CN103495971A - Five degree-of-freedom combined robot platform - Google Patents
Five degree-of-freedom combined robot platform Download PDFInfo
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- CN103495971A CN103495971A CN201310426290.1A CN201310426290A CN103495971A CN 103495971 A CN103495971 A CN 103495971A CN 201310426290 A CN201310426290 A CN 201310426290A CN 103495971 A CN103495971 A CN 103495971A
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Abstract
The invention discloses a five degree-of-freedom combined robot platform. The five degree-of-freedom combined robot platform is characterized by comprising a two-dimensional workbench at the bottom and a three degree-of-freedom manipulator vertically installed at the top, the two-dimensional workbench comprises a displacement table moving in the X direction, and the displacement table is provided with a workbench body moving in the Y direction; the three degree-of-freedom manipulator comprises a ball screw spline shaft and a vertical rotary shaft penetrating through the ball screw spline shaft, the ball screw spline shaft moves linearly in the Z direction under the action of a ball screw bearing in the middle of the ball screw spline shaft and rotates around the vertical shaft under the action of a ball spline bearing, the lower end of the vertical rotary shaft drives a horizontal rotary shaft to rotate through two bevel gears, and the two ends of the horizontal rotary shaft are fixedly provided with a connection flange with a wrist. The five degree-of-freedom combined robot platform is reasonable in mechanical design, compact in structure, good in dynamic characteristic, capable of reducing the coupling effect between joints, and especially suitable for three-dimensional profile measurement of parts and automatic assembly tasks.
Description
Technical field
The present invention relates to a kind of five degree of freedom Combined robot platform, this platform is for Design of digital, manufacture and Industrial Robot Technology field.
Background technology
In the measuring three-dimensional profile that carries out workpiece and automatic mounting timing, need frequent relative position or the attitude of adjusting between workpiece and end effector of robot.The robot that has been used for this task mainly contains two kinds of versions: Cartesian robot and articulated type serial machine people.The former is applicable to adjust relative position, if will change the attitude of robot, needs to increase rotational freedom.There is the close coupling of motion between a plurality of joints of the latter, when adjusting the relative pose of certain direction, need to change the corner in each joint, increased computation complexity and the error in the operation process, reduced efficiency.
The SCARA robot of herding the professor's invention of wild ocean of Japan is a kind of selective compliance assembly robot arm, rotation by large arm, forearm and be positioned at the coupling of the vertical axes of forearm end, realize the motion of four frees degree, that is: along the translation freedoms of X, Y, Z direction with around the rotational freedom of Z axis, it has kinetic characteristic fast, accurately, is mainly used in the fields such as carrying and electronic assemblies.But, when carrying out the complex job task, the free degree number of SCARA robot can't meet the demands, and is particularly carrying out part measuring three-dimensional profile or automatic mounting timing, needs end effector to rotate around horizontal rotating shaft; In addition, the SCARA robot needs large arm and forearm cooperative motion in the translation of X, Y-direction, has increased complexity and the position error controlled.
Because the Cartesian robot cost is low, be easy to assembling, integrated and control, be applicable to build the industrial automation equipment.In addition, the SCARA robot is installed together ball-screw bearing and ball spline bearing, makes vertical rotating shaft that two frees degree be arranged, and form is of compact construction.By the advantage in conjunction with these two kinds of robots, can design industrial robot more efficiently.
Summary of the invention
The objective of the invention is in order to make up the deficiency of prior art, a kind of five degree of freedom Combined robot platform is provided, be specially adapted to carry out part measuring three-dimensional profile and automatic fittage.
The present invention is achieved through the following technical solutions:
A kind of five degree of freedom Combined robot platform, it is characterized in that: include the two-dimentional work bench of bottom and the three freedom degree manipulator that top vertical is installed, described two-dimentional work bench includes the displacement platform moved along directions X, and the workbench moved along Y-direction is installed on described displacement platform; Described three freedom degree manipulator includes ball-screw spline and through the vertical rotating shaft in this axle, realize rectilinear motion under the effect of described ball-screw spline ball-screw bearing in the middle, under the effect of ball spline bearing, realize rotating around vertical axes, the lower end of described vertical rotating shaft drives a horizontal rotating shaft to rotate by two angular wheels, and the two ends of described horizontal rotating shaft are installed with the adpting flange of wrist.
