CN102785239B - Industrial robot of six-degrees of freedom - Google Patents
Industrial robot of six-degrees of freedom Download PDFInfo
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- CN102785239B CN102785239B CN201210255953.3A CN201210255953A CN102785239B CN 102785239 B CN102785239 B CN 102785239B CN 201210255953 A CN201210255953 A CN 201210255953A CN 102785239 B CN102785239 B CN 102785239B
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Abstract
The invention provides an industrial robot of six-degrees of freedom. The industrial robot comprises a base, a first component, a second component, a third component, a fourth component, a fifth component and a sixth component, wherein the fifth component and the sixth component are connected with each other through double revolute pairs; the sixth component comprises a lower seat and four third connecting rods; and a first linear module and a second linear module drive a first crank shaft-sliding block structure and a second crank shaft-sliding block structure to conduct linear movement respectively, so as to drive a first connecting rod and a second connecting rod to conduct linear movement respectively, drive a first actuating arm and a second actuating arm to rotate respectively, and drive the fifth component and the sixth component to rotate together. According to the invention, a serial mechanism and a serial mechanism are combined to design the industrial robot with parallel large rotation wrists, so as to realize large angle rotation; and due to the parallel wrists, singular points which are inevitable to a common industrial robot of six-degrees of freedom are avoided. Therefore, the movement of the robot is quicker and smoother, and the robot can be widely applied to industrial operation.
Description
Technical field
The present invention relates to industrial robot field, refer to a kind of Six-DOF industrial robot especially.
Background technology
Existing six-DOF robot is substantially the same in the market, is all to adopt series system, and such robot inevitably singular point when moving, causes the robot free degree to reduce, cause inconvenience in actual applications.What generally adopt at present is solve this problem by avoiding singular point in robot motion, or the robot algorithm passing through research novel solves, but current also very unreasonable solution easily.
Summary of the invention
The present invention proposes a kind of Six-DOF industrial robot, and serial mechanism is combined with parallel institution and is designed to have by it
And the United Nations General Assembly rotates the Six-DOF industrial robot of wrist, new in structure of the present invention is special, and can large rotation angle be realized, good rigidly, simultaneously owing to adding parallel mechanism, make this robot there is not the inevitable singular point of general six-DOF robot, thus make the action of robot quicker, more smooth.
Technical scheme of the present invention is achieved in that
A kind of Six-DOF industrial robot, comprises the 5th parts and the 6th parts, and described 5th parts are connected by two revolute pair with described 6th parts; Described 6th parts comprise lower bottom base and four third connecting rods, and described third connecting rod is evenly arranged at outside described lower bottom base; Described 5th parts comprise the first driving mechanism, described first driving mechanism comprises the first linear module, the first slider-crank mechanism be connected with the described first linear module and the first connecting rod be connected with described first slider-crank mechanism, and described first connecting rod is connected with the first actuating arm; Described 5th parts also comprise the second driving mechanism, described second driving mechanism comprises the second linear module, the second slider-crank mechanism be connected with the described second linear module and the second connecting rod be connected with described second slider-crank mechanism, and described second connecting rod is connected with the second actuating arm; Described first linear module and the described second linear module drive described first slider-crank mechanism and described second slider-crank mechanism to do linear movement respectively, thus drive described first connecting rod and described second connecting rod to do linear movement respectively, drive described first actuating arm and described second actuating arm to rotate respectively, drive described 5th parts and described 6th parts common rotation.
Further, described Six-DOF industrial robot also comprises pedestal, first component, second component, the 3rd parts and the 4th parts; Described 5th parts one end is arranged at one end of described 4th parts, and the described 4th parts other end is inserted in described 3rd parts, and described 4th parts can rotate around described 3rd part centre axle.
Further, described 3rd parts one end be arranged at described second component rotatably one end described in the 3rd parts can around second component one end central axis; The described second component other end is arranged at one end of described first component rotatably, and described second component can rotate around described first component one end; The described first component other end is arranged at the top of described pedestal, and described first component can rotate around described pedestal.
Further, described 5th parts also comprise upper bed-plate and two slave arms, and described two slave arms and described first actuating arm and described second actuating arm are evenly arranged at outside described upper bed-plate.
Further, described 6th parts one end is connected with the adpting flange connecting nipper and welding gun instrument.
Further, the first actuating arm (61) in described 5th parts (6), the second actuating arm (62) are connected respectively by one described pair revolute pair (74) with four third connecting rods (73) in described 6th parts (7) with two slave arms (66).
Further, described 5th parts and described 6th member driving mechanism can select servomotor and stepper motor.
