CN212351486U - Redundant driven five-axis grinding robot - Google Patents
Redundant driven five-axis grinding robot Download PDFInfo
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- CN212351486U CN212351486U CN202021650198.5U CN202021650198U CN212351486U CN 212351486 U CN212351486 U CN 212351486U CN 202021650198 U CN202021650198 U CN 202021650198U CN 212351486 U CN212351486 U CN 212351486U
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Abstract
The utility model relates to an industrial robot. The five-axis grinding robot is high in rigidity and large in working range and driven redundantly. The technical scheme is as follows: a redundant-drive five-axis grinding robot comprises a frame; the method is characterized in that: the two-degree-of-freedom grinding head mechanism further comprises a second T-shaped connecting rod, two first branches, two second branches and a two-degree-of-freedom working platform, wherein the second T-shaped connecting rod is hinged with the first T-shaped connecting rod and is provided with a grinding head; the first branch consists of a first sliding table, a first sliding block, a first rotating pair, a first connecting rod and a first hook hinge which are sequentially connected between the rack and the first T-shaped connecting rod; the first sliding block is movably positioned on the first sliding table and driven by a servo motor positioned on the first sliding table; the sliding directions of the first sliding blocks in the two first branches are parallel to each other.
Description
Technical Field
The utility model relates to an industrial robot, five grinding robot especially.
Background
The grinding refers to an operation of polishing, deburring and the like of a workpiece by using a grinding head to improve the surface quality. In hardware enterprises, there are a large number of grinding tasks. The manual polishing has the problems of high labor intensity, uneven polishing quality, harm to human health and the like. With the development of the robot technology, the automatic polishing of the robot is expected to become a solution for efficient polishing of hardware.
Workpiece grinding operations require the robot to provide five degrees of freedom. At present, although polishing robots at home and abroad are various in types, most of the polishing robots have the problems of poor overall rigidity, small polishing range and the like, and further application of the polishing robots is limited. The redundant drive is adopted, so that the rigidity and the load capacity of the robot can be improved, singularity in a working space is eliminated, and the singularity-free working space is enlarged. In order to promote the wide application of the grinding robot in the hardware industry, it is necessary to provide a redundant-drive five-axis grinding robot with high rigidity and large working range.
SUMMERY OF THE UTILITY MODEL
The utility model aims at overcoming the problem that exists among the above-mentioned background art, provide a high, the big redundant driven five-axis polishing robot of working range of rigidity.
The utility model provides a technical scheme is:
a redundant-drive five-axis grinding robot comprises a frame; the method is characterized in that: the two-degree-of-freedom grinding head mechanism further comprises a second T-shaped connecting rod, two first branches, two second branches and a two-degree-of-freedom working platform, wherein the second T-shaped connecting rod is hinged with the first T-shaped connecting rod and is provided with a grinding head;
the first branch consists of a first sliding table, a first sliding block, a first rotating pair, a first connecting rod and a first hook hinge which are sequentially connected between the rack and the first T-shaped connecting rod; the first sliding block is movably positioned on the first sliding table and driven by a servo motor positioned on the first sliding table; the sliding directions of the first sliding blocks in the two first branches are parallel to each other;
the second branch consists of a second sliding table, a second sliding block, a second revolute pair, a second connecting rod and a second hook joint which are sequentially connected between the rack and a second T-shaped connecting rod; the second sliding block is movably positioned on the second sliding table and is driven by a servo motor positioned on the second sliding table; the sliding directions of the second sliding blocks in the two second branches are parallel to each other.
The axial direction of the first rotating pair is parallel to the axial direction of a first rotating shaft of the first hook joint and is vertical to the axial direction of a second rotating shaft of the first hook joint; the axial direction of the first rotating pair is vertical to the moving direction of the first sliding block.
The axis direction of the second rotating pair is parallel to the axis direction of the first rotating shaft of the second hook joint and is vertical to the axis direction of the second rotating shaft of the second hook joint; the axis direction of the second revolute pair is parallel to the moving direction of the second sliding block.
The first hook joints in the two first branches are coaxial with the second rotating shaft; the second hooke's joints in the two second branches are coaxial with the second rotation axis.
The first T-shaped connecting rod and the second T-shaped connecting rod are connected through a third revolute pair; the second rotation axis of the first hook joint is parallel to the second rotation axis of the second hook joint and the third rotation pair axis.
The axial direction of the first rotating pair is parallel to the axial direction of the second rotating pair.
