CN212351486U - A Redundant Driven Five-axis Grinding Robot - Google Patents

Abstract

Translated fromChinese

本实用新型涉及一种工业机器人。目的是提供一种刚度高、工作范围大的冗余驱动的五轴打磨机器人。技术方案是：一种冗余驱动的五轴打磨机器人，包括机架；其特征在于：还包括与第一T形连杆铰接且带有打磨头的第二T形连杆、并联连接在机架与第一T形连杆之间的两个第一分支、并联连接在机架与第二T形连杆间的两个第二分支以及位于所述打磨头下方的两自由度工作平台；所述第一分支由依序连接在机架与第一T形连杆之间的第一滑台、第一滑块、第一转动副、第一连杆以及第一虎克铰构成；第一滑块可移动地定位在第一滑台上，且由定位在第一滑台上的伺服电机进行驱动；所述两个第一分支中的第一滑块的滑动方向相互平行。

The utility model relates to an industrial robot. The purpose is to provide a redundant drive five-axis grinding robot with high rigidity and large working range. The technical solution is: a redundantly driven five-axis grinding robot, comprising a frame; characterized in that: it also includes a second T-shaped connecting rod hinged with the first T-shaped connecting rod and having a grinding head, connected in parallel on the machine two first branches between the frame and the first T-shaped link, two second branches connected in parallel between the frame and the second T-shaped link, and a two-degree-of-freedom working platform located under the grinding head; The first branch is composed of a first sliding table, a first sliding block, a first rotating pair, a first connecting rod and a first Hooke hinge that are sequentially connected between the frame and the first T-shaped link; the first The 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

Redundant driven five-axis grinding robot

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 slidingblock 21, aservo motor 3, afirst revolute pair 41, a first connectingrod 51 and afirst 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 theservo 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 connectingrod 51 is connected with the firstsliding block 21 through the firstrevolute pair 41; the other end of thefirst link 51 is connected to a first T-shaped link 71 via a first hooke'sjoint 61.

The axial direction of the first rotatingpair 41 is parallel to the axial direction of the first hooke joint first rotatingshaft 611 and is perpendicular to the axial direction of the first hooke joint second rotatingshaft 612; the axial direction of the first rotatingpair 41 is perpendicular to the moving direction of thefirst slider 21.

The second branch is composed of a second sliding table 12, a second slidingblock 22, aservo motor 3, a secondrevolute pair 42, a second connectingrod 52 and asecond 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 theservo 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 connectingrod 52 is connected with the secondsliding block 22 through the secondrevolute pair 42; the other end of thesecond link 52 is connected to a second T-shaped link 72 by asecond hook joint 62.

The axial direction of thesecond revolute pair 42 is parallel to the axial direction of the second hooke joint first rotatingshaft 621 and is perpendicular to the axial direction of the second hooke joint second rotatingshaft 622; the axial direction of thesecond revolute pair 42 is parallel to the moving direction of thesecond 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 thirdrevolute 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 firstrotating pair 41 is parallel to the axial direction of the secondrotating 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 sandinghead 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.

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