the output connection hole 264 and the output connection hole is at least one tenth of the diameter of the output connection hole.

Fig. 15 shows a schematic top view of the improved first RV gear. Similarly, the first RV gear and the second RV gear may also have cooling holes within a set range. Considering that the stress-bearing positions of the first RV gear and the second RV gear are respectively the crank connecting hole 272 connected with the first crank part or the second crank part of the crank shaft, it is assumed that the diameter of the crank connecting hole 272 is D2 , the distance between the heat dissipation hole and the connecting hole of the crank part is at least 0.1D2; in addition, the force-bearing positions of the first RV gear and the second RV gear also include the surrounding teeth. Note that a distance of at least one tooth height should be kept between the heat dissipation hole and the bottom circle of the external tooth.

It should be noted that the shape of the heat dissipation hole of the reducer provided by the embodiment of the present invention is not limited, and can be designed according to the actual load demand and processing demand. Through the opening area of the heat dissipation hole, the speed reducer can be improved in terms of load force and rotational speed. Balanced to suit a variety of conditions.

The improved reducer, although the rated load is less than the rated load before the heat dissipation hole is not opened due to the setting of the heat dissipation hole, but due to the weight reduction and the setting of the heat dissipation hole, it is suitable for high-speed light-load movement, which is beneficial to reduce the reducer. Production cost and application scenarios for expanding the reducer.

The speed reducer of the embodiment of the present invention goes through two stages of deceleration and two stages of transmission from the power input end to the power output end. The deceleration and transmission of each stage are all line contact or surface contact, and the load is relatively large; the arrangement of each component Make full use of the space, so that the reducer can achieve a reduction with a large reduction ratio in a small volume; the heat dissipation holes of the planet carrier and the RV gear can make the reducer apply to high-speed, low-load applications, increasing its scope of application.

Couplings can be divided into two categories: rigid couplings and flexible couplings. The rigid coupling does not have the ability to buffer and compensate for the relative displacement of the two axes, and requires strict alignment of the two axes. However, this type of coupling has a simple structure, low manufacturing cost, easy assembly, disassembly and maintenance, and can ensure a high The neutrality, large transmission torque, wide application. Commonly used are flange couplings, sleeve couplings and clamshell couplings.

Flexible couplings can be divided into flexible couplings without elastic elements and flexible couplings with elastic elements. The former type only has the ability to compensate the relative displacement of the two axes, but it cannot buffer and reduce vibration. Block couplings, gear couplings, universal couplings and chain couplings, etc.; the latter type contains elastic elements, which not only have the ability to compensate for the relative displacement of the two axes, but also have the effect of buffering and vibration reduction. However, the transmitted torque is generally not as good as the flexible coupling without elastic elements due to the limitation of the strength of the elastic element. The common elastic sleeve pin couplings, elastic pin couplings, plum blossom couplings, tire type Couplings, serpentine spring couplings and reed couplings, etc.

Fig. 16 shows a schematic structural diagram of a shaft coupling according to an embodiment of the present invention. The embodiment of the present invention adopts a rigid coupling. The rigid coupling includes a coupling bracket 232, a coupling housing 233, a coupling body 231, a coupling bottom cover 230, a coupling bearing 236, and a coupling deceleration Oil seal 234;

The coupling bracket 232 is fixed on the reducer bracket 202, and the coupling housing 233 is installed in the middle of the coupling bracket 232;

The coupling bottom cover 230 is installed on the z-negative side of the coupling housing 233 and is connected and fixed with the first planet carrier 214 of the reducer; the coupling body 231z is positively connected to the platform 101 The connection is fixed, specifically, it is connected and fixed with the porous disk 205 of the platform 101 .

The coupling body 231 extends into the inner cavity of the coupling housing 233 from the z positive direction of the coupling housing 233, passes through the negative z direction of the coupling housing 233, and is connected with the coupling The bottom cover 230 is connected and fixed;

The number of the coupling reducer oil seals 234 is two, which are respectively installed on the contact positions of the coupling body 231 and the coupling housing 233 in z positive and z negative directions.