The two-degree-of-freedom working platform comprises a working platform, a third sliding table and a fourth sliding table; the working platform is fixed on a sliding block of the third sliding table, and the third sliding table is fixed on a sliding block of the fourth sliding table; the third sliding table and the fourth sliding table are horizontally arranged, and the moving directions are perpendicular to each other.
The polishing head is fixed on the second T-shaped connecting rod and driven by servo motors in the first branch and the second branch to realize two rotations and one movement; the working platform is used for fixing a workpiece and has two moving motions.
The utility model has the advantages that: the utility model provides a five grinding robot of redundant drive has advantages such as rigidity is good, working range is big, the rotation is nimble, can be used to workpiece surface polishing task that contains free-form surface such as hardware.
Drawings
Fig. 1 is a schematic perspective view of an embodiment of the present invention.
In the figure: 11. a first sliding table; 12. a second sliding table; 13. a third sliding table; 14. a fourth slide table; 21. a first slider; 22. a second slider; 3. a servo motor; 41. a first rotating pair; 42. a second revolute pair; 43. a third revolute pair; 51. a first link; 52. a second link; 61. a first hook joint; 611. a first hook hinge first rotating shaft; 612. a first hook joint second rotating shaft; 62. a second hook joint; 621. a second hook hinge first rotating shaft; 622. a second rotation shaft of a second hook joint; 71. a first T-shaped link; 72. a second T-shaped link; 8. polishing head; 9. a working platform.
Detailed Description
The present invention will be further described with reference to the following embodiments shown in the drawings, but the present invention is not limited to the following embodiments.
The redundant-drive five-axis grinding robot shown in fig. 1 comprises a frame (omitted in the figure), a first T-shaped connecting rod, a second T-shaped connecting rod, a grinding head, two first branches connected between the frame and the first T-shaped connecting rod in parallel, two second branches connected between the frame and the second T-shaped connecting rod in parallel, and a two-degree-of-freedom working platform.
The first branch consists of a first sliding table 11, a first sliding block 21, a servo motor 3, a first revolute pair 41, a first connecting rod 51 and a first hook joint 61; the first slide block can move on the first sliding table, and a ball screw (omitted in the figure) is driven by the servo motor 3. The sliding directions of the first sliding blocks in the two first branches are parallel to each other.
One end of the first connecting rod 51 is connected with the first sliding block 21 through the first revolute pair 41; the other end of the first link 51 is connected to a first T-shaped link 71 via a first hooke's joint 61.
The axial direction of the first rotating pair 41 is parallel to the axial direction of the first hooke joint first rotating shaft 611 and is perpendicular to the axial direction of the first hooke joint second rotating shaft 612; the axial direction of the first rotating pair 41 is perpendicular to the moving direction of the first slider 21.
The second branch is composed of a second sliding table 12, a second sliding block 22, a servo motor 3, a second revolute pair 42, a second connecting rod 52 and a second hook joint 62; the second slide block can move on the second sliding table, and a ball screw (omitted in the figure) is driven by the servo motor 3. The sliding directions of the second sliding blocks in the two second branches are parallel to each other.
One end of the second connecting rod 52 is connected with the second sliding block 22 through the second revolute pair 42; the other end of the second link 52 is connected to a second T-shaped link 72 by a second hook joint 62.
The axial direction of the second revolute pair 42 is parallel to the axial direction of the second hooke joint first rotating shaft 621 and is perpendicular to the axial direction of the second hooke joint second rotating shaft 622; the axial direction of the second revolute pair 42 is parallel to the moving direction of the second slider 22.
The first hook joints in the two first branches are coaxial with the second rotating shaft; the second hooke's joints in the two second branches are coaxial with the second rotation axis.
The first T-shaped link 71 and the second T-shaped link 72 are connected by the third revolute pair 43. The second rotation axis of the first hook joint is parallel to the second rotation axis of the second hook joint and the third rotation pair axis.
The axial direction of the first rotating pair 41 is parallel to the axial direction of the second rotating pair 42.
The two-degree-of-freedom working platform comprises a working platform 9, a third sliding table 13 and a fourth sliding table 14; the working platform is fixed on a sliding block (omitted in the drawing) of the third sliding table, and the third sliding table is fixed on a sliding block (omitted in the drawing) of the fourth sliding table; the third sliding table and the fourth sliding table are horizontally arranged, and the moving directions are perpendicular to each other.
