CN204976628U - Five degree of freedom industrial robot - Google Patents

Abstract

The utility model relates to a five-degree-of-freedom industrial robot, which comprises: a right-angle joint realizing the freedom of movement in three directions of an XYZ axis; and a wrist joint realizing two degrees of freedom of rotation. Compared with the prior art, the utility model has the advantages of compact structure, realization of modular design, high positioning precision, flexible and accurate control and the like.

Description

A five-degree-of-freedom industrial robot

technical field

The utility model relates to an industrial robot, in particular to a five-degree-of-freedom industrial robot.

Background technique

An industrial robot is a mechanical device that is used in the industrial field and has the function of automatically executing commands. In the harsh working environment, industrial robots have more in-depth application value. At present, in the welding and spraying industry, a large number of industrial robots are used, which have the advantages of adapting to harsh working environments and high efficiency. However, existing industrial robots generally have fewer degrees of freedom (about 3 or less), and the positioning and control accuracy is not high, so they cannot complete tasks requiring higher precision.

Utility model content

The purpose of this utility model is to provide a five-degree-of-freedom industrial robot with compact structure, realized modular design, high positioning accuracy, and flexible and accurate control in order to overcome the above-mentioned defects in the prior art.

The purpose of this utility model can be achieved through the following technical solutions:

A five-degree-of-freedom industrial robot is characterized in that it comprises:

A right-angle joint that realizes the freedom of movement in three directions of the XYZ axis;

and a wrist joint that achieves two rotational degrees of freedom.

The right-angle joint includes an X-axis linear motion module group, a Y-axis linear motion module group, and a Z-axis linear motion module group that have the same structure and are orthogonal to each other.

Each linear motion module includes a first AC servo motor, a first coupling, a ball screw pair, a linear guide rail pair, a supporting shaft seat and a motion platform, and the ball screw pair includes a ball screw and a ball screw nut;

The first AC servo motor is connected with the ball screw through the first coupling, the motion platform is respectively fixed with the ball screw nut and the linear guide pair, and the support shaft seat is used to fix the ball screw pair And linear guide pair;

The first AC servo motor drives the ball screw to rotate through the first coupling, and then the ball screw nut pushes the motion platform to move along the two linear guide rail pairs, so as to realize the degree of freedom of movement in one direction.

The motion platform of the X-axis linear motion module group and the supporting shaft seat of the Z-axis linear motion module group, the motion platform of the Z-axis linear motion module group and the motion platform of the Y-axis linear motion module group, the Y-axis linear motion module group The supporting shaft seat and the wrist joint are respectively connected by positioning pins and fastening screws.

The wrist joint is located at the end of the right-angle joint, and includes a wrist rotation joint for rotating relative to the vertical axis 360 and a wrist turning joint for turning 90 degrees relative to the horizontal axis.

The wrist rotary joint includes a second AC servo motor, a second coupling, a second harmonic gear, a rotating output bushing, and a second fixed base; the second AC servo motor passes through the second harmonic After the gear is decelerated, it drives the rotating output sleeve to rotate, and completes 360 degrees of freedom of rotation around the vertical axis;

The wrist reversing joint includes a third AC servo motor, a third coupling, a third harmonic gear, a reversing gear, a reversing output shaft and a third fixed base; the third AC servo motor passes through the third The three-harmonic gear deceleration, after reversing through the reversing gear, drives the flipping output shaft to complete the 90 degree of freedom of rotation around the horizontal axis.

The rotation output bushing of the wrist rotation joint is tightly connected with the third fixed base of the wrist reversing joint through threads.

The rotation output sleeve of the wrist rotation joint is connected with the second fixed base through a ball mechanism.

The rotation output bushing of the wrist rotary joint is provided with a groove for the ball mechanism, and the second fixed base is provided with a corresponding groove.

The ball mechanism described above includes a steel ball isolating device and steel balls respectively installed on the steel ball isolating device.

Compared with the prior art, the utility model has the following advantages:

(1) The overall structure of the utility model is relatively simple, wherein, each degree of freedom of the Cartesian coordinate main structure can adopt a modular design, and the two degrees of freedom of the wrist joint also have structural similarities and have strong versatility.

(2) The utility model has five degrees of freedom, which can realize multi-degree-of-freedom attitude adjustment, adapt to working materials with multiple shapes and cross-sections, and complete the functional requirements of complicated welding and spraying.

(3) The main structure of the utility model adopts the rectangular coordinate type, which effectively saves the working space, and the wrist adopts the joint type, which takes into account the complex task requirements of the operation. Simultaneously, the utility model completes the balance between development cost and function realization, and has better cost performance.

