CN104802164A - Six-DOF (Degree Of Freedom) planar joint robot - Google Patents
Six-DOF (Degree Of Freedom) planar joint robot Download PDFInfo
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- CN104802164A CN104802164A CN201510221997.8A CN201510221997A CN104802164A CN 104802164 A CN104802164 A CN 104802164A CN 201510221997 A CN201510221997 A CN 201510221997A CN 104802164 A CN104802164 A CN 104802164A
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Abstract
The invention discloses a six-DOF (Degree Of Freedom) planar joint robot, and belongs to the technical field of industrial robots. The six-DOF planar joint robot comprises a base, a first arm, a driving device of the first arm, a second arm, a driving device of the second arm, a three-DOF wrist and a driving device of the three-DOF wrist; the first arm is arranged on the base; the second arm is arranged at the tail end of the first arm; the three-DOF wrist is connected with three ball splines and is driven by the driving device which is arranged on the second arm through a synchronous belt wheel and the ball splines; the motion of the three-DOF wrist in the vertical direction is supplied by a ball screw. According to the six-DOF planar joint robot provided by the invention, the three-DOF wrist is additionally arranged on the basis of a three-DOF SCARA (Selective Compliance Assembly Robot Arm) robot, and three transverse moving DOFs along an X axis, a Y axis and a Z axis and three rotation DOFs along the X axis, the Y axis and the Z axis are obtained; the six-DOF planar joint robot is suitable for realizing complicated motion, and six-DOF motion of an operated target can be realized.
Description
Technical field:
The invention belongs to Industrial Robot Technology field, be specifically related to a kind of six degree of freedom plane articulation robot.
Background technology:
Since 2000, by the impact that Macro-policy regulation and control and inhabitant's consumption level improve, Domestic Automotive Industry enters a rapid growth period, and whole automobile industry volume increase expansion can increase industrial robot demand, becomes one of motive power of industrial robot fast development.Industrial robot be extensively be suitable for, can autonomous action, multi-shaft interlocked plant equipment.It integrates the important automated arm of the manufacturing industry of the multidisciplinary advanced technologies such as machinery, electronics, control, sensor, artificial intelligence, computer.Along with the continuous progress of science and technology, industrial robot can be divided into three generations, and the-generation is teaching-playback robot, and it forms primarily of mechanical hand controller and teach box, can perform by information repetition under predetermined guiding action record, in current industrial, application at most.The second generation is modality of sensation robot, and if any vision, power feel and sense of touch etc., it has the ability of some environmental information being carried out to feedback adjustment, enters the application stage at present.The third generation is Intelligent robot, and have perception and understand the ability of external environment condition, when condition of work changes, also can be successfully completed task, this robot is still in the experimental study stage.
At present, industrial robot has been widely used in the fields such as auto parts and components manufacturing industry, mechanical processing industry, electric industry, food industry, rubber and plastics industry, timber and furniture manufacturing industry.In the industrial production, the industrial robots such as arc welding robot, spot welding robot, assembly robot, dispensation machines people, paint-spray robot and transfer robot have been widely applied all, and extend from traditional automobile manufacturing field to non-fabrication field: building industry robot, as mining machinery people, and hydroelectric system is used for the robot etc. of maintenance and repair.Use industrial robot can to reduce the number of rejects and seconds rate and cost, improve the utilization rate of lathe, reduce the inferior part risk etc. that workman's maloperation brings.Industrial robot is adopted also to have the following advantages: to improve working conditions, enhance productivity; Stronger and controlled production capacity, shortens the cycle of model change; Promote disposal ability and the product quality of part; Eliminate work dry as dust, save labour; Safer working environment is provided, alleviates the labour intensity of workman, reduce Labor Risk.Along with the degree of excess of domestic social labor power reduce, single workman's cost increases, the stricter requirement of product quality, government are improved to the environment for use of robot to changes such as the attention of equipment manufacture, industrial robot and technology obtain the attention of Government and enterprise gradually in China.Utilize Robotics to promote China's commercial production levels, change to power from manufacturing powerhouse, uplift the people's living standard and become the common recognition of the whole society.
Summary of the invention:
The object of this invention is to provide a kind of six degree of freedom plane articulation robot, the basis of Three Degree Of Freedom SCARA robot increases the wrist of a Three Degree Of Freedom, make it have three translational degree of freedom along X, Y, Z axis, and along three rotational freedoms of X, Y, Z axis.
A kind of six degree of freedom plane articulation robot provided by the present invention comprises base 1, first arm 2 and drive unit, the second arm 3 and drive unit, Three Degree Of Freedom wrist 18 and drive unit thereof, described first arm 2 is arranged on described base 1, described second arm 3 is arranged on the end of described first arm 2, described Three Degree Of Freedom wrist 18 and the first ball spline 10, second ball spline 12 and the 3rd ball spline 14 connect, be arranged on the first servomotor 6 on the second arm 3, second servomotor 8 and the 3rd servomotor 9 are by synchronous pulley and described first ball spline 10, second ball spline 12 and the 3rd ball spline 14 drive the motion of described Three Degree Of Freedom wrist 18, motion on the vertical direction of described Three Degree Of Freedom wrist 18 is provided by ball-screw 11, 6th servomotor 7 provides power by synchronous pulley to described ball-screw 11.
