CN107433572A - Eight-axis robot for precise track processing - Google Patents
Eight-axis robot for precise track processing Download PDFInfo
- Publication number
- CN107433572A CN107433572A CN201710777778.7A CN201710777778A CN107433572A CN 107433572 A CN107433572 A CN 107433572A CN 201710777778 A CN201710777778 A CN 201710777778A CN 107433572 A CN107433572 A CN 107433572A
- Authority
- CN
- China
- Prior art keywords
- revolving body
- gear
- axis
- plant
- processing unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000012545 processing Methods 0.000 title claims abstract description 82
- 238000000034 method Methods 0.000 claims abstract description 15
- 238000013519 translation Methods 0.000 claims description 4
- 230000008878 coupling Effects 0.000 abstract description 2
- 238000010168 coupling process Methods 0.000 abstract description 2
- 238000005859 coupling reaction Methods 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000006880 cross-coupling reaction Methods 0.000 abstract 1
- 230000033001 locomotion Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000003754 machining Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 238000003698 laser cutting Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0055—Cutting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a processing apparatus implemented by a robot. The purpose is to provide an eight robots for accurate orbit processing, utilizes the accurate orbit processingequipment of diaxon of installing at six robots output, improves processing orbit precision and production efficiency. The technical scheme is as follows: the eight-axis robot for precise track processing comprises a six-axis robot and a processing device; the method is characterized in that: the eight-axis robot also comprises a two-axis precise track processing device; this accurate orbit processingequipment of diaxon includes: 1) a gear shaft I driven by a servo motor I and a gear shaft II driven by a servo motor II are respectively fixed on the shell; 2) the gear shaft I drives the gear revolving body I through a pinion fixed on the gear shaft I, and the gear shaft II drives the gear revolving body II through a pinion fixed on the gear shaft II; 3) one end of the gear revolving body I is connected with one end of the cross coupling; the other end of the cross-shaped coupling is connected with the output end.
Description
Technical field
The present invention relates to it is a kind of by robot come the processing unit (plant) implemented, and in particular to one kind is used for accurate track and processed
Eight axle robot devices.
Background technology
With flourishing for Robot industry in recent years, robot price reduces year by year, utilizes robot to substitute special plane
Equipment, the application for implementing accurate track processing on three-dimensional structure part are more and more.Because industrial robot typically uses joint
Cascaded structure, robot output end rigidity is not high, and effect of inertia is big in motion process, is extremely difficult to wanting for accurate track processing
Ask.Trajector deviation is also related to robot movement velocity, and speed is faster, and deviation is bigger.
The content of the invention
It is an object of the invention to provide a kind of eight axle robots for the processing of accurate track, using installed in six axle machines
Two axle precision track processing unit (plant)s of people's output end, improve machining locus precision and production efficiency.
For eight axle robots of accurate track processing, including six-joint robot and processing unit (plant)；It is characterized in that：Should
Eight axle robots also include two axle precision track processing unit (plant)s；The two axles precision track processing unit (plant) includes：
1) the gear shaft I driven by servomotor I being separately fixed on casing and the tooth driven by servomotor II
Wheel shaft II；
2) gear shaft I is by being fixed on the little gear of itself, and drive gear revolving body I, gear shaft II are by being fixed on certainly
The little gear of body, drive gear revolving body II；
3) gear revolving body II is rotatably mounted on casing, and gear revolving body I is fixed on gear revolving body II, and two
Individual gear revolving body coaxial line arrangement；
4) gear revolving body I one end and one end of cross coupler connect；The other end and output end of cross coupler
Connection；
5) output end is rotatably installed on the position of offset teeth wheel revolving body axis on gear revolving body II, output end axle
Line is parallel to each other with gear revolving body II axis；
6) deviate in output end and be rotatably positioned output shaft on the position of own axes；
7) output end is connected by connecting plate with the dynamic plate of two-dimension translational platform；The fixed board of two-dimension translational platform is connected with casing；
8) the output axis connection processing unit (plant) of output end, driving processing unit (plant) realize accurate track processing.
