CN209319794U - A kind of five axis all positon cutting robots - Google Patents

Abstract

The utility model relates to a kind of five axis all positon cutting robots, including base member, the vertical arm component being fixed on base member, slide component is installed on vertical arm component, vertical arm component and slide component form vertical direction shifting axle pair, it is characterized in that, installing one component of horizontal arm on slide component, slide component and one component of horizontal arm form first order horizontal axis of rotation pair；Two component of horizontal arm is installed, one component of horizontal arm and two component of horizontal arm form second level horizontal axis of rotation pair on one component of horizontal arm；C-arm component is installed, two component of horizontal arm and C-arm component form third level horizontal axis of rotation pair on two component of horizontal arm；End-of-arm tooling component is installed on the wrist axis component of C-arm component.The orthogonal of round tube, oblique, the partially various intersection cut holes such as friendship, spherical surface cut hole, the application operatings such as various applications and plate groove, blanking such as pipe end square groove intersection cutting can be achieved.

Description

A kind of five axis all positon cutting robots

Technical field

The utility model relates to large and medium-sized special industrial robot device technical field, especially a kind of five axis all positons are cut Cut robot.

Background technique

Industrial robot can substitute manpower and complete various complex working conditions and the long-time under high-risk hostile environment, height The intensity duplication of labour, increasingly automated work.Realize intelligence, multifunction, flexible automation production.Mental section and product Industry, robot thermal cutting application have extensive market, process particularly with section steel cutting big and extensive.Traditional robot Cutting mode needs piece-holder to turn round, and cooperates with robot and completes cutting operation, not only causes the increasing of equipment manufacturing costs Add, produces work efficiency also by very big restriction.

The society need applied in the depth of industrial robot Xiang Geng great and range is suitable for more kinds of technique for applying Demand, industrial robot add in application in section steel cutting, and robot armed lever can be turned round around workpiece and be cut, and have biggish space can Up to property, there is higher pose design accuracy, realizes that the absolute position in off-line programing operating condition operates application, reduce robot Industrial robot, is applied and popularized to middle bottom end industry, is researcher's urgent problem by integrated application cost.

Utility model content

Purpose of the utility model is to solve defects of the existing technology, provide a kind of five axis all positon cutting machines Device people.

To achieve the goals above, the technical solution adopted in the utility model is:

A kind of five axis all positon cutting robots, including base member, the vertical arm component being fixed on base member, vertical arm Slide component is installed, vertical arm component and slide component form vertical direction shifting axle pair, which is characterized in that slide component on component Upper one component of installation horizontal arm, slide component and one component of horizontal arm form first order horizontal axis of rotation pair；

Two component of horizontal arm is installed, one component of horizontal arm and two component of horizontal arm form second level water on one component of horizontal arm Flat rotating shaft pair；C-arm component is installed, two component of horizontal arm and the C-arm component composition third level are horizontal on two component of horizontal arm Rotating shaft pair；

End-of-arm tooling component is installed on the wrist axis component of C-arm component.

Further, the vertical arm component uses box-shaped rod structure, be equipped in vertical arm component servo motor, bearing block assembly, Ball-screw, servo motor connect ball-screw, and bearing block assembly is set on ball-screw, and bearing block assembly is mounted on vertical arm On component, ball-screw lower end cooperates and is mounted on bearing bracket on the corresponding conjunction plane of vertical arm component；

Vertical arm member rail conjunction plane is equipped with two groups of linear guides and sliding block, lifting nut seat, nut and ball-screw Cooperation is installed along on the corresponding conjunction plane of slide component with sliding block, the vertical direction shifting axle that formation is moved along linear guide It is secondary.

Further, the slide component is fixedly connected with RV retarder, and servo motor is mounted on RV retarder input terminal, and RV subtracts Hollow Transmission Shafts, the brearing bore cooperation of Hollow Transmission Shafts and parts of bearings, parts of bearings are installed on fast device output flange face It installs, be supported on two component of horizontal arm, output power, Hollow Transmission Shafts shaft end and one component of horizontal arm are fixedly mounted, composition First order horizontal axis of rotation pair.