Described first arm 2 and drive unit thereof comprise the first arm 2, the 4th servomotor 20, first harmonic decelerator 21, first adpting flange 22, clutch shaft bearing 23, clutch shaft bearing end cap 24 and bearing inner race end cap 25, described 4th servomotor 20 is arranged on the inside of described base 1, described clutch shaft bearing end cap 24, the boss of bearing inner race end cap 25 and described base 1 inwall positions described clutch shaft bearing 23 jointly, described 4th servomotor 20 is bolted with described first harmonic decelerator 21, described first harmonic decelerator 21 is connected with described first adpting flange 22 by bolt, described first adpting flange 22 is connected with described bearing inner race end cap 25 by bolt, described first arm 2 is connected with described bearing inner race end cap 25 by bolt, described first adpting flange 22 is connected by described clutch shaft bearing 23 with the inwall of described base 1, described clutch shaft bearing end cap 24 is connected with described base 1 by bolt.Described like this 4th servomotor 20 drives the rotation of described first arm 2 by first harmonic decelerator 21, first adpting flange 22 and bearing inner race end cap 25.
Described second arm 3 and drive unit thereof comprise the 5th servomotor 4, connecting plate for electric motor 26, second harmonic decelerator 27, second adpting flange 28, flange connector 31, second bearing 29, second bearing (ball) cover 30 and the second arm 3, one end of described second arm 3 is the hollow cylinder with shoulder hole, described second harmonic decelerator 27, second adpting flange 28 and flange connector 31 are arranged on the inside of described hollow cylinder, and second harmonic decelerator 27, second adpting flange 28 and flange connector 31 element can effectively be protected, described 5th servomotor 4 is arranged on described connecting plate for electric motor 26, described 5th servomotor 4 is connected with described second harmonic decelerator 27, described second harmonic decelerator 27 is connected with described second adpting flange 28 by bolt, described flange connector 31 is bolted with described second adpting flange 28, described flange connector 31 is connected with described second arm 3 by described second bearing 29, described flange connector 31 is connected by the other end of bolt with described first arm 2, described second bearing (ball) cover 30 is bolted on described second arm 3 one end with shoulder hole, described second bearing (ball) cover 30 is for carrying out axial location to described second bearing 29, described second arm 3 is provided with the hole for installing the first ball spline 10, second ball spline 12, the 3rd ball spline 14 and ball-screw 11, for install the first ball spline 10, second ball spline 12, the 3rd ball spline 14 hole with equilateral triangle arrangement, the hole for installing ball-screw 11 is positioned at the center of described equilateral triangle.
Described Three Degree Of Freedom wrist 18 and drive unit thereof comprise the first servomotor 6, second servomotor 8, the 3rd servomotor 9, the 6th servomotor 7, first ball spline 10, second ball spline 12, the 3rd ball spline 14, gripping sleeve 13, ball-screw 11, spline synchronous pulley, screw synchronous belt wheel 15, Triangulum 17 and Three Degree Of Freedom wrist 18; Described first servomotor 6 is connected with planetary reducer, described planetary reducer is arranged on connecting plate, described connecting plate is bolted on the lower surface of described second arm 3, described planetary reducer is through the square opening on described second arm 3, the axle of described planetary reducer is connected with electrical machine belt pulley, and described electrical machine belt pulley is by the spline synchronous pulley of the first ball spline 10 described in belt drives; Described second servomotor 8 is connected with planetary reducer, described planetary reducer is bolted in the hole seat of the second arm 3, the axle of described planetary reducer is connected with electrical machine belt pulley, and described electrical machine belt pulley is by the spline synchronous pulley of the second ball spline 12 described in belt drives; Described 3rd servomotor 9 is connected with planetary reducer, described planetary reducer is bolted in the hole seat of the second arm 3, the axle of described planetary reducer is connected with electrical machine belt pulley, and described electrical machine belt pulley is by the spline synchronous pulley 16 of the 3rd ball spline 14 described in belt drives; The electrical machine belt pulley be connected with described first servomotor 6, second servomotor 8 and described 3rd servomotor 9 is positioned at the lower surface of described second arm 3, described 6th servomotor 7 is arranged on supporting seat, described supporting seat is bolted on described second arm 3, described 6th servomotor 7 is connected with electrical machine belt pulley by flat key, described 6th servomotor 7 drives described screw synchronous belt wheel 15 by electrical machine belt pulley, and described 6th servomotor 7 is between described second servomotor 8 and described 3rd servomotor 9; The installing hole that four are respectively used to install ball-screw 11, first ball spline 10, second ball spline 12, the 3rd ball spline 14 is provided with in the front end of described second arm 3, first ball spline 10, second ball spline 12, the 3rd ball spline 14 are with equilateral triangle arrangement, and described ball-screw 11 is arranged on the centre of equilateral triangle; Described ball-screw 11 by flange and described Triangulum 17 affixed, described Triangulum 17 can move along with described moving up and down of ball-screw 11; Described first ball spline 10, second ball spline 12 and described 3rd ball spline 14 are each passed through three holes of described Triangulum 17, described first ball spline 10, second ball spline 12 and described 3rd ball spline 14 are connected by bearing with described Triangulum 17 respectively, and with bearing (ball) cover and nut axial restraint, described first ball spline 10, second ball spline 12 and described 3rd ball spline 14 can move along with described moving up and down of Triangulum 17 simultaneously; Described spline synchronous pulley 16 is arranged on described first ball spline 10, second ball spline 12 and described 3rd ball spline 14 respectively, and described spline synchronous pulley 16 is positioned at the lower surface of the second arm 3; Described screw synchronous belt wheel 15 is arranged on described ball-screw 11, and described screw synchronous belt wheel 15 is positioned at the upper surface of described second arm 3; Gripping sleeve 13 is equipped with in the upper end of described first ball spline 10, second ball spline 12 and described 3rd ball spline 14, and described gripping sleeve 13 is for spacing; Described spline synchronous pulley 16 drives the rotation of described first ball spline 10, second ball spline 12 and described 3rd ball spline 14 by flange, and described screw synchronous belt wheel 15 drives moving up and down of described ball-screw 11 by flange; Described Three Degree Of Freedom wrist 18 is connected with described first ball spline 10, second ball spline 12 and described 3rd ball spline 14 respectively by Hooke's hinge 32.Described Three Degree Of Freedom wrist has three rotational freedoms, is input as the rotation of three power shafts, exports the rotation in three directions into Three Degree Of Freedom wrist end.