The output end of the six-joint robot and the fixed board of two-dimension translational platform are affixed.
The axis of the output end and the axis of output shaft are parallel to each other.
The distance of the output shaft axis and output end axis be equal to gear revolving body II axis and output end axis away from
From.
The beneficial effects of the invention are as follows：Because two axle precision track processing unit (plant)s transmissions are apart from short, compact-sized, operation is steady
Fixed, path accuracy is high, and path accuracy is influenceed very little by speed, high in machining efficiency；It is used cooperatively with six-joint robot, can be effective
Improve machining locus precision.
Brief description of the drawings
Fig. 1 is the main structure diagram of the present invention.
Fig. 2 is the main structure diagram of two axle precision track processing unit (plant)s in the present invention.
Fig. 3 is the dimensional structure diagram of two axle precision track processing unit (plant)s in the present invention.
Fig. 4 is motor 1 (i.e. servomotor I) drive output procedure chart in two axle precision track processing unit (plant)s.
Fig. 5 is motor 2 (i.e. servomotor II) drive output procedure chart in two axle precision track processing unit (plant)s.
Fig. 6 is motor 1 and motor 2 while drive output procedure chart in two axle precision track processing unit (plant)s.
Have in figure：
1st, servomotor I；2nd, servomotor II；3rd, gear shaft I；4th, gear revolving body I；5th, gear shaft II；6th, gear returns
Swivel II；7th, upper bearing (metal)；8th, casing, 9, cross coupler；10th, output end；11st, output shaft；12nd, connecting plate；13rd, two-dimension translational
Platform；14th, lower bearing；A, six-joint robot；B, two axle precision track processing unit (plant)；C, processing unit (plant).
Embodiment
Further illustrated below in conjunction with embodiment shown in the drawings.
The eight axle robots shown in the drawings for the processing of accurate track, including six-joint robot A and processing unit (plant) C；
These are similar with prior art.
The improvement of the present invention, is that two axle precision track processing unit (plant)s are configured between six-joint robot and processing unit (plant)
(also known as Liang Zhou robots) B；The output end of six-joint robot and the fixed board of two-dimension translational platform in two axle precision track processing unit (plant)s
Affixed, processing unit (plant) is fixed on the output shaft of two axle precision track processing unit (plant)s.
The two axles precision track processing unit (plant) is furnished with servomotor I 1 and servomotor II 2, the output of two servomotors
Axle is connected and installed with the gear shaft of little gear respectively, for drive gear revolving body I 4 and (the gear revolving body of gear revolving body II 6
I and gear revolving body II be two big roller gears)；Cross coupler 9 is connected in one end of gear revolving body I, and (gear returns
One end of swivel I is connected with the long rectangular boss with the fit depressions of cross coupler one end, and long rectangular boss is embedded into ten
In the groove of word shaft coupling one end, it is slidably matched and couples with cross coupler formation)；The cross coupler other end is connected to two axles
(output end is also connected with long rectangular boss to the output end 10 of accurate track processing unit (plant) close to the other end of cross coupler, should
Long rectangular boss is also embedded into cross coupler other end groove, the other end of such cross coupler and two axle precision tracks
Processing unit (plant) output end also forms the connection that is slidably matched).
Gear revolving body I and gear revolving body II are two big roller gears, two big roller gear axis coaxle；Output
End is rotatably installed on gear revolving body II by bearing, the position of the axis runout gear revolving body II axis of output end
(i.e. two axis have certain eccentric throw), output end axis is parallel to each other with gear revolving body axis；Pass through in output end
Bearing is rotatably positioned output shaft 11；(i.e. two axis have one for the position of the axis runout output end axis of output shaft
Fixed eccentric throw)；The output end of two axle precision track processing unit (plant)s can on gear revolving body II flexible rotating, rotation axis
The as rotation axis of two axle precision track processing unit (plant) output ends.
It can also be said differently：The rotation axis of two axle precision track processing unit (plant) output ends is eccentric in gear revolving body
II axis, and it is designed with certain eccentric distance；Also, the axle precision track of output shaft axis runout two processing of processing unit (plant)
The rotation axis of device output end.