Further, the one component extension end of horizontal arm is fixedly mounted RV retarder and is mounted on RV retarder input terminal On servo motor, Hollow Transmission Shafts, the bearing of Hollow Transmission Shafts and parts of bearings are installed on RV reducer output flange face Inner hole, parts of bearings installation are supported on two component of horizontal arm, output power, Hollow Transmission Shafts shaft end and horizontal arm two Component is fixedly mounted, and forms second level horizontal axis of rotation pair.

Further, RV retarder is fixedly mounted in the two component extension end of horizontal arm, and RV retarder input terminal connects servo Motor, is equipped with Hollow Transmission Shafts on RV reducer output flange face, and the brearing bore of Hollow Transmission Shafts and parts of bearings cooperates, Parts of bearings, which is mounted on, to be supported on two component of horizontal arm, and output power, 503 shaft end of Hollow Transmission Shafts is fixed with C-arm component Installation forms third level horizontal axis of rotation pair.

Further, the intracavitary portion of C-arm component type is equipped with harmonic speed reducer, and harmonic speed reducer input terminal installs servo Motor, output end install bevel gear component one, the engagement orthogonal with bevel gear component two of bevel gear component one, and bevel gear component two is pacified On wrist axis component, wrist axis component is vertically turned round and is intersected at a bit with third level horizontal axis of rotation auxiliary space, end-of-arm tooling Component is mounted on wrist axis component, secondary coaxial with the third level horizontal axis of rotation when cutting torch is vertical.

Further, robot controller is fixedly mounted on base member.

Further, the first order horizontal axis of rotation pair, second level horizontal axis of rotation pair and third level horizontal axis of rotation Pair is all made of horizontal axis of rotation pair universal structure, and the servo motor of horizontal axis of rotation pair universal structure is mounted on RV retarder On, RV retarder and the flange face of the axle sleeve part of fixed armed lever are fixedly connected, and output shaft is connected in the output method of RV retarder Lan Shang, the output shaft other end install bearing, the axle sleeve cooperation of bearing outer ring and fixed armed lever, and adjustment lid compresses bearing sideshake, shape At RV retarder crossed roller bearing and external ball bearing triangle support pattern, pivoted arm is mounted on output shaft.Articulated arm The overturning moment that bar and front end vertical load generate loads in off-load to the boss face of fixed armed lever, realizes the big of robot armed lever Size, high-precision, high rigidity horizontal axis of rotation secondary motion.Hollow form is used on output shaft, facilitates robot servo motors line Cable passes through, fixes and realizes joint cable winds.

The utility model has the following beneficial effects: the robot construction that the utility model provides, is learned from space mechanism, robot The angle analysis of research can be by end-of-arm tooling perpendicular to wrist axis when end-of-arm tooling is not necessarily to around itself revolution (straight handle tools) Installation, forms a Virtual space axis.Therefore, any position in space may be implemented in five axis all positon cutting industrial robot Set, posture it is reachable, can theoretically be able to achieve any attitude curve slope processing.When end-of-arm tooling assembly tool axis and level (design of present case armed lever is overlapped with third level horizontal rotation axis), 6 knuckle failure of C-arm component, shape when axis of rotation is parallel At redundancy armed lever, armed lever posture may be individually planned as independent axes, realize all positon cutting processing that armed lever is turned round around workpiece. In view of existing metal rolled-section section is mostly within 600mm rectangular surfaces, therefore, the utility model robot product can be with Say the specification limit for substantially covering profile.Simultaneously, it can be achieved that the orthogonal of round tube, oblique, the partially various intersection cut holes such as friendship, ball Face cut hole, the application operatings such as various applications and plate groove, blanking such as pipe end square groove intersection cutting.

Robot armed lever is bigger compared to working range with traditional 6 articulated robots, can the construction of lesser land occupation face compared with Big working space, robot armed lever can be turned round around workpiece all positon and be cut, and have subversiveness wound to existing section steel cutting mode Newly, widely used, there are very high economic results in society.In structure feature, turned round using redundancy C-arm bar around workpiece, it can be with Say the specification for substantially covering profile and cutting application range.Simultaneously, it can be achieved that the orthogonal of round tube, oblique, the partially various phases such as friendship Transversal cut hole, spherical surface cut hole, the application operatings such as various applications and plate groove, blanking such as pipe end square groove intersection cutting. End joint shaft attitude angle intuitive is strong, facilitates operation, there is stronger applicability, this is that existing industrial robot can not be accomplished 's.