Described Three Degree Of Freedom wrist 18 comprises Hooke's hinge 32, wrist shell 34, casing cover 33, first axle 49, first gear pair 52, second axle 50, second gear pair 51, first spline 44, 3rd axle 47, 3rd gear pair 46, second spline 45, second joint shell 36, 3rd joint shell 37, connect end cap 54, bearing cap 35, clutch shaft bearing seat 41, needle bearing 43, 3rd bearing (ball) cover 42, connecting axle 53, first taper gear pair 40, second taper gear pair 39, second bevel pinion shaft 48, 3rd taper gear pair 55, 3rd adpting flange 56, second bearing block 57 and ring flange 38, described Hooke's hinge 32 respectively with described first axle 49, second axle 50 and the 3rd axle 47 affixed, described first axle 49 is connected by key with the pinion of described first gear pair 52, and gear wheel and the described clutch shaft bearing seat 41 of described first gear pair 52 pass through spline joint, described clutch shaft bearing seat 41 is connected by bearing with described 3rd bearing (ball) cover 42, the bottom of described clutch shaft bearing seat 41 is connected with described second joint shell 36 by bolt, thus realizes the transmission of described first gear pair 52, clutch shaft bearing seat 41 and second joint shell 36, described second axle 50 is connected by key with the pinion of described second gear pair 51, the gear wheel of described second gear pair 51 is connected with described connecting axle 53 by the first spline 44, described first spline 44 is connected with described connecting axle 53, described connecting axle 53 is connected by the bevel pinion shaft of bolt with described first taper gear pair 40, thus realizes the transmission of described second gear pair 39, connecting axle 53 and described first taper gear pair 40, described 3rd axle 47 is connected by key with the pinion of described 3rd gear pair 46, the gear wheel of described 3rd gear pair 46 is connected with described second bevel pinion shaft 48 by the second spline 45, thus makes described 3rd gear pair 46 can drive the motion of described second taper gear pair 39, the gear wheel of described first gear pair 52, second gear pair 51 and described 3rd gear pair 46 is positioned at described wrist shell 34, and described first gear pair 52, second gear pair 51 and described 3rd gear pair 46 are installed with one heart, described 3rd bearing (ball) cover 42 is arranged on the bottom of described wrist shell 34 by bolt, described clutch shaft bearing seat 41 is connected by bearing with described 3rd bearing (ball) cover 42, described clutch shaft bearing seat 41 is hollow, described first taper gear pair 40 is connected by bearing with described clutch shaft bearing seat 41, and described connecting axle 53 is connected by needle bearing 43 with described clutch shaft bearing seat 41, described connecting axle 53 is hollow, and the second bevel pinion shaft 48 of described second taper gear pair 39 is passed described connecting axle 53 and is connected with described connecting axle 53 by bearing, described 3rd joint shell 37 is fixed on described connection end cap 54, and described connection end cap 54 is bolted on described first taper gear pair 40, thus makes described first taper gear pair 40 that described 3rd joint shell 37 can be driven to rotate, described second taper gear pair 39 is connected with described 3rd taper gear pair 55, namely the conical gear in described second taper gear pair 39 is affixed by the gear shaft of bolt and flat key and described 3rd taper gear pair 55, thus drive the rotation of described 3rd taper gear pair 55, namely achieve another rotation of Three Degree Of Freedom wrist, described bearing cap 35 is bolted on described second joint shell 36, described first taper gear pair 40 is connected with described clutch shaft bearing seat 41 by bearing, the gear shaft of described 3rd taper gear pair 55 passes the hollow gear shaft of described first taper gear pair 40, and the gear shaft of described 3rd taper gear pair 55 is connected by bearing with the hollow gear shaft of described first taper gear pair 40, described 3rd adpting flange 56 is bolted on described 3rd joint shell 37, described second bearing block 57 is bolted on described 3rd adpting flange 56, the gear shaft of described 3rd taper gear pair 55 is connected by bearing with described second bearing block 57, the gear shaft of described 3rd taper gear pair 55 is connected with described ring flange 38 with axle sleeve by bolt, and described ring flange 38 is used for connecting from different handgrips.
