CN101264602A - Super working stroke six-freedom macro-micro combination series connection robot - Google Patents
Super working stroke six-freedom macro-micro combination series connection robot Download PDFInfo
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- CN101264602A CN101264602A CNA2008100644395A CN200810064439A CN101264602A CN 101264602 A CN101264602 A CN 101264602A CN A2008100644395 A CNA2008100644395 A CN A2008100644395A CN 200810064439 A CN200810064439 A CN 200810064439A CN 101264602 A CN101264602 A CN 101264602A
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Abstract
The invention provides a serial robot with ultra-large working stroke and six degrees of freedom combining macro and micro, comprising a main beam 1, a vertical over beam 6, and a small-stroke device 15. The main beam 1 is arranged on a fixed bolster through a vertical travel mechanism which comprises a vertical linear guide 2, a vertical pinion and rack 3, a displacement sensor 4 and a vertical motor 5. The vertical over beam 6 is arranged on the main beam 1 through a lateral travel mechanism which comprises a lateral linear guide 7, a lateral pinion and rack 8, and a lateral motor 9. The small-stroke device is arranged on the vertical over beam 6 through a vertical travel mechanism which comprises an aerostatic slideway 10, a vertical pinion and rack 11, and a motor 12. The serial robot has the advantages of combining an ultra-large stroke device and a small-stroke device, and meeting the requirements of high speed and high positioning precision through location feedback during the mechanical welding, inspecting and assembling of the ultra-large parts.
Description
(1) technical field
The present invention relates to a kind of robot, the specifically a kind of welding of ultra-large type component of machine, detection and main equipment of being used for installed required super working stroke six-freedom macro-micro combination series connection people.
(2) background technology
At present, require its technology to develop during the processing and manufacturing of super large component of machine towards high speed, high accuracy direction, the accurate control of super working stroke is an extremely important aspect in the modern manufacturing industry in the processing and manufacturing, there have been requirements at the higher level in market to the control of its location, installation dimension, is badly in need of the industrial robot that a kind of working range is big, speed is fast, positioning accuracy is high.The operations such as welding, detection and installation of China's oversize equipment special also do not realize automation, present existing relevant device impulse stroke is limited, can not satisfy high speed, high precision technology requirements such as the processing of great machinery parts, welding, detection, assembling.
(3) summary of the invention
The object of the present invention is to provide a kind of super large Strok mechanism to combine, can solve the super working stroke six-freedom macro-micro combination series connection people of the welding of super large parts machinery, high position precision requirement when detecting and assembling with little Strok mechanism.
The object of the present invention is achieved like this: it comprises main beam 1, vertically hangs oneself from a beam 6 and little stroke apparatus 15, main beam 1 is installed on the fixed support by vertical walking mechanism of being made up of vertical line slideway 2, vertical rack-and-pinion 3, displacement transducer 4, vertical motor 5, vertically overarm 6 is installed on the main beam 1 by the horizontal walking mechanism of being made up of horizontal line slideway 7, transverse gear tooth bar 8, cross motor 9, and little stroke apparatus 15 is by air-float guide rail 10, vertically the vertical walking mechanism to rack-and-pinion 11, motor 12 compositions is installed in the vertical overarm 6.
The present invention can also comprise:
1, main beam 1 has horizontal bar 24 and vertical muscle 25 for body structure is welded by upper plate 20, lower plate 21, left plate 22, right panel 23 four sides steel plates in the casing.
2, described vertical overarm 6 is a truss structure, is welded by aluminium alloy extrusions.
3, little stroke apparatus comprise by slide block be fixed on platform on the air-float guide rail 10, be installed in platform one side power tool, be installed in the joining of platform opposite side 16 and form, power tool is installed in and can realizes in the horizontal plane vertically, laterally both direction moves and on the guiding mechanism of the rotation of the transverse axis or the longitudinal axis, guiding mechanism is installed in a side of platform.
4, vertically hang oneself from a beam and temperature compensation sensor 13 is installed on 6, main beam deformation sensor 18 is installed on the main beam 1,6 lower ends of vertically hanging oneself from a beam are equipped with vertical beam deformation-sensor 19.
5, described vertical overarm 6 is fixed on 4 horizontal line slideways 7 by slide block, at slide block with vertically hang oneself from a beam a damping spring 14 is arranged between 6.