In order to avoid the trouble of repeatedly changing lubricating oil or lubricating grease, lubricating oil or lubricating grease 235 can be filled between the two shaft coupling reducer oil seals 234 .

A coupling bearing 236 is arranged above the coupling reducer oil seal 234 located in the positive z direction, and the coupling bearing 236 is used to reduce the frictional force during the operation of the coupling.

The platform 101 can be in various forms. Since the connection between the platform 101 and the coupling 208 is rigid, it is easy to loosen and fall off due to damage, fatigue and other problems during long-term operation. In order to reduce the maintenance cost of the platform 101, in specific implementation, a porous disc 205 is installed on the platform 101, and the porous disc 205 is fitted on the platform 101 based on an interference fit, and the platform 101 is based on the porous disc 205 and the shaft coupling The body 205 is connected and fixed. During maintenance, only the porous disk 205 needs to be replaced, and the maintenance cost is low.

In the five-axis robot provided by the embodiment of the present invention, the rotating base module is the first axis, which is responsible for controlling the rotation of the platform; since the speed ratio of the reducer of the rotating base module is large, the force load performance and operating speed can be designed in coordination, so it can It is suitable for various working conditions; the first arm, the second arm, the rotary end and the self-rotation end are respectively the second axis, the third axis, the fourth axis and the fifth axis of the five-axis robot, and the driving elements are all installed on the platform above; since the weight is mainly concentrated on the platform rather than the arm, when the rotating base module rotates at high speed, the inertia of the arm is small, which is conducive to the high-speed rotation of the rotating base module; at the same time, since there is no arrangement on the first arm and the second arm With the drive element, the arm is relatively light and, therefore, can achieve high movement speeds. .

The driving elements of the first arm, the second arm, the revolving end and the self-rotating end of the five-axis robot provided by the embodiment of the present invention are installed on the platform, so the first arm, the second arm, the revolving end and the self-rotating end have less load and can Perform high-speed movement; at the same time, because the weight of the arm is reduced, the rotational inertia of the arm is reduced, and the rotating base module can also perform high-speed movement; the reducer of the rotating base module can be designed according to the actual working conditions to balance the load and speed to meet more The working situation has good practicability.

The above is a detailed introduction to a five-axis robot provided by the embodiment of the present invention. In this paper, specific examples are used to illustrate the principle and implementation of the present invention. The description of the above embodiment is only used to help understand the method of the present invention. and its core idea; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation and scope of application. limits.

Claims (10)