Robot armed lever large scale, high-precision, high rigidity horizontal axis of rotation secondary motion.Box column is used by vertical arm component Structure, to guarantee the system rigidity of industry robot.The mode of ball-screw combination linear guide realizes vertical direction shifting axle Secondary high rigidity, high-precision, large scale are driven problem.

The Spatial Structure Optimization for realizing robot construction, in terms of robot location's accessibility, robot application space Greatly, and armed lever posture does not influence robot application spatial utility with the variation of spatial position；Robot wrist tool posture can In terms of property, end-of-arm tooling realizes that three-dimensional space any attitude is reachable, and no posture applies dead angle；In terms of robot application, hair The redundancy properties in robot motion's feature are showed, the functional characteristic of the avoidance movement of robot armed lever have been increased, using C-arm Rod structure mode realizes all positon cutting application that armed lever is turned round around workpiece.Optimize in robot kinematics and algorithm of robot dynamics Also there is apparent method advantage with application function optimization aspect.To be achieved present utility model application robot product structure Advantageous characteristic.

Detailed description of the invention

Fig. 1 is the three-dimensional structure diagram of five axis all positon cutting industrial robot provided by the utility model；

Fig. 2 is the structure sectional view of the cutting industrial robot of five axis all positons shown in Fig. 1；

Fig. 3 is the partial structure sectional view that five axis all positons shown in Fig. 1 cut industrial robot C shape the upper arm member；

Fig. 4 is that five axis all positons shown in Fig. 2 cut the flat rotating shaft pair universal architecture schematic diagram of industrial robot water.

Specific embodiment

As shown in Figure 1, a kind of five axis all positon cutting robots, including base member 1, it is fixed on base member 1 Robot controller 101 and vertical arm component 2；Slide component 3 is mounted on vertical arm component 2, forms vertical direction shifting axle pair； One component 4 of horizontal arm is mounted on slide component 3, forms first order horizontal axis of rotation pair；Two component 5 of horizontal arm is mounted on level On one component 4 of arm, second level horizontal axis of rotation pair is formed；C-arm component 6 is mounted on two component 5 of horizontal arm, forms the third level Horizontal axis of rotation pair；End-of-arm tooling component 7 is mounted on 6 wrist axis component of C-arm component.Robot servo motors cable passes through each Mechanism part internal cavity is connected on robot controller 101.

As shown in Fig. 2, vertical arm component 2 uses box-shaped rod structure, to guarantee the system rigidity of industry robot；Main zero Part includes the servo motor 208, bearing block assembly 207, ball-screw 202 being assembled together, and integral installation is in vertical arm component 2 On；202 lower end of ball-screw and bearing bracket 201 cooperate, and are mounted on the correspondence conjunction plane of vertical arm component 2；Vertical arm component 2 is led Rail coupling face is equipped with two groups of linear guides 205 and sliding block 206；Lifting nut seat 203, nut 204 and ball-screw 202 are matched It closes, together with sliding block 206, is mounted on the corresponding conjunction plane of slide component 3, form the vertical side moved along linear guide 205 To shifting axle pair.Robot servo motors cable can pass through nut seat 203, until vertical arm component 2.

Slide component 3 and RV retarder 302 is fixedly connected, and servo motor 301 is mounted on 302 input terminal of RV retarder, RV Retarder is equipped with Hollow Transmission Shafts 303 on 302 output flange face, cooperates with the brearing bore of parts of bearings 304, bearing portion Part 304, which is mounted on, to be supported on two component 5 of horizontal arm, output power, and 303 shaft end of Hollow Transmission Shafts and one component 4 of horizontal arm are solid Dingan County's dress, forms first order horizontal axis of rotation pair.Robot servo motors cable can pass through Hollow Transmission Shafts 303, until slide Component 3.