Three Degree Of Freedom wrist has three rotational freedoms, is input as the rotation of three power shafts (the first axle 49, second axle 50 and the 3rd axle 47), exports the rotation in three directions into Three Degree Of Freedom wrist end; First gear pair 52 drives second joint shell 36 to rotate by clutch shaft bearing seat 41; Second gear pair 51 drives the first taper gear pair 40 by connecting axle 53, thus the 3rd joint shell 37 is rotated around the axis of horizontal direction; 3rd gear pair 46 drives the second taper gear pair 39, and then drives described 3rd taper gear pair 55, and the gear shaft of the 3rd taper gear pair 55 of Three Degree Of Freedom wrist end is rotated along the axis of vertical direction; Due to the effect of mechanism's coupling, when described second joint shell 36 rotates time, described first taper gear pair 40, second taper gear pair 39 can be made also along with rotation, when the 3rd joint shell 37 rotates time, described 3rd taper gear pair 55 can be made also along with rotation; So will consider the coupling of mechanism when the motion of specific implementation Three Degree Of Freedom wrist, motion control arithmetic reasonable in design achieves the motion of expection.
The present invention adds a Three Degree Of Freedom wrist on the basis of Three Degree Of Freedom SCARA, this robot is made to have six-freedom degree, and six servomotors ensure that this robot can complete complicated motion fast accurately, meet the certain requirement in industrial production.
Accompanying drawing illustrates:
Fig. 1 is six degree of freedom plane articulation robot architecture schematic diagram of the present invention;
First arm and driving device structure schematic diagram thereof in Tu2Shi robot of the present invention;
Second arm and driving device structure schematic diagram thereof in Tu3Shi robot of the present invention;
Three Degree Of Freedom wrist structural representation in Tu4Shi robot of the present invention;
Three Degree Of Freedom wrist structural profile structural representation in Tu5Shi robot of the present invention.
In figure: 1: base, 2: the first arms, 3: the second arms, 4: the five servomotors, 5: planetary reducer, 6: the first servomotors, 7: the six servomotors, 8: the second servomotors, 9: the three servomotors, 10: the first ball splines, 11: ball-screw, 12: the second ball splines, 13: gripping sleeve, 14: the three ball splines, 15: screw synchronous belt wheel, 16: spline synchronous pulley, 17: Triangulum, 18: Three Degree Of Freedom wrist, 19: electrical machine belt pulley, 20: the four servomotors, 21: first harmonic decelerator, 22: the first adpting flanges, 23: clutch shaft bearing, 24: clutch shaft bearing end cap, 25: bearing inner race end cap, 26: connecting plate for electric motor, 27: second harmonic decelerator, 28: the second adpting flanges, 29: the second bearings, 30: the second bearing (ball) covers, 31: flange connector, 32: Hooke's hinge, 33: casing cover, 34: wrist shell, 35: bearing cap, 36: second joint shell, 37: the three joint shells, 38: ring flange, 39: the second taper gear pairs, 40: the first taper gear pairs, 41: clutch shaft bearing seat, 42: the three bearing (ball) covers, 43: needle bearing, 44: the first splines, 45: the second splines, 46: the three gear pairs, 47: the three axles, 48: the second bevel pinion shafts, 49: the first axles, 50: the second axles, 51: the second gear pairs, 52: the first gear pairs, 53: connecting axle, 54: connect end cap, 55: the three taper gear pairs, 56: the three adpting flanges, 57: the second bearing blocks.
Detailed description of the invention:
Below in conjunction with accompanying drawing, the invention will be further described:
As shown in Figure 1, a kind of six degree of freedom plane articulation robot provided by the present invention comprises base 1, first arm 2 and drive unit, the second arm 3 and drive unit, Three Degree Of Freedom wrist 18 and drive unit thereof three parts thereof; First arm 2 is arranged on base 1, second arm 3 is arranged on the end of the first arm, the Three Degree Of Freedom wrist 18 of end is connected with three ball splines (the first ball spline 10, second ball spline 12, the 3rd ball spline 14), and is driven by synchronous pulley and ball spline by the drive unit be arranged on the second arm (the first servomotor 6, second servomotor 8, the 3rd servomotor 9); Motion on the vertical direction of Three Degree Of Freedom wrist is provided by ball-screw 11, and the 6th servomotor 7 provides power by synchronous pulley.
As shown in Figure 1 and Figure 2, described first arm and drive unit thereof comprise the 4th servomotor 20, first harmonic decelerator 21, first adpting flange 22, clutch shaft bearing 23, clutch shaft bearing end cap 24, bearing inner race end cap 25 and the first arm 2, the Components installation such as described servomotor, can effective protecting motor in the inside of described base, described clutch shaft bearing end cap 24, the boss of bearing inner race end cap 25 and base inner wall positions described clutch shaft bearing 23 jointly, described 4th servomotor 20 is bolted with described first harmonic decelerator 21, described first harmonic decelerator 21 is connected with described first adpting flange 22 by bolt, described first adpting flange 22 is connected with described bearing inner race end cap 25 by bolt, described first arm is connected with described bearing inner race end cap 25 by bolt, described first adpting flange 22 is connected by clutch shaft bearing 23 with described base inner wall, described clutch shaft bearing end cap 24 is connected with described base 1 by bolt, described like this 4th servomotor 20 is namely by first harmonic decelerator 21, first adpting flange 22 and bearing inner race end cap 25 drive described first arm to rotate.
