Six-degree-of-freedom industrial robot based on X-Y-Z rectangular coordinate joint and posture wrist

Abstract

The invention discloses a six-degree-of-freedom industrial robot based on an X-Y-Z rectangular coordinate joint and a posture wrist. The six-degree-of-freedom industrial robot based on the X-Y-Z rectangular coordinate joint and the posture wrist comprises the rectangular coordinate joint and the posture wrist, wherein the rectangular coordinate joint achieves the degree of freedom of moving in three directions and comprises four linear modules of the same structure, two linear modules are arranged in parallel to be integrated and are in pairwise orthogonality with the other two linear modules; each linear module comprises a motor, a ball screw, a linear guide rail and a sliding block; the posture wrist is installed at the tail end of the rectangular coordinate joint, achieves three degrees of freedom of rotation, and comprises a substrate, three motors, three harmonic reducers and three transmission mechanisms, the motors are arranged on the rear portion, and each motor corresponds to one rotation joint. The six-degree-of-freedom industrial robot based on the X-Y-Z rectangular coordinate joint and the posture wrist is compact in structure and achieves the modularization; the parameters of the posture wrist are close to the parameters of a world mainstream industrial robot; the six-degree-of-freedom industrial robot based on the X-Y-Z rectangular coordinate joint and the posture wrist has the advantages of being flexible in tail end, high in reliability, good in universality, high in practicality and operability, and applicable to various occasions such as welding and carrying.

Description

technical field [0001] The invention relates to an industrial robot, in particular to a 6-degree-of-freedom industrial robot based on an XYZ rectangular coordinate joint and a posture wrist, and belongs to the technical field of robots. Background technique [0002] At present, mainstream general-purpose industrial robots often adopt a 6-DOF structure, and most of the 6-DOF joints adopt a series structure. Therefore, this robot cannot meet the demand for a large working space. Although existing robots with XYZ Cartesian coordinate joints can meet the requirements of a large workspace, they mostly use 4 degrees of freedom, and rarely have structures that realize 6 degrees of freedom. The structures of the first, second and third Cartesian coordinate joints are mostly the same, while the fourth, fifth and sixth Cartesian coordinate joints are limited by various factors, such as the size and weight of the end, the size of the working range of the end, etc., need to use The mot...

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Problems solved by technology

Chinese patent document 201110117358.9 proposes a direct-drive XYZ-axis positioning system with reduced moving mass, but does not consider the realization of the last three attitude axes, and there are few related documents on the scheme of using motors for the last three joints to report

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