In this example, the sanding head 8 is fixed to the second T-shaped link (or to the first T-shaped link) and is driven by the servo motors in the first and second branches to perform two rotations and one translation; the working platform is used for fixing a workpiece and has two moving motions, so that the relative motion between the polishing head and the workpiece comprises three movements and two rotations, and the free-form surface polishing capacity is achieved. The robot has five degrees of freedom driven by six servo motors and belongs to a redundant drive robot.
Claims (7)
1. A redundant-drive five-axis grinding robot comprises a frame; the method is characterized in that: the two-degree-of-freedom grinding machine further comprises a second T-shaped connecting rod (72) which is hinged with the first T-shaped connecting rod (71) and is provided with a grinding head (8), two first branches which are connected between the machine frame and the first T-shaped connecting rod in parallel, two second branches which are connected between the machine frame and the second T-shaped connecting rod in parallel and a two-degree-of-freedom working platform which is positioned below the grinding head;
the first branch consists of a first sliding table (11), a first sliding block (21), a first rotating pair (41), a first connecting rod (51) and a first hook hinge (61) which are sequentially connected between the rack and the first T-shaped connecting rod; the first sliding block is movably positioned on the first sliding table and driven by a servo motor positioned on the first sliding table; the sliding directions of the first sliding blocks in the two first branches are parallel to each other;
the second branch is formed by a second sliding table (12), a second sliding block (22), a second revolute pair (42), a second connecting rod (52) and a second hook hinge (62) which are sequentially connected between the rack and a second T-shaped connecting rod; the second sliding block is movably positioned on the second sliding table and is driven by a servo motor positioned on the second sliding table; the sliding directions of the second sliding blocks in the two second branches are parallel to each other.
2. The redundantly driven five-axis grinding robot of claim 1, characterized in that: the axial direction of the first rotating pair is parallel to the axial direction of a first hooke joint first rotating shaft (611) and is vertical to the axial direction of a first hooke joint second rotating shaft (612); the axial direction of the first rotating pair is vertical to the moving direction of the first sliding block;
the axial direction of the second rotating pair is parallel to the axial direction of the second hook joint first rotating shaft (621) and is vertical to the axial direction of the second hook joint second rotating shaft (622); the axis direction of the second revolute pair is parallel to the moving direction of the second sliding block.
3. The redundantly driven five-axis grinding robot of claim 2, characterized in that: the first hook joints in the two first branches are coaxial with the second rotating shaft; the second hooke's joints in the two second branches are coaxial with the second rotation axis.
4. The redundantly driven five-axis grinding robot of claim 3, wherein: the first T-shaped connecting rod and the second T-shaped connecting rod are connected through a third revolute pair (43); the second rotation axis of the first hook joint is parallel to the second rotation axis of the second hook joint and the third rotation pair axis.
5. The redundantly driven five-axis grinding robot of claim 4, wherein: the axial direction of the first rotating pair is parallel to the axial direction of the second rotating pair.
6. The redundantly driven five-axis grinding robot of claim 5, wherein: the two-degree-of-freedom working platform comprises a working platform (9), a third sliding table (13) and a fourth sliding table (14); the working platform is fixed on a sliding block of the third sliding table, and the third sliding table is fixed on a sliding block of the fourth sliding table; the third sliding table and the fourth sliding table are horizontally arranged, and the moving directions are perpendicular to each other.
7. The redundantly driven five-axis grinding robot of claim 6, wherein: the polishing head is fixed on the second T-shaped connecting rod and driven by servo motors in the first branch and the second branch to realize two rotations and one movement; the working platform is used for fixing a workpiece and has two moving motions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021650198.5U CN212351486U (en) | 2020-08-10 | 2020-08-10 | Redundant driven five-axis grinding robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021650198.5U CN212351486U (en) | 2020-08-10 | 2020-08-10 | Redundant driven five-axis grinding robot |
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| CN212351486U true CN212351486U (en) | 2021-01-15 |
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| CN202021650198.5U Active CN212351486U (en) | 2020-08-10 | 2020-08-10 | Redundant driven five-axis grinding robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112025479A (en) * | 2020-08-10 | 2020-12-04 | 浙江理工大学 | Redundant driven five-axis grinding robot |
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- 2020-08-10 CN CN202021650198.5U patent/CN212351486U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112025479A (en) * | 2020-08-10 | 2020-12-04 | 浙江理工大学 | Redundant driven five-axis grinding robot |
| CN112025479B (en) * | 2020-08-10 | 2024-07-05 | 浙江理工大学 | Redundant driven five-axis polishing robot |
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