The beneficial effect of the invention is: new in structure of the present invention is special, and can realize large rotation angle, good rigidly.The present invention realizes rotation and the pitching in each joint of robot, particularly also the United Nations General Assembly rotates the design of wrist, the large rotation angle of wrist can be realized, and the 5th axle the 6th axle parallel mechanism of general Six-DOF industrial robot is replaced, the singular point of general six-DOF robot can be made to disappear, thus making robot motion quicker, track is smooth flow more.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the planar structure schematic diagram of a kind of Six-DOF industrial robot of the present invention embodiment;
The A partial enlargement structural representation that Fig. 2 is Six-DOF industrial robot shown in Fig. 1;
The plan structure schematic diagram that Fig. 3 is Six-DOF industrial robot shown in Fig. 1.
In figure: pedestal 1; First component 2; Second component 3; 3rd parts 4; 4th parts 5; 5th parts 6; First actuating arm 61; Second actuating arm 62; First driving mechanism 63; First linear module 631; First slider-crank mechanism 632; First connecting rod 633; Second driving mechanism 64; Second linear module 641; Second slider-crank mechanism 642; Second connecting rod 643; Upper bed-plate 65; Slave arm 66; 6th parts 7; Lower bottom base 71; Adpting flange 72; Third connecting rod 73; Two revolute pair 74.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Preferred embodiment according to Fig. 1-Fig. 3, a kind of Six-DOF industrial robot, comprises pedestal 1, first component 2, second component 3, the 3rd parts 4, the 4th parts 5, the 5th parts 6 and the 6th parts 7; Described first component 2 one end is arranged at the top of described pedestal 1, described second component 3 one end is arranged at the other end of described first component 2 rotatably, described 3rd parts 4 one end is arranged at the other end of described second component 3 rotatably, described 4th parts 5 one end is arranged at the adjacent other end in described 3rd parts 4 one end, described 5th parts 6 one end is arranged at the other end of described 4th parts 5, and described 5th parts 6 are connected by two revolute pair 74 with described 6th parts 7; Described 5th parts 6 comprise the first actuating arm 61, second actuating arm 62, first driving mechanism 63 and the second driving mechanism 64, described first actuating arm 61 and described second actuating arm 62 are arranged at outside described 5th parts 6, and described first driving mechanism 63 and described second driving mechanism 64 are arranged at outside described 4th parts 5 respectively; Described first driving mechanism 63 comprises the first linear module 631, the first slider-crank mechanism 632 be connected with the described first linear module 631 and the first connecting rod 633 be connected with described first slider-crank mechanism 632, described second driving mechanism 64 comprises the second linear module 641, the second crank block structure 642 be connected with the described second linear module 641 and the second connecting rod 643 be connected with described second crank block structure 642, described first connecting rod 633 is connected with described first actuating arm 61, and described second connecting rod 643 is connected with described second actuating arm 62; The second linear module 641 in described first driving mechanism 63 first linear module 631 and described second driving mechanism 64 drives described first slider-crank mechanism 632 and described second slider-crank mechanism 642 to do linear movement respectively, thus drive described first connecting rod 633 and described second connecting rod 643 linear movement, drive described first actuating arm 61 and described second actuating arm 62 to rotate, thus drive described 5th parts 6 and described 6th parts 7 common rotation; Under the effect of driving force, described Six-DOF industrial robot is by operating the coordination of above-mentioned six parts.
Described first component 2 one end is connected with described pedestal 1 top, described first component 2 can rotate on pedestal 1 top, described first component 2 central shaft is the waist joint of described six-DOF robot, and described first component 2 can do 360 degree of rotary motions around waist joint.
Described second component 3 one end is arranged at the other end of described first component 2 rotatably, and described first component 2 other end central shaft is the shoulder joint of described six-DOF robot, and described second component 3 can do relative rotary motion around described shoulder joint.
Described 3rd parts 4 one end is arranged at the other end of described second component 3 rotatably, and described second component 3 other end is the elbow joint of described six-DOF robot, and described 3rd parts 4 can do relative rotary motion around described elbow joint.
Described 4th parts 5 one end is arranged at the adjacent other end in described 3rd parts 4 one end, and described 4th parts 5 central shaft is the arm of described six-DOF robot, and described 4th parts 5 can rotate around described arm.
Described 5th parts 6 also comprise upper bed-plate 65 and two slave arms 66, and described two slave arms 66 are evenly arranged at outside described 5th parts 6 with described first actuating arm 61 and described second actuating arm 62; Described 6th parts 7 comprise lower bottom base 71, adpting flange 72 and four third connecting rods 73, and described third connecting rod 73 is evenly arranged at outside described 6th parts 7, and described adpting flange 72 is arranged at described 6th parts 7 one end.