1. A five-axis robot, characterized in that it includes a rotating base module, a first arm, a second arm, a first link, a second link, a first arm drive assembly, a first link drive assembly, and a rotary end , slewing drive assembly, slewing transmission assembly, autorotation end, autorotation drive assembly and autorotation transmission assembly; The rotating base module includes a rotating base motor, a reducer, a coupling, and a platform; The shell of the rotating base motor is fixed on a rotating base motor bracket, and the rotating shaft is arranged along the z positive direction and connected to the input end of the reducer; The output end of the reducer is connected to the input end of the shaft coupling, and the output end of the shaft coupling is connected to the platform; The rotating base motor drives the platform to rotate through the reducer and coupling; The platform is parallel to the xy plane, and on the positive direction of the platform x, there are provided a first base rotation shaft connector and a second base rotation shaft connector opposite to the y direction; Between the opposite surfaces of the first base shaft connector and the second base shaft connector, a cylindrical first base shaft starting end is slidably mounted on the first base shaft connector; a cylindrical second base shaft The starting end of the rotating shaft is slidably installed on the connecting member of the second base rotating shaft; the axis of the first base rotating shaft and the axis of the second base rotating shaft are collinear and parallel to the y-axis; The starting end of the first arm is slidingly hinged on the first base shaft and/or the second base shaft, and the axis where the hinged position is located is the first joint; the end of the first arm is hinged to the starting end of the second arm, and the hinged position is The axis where it is located is the second joint; the end of the second arm is hinged to the rotary end, and the axis where the hinged position is located is the third joint; The starting end of the first connecting rod is slidably hinged to the first base shaft and/or the second base rotating shaft, and the end is hinged to the starting end of the second connecting rod; the end of the second connecting rod is hinged to the second arm In the middle or at the end; the first arm, the second arm, the first connecting rod and the second connecting rod form a four-bar linkage mechanism; The first arm driving assembly is installed on the platform for driving the first arm to rotate around the second base shaft; the first link driving assembly is installed on the platform for driving the The first connecting rod rotates around the first base shaft; The rotary transmission assembly includes a first rotary pulley, a second rotary pulley, a third rotary pulley and a rotary belt for transmission; The first revolving pulley is fixed on the first base shaft, the second revolving pulley is arranged on the second joint, and the third revolving pulley is arranged on the third joint, so The third revolving pulley is connected and fixed to the revolving end; The first revolving pulley, the second revolving pulley, and the third revolving pulley are connected based on a revolving belt; The slewing drive assembly is installed on the negative side of the connecting part y of the first base shaft, and the output end is connected to the beginning of the first base shaft to drive the base shaft, the first revolving pulley, the second revolving pulley, the second Three swivel pulleys and swivel end rotation; The rotation end is arranged on the rotation end, and the axis is perpendicular to the third joint axis; The rotation transmission assembly includes a first rotation pulley, a second rotation pulley, a third rotation pulley, a first bevel gear and a second bevel gear; The first self-rotating pulley is fixed on the second base shaft, the second self-rotating pulley is arranged on the second joint, and the third self-rotating pulley is arranged on the third joint and is connected with The third rotary pulley is coaxial; The first bevel gear is fixed and coaxially connected with the third rotation pulley, and the second bevel gear is connected and fixed coaxially with the rotation end; the first bevel gear meshes with the second bevel gear ; The rotation drive assembly is installed in the positive direction of the second base rotation shaft connector y, and the output end is connected to the beginning of the second base rotation shaft to drive the second base rotation shaft, the first rotation pulley, and the second rotation pulley , the third self-rotation pulley and the first bevel gear rotate synchronously and drive the self-rotation end to rotate around its own axis based on the first bevel gear and the second bevel gear. 2. The five-axis robot as claimed in claim 1, wherein the speed reducer comprises a speed reducer housing, an input shaft, an input gear, two spur gears, two crankshafts, a first planetary carrier, and an equal number of teeth. The first RV gear, the second RV gear, and the second planet carrier; Inside the reducer casing, the second planet carrier, the second RV gear, the first RV gear, and the first planet carrier are sequentially installed from the z negative direction to the z positive direction; The first planetary carrier and the second planetary carrier are fitted on the inner wall of the reducer casing based on the outer peripheral angular contact bearing; the inner wall of the reducer casing corresponds to the position of the first RV gear and the second RV gear, uniformly Installed with pin teeth one more than the number of teeth of the first RV gear and the second RV gear; The input shaft and the two crankshafts pass through the second planet carrier, the second RV gear, the first RV gear, and the first planet carrier sequentially from the negative direction of the reducer housing z; The end of the input shaft is in the through hole of the first planet carrier and is connected with the input gear, and the ends of the two crankshafts are in the through hole of the first planet carrier