RV retarder 403 is fixedly mounted in one component of horizontal arm, 4 extension end, and is mounted on 403 input terminal of RV retarder Servo motor 404；RV retarder is equipped with Hollow Transmission Shafts 402 on 403 output flange face, the bearing with parts of bearings 401 Inner hole, parts of bearings 401, which is mounted on, to be supported on two component 5 of horizontal arm, output power, 402 shaft end of Hollow Transmission Shafts with Two component 5 of horizontal arm is fixedly mounted, and forms second level horizontal axis of rotation pair.Robot servo motors cable can pass through hollow biography Moving axis 402, until one component 4 of horizontal arm.

RV retarder 501 is fixedly mounted in two component of horizontal arm, 5 extension end, and is mounted on 501 input terminal of RV retarder Servo motor 502；RV retarder is equipped with Hollow Transmission Shafts 503 on 501 output flange face, the bearing with parts of bearings 504 Inner hole, parts of bearings 504, which is mounted on, to be supported on two component 5 of horizontal arm, output power, 503 shaft end of Hollow Transmission Shafts with C-arm component 6 is fixedly mounted, and forms third level horizontal axis of rotation pair.

As shown in figure 3, the intracavitary portion of 6 type of C-arm component is equipped with harmonic speed reducer 602,602 input terminal of harmonic speed reducer Servo motor 601 is installed, output end installs bevel gear component 1, engagement orthogonal with bevel gear component 2 604, bevel gear group Part 2 604 is mounted on wrist axis component 605, wrist axis component 605 vertically revolution and with third level horizontal axis of rotation auxiliary space junction In a bit, end-of-arm tooling component 7 is mounted on wrist axis component 605, secondary coaxial with the third level horizontal axis of rotation when cutting torch is vertical. Robot servo motors cable can pass through the 6 intracavitary portion of type of C shape the upper arm member, until two component 5 of horizontal arm.Due to robot cutting torch When work without itself turn round, therefore, the five axis all positon cutting industrial robot space any position may be implemented, posture can It reaches, can theoretically be able to achieve the curve slope processing of any attitude.When 7 tool axis of end-of-arm tooling component and horizontal rotation axis When parallel (design of present case armed lever is overlapped with third level horizontal rotation axis), 6 knuckle failure of C-arm component forms redundancy arm Bar may individually plan armed lever posture as independent axes, realize all positon cutting processing that armed lever is turned round around workpiece.

Further instruction, robot RV joint speed reducer are used for horizontal rotation joint transmission, and retarder driving torque is hung down Directly in gravity load direction, end output flange will bear biggish armed lever gravity and topple the inclining of load and robot end's tool Cover torque load(ing), well beyond the normal type selecting range of retarder, rigidity, precision is difficult to ensure.Fig. 4 gives practical Novel horizontal rotating shaft pair universal structure feature, specifically: first order horizontal axis of rotation pair, second level horizontal axis of rotation pair with And third level horizontal axis of rotation pair is all made of horizontal axis of rotation pair universal structure, the servo of horizontal axis of rotation pair universal structure Motor A01 is mounted on RV retarder A02, and the flange face of the axle sleeve part of RV retarder A02 and fixed armed lever A03 is fixed to be joined It connects, output shaft A04 is connected on the output flange of RV retarder A02, and the output shaft A04 other end installs bearing A05, bearing A05 The axle sleeve of outer ring and fixed armed lever A03 cooperate, and adjustment lid A06 compresses bearing sideshake, formed RV retarder crossed roller bearing with External ball bearing triangle support pattern, pivoted arm A07 are mounted on output shaft A04.Pivoted arm A07 and front end vertical carry The overturning moment that lotus generates loads in off-load to the boss face of fixed armed lever A03, realizes the large scale, high-precision of robot armed lever Degree, high rigidity horizontal axis of rotation secondary motion.Hollow form is used on output shaft A04, robot servo motors cable is facilitated to pass through, It fixes and realizes joint cable winds.