(4) In the utility model, the linear degree of freedom is driven by an AC servo motor, decelerated by a ball screw pair, and supported and guided by a linear guide rail pair; the rotational degree of freedom is driven by an AC servo motor, decelerated by a harmonic gear, and has High positioning accuracy can meet the high-precision mission requirements.

Description of drawings

Figure 1 is a schematic diagram of the overall structure;

Fig. 2 is a schematic diagram of a linear motion module group;

Figure 3 is an explanatory diagram of the main body connection relationship;

Figure 4 Schematic diagram of the wrist joint;

Figure 5. Schematic diagram of the key connection of the wrist rotation joint.

Numbers in the figure: 101 is the X-axis linear motion module group, 102 is the Y-axis linear motion module group, 103 is the Z-axis linear motion module group, 104 is the wrist rotation joint, 105 is the wrist flip joint;

201 is an AC drive motor, 202 is a shaft coupling, 203 is a ball screw, 204 is a ball screw nut, 205 is a linear guide slider, 206 is a linear guide ram, 207 is a motion platform, and 208 is a supporting shaft seat;

301 is the motion platform of the X-axis linear motion module group, 302 is the supporting shaft seat of the Z-axis linear motion module group, 303 is the motion platform of the Z-axis linear motion module group, 304 is the motion platform of the Y-axis linear motion module group, 305 It is the support shaft seat of the Y-axis linear motion module group, and 306 is the fixed base of the wrist joint;

401 is the AC servo motor of the wrist revolving joint, 402 is the input shaft coupling of the wrist revolving joint harmonic gear, 403 is the wrist revolving joint harmonic gear, 404 is the output shaft coupling of the wrist revolving joint harmonic gear Shaft device, 405 is the rotation output shaft sleeve of the wrist revolving joint, 406 is the AC servo motor of the wrist reversing joint, 407 is the input shaft coupling of the harmonic gear of the wrist reversing joint, 408 is the harmonic of the wrist reversing joint Wave gear, 409 is the reversing gear of the wrist reversing joint, 410 is the reversing output shaft of the wrist reversing joint, 411 is the fixed base of the wrist reversing joint, and 412 is the fixed base of the wrist revolving joint;

503 is the corresponding groove processed on the rotating output bushing and the fixed base, 504 is the steel ball, and 505 is the steel ball isolation device.

detailed description

The utility model will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

Example

As shown in Figure 1, a five-degree-of-freedom high-precision industrial robot includes a right-angle joint that realizes three degrees of freedom in XYZ axes and a wrist joint that realizes two degrees of freedom in rotation.

The right-angle joint is composed of three module groups with the same structure and different parameters, namely the X-axis linear motion module group 101 , the Y-axis linear motion module group 102 and the Z-axis linear motion module group 103 . The three are orthogonal to each other, realizing the freedom of movement in the three directions of the XYZ axis.

The wrist joint is located at the end of the right-angle joint, and is composed of a wrist rotation joint 104 for rotating relative to a vertical axis 360 and a wrist reversing joint 105 for turning 90 degrees relative to a horizontal axis.

The X-axis linear motion module group 101, the Y-axis linear motion module group 102 and the Z-axis linear motion module group 103 have a unified modular design, and are only different in the design and selection of component parameters, all of which are shown in Fig. 2. The AC drive motor 201, coupling 202, ball screw pair (consisting of ball screw 203 and nut 204), linear guide pair (consisting of linear guide slider 205 and ram 206), support shaft seat 208 And motion platform 207 forms.

The Z-axis linear motion module group 101 is connected with the ball screw 203 by the AC drive motor 201 through the coupling 202, and the motion platform 207 is connected with two ball screw nuts 204 and four sliders 204 of the two linear guide rail pairs through screws. Fixed, the supporting shaft seat 208 is used to fix the ball screw pair (205 and 206) and the linear guide rail pair (205 and 206).

In the Z-axis linear motion module group 101, the AC servo motor 201 drives the ball screw 203 to rotate through the coupling 202, and then drives the motion platform 207 to move linearly along the two linear guide rail pairs (205 and 206) through the screw nut 204 , to realize the degree of freedom of movement in the Z-axis direction.

The X-axis linear motion module group 102 and the Y-axis linear motion module group 103 have the same component connection and transmission methods as the X-axis linear motion module group, which will not be repeated here.

As shown in Figure 3, the motion platform 301 of the X-axis linear motion module group and the support shaft seat 302 of the Z-axis linear motion module group, the motion platform 303 of the Z-axis linear motion module group and the motion platform of the Y-axis linear motion module group 304, the supporting shaft seat 305 of the Y-axis linear motion module group and the fixed base 306 of the wrist joint are respectively connected by positioning pins and fastening screws;

As shown in FIGS. 1 and 4 , the wrist rotary joint 104 is composed of an AC servo motor 401 , couplings ( 402 and 404 ), a harmonic gear 403 , a rotating output sleeve 405 and a fixed base 412 . The wrist turning joint 105 is composed of an AC servo motor 406 , a shaft coupling 407 , a harmonic gear 408 , a reversing gear 409 , a turning output shaft 410 and a fixed base 411 .

