Multifunctional gantry type six-shaft industrial robot

Abstract

The invention provides a multifunctional gantry type six-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) is arranged 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); and a terminal actuator (17) is arranged on the end part of the second rotating arm (15) through a third rotating joint shaft (16). The robot has six free degrees, wherein three free degrees are movable joints, and three free degrees are rotating joints. The robot is a novel structure of 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 a six-degree-of-freedom, series-connected, gantry-structured industrial robot structure capable of completing 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 expanded, a...

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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

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