The robot construction that the utility model provides learns the angle analysis of research from space mechanism, robot, when end work When tool is without around itself revolution (straight handle tools), end-of-arm tooling can be installed perpendicular to wrist axis, form a Virtual space Axis.Therefore, it is reachable that space any position, posture may be implemented in five axis all positon cutting industrial robot, theoretically may be real The curve slope processing of existing any attitude.(the present case arm when end-of-arm tooling assembly tool axis is parallel with horizontal rotation axis Bar design is overlapped with third level horizontal rotation axis), 6 knuckle failure of C-arm component forms redundancy armed lever, may be as independent Axis individually plans armed lever posture, realizes all positon cutting processing that armed lever is turned round around workpiece.In view of existing metal rolled-section Section is mostly within 600mm rectangular surfaces, and therefore, the utility model robot product is it may be said that substantially cover the specification of profile Range.Simultaneously, it can be achieved that various intersection cut holes, spherical surface cut hole, the pipe end square groove such as the orthogonal of round tube, oblique, inclined friendship mutually pass through The application operatings such as various applications and plate groove, blanking such as line cutting.

Robot armed lever is bigger compared to working range with traditional 6 articulated robots, can the construction of lesser land occupation face compared with Big working space, robot armed lever can be turned round around workpiece all positon and be cut, and have subversiveness wound to existing section steel cutting mode Newly, widely used, there are very high economic results in society.In structure feature, turned round using redundancy C-arm bar around workpiece, it can be with Say the specification for substantially covering profile and cutting application range.Simultaneously, it can be achieved that the orthogonal of round tube, oblique, the partially various phases such as friendship Transversal cut hole, spherical surface cut hole, the application operatings such as various applications and plate groove, blanking such as pipe end square groove intersection cutting. End joint shaft attitude angle intuitive is strong, facilitates operation, there is stronger applicability, this is that existing industrial robot can not be accomplished 's.

Robot armed lever large scale, high-precision, high rigidity horizontal axis of rotation secondary motion.Box column is used by vertical arm component Structure, to guarantee the system rigidity of industry robot.The mode of ball-screw combination linear guide realizes vertical direction shifting axle Secondary high rigidity, high-precision, large scale are driven problem.

The Spatial Structure Optimization for realizing robot construction, in terms of robot location's accessibility, robot application space Greatly, and armed lever posture does not influence robot application spatial utility with the variation of spatial position；Robot wrist tool posture can In terms of property, end-of-arm tooling realizes that three-dimensional space any attitude is reachable, and no posture applies dead angle；In terms of robot application, hair The redundancy properties in robot motion's feature are showed, the functional characteristic of the avoidance movement of robot armed lever have been increased, using C-arm Rod structure mode realizes all positon cutting application that armed lever is turned round around workpiece.Optimize in robot kinematics and algorithm of robot dynamics Also there is apparent method advantage with application function optimization aspect.To be achieved present utility model application robot product structure Advantageous characteristic.

Basic principles, main features, and advantages of the present invention has been shown and described above.Current row The technical staff of industry is described in above embodiments and description it should be appreciated that the present utility model is not limited to the above embodiments Only the principles of the present invention, the utility model also has respectively on the premise of not departing from the spirit and scope of the utility model Kind changes and improvements, these changes and improvements are both fallen in the range of claimed invention.The requires of the utility model Protection scope defined by appended claims and its equivalent.

Claims (7)

1. a kind of five axis all positon cutting robots, including base member (1), the vertical arm component being fixed on base member (1) (2), slide component (3) are installed on vertical arm component (2), vertical arm component (2) and slide component (3) form vertical direction shifting axle It is secondary, which is characterized in that one component of horizontal arm (4) to be installed on slide component (3), slide component (3) and one component of horizontal arm (4) group At first order horizontal axis of rotation pair；

Two component of horizontal arm (5) are installed on one component of horizontal arm (4), one component of horizontal arm (4) and two component of horizontal arm (5) form Second level horizontal axis of rotation pair；C-arm component (6) are installed on two component of horizontal arm (5), two component of horizontal arm (5) and C-arm portion Part (6) forms third level horizontal axis of rotation pair；

End-of-arm tooling component (7) are installed on the wrist axis component (605) of C-arm component (6), the intracavitary portion of C-arm component (6) type It is equipped with harmonic speed reducer (602), harmonic speed reducer (602) input terminal installs servo motor (601), and output end installs bevel gear Component one (603), bevel gear component one (603) engagement orthogonal with bevel gear component two (604), bevel gear component two (604) peace On wrist axis component (605), wrist axis component (605) vertically turns round and intersects at one with third level horizontal axis of rotation auxiliary space Point, end-of-arm tooling component (7) is mounted on wrist axis component (605), secondary coaxial with the third level horizontal axis of rotation when cutting torch is vertical.