As shown in FIG. 4 , the rotation output bushing 405 of the wrist revolving joint and the fixed base 411 of the wrist reversing joint are tightly connected by threads.

As shown in Figure 5, the connection method between the rotation output bushing 405 of the wrist revolving joint and the fixed base 412 is to process the corresponding groove 503 on the rotation output bushing and the fixed base to install a reasonable strength in the groove. The steel ball 504 and the steel ball isolation device 505 are used to complete the function of rotating the output shaft sleeve with less resistance.

As shown in Figure 4, the wrist rotation joint drives the AC servo motor 401 after being decelerated by the harmonic gear 403, and drives the rotation of the wrist rotation output sleeve 405 to complete a 360-degree rotation degree of freedom around the vertical axis; the wrist flips the joint The AC servo motor 406 is driven to decelerate through the harmonic gear 408, and after the reversing gear 409 is reversed, it drives the wrist turning output shaft 410 to complete the 90 degree of freedom of rotation around the horizontal axis.

Compared with the prior art, the utility model patent has a compact structure, realizes a modular design, can be adapted to a variety of working materials with different shapes and cross-sections, and can complete various functions such as spraying and welding, and has high positioning accuracy and flexible and accurate control.

Claims (6)

1. a five degree of freedom industrial robot, is characterized in that, comprising:

Realize the joint, right angle of XYZ axle three direction one-movement-freedom-degrees;

And realize the wrist joint of two rotary freedoms;

Described joint, right angle comprises structure identical and the X-axis Linear Moving Module group of pairwise orthogonal, Y-axis Linear Moving Module group and Z axis Linear Moving Module group;

Each Linear Moving Module comprises the first AC servo motor, the first shaft coupling, ball screw assembly, line slideway auxiliary, support axle bed and motion platform, and described ball screw assembly, comprises ball-screw and ball-screw nut;

The first described AC servo motor is connected with ball-screw by the first shaft coupling, and described motion platform is fixed with ball-screw nut and line slideway auxiliary respectively, and described support axle bed is used for fixing ball screw assembly, and line slideway auxiliary;

The first described AC servo motor drives ball-screw to rotate by the first shaft coupling, and then promotes motion platform along two line slideway secondary motions by ball-screw nut, realizes the one-movement-freedom-degree in a direction;

Described wrist joint is positioned at the end in joint, right angle, comprises realizing the wrist rotary joint of opposed vertical axle 360 rotation and the wrist upset joint of 90 degree, relative level axle upset;

Described wrist rotary joint comprises the second AC servo motor, the second shaft coupling, second harmonic gear, rotating output shaft cover and the second fixed pedestal; The second described AC servo motor is after second harmonic gear reduction, and driven rotary output sleeve rotates, and completes the rotary freedom around vertical axes 360 degree;

Described wrist upset joint comprises the 3rd AC servo motor, the 3rd shaft coupling, third harmonic gear, tumbler gear, upset output shaft and the 3rd fixed pedestal; The 3rd described AC servo motor is through third harmonic gear reduction, and after being commutated by tumbler gear, drive upset output shaft completes the rotary freedom around trunnion axis 90 degree.

2. a kind of five degree of freedom industrial robot according to claim 1, it is characterized in that, the motion platform of described X-axis Linear Moving Module group and the support axle bed of Z axis Linear Moving Module group, the motion platform of Z axis Linear Moving Module group and the motion platform of Y-axis Linear Moving Module group, the support axle bed of Y-axis Linear Moving Module group and wrist joint, the location mode of stepping up adding trip bolt respectively by alignment pin connects.

3. a kind of five degree of freedom industrial robot according to claim 1, is characterized in that, rotating output shaft cover and the wrist of described wrist rotary joint overturn the 3rd fixed pedestal in joint by screw thread compact siro spinning technology.

4. a kind of five degree of freedom industrial robot according to claim 1, is characterized in that, the rotating output shaft cover of described wrist rotary joint is connected by ball bearing mechanism with the second fixed pedestal.

5. a kind of five degree of freedom industrial robot according to claim 1, is characterized in that, the rotating output shaft of described wrist rotary joint is arranged with the groove for ball bearing mechanism, and the second described fixed pedestal is provided with corresponding groove.

6. a kind of five degree of freedom industrial robot according to claim 1, is characterized in that, the steel ball that described ball bearing mechanism comprises steel ball spacer assembly and is arranged on respectively on steel ball spacer assembly.