Be fixed in described first driving mechanism 63 outside described 4th parts 5 and described second driving mechanism 64 drive described first linearly sliding group 631 and described second linearly sliding group 641 do linear movement, described first connecting rod 633 and described second connecting rod 643 is driven to move, thus drive described first actuating arm 61 and described second actuating arm 62 to rotate, thus make described 5th parts 6 and described 6th parts 7 common rotation, described 5th parts 6 and described 6th parts 7 form the wrist joint of described six-DOF robot, and described wrist joint is that parallel institution connects.
The first actuating arm 61, second actuating arm 62 in described 5th parts 6 is connected respectively by a described pair of revolute pair 74 with four third connecting rods 73 in described 6th parts 7 with two slave arms 66.Described upper bed-plate 65 and described lower bottom base 71 is maximum forms 100 degree of corners; Described adpting flange 72 can connect nipper and welding gun instrument, is convenient to carry out various industrial operation.
Described 5th parts 6 and described 6th parts 7 driving mechanism can select servomotor and stepper motor, the driving mechanism of wrist is driven preferentially to select the motor that power is relatively little, the decelerator of described motor can select common decelerator and harmonic speed reducer, preferentially select common decelerator, the holistic cost of robot can be reduced.
The operation principle of described Six-DOF industrial robot is: described Six-DOF industrial robot can realize three attitudes of robot in spatial movement in practical work process, comprise pitching, rolling and driftage, it can realize the motion of optional position and free position, is convenient to carry out various industrial operation.
The present invention realizes rotation and the pitching in each joint of robot, particularly also the United Nations General Assembly rotates the design of wrist, the large rotation angle of wrist can be realized, and the 5th axle the 6th axle parallel mechanism of general Six-DOF industrial robot is replaced, the singular point of general Six-DOF industrial robot can be made to disappear, thus making robot motion quicker, track is smooth flow more.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (5)
1. a Six-DOF industrial robot, it is characterized in that: comprise the 5th parts (6) and the 6th parts (7), described 5th parts (6) are connected by two revolute pair (74) with described 6th parts (7);
Described 6th parts (7) comprise lower bottom base (71) and four third connecting rods (73), and described third connecting rod (73) is evenly arranged at described lower bottom base (71) outside; Described 5th parts (6) comprise the first driving mechanism (63), described first driving mechanism (63) comprises the first linear module (631), the first slider-crank mechanism (632) be connected with the described first linear module (631) and the first connecting rod (633) be connected with described first slider-crank mechanism (632), and described first connecting rod (633) is connected with the first actuating arm (61);
Described 5th parts also comprise the second driving mechanism (64), described second driving mechanism (64) comprises the second linear module (641), the second slider-crank mechanism (642) be connected with the described second linear module (641) and the second connecting rod (643) be connected with described second slider-crank mechanism (642), and described second connecting rod (643) is connected with the second actuating arm (62); Described first linear module (631) and the described second linear module (641) drive described first slider-crank mechanism (632) and described second slider-crank mechanism (642) to do linear movement respectively, thus drive described first connecting rod (633) and described second connecting rod (643) to do linear movement respectively, drive described first actuating arm (61) and described second actuating arm (62) to rotate respectively, drive described 5th parts (6) and described 6th parts (7) common rotation;
Described 5th parts (6) also comprise upper bed-plate (65) and two slave arms (66), and described two slave arms (66) and described first actuating arm (61) and described second actuating arm (62) are evenly arranged at described upper bed-plate (65) outside;
The first actuating arm (61) in described 5th parts (6), the second actuating arm (62) are connected respectively by one described pair revolute pair (74) with four third connecting rods (73) in described 6th parts (7) with two slave arms (66).
2. Six-DOF industrial robot according to claim 1, is characterized in that: described Six-DOF industrial robot also comprises pedestal (1), first component (2), second component (3), the 3rd parts (4) and the 4th parts (5); Described 5th parts (6) one end is arranged at one end of described 4th parts (5), described 4th parts (5) other end is inserted in described 3rd parts (4), and described 4th parts (5) can around described 3rd parts (4) central axis.
3. Six-DOF industrial robot according to claim 2, it is characterized in that: described 3rd parts (4) one end is arranged at one end of described second component (3) rotatably, described 3rd parts (4) can around second component (3) one end central axis; Described second component (3) other end is arranged at one end of described first component (2) rotatably, and described second component (3) can rotate around described first component (2) one end; Described first component (2) other end is arranged at the top of described pedestal (1), and described first component (2) can rotate around described pedestal (1).