As shown in Figure 1, Figure 3, described second arm and drive unit thereof comprise the 5th servomotor 4, connecting plate for electric motor 26, second harmonic decelerator 27, second adpting flange 28, flange connector 31, second bearing 29, second bearing (ball) cover 30 and the second arm 3; One end of described second arm 3 is the hollow cylinder with shoulder hole, and described second harmonic decelerator 27, second adpting flange 28 and flange connector 31 are arranged on the inside of hollow cylinder, and the element of the second arm hollow cylinder inside can effectively be protected; Described 5th servomotor 4 is arranged on described connecting plate for electric motor 26, and be connected with described second harmonic decelerator 27, described second harmonic decelerator 27 is connected with described second adpting flange 28 by bolt, described flange connector 31 is bolted with described second adpting flange 28, described flange connector 31 is connected by the second bearing 29 with the second arm 3, described flange connector 31 is connected by the other end of bolt with the first arm 2, described second bearing (ball) cover 30 is bolted on one end of shoulder hole, carries out axial location to the second bearing 29; By above annexation, described servomotor just can drive the second described arm 3 to rotate; Described second arm is installed four drive motors (the first servomotor 6, second servomotor 8, the 3rd servomotor 9, the 6th servomotor 7), three ball splines (the first ball spline 10, second ball spline 12, the 3rd ball spline 14) and a ball-screw 11, second arm is provided with for installing the hole seat of drive motors and the hole for installing ball spline and ball-screw, for installing the hole of three ball splines with equilateral triangle arrangement, for installing the center of hole at this equilateral triangle of ball-screw.
As Figure 1 and Figure 4, described Three Degree Of Freedom wrist and drive unit thereof comprise the first servomotor 6, second servomotor 8, the 3rd servomotor 9, the 6th servomotor 7, planetary reducer 5, electrical machine belt pulley 19, first ball spline 10, second ball spline 12, the 3rd ball spline 14, gripping sleeve 13, ball-screw 11, ball spline synchronous pulley 16, screw synchronous belt wheel 15, Triangulum 17 and Three Degree Of Freedom wrist 18; Described first servomotor 6 is connected with planetary reducer 5, described planetary reducer 5 is arranged on connecting plate, connecting plate is bolted on the lower surface of the second arm 3, planetary reducer 5 is through the square opening on described second arm, the axle of described planetary reducer is connected with electrical machine belt pulley, and described electrical machine belt pulley is by the ball spline synchronous pulley of the first ball spline 10 described in belt drives; Described second servomotor 8 is connected with planetary reducer, planetary reducer is bolted in the hole seat of the second arm 3, the axle of described planetary reducer is connected with described electrical machine belt pulley, and described electrical machine belt pulley is by the spline synchronous pulley of the second ball spline 12 described in belt drives; Described 3rd servomotor 9 is connected with planetary reducer, described planetary reducer is bolted in the hole seat of the second arm, the axle of described planetary reducer is connected with described electrical machine belt pulley, and described electrical machine belt pulley is by the spline synchronous pulley 16 of the 3rd ball spline 14 described in belt drives; The electrical machine belt pulley be connected with described first servomotor 6, second servomotor 8, the 3rd servomotor 9 is positioned at the lower surface of the second arm; Described 6th servomotor 7 is arranged on supporting seat, supporting seat is bolted on the second arm 3, described 6th servomotor 7 is directly connected with corresponding electrical machine belt pulley by flat key, described 6th servomotor 7 drives screw synchronous belt wheel by electrical machine belt pulley, and described 6th servomotor 7 is between the second servomotor 8 and the 3rd servomotor 9; Four installing holes for ball-screw 11 and ball spline (the first ball spline 10, second ball spline 12, the 3rd ball spline 14) are provided with in the front end of the second arm 3, three ball splines are with equilateral triangle arrangement, and described ball-screw 11 is arranged on the centre of equilateral triangle; The lower end of described ball-screw 11 by flange and bolt and described Triangulum 17 affixed, Triangulum 17 can move along with moving up and down of ball-screw 11; Described Triangulum 7 is arranged on the bottom of ball spline, and three ball splines pass three holes of described Triangulum 7; Described three ball splines (the first ball spline 10, second ball spline 12, the 3rd ball spline 14) are connected by bearing with described Triangulum 7, and with bearing (ball) cover and nut axial restraint, described three ball splines can move along with Trianguli moving up and down; Described spline synchronous pulley totally three, is arranged on three ball splines respectively, is positioned at the second arm 3 lower surface; Described screw synchronous belt wheel 15 is arranged on ball-screw 11, is positioned at the upper surface of the second arm 3; Gripping sleeve 13 is equipped with for spacing in described ball spline upper end; Described spline synchronous pulley drives ball spline to rotate by flange; Described screw synchronous belt wheel 15 drives ball-screw 11 to move up and down by flange; Described Three Degree Of Freedom wrist 18 is affixed with three ball splines respectively by Hooke's hinge 32; Described three ball splines are with equilateral triangle arrangement, and described ball-screw is arranged on the center of equilateral triangle, compact conformation, require higher installation accuracy, to realize accurate transmission.