The movement of described displacement platform and workbench is driven by the driven by motor ball-screw respectively.
Described ball-screw spline is rotatably installed in fixed muffle by ball-screw bearing and ball spline bearing, and the end of described ball-screw bearing and ball spline bearing is connected with respectively belt wheel, and described belt wheel is driven by motor respectively; Be positioned at the vertical rotating shaft of described ball-screw spline inside, its top is connected with motor output shaft by shaft coupling, and described motor is arranged on the support at ball-screw spline top.
Described fixed muffle is arranged on the top of two-dimentional work bench by support and crossbeam, the lower end of described vertical rotating shaft is equipped with bevel pinion, the two ends of described horizontal rotating shaft are rotatably installed in respectively on the wrist support, and its end fixedly mounts with the dual-side of adpting flange respectively.
Its principle is: this robot with five degrees of freedom platform, on the basis of SCARA robot, replaces original large arm and forearm with the bidimensional workbench that is positioned at bottom; On the manipulator at top, except using ball-screw spline, realize outside vertical direction rectilinear motion and rotation, utilize the through hole at ball-screw spline center, insert an elongated optical axis as vertical rotating shaft in through hole, the motor corner at axle top is delivered to bottom, and, by the bevel-type reversing gear of mechanical wrist part, makes manipulator there is the free degree of horizontally rotating.
The bidimensional workbench is comprised of the ball-screw slide unit mutually superposeed on X, Y-direction.When carrying out the robot automatic job, by the workpiece fixed placement, on the bidimensional workbench, workpiece is done plane motion along X, Y-direction under the drive of slide unit.
Three freedom degree manipulator forms by ball-screw spline with through the vertical rotating shaft at Gai Zhou center.Ball-screw spline, under the double action of ball-screw bearing and ball spline bearing, can be done rectilinear motion vertically, around rotation or the screw of vertical axes.When only having the ball-screw bearing rotary to move, this robot is identical with the forms of motion of Cartesian robot; When ball-screw bearing and ball spline bearing synchronously rotate, this axle rotates.The motor of installing at the ball-screw spline top, with this axle, move, the output shaft of this motor is through being arranged in the elongated vertical axes of this axle endoporus, the corner of motor is passed to the bevel gear of bottom, again by and its mutual vertically arranged bevel gear between engagement, the horizontal rotating shaft that drives the wrist place rotates, wrist is positioned at the bottom of ball-screw spline, move up and down or rotate with ball-screw spline, the adpting flange of wrist rotates with horizontal rotating shaft, thereby drives the end effector motion.
This robot platform has along the rectilinear motion free degree of X, Y, Z direction, and the free degree of rotating around vertical axes and trunnion axis, has five frees degree.By at arm end sensor installation or paw, can carry out measuring three-dimensional profile or assembling automatically to the workpiece be fixed on workbench.
Advantage of the present invention is:
Machine Design of the present invention is reasonable, and compact conformation has reduced the coupling between joint simultaneously, has dynamics preferably, is specially adapted to carry out part measuring three-dimensional profile and automatic fittage.
The accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
The specific embodiment
Referring to accompanying drawing, a kind of five degree of freedom Combined robot platform, include the two-dimentional work bench of bottom and the three freedom degree manipulator that top vertical is installed, two-dimentional work bench includes the displacement platform 2 moved along directions X, and the workbench 4 moved along Y-direction is installed on displacement platform 2; Described three freedom degree manipulator includes ball-screw spline 13 and through the vertical rotating shaft 12 in this axle, realize rectilinear motion under the effect of ball-screw spline 13 ball-screw bearing 18 in the middle, under the effect of ball spline bearing 15, realize rotating around vertical axes, vertically the lower end of rotating shaft 12 drives a horizontal rotating shaft 6 to rotate by two angular wheels, and the two ends of horizontal rotating shaft 6 are installed with the adpting flange 5 of wrist.