The installations of the welding of ultra-large type component of machine, detection and main equipment etc. are all more and more higher to the relative dimensions required precision, because technological requirement impulse stroke super large does not also have to satisfy the high accuracy special equipment of its specification requirement at present.Can under high speed, high accuracy condition, finish for the technologies such as welding, detection and installation that realize the super large part, the invention provides the accurate serial machine people of a kind of super working stroke six degree of freedom.This robot mainly is made up of grand telecontrol equipment of Three Degree Of Freedom (super large stroke apparatus) and Three Degree Of Freedom micromotion device (little stroke apparatus).The super large stroke apparatus mainly is made up of girder, vertical beam etc., girder and load are finished and are vertically moved, vertical beam laterally moves on girder, little stroke apparatus and loading on the vertical beam moves up and down, and super large stroke apparatus working range is respectively: vertically 0 meter to 40 meters of stroke, 10 meters to 22 meters of infeed strokes, vertically to 0 meter to 10 meters of stroke.Little stroke mobile device can realize that horizontal plane is interior vertically, horizontal, rotate three degree of freedom, and impulse stroke is respectively: 0 meter to 1.5 meters, 0 meter to 1.5 meters, 0 ° to 120 °.Measuring speed can reach 0.6 meter per second, and terminal positioning accuracy can reach ± 2 millimeter.
Main beam of the present invention 1 is for body structure is welded by upper plate 20, lower plate 21, left plate 22, right panel 23 four sides steel plates, and a plurality of horizontal bar 24, two vertical muscle 25 are arranged in the casing.It is fixed on vertical line slideway 2 by slide block, is driven by 2 vertical motors 5, and secondary vertically rack-and-pinion 3 transmissions achieve big stroke and vertically move.Vertically overarm 6 is a truss structure, is welded by aluminium alloy extrusions.It is fixed on 4 horizontal line slideways 7 by slide block, is driven by 1 cross motor 9, and secondary transverse gear tooth bar 8 transmissions achieve big stroke and laterally move.Little stroke apparatus is fixed on the secondary air-float guide rail 10 by slide block, is driven by 1 motor 12, and a pair achieves big stroke vertical direction and moves up and down vertically to rack-and-pinion 11 transmissions.Little stroke apparatus is by motor-driven, and the ball-screw transmission realizes respectively in the horizontal plane vertically, laterally both direction moves and around the rotation of the transverse axis or the longitudinal axis.
This super working stroke six degree of freedom is grand---and little in conjunction with series connection precision machinery people, the working method that adopts super large stroke apparatus, little stroke apparatus to combine has solved the welding of super large parts machinery, has detected and the requirement of high position precision during assembling by position feedback.
(4) description of drawings
Fig. 1 is a front view of the present invention;
Fig. 2 is the vertical view of Fig. 1;
Fig. 3 is the left view of Fig. 1.
(5) specific embodiment
For example the present invention is done description in more detail below in conjunction with accompanying drawing:
Main beam 1 is fixed on a pair of vertical line slideway 2 by slide block, vertically line slideway 2 is laid on the clump table top of two ends respectively or other supporting surfaces, girder 1 becomes crane girder, and by 2 vertical motors 5 in the two ends of girder 1 driven in synchronism, one secondary vertically rack-and-pinion 3 transmissions realize that the super large stroke vertically moves.Wherein, longitudinal rail passes through the bolt secured in parallel respectively on the clump or on other supporting surfaces; Tooth bar is also by being bolted on the clump or on other supporting surfaces, and parallel with guide rail; Two vertical motors 5 are the servo force torque motor, are separately fixed at girder 1 both sides, driven in synchronism; Position sensor is installed in girder 1 end face, detects the distance of actual motion; The main beam deformation sensor is equipped with in girder 1 bottom, monitors girder 1 deflection value in real time; On the steel plate of four sides temperature compensator 13 is installed on the girder 1, compensation causes girder 1 deflection because of variation of ambient temperature.Vertically overarm 6 is fixed on 4 horizontal line slideways 7 by slide block, at slide block with vertically hang oneself from a beam a damping spring 14 is arranged between 6, to eliminate the shake of generation in service.Vertically overarm 6 is driven by 1 cross motor 9, and secondary transverse gear tooth bar 8 transmissions realize that the super large stroke laterally moves.Wherein 4 cross slide waies pass through the bolt secured in parallel on girder 1, and upper plate is installed 2, and two side plates are respectively installed 1; Laterally tooth bar is by being bolted to the upper plate centre position of girder 1.Vertically overarm 6 both sides are respectively by there being a pair of air-float guide rail 10, one sides to be equipped with vertically to rack-and-pinion 11, wherein rack-and-pinion 11 and the parallel installation of any one air-float guide rail.Vertically overarm 6 ends are equipped with vertical beam deformation-sensor 19, detect terminal deflection; A plurality of temperature compensators 13 also are installed on the beam.Little stroke apparatus 15 is fixed on the air-float guide rail 10 by slide block, is driven by 1 motor 12, vertically to rack-and-pinion 11 transmissions, realizes that big stroke vertical direction moves up and down.In stroke up and down, counterweight 16 is with little stroke apparatus and power tool 17 same moved further mounted thereto, the moment of flexure that produces with balance.Little stroke apparatus by ball-screw can realize respectively in the horizontal plane longitudinally, laterally both direction moves and around the rotation of the transverse axis or the longitudinal axis, power tool 17 is installed in the end of little stroke apparatus 15.