As shown in Figure 5, described Three Degree Of Freedom wrist has three rotational freedoms, is input as the rotation of three power shafts, exports the rotation in three directions into Three Degree Of Freedom wrist end, described Three Degree Of Freedom wrist comprises Hooke's hinge 32, wrist shell 34, casing cover 33, first axle 49, first gear pair 52, second axle 50, second gear pair 51, first spline 44, 3rd axle 47, 3rd gear pair 46, second spline 45, second joint shell 36, 3rd joint shell 37, connect end cap 54, bearing cap 35, clutch shaft bearing seat 41, needle bearing 43, 3rd bearing (ball) cover 42, connecting axle 53, first taper gear pair 40, second taper gear pair 39, second bevel pinion shaft 48, 3rd taper gear pair 55, 3rd adpting flange 56, second bearing block 57, ring flange 38, described Hooke's hinge 32 respectively with the first axle 49, second axle 50 and the 3rd axle 47 affixed, described first axle 49 is connected by key with the pinion of described first gear pair 52, and gear wheel and the described clutch shaft bearing seat 41 of described first gear pair 52 pass through spline joint, described clutch shaft bearing seat 41 is connected by bearing with described 3rd bearing (ball) cover 42, and the bottom of clutch shaft bearing seat 41 is connected with described second joint shell 36 by bolt, thus realizes the transmission of the first gear pair 52-clutch shaft bearing seat 41-second joint shell 36, described second axle 50 is connected by key with the pinion of described second gear pair 51, the gear wheel of described second gear pair 51 is connected with described connecting axle 53 by the first spline 44, described first spline 44 is connected with described connecting axle 53, described connecting axle 53 is connected by the bevel pinion shaft of bolt with described first taper gear pair 40, thus realizes the transmission of the second gear pair 39-connecting axle 53-first taper gear pair 40, described 3rd axle 47 is connected by key with the pinion of described 3rd gear pair 46, and the gear wheel of described 3rd gear pair 46 is connected with described second bevel pinion shaft 48 by the second spline 45, and such 3rd gear pair 46 just can drive the second taper gear pair 39, the gear wheel of described first gear pair 52, second gear pair 51 and the 3rd gear pair 46 is installed with one heart in wrist shell 34, described 3rd bearing (ball) cover 42 is arranged on the bottom of wrist shell 34 by bolt, described clutch shaft bearing seat 41 is connected by bearing with described 3rd bearing (ball) cover 42, described clutch shaft bearing seat 41 is hollow, described first taper gear pair 40 is connected by bearing with described clutch shaft bearing seat 41, and described connecting axle 53 is connected by needle bearing 43 with described clutch shaft bearing seat 41, described connecting axle 53 is hollow, second bevel pinion shaft 48 of described second taper gear pair 39, through described connecting axle 53, is connected with connecting axle 53 by bearing, described 3rd joint shell 37 is fixed on described connection end cap 54, and described connection end cap 54 is bolted on described first taper gear pair 40, thus the first taper gear pair 40 can drive the 3rd joint shell 37 to rotate, described second taper gear pair 39 is connected with described 3rd taper gear pair 54, namely a conical gear of the second taper gear pair 39 is affixed by the gear shaft of bolt and flat key and the 3rd taper gear pair 55, thus drive the rotation of the 3rd taper gear pair 55, namely achieve another rotation of Three Degree Of Freedom wrist, described bearing cap 35 is bolted on described second joint shell 36, described first taper gear pair 40 is connected with described clutch shaft bearing seat 41 by bearing, the gear shaft of described 3rd taper gear pair 55 through the hollow gear shaft of described first taper gear pair 40 and the two connected by bearing, described 3rd adpting flange 56 is bolted on the 3rd joint shell 37, described second bearing block 57 is bolted on described 3rd adpting flange 56, and the gear shaft of described 3rd taper gear pair 55 is connected by bearing with the second described bearing block 57, the gear shaft of described 3rd taper gear pair 55 is connected with described ring flange 38 by bolt, axle sleeve, and described ring flange 38 is used for connecting from different handgrips.
Below be schematically described the present invention and embodiment thereof, this description does not have restricted, and shown in accompanying drawing is also one of embodiments of the present invention, and actual structure is not limited thereto.So, if those of ordinary skill in the art enlightens by it, when not departing from the invention aim, designing the frame mode similar to this technical scheme and embodiment without creationary, all should protection scope of the present invention be belonged to.
Claims (5)
1. a six degree of freedom plane articulation robot, is characterized in that this robot comprises base (1), the first arm (2) and drive unit thereof, the second arm (3) and drive unit, Three Degree Of Freedom wrist (18) and drive unit thereof, described first arm (2) is arranged on described base (1), described second arm (3) is arranged on the end of described first arm (2), described Three Degree Of Freedom wrist (18) and the first ball spline (10), second ball spline (12) and the 3rd ball spline (14) connect, be arranged on the first servomotor (6) on the second arm (3), second servomotor (8) and the 3rd servomotor (9) are by synchronous pulley and described first ball spline (10), second ball spline (12) and the 3rd ball spline (14) drive the motion of described Three Degree Of Freedom wrist (18), motion on the vertical direction of described Three Degree Of Freedom wrist (18) is provided by ball-screw (11), 6th servomotor (7) provides power by synchronous pulley to described ball-screw (11).
2. a kind of six degree of freedom plane articulation robot according to claim 1, is characterized in that described first arm (2) and drive unit thereof comprise the first arm (2), the 4th servomotor (20), first harmonic decelerator (21), the first adpting flange (22), clutch shaft bearing (23), clutch shaft bearing end cap (24) and bearing inner race end cap (25), described 4th servomotor (20) is arranged on the inside of described base (1), described clutch shaft bearing end cap (24), the boss of bearing inner race end cap (25) and described base (1) inwall positions described clutch shaft bearing (23) jointly, described 4th servomotor (20) and described first harmonic decelerator (21) are bolted, described first harmonic decelerator (21) is connected with described first adpting flange (22) by bolt, described first adpting flange (22) is connected with described bearing inner race end cap (25) by bolt, described first arm (2) is connected with described bearing inner race end cap (25) by bolt, described first adpting flange (22) is connected by described clutch shaft bearing (23) with the inwall of described base (1), described clutch shaft bearing end cap (24) is connected with described base (1) by bolt.