On the X-direction slide unit, the Y-direction slide unit that motor 1 drives displacement platform 2 and is located thereon, do rectilinear motion at directions X; On the Y-direction slide unit, motor 3 drives workbench 4, in Y-direction, does rectilinear motion.The adpting flange 5 of wrist is connected with horizontal rotating shaft 6, and rotating shaft 6 is connected with the support 11 of wrist by bearing 7.Bevel pinion 9 engaged transmission in bevel gear wheel 8 in rotating shaft 6 and vertical rotating shaft 12, rotating shaft 12 is connected with wrist support 11 by bearing 10, and support 11 is connected with ball-screw spline 13. Belt wheel 14,20 is connected with ball spline bearing 15, ball-screw bearing 18 in fixed muffle 17 respectively, and ball spline bearing 15, ball-screw bearing 18 are connected with sleeve 17 by bearing 16,19 respectively.Motor 23 is connected with ball-screw spline 13 by support 21, and the output shaft of motor 23 is connected with vertical rotating shaft 12 through shaft coupling 22, and rotating shaft 12 is arranged in the central bore of ball-screw spline 13. Motor 25,27 rotates by belt wheel and Timing Belt 24,26 band movable belt pulleys 14,20 respectively.Sleeve 17, motor 25 and 27 are installed on the fixed support 28 of manipulator.
Claims (4)
1. a five degree of freedom Combined robot platform, it is characterized in that: include the two-dimentional work bench of bottom and the three freedom degree manipulator that top vertical is installed, described two-dimentional work bench includes the displacement platform moved along directions X, and the workbench moved along Y-direction is installed on described displacement platform; Described three freedom degree manipulator includes ball-screw spline and through the vertical rotating shaft in this axle, realize rectilinear motion under the effect of described ball-screw spline ball-screw bearing in the middle, under the effect of ball spline bearing, realize rotating around vertical axes, the lower end of described vertical rotating shaft drives a horizontal rotating shaft to rotate by two angular wheels, and the two ends of described horizontal rotating shaft are installed with the adpting flange of wrist.
2. five degree of freedom Combined robot platform according to claim 1, it is characterized in that: the movement of described displacement platform and workbench is driven by the driven by motor ball-screw respectively.
3. five degree of freedom Combined robot platform according to claim 1, it is characterized in that: described ball-screw spline is rotatably installed in fixed muffle by ball-screw bearing and ball spline bearing, the end of described ball-screw bearing and ball spline bearing is connected with respectively belt wheel, and described belt wheel is driven by motor respectively; Be arranged in the vertical rotating shaft of described ball-screw spline endoporus, its top is connected with motor output shaft by shaft coupling, and described motor is arranged on the support at ball-screw spline top.
4. five degree of freedom Combined robot platform according to claim 3, it is characterized in that: described fixed muffle is arranged on the top of two-dimentional work bench by support and crossbeam, the lower end of described vertical rotating shaft is equipped with bevel pinion, the two ends of described horizontal rotating shaft are rotatably installed in respectively on the wrist support, and its end fixedly mounts with the dual-side of adpting flange respectively.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310426290.1A CN103495971B (en) | 2013-06-06 | 2013-09-17 | A kind of five degree of freedom Combined robot platform |
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| CN201310224885 | 2013-06-06 | ||
| CN201310224885.9 | 2013-06-06 | ||
| CN201310426290.1A CN103495971B (en) | 2013-06-06 | 2013-09-17 | A kind of five degree of freedom Combined robot platform |
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| CN103495971A true CN103495971A (en) | 2014-01-08 |