In the processing unit (plant) of above-described two axles precision track, it is eccentrically mounted design to have at two, is two axles precision at one
The rotation axis of track processing unit (plant) output end is eccentric in the axis of gear revolving body II, and another place is output shaft axis runout two
The rotation axis of axle precision track processing unit (plant) output end, the eccentric throw design at two are equal.
Two axle precision track processing unit (plant) output ends are affixed by the dynamic plate of connecting plate 12 and two-dimension translational platform 13, and two dimension is flat
Moving stage is made up of X to line slideway and the superposition of Y-direction line slideway, and two guide rails are in 90 ° of arranged crosswises, and two-dimension translational platform moves
Plate, can be along 90 ° of cross track planar movements relative to fixed board (two-dimension translational platform is matured product).
The housing of the fixed board of two-dimension translational platform and two axle precision track processing unit (plant)s, which is rigidly connected, to be integrated, two-dimension translational platform
Dynamic plate be then rigidly connected by connecting plate 12 and two axle precision track processing unit (plant) output ends；Because the limit of two-dimension translational platform
System, constrains two axle precision track processing unit (plant) output ends, it is moved along the X-Y line slideways of bidimensional translation stage.
The operation principle of two axle precision track processing unit (plant)s is：
When servomotor I works, servomotor I is rotated by the little gear drive gear revolving body I on gear shaft I, band
Dynamic cross coupler rotates together；Cross coupler drives two axle precision track processing unit (plant) output ends around certainly by its other end
Shaft axis rotate.
The rotation axis of two axle precision track processing unit (plant) output ends and gear revolving body I pivot center are designed with bias
Away from, the output shaft of fixed processing unit (plant) is also configured with identical eccentric throw (as previously described), thus the movement locus of processing unit (plant),
It is to be added with the circular arc that the axis of output end (rotation axis) is the center of circle, arc radius equal to output shaft axis with two axle precision tracks
Frock puts the eccentric throw of output end axis.Processing unit (plant) track such as Fig. 4 motor 1 (i.e. servomotor I) drive output process
(processing unit (plant) is respectively illustrated in figure 0 °, 90 °, 180 °, 270 °, 360 ° of track shown in figure；Gear revolving body 1 in figure
As gear revolving body I, gear revolving body II are gear revolving body II；It is as follows).
When servomotor II works, servomotor II passes through II turn of little gear drive gear revolving body on gear shaft II
Dynamic, the two axle precision track processing unit (plant) output ends on gear revolving body II rotate therewith；Because two axles are accurate
The other end of track processing unit (plant) output end and cross coupler connects, the axle precision track processing unit (plant)s output of restriction two
The revolution around oneself axis is held, so two axle precision track processing unit (plant) output ends can only rotate around the axis of gear revolving body II,
The radius of gyration is equal to the rotation axis of output end to the eccentric throw of the axis of gear revolving body II.Processing unit (plant) track such as Fig. 5 electricity
Shown in machine 2 (i.e. servomotor II) drive output procedure chart.
When servomotor I and servomotor II work simultaneously, driving force caused by two servomotors is away from while driving two
Axle precision track processing unit (plant) output end rotates, because output end is acted on by associated two-dimension translational platform, output end
It can only be moved along X-Y line slideways, the movement locus of two axle precision track processing unit (plant) output ends, which is that the aspect of the above three is common, to be made
Result, is the circular arc of a translation, and the radius of circular arc is equal to two eccentric throw sums presented hereinbefore；When eccentric direction is consistent
Shi Xiangjia, it is inconsistent to subtract each other, so arc radius can adjust from zero to twice between eccentric distance, meet processing different size
The needs of circular hole.Processing unit (plant) track is as shown in Fig. 6 motors 1 and the drive output procedure chart simultaneously of motor 2.
Because the effect of contraction of two-dimension translational platform, the processing unit (plant) for being fixed on two axle precision track processing unit (plant) output ends exists
Translation state during cutting so that optical fiber and cable on processing unit (plant) etc. will not wind it is impaired.