4. Six-DOF industrial robot according to claim 1, is characterized in that: described 6th parts (7) one end is connected with the adpting flange (72) connecting nipper and welding gun instrument.
5. according to the Six-DOF industrial robot described in claim 1, it is characterized in that: described upper bed-plate (65) and described lower bottom base (71) is maximum forms 100 degree of corners.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210255953.3A CN102785239B (en) | 2012-07-23 | 2012-07-23 | Industrial robot of six-degrees of freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210255953.3A CN102785239B (en) | 2012-07-23 | 2012-07-23 | Industrial robot of six-degrees of freedom |
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| Publication Number | Publication Date |
|---|---|
| CN102785239A CN102785239A (en) | 2012-11-21 |
| CN102785239B true CN102785239B (en) | 2015-04-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210255953.3A Expired - Fee Related CN102785239B (en) | 2012-07-23 | 2012-07-23 | Industrial robot of six-degrees of freedom |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103085061B (en) * | 2013-01-21 | 2016-06-01 | 广东工业大学 | Grand micro-compound five degree of freedom LED bonding equipment topworks |
| CN103267688A (en) * | 2013-05-10 | 2013-08-28 | 东南大学 | Double-shaft notebook computer rotating shaft torsion test method |
| CN104339347A (en) * | 2013-08-01 | 2015-02-11 | 常州金刚文化科技集团有限公司 | Spatial six-degree-of-freedom robot |
| CN103640011B (en) * | 2013-11-26 | 2015-10-14 | 东莞华中科技大学制造工程研究院 | Three Degree Of Freedom wrist and Novel six freedom DELTA robot |
| CN104552294B (en) * | 2014-12-16 | 2016-01-20 | 广西大学 | A kind of large space six degree of freedom controllable-mechanism type manipulator |
| CN105415363B (en) * | 2015-12-23 | 2017-11-17 | 珠海格力电器股份有限公司 | Robot singular point processing method |
| JP6719956B2 (en) * | 2016-04-20 | 2020-07-08 | Ntn株式会社 | Dual arm actuator |
| JP6799950B2 (en) | 2016-06-15 | 2020-12-16 | Ntn株式会社 | Work equipment and double-armed work equipment |
| CN107127502B (en) * | 2017-07-04 | 2019-06-18 | 广西大学 | A kind of six degree of freedom controllable-mechanism type high speed Bai Han robot |
| CN108743369B (en) * | 2018-07-06 | 2020-05-26 | 许秋红 | Automatic acupuncture bed |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5132601A (en) * | 1988-12-02 | 1992-07-21 | Tokico Ltd. | Industrial robot |
| CN2564840Y (en) * | 2002-03-28 | 2003-08-06 | 天津大学 | Console with three-freedom spheric parallel mechanism |
| CN201664923U (en) * | 2010-04-09 | 2010-12-08 | 南京信息工程大学 | Six-DOF industrial robot |
| CN202805186U (en) * | 2012-07-23 | 2013-03-20 | 东莞市李群自动化设备有限公司 | Six-degree-of-freedom industrial robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03196980A (en) * | 1989-12-22 | 1991-08-28 | Hitachi Ltd | Articulated 6 degree-of-freedom robot mechanism, and assembling and working unit with that mechanism |
-
2012
- 2012-07-23 CN CN201210255953.3A patent/CN102785239B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5132601A (en) * | 1988-12-02 | 1992-07-21 | Tokico Ltd. | Industrial robot |
| CN2564840Y (en) * | 2002-03-28 | 2003-08-06 | 天津大学 | Console with three-freedom spheric parallel mechanism |
| CN201664923U (en) * | 2010-04-09 | 2010-12-08 | 南京信息工程大学 | Six-DOF industrial robot |
| CN202805186U (en) * | 2012-07-23 | 2013-03-20 | 东莞市李群自动化设备有限公司 | Six-degree-of-freedom industrial robot |
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| CN102785239A (en) | 2012-11-21 |
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Owner name: DONGGUAN LIE GROUP AUTOMATION TECHNOLOGY CO., LTD. Free format text: FORMER NAME: DONGGUAN LIE GROUP AUTOMATION EQUIPMENT CO., LTD. |
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Address after: 511700, Guangdong, Dongguan hi tech Industrial Development Zone, Songshan District, the northern industrial city, small science and technology enterprise park ninth, second Patentee after: QKM TECHNOLOGY (DONGGUAN) CO., LTD. Address before: 511700, Guangdong, Dongguan science and Technology Industrial Park, Songshan Road, 1, nine Dongguan science and Technology Industrial Park, Huazhong University of Science and Technology, research and development building, room 404 Patentee before: Dongguan Lie Group Automation Equipment Co., Ltd. |
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