3. a kind of six degree of freedom plane articulation robot according to claim 1, is characterized in that described second arm (3) and drive unit thereof comprise the 5th servomotor (4), connecting plate for electric motor (26), second harmonic decelerator (27), the second adpting flange (28), flange connector (31), the second bearing (29), the second bearing (ball) cover (30) and the second arm (3); one end of described second arm (3) is the hollow cylinder with shoulder hole, described second harmonic decelerator (27), second adpting flange (28) and flange connector (31) are arranged on the inside of described hollow cylinder, described 5th servomotor (4) is arranged on described connecting plate for electric motor (26), described 5th servomotor (4) is connected with described second harmonic decelerator (27), described second harmonic decelerator (27) is connected with described second adpting flange (28) by bolt, described flange connector (31) and described second adpting flange (28) are bolted, described flange connector (31) is connected with described second arm (3) by described second bearing (29), described flange connector (31) is connected by the other end of bolt with described first arm (2), described second bearing (ball) cover (30) is bolted on described second arm (3) one end with shoulder hole, described second bearing (ball) cover (30) is for carrying out axial location to described second bearing (29).
4. a kind of six degree of freedom plane articulation robot according to claim 1, is characterized in that described Three Degree Of Freedom wrist (18) and drive unit thereof comprise the first servomotor (6), the second servomotor (8), the 3rd servomotor (9), the 6th servomotor (7), the first ball spline (10), the second ball spline (12), the 3rd ball spline (14), ball-screw (11), spline synchronous pulley, screw synchronous belt wheel (15), Triangulum (17) and Three Degree Of Freedom wrist (18), described first servomotor (6) is connected with planetary reducer, described planetary reducer is arranged on connecting plate, described connecting plate is bolted on the lower surface of described second arm (3), described planetary reducer is through the square opening on described second arm (3), the axle of described planetary reducer is connected with electrical machine belt pulley, and described electrical machine belt pulley is by the spline synchronous pulley of the first ball spline (10) described in belt drives, described second servomotor (8) is connected with planetary reducer, described planetary reducer is bolted in the hole seat of the second arm (3), the axle of described planetary reducer is connected with electrical machine belt pulley, and described electrical machine belt pulley is by the spline synchronous pulley of the second ball spline (12) described in belt drives, described 3rd servomotor (9) is connected with planetary reducer, described planetary reducer is bolted in the hole seat of described second arm (3), the axle of described planetary reducer is connected with electrical machine belt pulley, and described electrical machine belt pulley is by the spline synchronous pulley (16) of the 3rd ball spline (14) described in belt drives, with described first servomotor (6), the electrical machine belt pulley that second servomotor (8) and described 3rd servomotor (9) connect is positioned at the lower surface of described second arm (3), described 6th servomotor (7) is arranged on supporting seat, described supporting seat is bolted on described second arm (3), described 6th servomotor (7) is connected with electrical machine belt pulley by flat key, described 6th servomotor (7) drives described screw synchronous belt wheel (15) by electrical machine belt pulley, described 6th servomotor (7) is positioned between described second servomotor (8) and described 3rd servomotor (9), described ball-screw (11) by flange and described Triangulum (17) affixed, described Triangulum (17) can move along with moving up and down of described ball-screw (11), described first ball spline (10), second ball spline (12) and described 3rd ball spline (14) are each passed through three holes of described Triangulum (17), described first ball spline (10), second ball spline (12) and described 3rd ball spline (14) are connected by bearing with described Triangulum (17) respectively, and with bearing (ball) cover and nut axial restraint, described first ball spline (10), second ball spline (12) and described 3rd ball spline (14) can move along with moving up and down of described Triangulum (17) simultaneously, described spline synchronous pulley (16) is arranged on described first ball spline (10), the second ball spline (12) and described 3rd ball spline (14) respectively, and described spline synchronous pulley (16) is positioned at the lower surface of described second arm (3), described screw synchronous belt wheel (15) is arranged on described ball-screw (11), and described screw synchronous belt wheel (15) is positioned at the upper surface of described second arm (3), gripping sleeve (13) is equipped with in the upper end of described first ball spline (10), the second ball spline (12) and described 3rd ball spline (14), and described gripping sleeve (13) is for spacing, described spline synchronous pulley (16) drives the rotation of described first ball spline (10), the second ball spline (12) and described 3rd ball spline (14) by flange, and described screw synchronous belt wheel (15) drives moving up and down of described ball-screw (11) by flange, described Three Degree Of Freedom wrist (18) is connected with described first ball spline (10), the second ball spline (12) and described 3rd ball spline (14) respectively by Hooke's hinge (32).