Claims (6)
1, a kind of super working stroke six-freedom macro-micro combination series connection people, it comprises main beam [1], vertical overarm [6] and little stroke apparatus [15], it is characterized in that: main beam [1] passes through by vertical line slideway [2], vertical rack-and-pinion [3], displacement transducer [4], vertically vertical walking mechanism of motor [5] composition is installed on the fixed support, vertically overarm [6] is passed through by horizontal line slideway [7], transverse gear tooth bar [8], the horizontal walking mechanism that cross motor [9] is formed is installed on the main beam [1], and little stroke apparatus [15] is by air-float guide rail [10], vertically to rack-and-pinion [11], the vertical walking mechanism that motor [12] is formed is installed in the vertical overarm [6].
2, super working stroke six-freedom macro-micro combination series connection people according to claim 1 is characterized in that: main beam [1] has horizontal bar and vertical muscle for body structure is welded by four sides, upper and lower, left and right steel plate in the casing.
3, super working stroke six-freedom macro-micro combination series connection people according to claim 2 is characterized in that: described vertical overarm [6] is a truss structure, is welded by aluminium alloy extrusions.
4, super working stroke six-freedom macro-micro combination series connection people according to claim 3, it is characterized in that: little stroke apparatus comprise by slide block be fixed on platform on the air-float guide rail [10], be installed in platform one side power tool, be installed in the joining of platform opposite side [16] and form, power tool is installed in and can realizes in the horizontal plane vertically, laterally both direction moves and on the guiding mechanism of the rotation of the transverse axis or the longitudinal axis, guiding mechanism is installed in a side of platform.
5, super working stroke six-freedom macro-micro combination series connection people according to claim 4, it is characterized in that: vertically in the overarm [6] temperature compensation sensor [13] is installed, main beam deformation sensor [18] is installed on the main beam [1], and vertically overarm [6] lower end is equipped with vertical beam deformation-sensor [19].
6, super working stroke six-freedom macro-micro combination series connection people according to claim 5, it is characterized in that: described vertical overarm [6] is fixed on [4] the individual horizontal line slideways [7] by slide block, between slide block and vertical overarm [6] damping spring [14] is arranged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2008100644395A CN100553895C (en) | 2008-05-05 | 2008-05-05 | The super working stroke six-freedom macro-micro combination series connection people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2008100644395A CN100553895C (en) | 2008-05-05 | 2008-05-05 | The super working stroke six-freedom macro-micro combination series connection people |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101264602A true CN101264602A (en) | 2008-09-17 |
| CN100553895C CN100553895C (en) | 2009-10-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2008100644395A Expired - Fee Related CN100553895C (en) | 2008-05-05 | 2008-05-05 | The super working stroke six-freedom macro-micro combination series connection people |
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| Country | Link |
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| CN (1) | CN100553895C (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103235044A (en) * | 2013-05-06 | 2013-08-07 | 郑州大学 | Multi-degree of freedom large-scale ultrasound scanning automation equipment |
| CN104589303A (en) * | 2014-11-21 | 2015-05-06 | 安徽省库仑动力自动化科技有限公司 | Circular orbit robot for nondestructive testing of large workpiece |
-
2008
- 2008-05-05 CN CNB2008100644395A patent/CN100553895C/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103235044A (en) * | 2013-05-06 | 2013-08-07 | 郑州大学 | Multi-degree of freedom large-scale ultrasound scanning automation equipment |
| CN103235044B (en) * | 2013-05-06 | 2015-07-08 | 郑州大学 | Multi-degree of freedom large-scale ultrasound scanning automation equipment |
| CN104589303A (en) * | 2014-11-21 | 2015-05-06 | 安徽省库仑动力自动化科技有限公司 | Circular orbit robot for nondestructive testing of large workpiece |
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| Publication number | Publication date |
|---|---|
| CN100553895C (en) | 2009-10-28 |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20080917 Assignee: Wuxi Hailian Marine Fittings Co., Ltd. Assignor: Harbin Engineering Univ. Contract record no.: 2010320000713 Denomination of invention: Large duty stroke six degree of freedom macro micro combined series robot Granted publication date: 20091028 License type: Exclusive License Record date: 20100602 |
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Granted publication date: 20091028 Termination date: 20170505 |
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| CF01 | Termination of patent right due to non-payment of annual fee |