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Multifunctional gantry type seven-shaft industrial robot

An industrial robot and gantry-style technology, applied in the direction of manipulators, manufacturing tools, program-controlled manipulators, etc., can solve problems such as difficult control algorithms, limited working space, and small operating range, and achieve large operating flexibility and large working space. Effect

Inactive Publication Date: 2011-04-20
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] At present, robots are widely used in various processing operations such as inspection, sandblasting, assembly, handling, welding, etc. There are basically four basic structures of industrial serial robots: Cartesian coordinate robots, cylindrical coordinate robots, polar coordinate robots Type robots and multi-joint robots, among them, Cartesian coordinate robots, whose accuracy and position resolution do not change with the workplace, are easy to achieve high precision, but their operating range is small, and when the arm shrinks, it extends in the opposite direction and hinders the work.
The cylindrical coordinate robot can rotate an angle around the central axis, so its working range can be relatively expanded, and the calculation is simple, but the space that its arm can reach is limited, and it cannot reach the space near the column or the ground; the polar coordinate robot is also called It is a spherical coordinate robot that can rotate around the central axis and has a relatively large working range near the central support. However, its coordinate system is complex and difficult to control
The multi-joint robot can realize free movement in multiple directions, and there are many types. Its various types are given, and the range of motion is limited due to its installation and fixing methods
[0003] Due to the limitations of the structure of traditional industrial robots, their working space is limited and they cannot complete large-space operations; while crawling or mobile robots are used to complete the required operations, their motion accuracy is low and the control algorithm is relatively difficult, so they cannot handle large spaces. Most of the homework is currently in the research stage, and it is not yet practical

Method used

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  • Multifunctional gantry type seven-shaft industrial robot
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Embodiment Construction

[0011] The present invention is described in more detail below in conjunction with accompanying drawing example:

[0012] combine figure 1 , the composition of the present invention includes a first track 1, a first moving joint axis 2, a first column 3, a second track 4, a second moving joint axis 5, a second column 6, a beam 7, a third moving joint axis 8, Moving arm 9, fourth moving joint axis 10, lifting arm 11, first rotating joint axis 12, first rotating arm 13, second rotating joint axis 14, second rotating arm 15, third rotating joint axis 16, third A rotary arm 17 , a fourth rotary joint shaft 18 and an end effector 19 .

[0013] The first column 3 and the second column 6 are installed on the first track 1 and the second track 4 through the first moving joint axis 2 and the second moving joint axis 5 respectively, and the beam 7 is installed on the first column 3 and the second column 6 between. The moving arm 9 is mounted on the beam 7 through the third moving joi...

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Abstract

The invention provides a multifunctional gantry type seven-shaft industrial robot. A first upright post (3) and a second upright post (6) are arranged on a first rail (1) and a second rail (4) respectively through a first movable joint shaft (2) and a second movable joint shaft (5); a crossbeam (7) is arranged between the first upright post (3) and the second upright post (6); a movable arm (9) isarranged on the crossbeam (7) through a third movable joint shaft (8); a hoisting arm (11) is arranged on the movable arm (9) through a fourth movable joint shaft (10); a first rotating arm (13) is arranged on the end part of the hoisting arm (11) through a first rotating joint shaft (12); a second rotating arm (15) is arranged on the first rotating arm (13) through a second rotating joint shaft(14); a third rotating arm (17) is arranged on the second rotating arm (15) through a third rotating joint shaft (16); and a terminal actuator (19) is arranged on the end part of the third rotating arm (17) through a fourth rotating joint shaft (18) The robot has seven free degrees, wherein four free degrees are movable joints, and three free degrees are rotating joints. The robot is the industrial robot capable of completing various operations and large space operations.

Description

(1) Technical field [0001] The invention relates to an industrial robot, and mainly relates to an industrial robot structure with seven degrees of freedom, series connection, and gantry structure that can complete various operations. (2) Background technology [0002] At present, robots are widely used in various processing operations such as inspection, sandblasting, assembly, handling, welding, etc. There are basically four basic structures of industrial serial robots: Cartesian coordinate robots, cylindrical coordinate robots, polar coordinate robots Type robots and multi-joint robots, among them, Cartesian coordinate robots, whose accuracy and position resolution do not change with the workplace, are easy to achieve high precision, but their operating range is small, and when the arm shrinks, it extends in the opposite direction and hinders the work. . The cylindrical coordinate robot can rotate an angle around the central axis, so its working range can be relatively ex...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/06
CPCB25J9/046B25J9/026
Inventor 杜宏旺王宗义赵亚楠刘少刚庞永刚
Owner HARBIN ENG UNIV
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