5. a kind of six degree of freedom plane articulation robot according to claim 1, it is characterized in that described Three Degree Of Freedom wrist (18) comprises Hooke's hinge (32), wrist shell (34), casing cover (33), first axle (49), first gear pair (52), second axle (50), second gear pair (51), first spline (44), 3rd axle (47), 3rd gear pair (46), second spline (45), second joint shell (36), 3rd joint shell (37), connect end cap (54), bearing cap (35), clutch shaft bearing seat (41), needle bearing (43), 3rd bearing (ball) cover (42), connecting axle (53), first taper gear pair (40), second taper gear pair (39), second bevel pinion shaft (48), 3rd taper gear pair (55), 3rd adpting flange (56), second bearing block (57) and ring flange (38), described Hooke's hinge (32) is affixed with described first axle (49), the second axle (50) and the 3rd axle (47) respectively, described first axle (49) is connected by key with the pinion of described first gear pair (52), and gear wheel and the described clutch shaft bearing seat (41) of described first gear pair (52) pass through spline joint, described clutch shaft bearing seat (41) is connected by bearing with described 3rd bearing (ball) cover (42), the bottom of described clutch shaft bearing seat (41) is connected with described second joint shell (36) by bolt, thus realizes the transmission of described first gear pair (52), clutch shaft bearing seat (41) and second joint shell (36), described second axle (50) is connected by key with the pinion of described second gear pair (51), the gear wheel of described second gear pair (51) is connected with described connecting axle (53) by the first spline (44), described first spline (44) and described connecting axle (53) are connected, described connecting axle (53) is connected by the bevel pinion shaft of bolt with described first taper gear pair (40), thus realizes the transmission of described second gear pair (39), connecting axle (53) and described first taper gear pair (40), described 3rd axle (47) is connected by key with the pinion of described 3rd gear pair (46), the gear wheel of described 3rd gear pair (46) is connected with described second bevel pinion shaft (48) by the second spline (45), thus makes described 3rd gear pair (46) can drive the motion of described second taper gear pair (39), the gear wheel of described first gear pair (52), the second gear pair (51) and described 3rd gear pair (46) is positioned at described wrist shell (34), and described first gear pair (52), the second gear pair (51) and described 3rd gear pair (46) are installed with one heart, described 3rd bearing (ball) cover (42) is arranged on the bottom of described wrist shell (34) by bolt, described clutch shaft bearing seat (41) is connected by bearing with described 3rd bearing (ball) cover (42), described clutch shaft bearing seat (41) is hollow, described first taper gear pair (40) is connected by bearing with described clutch shaft bearing seat (41), and described connecting axle (53) is connected by needle bearing (43) with described clutch shaft bearing seat (41), described connecting axle (53) is hollow, and second bevel pinion shaft (48) of described second taper gear pair (39) is through described connecting axle (53) and be connected with described connecting axle (53) by bearing, described 3rd joint shell (37) is fixed on described connection end cap (54), described connection end cap (54) is bolted on described first taper gear pair (40), thus makes described first taper gear pair (40) that described 3rd joint shell (37) can be driven to rotate, described second taper gear pair (39) is connected with described 3rd taper gear pair (55), namely the conical gear in described second taper gear pair (39) is affixed by the gear shaft of bolt and flat key and described 3rd taper gear pair (55), thus drives the rotation of described 3rd taper gear pair (55), described bearing cap (35) is bolted on described second joint shell (36), described first taper gear pair (40) is connected with described clutch shaft bearing seat (41) by bearing, the gear shaft of described 3rd taper gear pair (55) passes the hollow gear shaft of described first taper gear pair (40), and the gear shaft of described 3rd taper gear pair (55) is connected by bearing with the hollow gear shaft of described first taper gear pair (40), described 3rd adpting flange (56) is bolted on described 3rd joint shell (37), described second bearing block (57) is bolted on described 3rd adpting flange (56), the gear shaft of described 3rd taper gear pair (55) is connected by bearing with described second bearing block (57), the gear shaft of described 3rd taper gear pair (55) is connected with described ring flange (38) with axle sleeve by bolt, and described ring flange (38) is used for connecting from different handgrips.
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| CN105500359A (en) * | 2016-03-02 | 2016-04-20 | 安徽华创智能装备有限公司 | Heavy-load SCARA (selective compliance assembly robot arm) transfer robot |
| CN107718044A (en) * | 2017-11-09 | 2018-02-23 | 杭州程天科技发展有限公司 | Suppress the ectoskeleton joint that reductor is axially moved |
| CN107854779A (en) * | 2017-11-22 | 2018-03-30 | 中国科学院上海应用物理研究所 | A kind of radiotherapy robot therapeutic bed of SCARA structures |
| CN108527342A (en) * | 2018-04-20 | 2018-09-14 | 深圳市欧力克斯科技有限公司 | A kind of novel SCARA robot architectures |
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| CN108814924A (en) * | 2018-07-09 | 2018-11-16 | 贺婷 | A kind of health-care medical scraping bed |
| CN109732253A (en) * | 2019-02-27 | 2019-05-10 | 西安理工大学 | Lorry compartment automatic welding equipment |
| CN109794714A (en) * | 2019-03-27 | 2019-05-24 | 广西大学 | A kind of controllable parasitic mechanisms formula welding robot of six degree of freedom |
| CN110696039A (en) * | 2019-11-04 | 2020-01-17 | 杭州亿微自动化有限公司 | Robot tail end grabbing device |
| CN110696039B (en) * | 2019-11-04 | 2021-07-27 | 杭州亿微自动化有限公司 | Robot tail end grabbing device |
| CN113021324A (en) * | 2019-12-09 | 2021-06-25 | 宁波智能制造技术研究院有限公司 | Stepped coaxial transmission mechanism for robot |
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