The operation principle of eight axle robot precision track systems of processing is：
Two axle precision track processing unit (plant)s and processing unit (plant) (such as laser cutting head) are driven by six-joint robot first, will be added
Frock puts the position for navigating to aperture to be processed, and the posture that processing unit (plant) is adjusted to suitably process, processing unit (plant) have positioned
Cheng Hou, each kinematic axis of six-joint robot lock immediately.Control system starts processing unit (plant) and two axle precision track processing unit (plant)s are opened
Begin the processing of accurate track.
Statement：The preferable case study on implementation of the present invention is the foregoing is only, is not intended to limit the invention, it is all the present invention's
All any modification, equivalent and improvement made within principle and spirit etc., are all contained within protection scope of the present invention.
Claims (4)
1. one kind, which is used for accurate track, processes eight axle robots, including six-joint robot (A) and processing unit (plant) (C)；Its feature
It is：Two axle precision track processing unit (plant)s (B) are configured between six-joint robot and processing unit (plant)；The two axles precision track processes
Device includes：
1) be separately fixed on casing (8) by servomotor I (1) driving gear shaft I (3) and by servomotor II (2)
The gear shaft II (5) of driving；
2) gear shaft I is by being fixed on the little gear drive gear revolving body I (4) of itself, and gear shaft II is by being fixed on itself
Little gear drive gear revolving body II (6)；
3) gear revolving body II is rotationally scheduled on casing, and gear revolving body I is fixed on gear revolving body II, two gears
Revolving body coaxial line is arranged；
4) gear revolving body I one end is connected with one end of cross coupler (9)；The other end and output end of cross coupler
(10) connect；
5) output end is rotatably installed on the position of offset teeth wheel revolving body axis on gear revolving body II, output end axis with
Gear revolving body II axis are parallel to each other；
6) deviate in output end and be rotatably positioned output shaft (11) on the position of own axes；
7) output end is connected by connecting plate (12) with the dynamic plate of bidimensional translation stage (13)；The fixed board of two-dimension translational platform connects with casing
Connect；
8) the output axis connection processing unit (plant) of output end, to drive processing unit (plant) to realize, accurate track processes.
2. accurate track according to claim 1 processes eight axle robots, it is characterised in that：The six-joint robot it is defeated
It is affixed with the fixed board of two-dimension translational platform to go out end.
3. accurate track according to claim 2 processes eight axle robots, it is characterised in that：The axis of the output end with
The axis of output shaft is parallel to each other.
4. accurate track according to claim 3 processes eight axle robots, it is characterised in that：The output shaft axis with it is defeated
Go out to hold the distance of axis to be equal to the distance of gear revolving body II axis and output end axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710777778.7A CN107433572A (en) | 2017-09-01 | 2017-09-01 | Eight-axis robot for precise track processing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710777778.7A CN107433572A (en) | 2017-09-01 | 2017-09-01 | Eight-axis robot for precise track processing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107433572A true CN107433572A (en) | 2017-12-05 |
Family
ID=60461499
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710777778.7A Pending CN107433572A (en) | 2017-09-01 | 2017-09-01 | Eight-axis robot for precise track processing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107433572A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109514286A (en) * | 2018-11-21 | 2019-03-26 | 科德数控股份有限公司 | Improvement device based on Five-axis NC Machining Center |
| FR3081114A1 (en) * | 2018-05-17 | 2019-11-22 | Psa Automobiles Sa | DEVICE FOR POSITIONING A PLATE ON A TOLERIE PIECE |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63235073A (en) * | 1986-10-06 | 1988-09-30 | Yaskawa Electric Mfg Co Ltd | Locus interpolating device |