| CN103495971B CN103495971B (en) | 2016-02-03 |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104385260A (en) * | 2014-11-21 | 2015-03-04 | 华南理工大学 | Novel four-degree-of-freedom articulated robot structure |
| CN104802164A (en) * | 2015-05-04 | 2015-07-29 | 安徽华创智能装备有限公司 | Six-DOF (Degree Of Freedom) planar joint robot |
| CN104842346A (en) * | 2014-02-13 | 2015-08-19 | 罗普伺达机器人有限公司 | Desktop type cartesian coordinate robot assembled with 3-degree-of-freedom (DOF) wrist device |
| CN106363614A (en) * | 2016-11-21 | 2017-02-01 | 上海健石智能科技有限公司 | Motion platform with five degrees of freedom |
| CN106892008A (en) * | 2017-02-07 | 2017-06-27 | 浙江农林大学 | A kind of general crop field walking robot platform |
| CN107876414A (en) * | 2017-10-11 | 2018-04-06 | 南京邮电大学 | A kind of sheet metal with additional shaft cuts part sorting equipment |
| CN112873227A (en) * | 2021-01-20 | 2021-06-01 | 北京半导体专用设备研究所（中国电子科技集团公司第四十五研究所） | Carrying manipulator and laminating device |
| CN113771092A (en) * | 2021-08-25 | 2021-12-10 | 北京国电光宇机电设备有限公司 | Intelligent workbench for electric power assembly |
| CN114055402A (en) * | 2021-10-18 | 2022-02-18 | 昆明北方红外技术股份有限公司 | Infrared soft lens clamping ring fastening device with self-adaptive thread pitch |
| CN114619432A (en) * | 2022-03-17 | 2022-06-14 | 上海智能制造功能平台有限公司 | PR-3RRR double-platform equipment for intelligent assembly |
| CN114619427A (en) * | 2022-03-16 | 2022-06-14 | 上海智能制造功能平台有限公司 | 6PUS-3RRR double-platform equipment for intelligent assembly |
| CN114619215A (en) * | 2022-03-17 | 2022-06-14 | 上海智能制造功能平台有限公司 | PR-2PP double-platform equipment for intelligent assembly |
| CN114833811A (en) * | 2022-03-16 | 2022-08-02 | 上海智能制造功能平台有限公司 | 6PUS mechanism and 6PUS-2PP double-platform equipment for intelligent assembly |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104842346A (en) * | 2014-02-13 | 2015-08-19 | 罗普伺达机器人有限公司 | Desktop type cartesian coordinate robot assembled with 3-degree-of-freedom (DOF) wrist device |
| CN104385260A (en) * | 2014-11-21 | 2015-03-04 | 华南理工大学 | Novel four-degree-of-freedom articulated robot structure |
| CN104385260B (en) * | 2014-11-21 | 2016-04-13 | 华南理工大学 | A kind of four-degree-of-freedom plane articulation robot architecture |
| CN104802164A (en) * | 2015-05-04 | 2015-07-29 | 安徽华创智能装备有限公司 | Six-DOF (Degree Of Freedom) planar joint robot |
| CN106363614A (en) * | 2016-11-21 | 2017-02-01 | 上海健石智能科技有限公司 | Motion platform with five degrees of freedom |
| CN106892008A (en) * | 2017-02-07 | 2017-06-27 | 浙江农林大学 | A kind of general crop field walking robot platform |
| CN106892008B (en) * | 2017-02-07 | 2020-09-25 | 浙江农林大学 | General field walking robot platform |
| CN107876414A (en) * | 2017-10-11 | 2018-04-06 | 南京邮电大学 | A kind of sheet metal with additional shaft cuts part sorting equipment |
| CN112873227A (en) * | 2021-01-20 | 2021-06-01 | 北京半导体专用设备研究所（中国电子科技集团公司第四十五研究所） | Carrying manipulator and laminating device |
| CN113771092A (en) * | 2021-08-25 | 2021-12-10 | 北京国电光宇机电设备有限公司 | Intelligent workbench for electric power assembly |
| CN114055402A (en) * | 2021-10-18 | 2022-02-18 | 昆明北方红外技术股份有限公司 | Infrared soft lens clamping ring fastening device with self-adaptive thread pitch |
| CN114619427A (en) * | 2022-03-16 | 2022-06-14 | 上海智能制造功能平台有限公司 | 6PUS-3RRR double-platform equipment for intelligent assembly |
| CN114833811A (en) * | 2022-03-16 | 2022-08-02 | 上海智能制造功能平台有限公司 | 6PUS mechanism and 6PUS-2PP double-platform equipment for intelligent assembly |
| CN114833811B (en) * | 2022-03-16 | 2024-04-16 | 上海智能制造功能平台有限公司 | A6 PUS mechanism and two platform equipment of 6PUS-2PP for intelligent assembly |
| CN114619427B (en) * | 2022-03-16 | 2024-04-16 | 上海智能制造功能平台有限公司 | A6 PUS-3RRR dual-platform equipment for intelligent assembly |
| CN114619432A (en) * | 2022-03-17 | 2022-06-14 | 上海智能制造功能平台有限公司 | PR-3RRR double-platform equipment for intelligent assembly |
| CN114619215A (en) * | 2022-03-17 | 2022-06-14 | 上海智能制造功能平台有限公司 | PR-2PP double-platform equipment for intelligent assembly |
| CN114619432B (en) * | 2022-03-17 | 2024-04-16 | 上海智能制造功能平台有限公司 | PR-3RRR double-platform equipment for intelligent assembly |
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