2. a kind of five axis all positon cutting robot according to claim 1, which is characterized in that the vertical arm component (2) Using box-shaped rod structure, it is equipped with servo motor (208), bearing block assembly (207), ball-screw (202) in vertical arm component (2), Servo motor (208) connects ball-screw (202), and bearing block assembly (207) is set on ball-screw (202), bearing block group Part (207) is mounted on vertical arm component (2), and ball-screw (202) lower end matches to merge with bearing bracket (201) is mounted on vertical arm portion On the correspondence conjunction plane of part (2)；

Vertical arm component (2) guide rail conjunction plane is equipped with two groups of linear guides (205) and sliding block (206), lifting nut seat (203), Nut (204) and ball-screw (202) cooperation are installed along on slide component (3) corresponding conjunction plane with sliding block (206), shape At the vertical direction shifting axle pair mobile along linear guide (205).

3. a kind of five axis all positon cutting robot according to claim 2, which is characterized in that the slide component (3) It is fixedly connected RV retarder (302), servo motor (301) is mounted on RV retarder (302) input terminal, and RV retarder (302) is defeated It being equipped on flange face out Hollow Transmission Shafts (303), the brearing bore of Hollow Transmission Shafts (303) and parts of bearings (304) cooperates, Parts of bearings (304) installation is supported on two component of horizontal arm (5), output power, Hollow Transmission Shafts (303) shaft end and level One component of arm (4) is fixedly mounted, and forms first order horizontal axis of rotation pair.

4. a kind of five axis all positon cutting robot according to claim 3, which is characterized in that one component of horizontal arm (4) servo motor (404) that extension end is fixedly mounted RV retarder (403) and is mounted on RV retarder (403) input terminal, It is equipped with Hollow Transmission Shafts (402) on RV retarder (403) output flange face, Hollow Transmission Shafts (402) and parts of bearings (401) Brearing bore cooperation, parts of bearings (401) installation, be supported on two component of horizontal arm (5), output power, Hollow Transmission Shafts (402) shaft end and two component of horizontal arm (5) are fixedly mounted, and form second level horizontal axis of rotation pair.

5. a kind of five axis all positon cutting robot according to claim 4, which is characterized in that two component of horizontal arm (5) RV retarder (501) are fixedly mounted in extension end, and RV retarder (501) input terminal connects servo motor (502), RV retarder (501) it is equipped on output flange face Hollow Transmission Shafts (503), in the bearing of Hollow Transmission Shafts (503) and parts of bearings (504) Hole cooperation, parts of bearings (504), which is mounted on, to be supported on two component of horizontal arm (5), output power, Hollow Transmission Shafts (503) axis End is fixedly mounted with C-arm component (6), forms third level horizontal axis of rotation pair.

6. a kind of five axis all positon cutting robot according to claim 1, which is characterized in that solid on base member (1) Determine mounting robot controller (101).

7. a kind of five axis all positon cutting robot according to claim 1, which is characterized in that the first order level is returned Shaft pair, second level horizontal axis of rotation is secondary and third level horizontal axis of rotation pair is all made of horizontal axis of rotation pair universal structure, The servo motor (A01) of horizontal axis of rotation pair universal structure is mounted on RV retarder (A02), RV retarder (A02) and solid The flange face of the axle sleeve part of fixed arm bar (A03) is fixedly connected, and output shaft (A04) is connected in the output method of RV retarder (A02) Lan Shang, output shaft (A04) other end install bearing (A05), and the axle sleeve of the bearing outer ring (A05) and fixed armed lever (A03) cooperate, and adjust Whole lid (A06) compresses bearing sideshake, forms RV retarder crossed roller bearing and external ball bearing triangle support pattern, articulated arm Bar (A07) is mounted on output shaft (A04), and the overturning moment of pivoted arm (A07) and the generation of front end vertical load loads off-load Onto the boss face of fixed armed lever (A03).