| JPH0957679A (en) * | 1995-08-21 | 1997-03-04 | Nachi Fujikoshi Corp | Locus generating device |
| CN101927507A (en) * | 2009-06-25 | 2010-12-29 | 陈立军 | Cutting blade driving device for hydraulic cutting equipment |
| US20170227099A1 (en) * | 2014-10-24 | 2017-08-10 | Hengfengtai Precision Machinery Co.,Ltd | Precision rotational transmission mechanism |
| CN207682376U (en) * | 2017-09-01 | 2018-08-03 | 杭州凯尔达机器人科技股份有限公司 | A kind of eight axis robots for accurate track processing |
-
2017
- 2017-09-01 CN CN201710777778.7A patent/CN107433572A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63235073A (en) * | 1986-10-06 | 1988-09-30 | Yaskawa Electric Mfg Co Ltd | Locus interpolating device |
| JPH0957679A (en) * | 1995-08-21 | 1997-03-04 | Nachi Fujikoshi Corp | Locus generating device |
| CN101927507A (en) * | 2009-06-25 | 2010-12-29 | 陈立军 | Cutting blade driving device for hydraulic cutting equipment |
| US20170227099A1 (en) * | 2014-10-24 | 2017-08-10 | Hengfengtai Precision Machinery Co.,Ltd | Precision rotational transmission mechanism |
| CN207682376U (en) * | 2017-09-01 | 2018-08-03 | 杭州凯尔达机器人科技股份有限公司 | A kind of eight axis robots for accurate track processing |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR3081114A1 (en) * | 2018-05-17 | 2019-11-22 | Psa Automobiles Sa | DEVICE FOR POSITIONING A PLATE ON A TOLERIE PIECE |
| CN109514286A (en) * | 2018-11-21 | 2019-03-26 | 科德数控股份有限公司 | Improvement device based on Five-axis NC Machining Center |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207682376U (en) | A kind of eight axis robots for accurate track processing | |
| CN106625665A (en) | Movable drilling and milling robot system achieving automatic addressing | |
| CN104668958B (en) | Flexible manufacturing system (FMS) | |
| CN103495971A (en) | Five degree-of-freedom combined robot platform | |
| US11813709B2 (en) | Symmetrical three-axis parallel spindle head capable of multi-directional fixed-point rotation | |
| CN107433572A (en) | Eight-axis robot for precise track processing | |
| CN106239510A (en) | A kind of 3-dof parallel robot Zero calibration method | |
| CN109514596B (en) | Double-cross hinge three-degree-of-freedom parallel joint mechanism | |
| CN205835300U (en) | A kind of monorail double mechanical arms Combined process system | |
| CN109318252B (en) | Wrist with three degrees of freedom and kinematic calculation method thereof | |
| CN104021249A (en) | Method for accurately calculating motion track of any point on surface of upper rotary forging die | |
| CN104625884A (en) | Automatic boring device of thin-wall-cylinder shaped spare part | |
| CN108202231B (en) | Working platform capable of realizing bidirectional simultaneous deflection angle | |
| CN211916851U (en) | Five-axis machining robot | |
| CN110325326B (en) | Control device and control method for link actuator | |
| CN207824876U (en) | A kind of planer-type Single Mechanical arm | |
| JP2018069354A (en) | Link type multi-joint robot | |
| CN101372085B (en) | Equipment for processing lens | |
| WO2014185879A2 (en) | Control mechanism | |
| TWI742978B (en) | Mechanical positioning structure and manipulator component | |
| CN211222801U (en) | Single-arm engraving machine | |
| CN106239509A (en) | A kind of precision machinery people | |
| CN109676200B (en) | Curved surface machining machine tool structure and motion control model thereof | |
| CN213238944U (en) | Light triaxial target simulation test equipment | |
| CN112846323B (en) | Three-dimensional vibration-assisted milling system and structural surface three-dimensional vibration-assisted milling method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 311232 No. 778, Changming Road, hongken farm, Xiaoshan Economic and Technological Development Zone, Hangzhou, Zhejiang Applicant after: Hangzhou kelda welding robot Co.,Ltd. Address before: 311232 No. 6, kenhui fifth road, Xiaoshan Economic and Technological Development Zone, Xiaoshan District, Hangzhou City, Zhejiang Province Applicant before: HANGZHOU KAIERDA ROBOT TECHNOLOGY Co.,Ltd. |
|
| CB02 | Change of applicant information | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20171205 |
|
| WD01 | Invention patent application deemed withdrawn after publication |