and are respectively connected with the two Spur gear connected; The two spur gears are symmetrically arranged outside the input gear and meshed with the input gear; The crank shafts are from the positive direction of z to the negative direction of z, which are respectively the first rotating shaft part, the first crank part, the second crank part and the second rotating shaft part; In the crankshaft, the outer circumference of the first rotating shaft is fitted on the inner wall of the through hole of the first planetary carrier based on a tapered roller bearing; the outer circumference of the second rotating shaft is fitted on the second inner wall based on a tapered roller bearing. The inner wall of the through hole of the planet carrier; the axes of the first rotating shaft part and the second rotating shaft part are collinear and parallel to the axis of the input shaft; The first crank portions of the two crankshafts are respectively connected to the first RV gear based on needle bearings; the second crank portions of the two crankshafts are respectively connected to the second RV gear based on the needle bearings. Hole wall connection; Driven by the two crankshafts, the first RV gear and the second RV gear mesh with the pin teeth; Heat dissipation holes are provided on the first planet carrier, the second planet carrier, the first RV gear and the second RV gear. 3. The five-axis robot according to claim 2, characterized in that, on the first planet carrier, an output connection hole for power output and a conical stick bearing contact surface for the conical stick bearing to contact are provided ; The distance between the heat dissipation hole and the output connection hole is at least one tenth of the diameter of the output connection hole; The distance between the cooling hole and the contact surface of the conical roller bearing is at least one tenth of the diameter of the contact surface of the conical roller bearing. 4. The five-axis robot as claimed in claim 3, characterized in that, on the first RV gear and the second RV gear, there are respectively provided with the first crank portion or the second crank portion of the crankshaft to be connected crank connection hole; The distance between the cooling hole and the connecting hole of the crank part is at least one tenth of the diameter of the connecting hole of the crank part; The distance between the cooling hole and the bottom circle of the teeth of the first RV gear is at least the tooth height of the teeth of the first RV gear; On the second RV gear, the distance between the cooling holes and the bottom circle of the teeth of the second RV gear is at least the tooth height of the teeth of the second RV gear. 5. The five-axis robot according to claim 4, characterized in that, the z positive surface and the z negative surface of the first RV gear and the second RV gear are respectively provided with wear-resistant ceramic coatings . 6. The five-axis robot according to any one of claims 1 to 5, wherein the first arm is parallel to the second connecting rod and has the same length; the first connecting rod is parallel to the second connecting rod two arms. 7. The five-axis robot according to any one of claims 1 to 5, wherein the length of the second arm is greater than or equal to the length of the first link. 8. The five-axis robot according to any one of claims 1 to 5, wherein the first arm drive assembly comprises a first arm drive base, a first arm drive motor, a first arm drive screw, a first arm drive One arm drives the slider and the first arm drives the connector; The first arm drive base is hinged in the negative x direction of the platform; The first arm driving screw and the first arm driving slider are installed in a first arm driving housing, the first arm driving slider is sleeved on the first arm driving screw, and the first arm The driving connector is connected and fixed to the drive slider of the first arm; the driving connector of the first arm is connected and fixed to the beginning of the first arm, and is coaxial with the screw rod; The first arm driving shell and the first arm driving motor are fixed side by side on the first arm driving base; the rotating shaft of the first arm driving motor and one end of the first arm driving screw are on the The drive base of the first arm is based on gear connection transmission; The first arm driving link drives the first arm to rotate around the second base rotation axis. 9. The five-axis robot according to any one of claims 1 to 5, wherein the first link drive assembly comprises a first link drive base, a first link drive motor, a first link drive The screw rod, the first link drive slider and the first link drive connector; The first connecting rod drives the base to be hinged in the x-negative direction of the platform; The first connecting rod driving screw and the first connecting rod driving slider are installed in the first connecting rod driving housing, and the first connecting rod driving slider is sleeved on the first connecting rod driving screw, so The first connecting rod driving connector is connected and fixed with the first connecting rod driving slider; the first connecting rod driving connecting part is connected and fixed with the starting end of the first connecting rod, and is coaxial with the screw rod; The first connecting rod driving shell and the first connecting rod driving motor are fixed side by side on the first connecting rod driving base; the rotating shaft of the first connecting rod driving motor and the first connecting rod driving screw One end of the first connecting rod is connected and transmitted based on a gear in the first connecting rod driving base; The first connecting rod driving connector drives the first connecting rod to rotate around the first base rotation axis. 10. The five-axis robot according to any one of claims 1 to 5, wherein the first arm is a hollow columnar structure; the second arm is composed of two second arm cover plates, and the two The two second arm cover plates are connected and fixed by more than one second arm fixing piece.