Six-freedom-degree industrial robot with ball screw pair transmission

Abstract

The invention relates to a six-freedom-degree industrial robot with ball screw pair transmission. Waist whole circle rotating is achieved through a waist swing mechanism, a shoulder swing mechanism and an elbow swing mechanism form a two-freedom-degree parallel mechanism to achieve two-dimensional horizontal moving, and ball screws are driven by motors arranged on a swing platform respectively. Three mutual-orthometric rotating shafts connected through a front arm rotating mechanism, a wrist swing mechanism and a tool clamping base swing mechanism are driven independently by three motors respectively, and three-freedom-degree gesture adjusting of an executing tail end tool is achieved. The advantage of the large working space of a serial mechanism is kept, ball screw transmission is used, the rigidness of the mechanism is guaranteed, the positions of the driving motors are lowered, good dynamic characteristics are obtained, bearing capacity is large, high-speed or superspeed operation can be easily achieved, and the six-freedom-degree industrial robot has the advantages that side gaps do not exist, rigidness is high, micro-motion feeding can be conveniently achieved, accumulated errors are small, motion accuracy is high, positive and athwart kinematics solving is convenient, and control is convenient.

Description

technical field [0001] The invention relates to the field of industrial automation, in particular to a six-degree-of-freedom industrial robot driven by a ball screw pair. Background technique [0002] Industrial automation is a technology that uses various parameters in industrial production as the control purpose to realize various process controls and minimize human operation in the entire industrial production. Industrial robots are an important aspect of industrial automation products. Industrial robots are machines that perform work automatically. They are machines that implement various functions by their own power and control capabilities. Industrial robots are multi-joint manipulators or multi- degrees of freedom robot. In the next few years, China may become the world's largest robot demand market. Due to the rapid development of modern computer technology and the continuous maturity of multi-axis motion control technology, the cost of industrial robots has gradua...

AI Technical Summary

Problems solved by technology

Traditional articulated robots install the motors at the joints, making the robotic arm cumbersome, and have disadvantages such as large moment of inertia, poor stiffness, and large cumulative error.

The dynamic performance of the mechanism is poor, and it is difficult to meet the increasingly high-speed and high-precision requirements

The series mechanism has better kinematic performance in terms of mechanism design, but the dynamic performance is lower; compared with the series robot, the parallel mechanism has no cumulative error and high precision, and the driving device can be placed on or close to the fixed platform. The position of the moving part is light, the speed is high, the dynamic response is good, the structure is compact, the rigidity is high, and the carrying capacity is large. The space is often small, and it is difficult to apply to fields that require a large working space

Moreover, the robot whose drive motors are all installed at the joints has a high failure rate and poor reliability, which is easy to cause large joint errors and has a great impact on the accuracy of the robot. Due to these many shortcomings, it is difficult to take into account the flexibility of the existing robot structure and high-precision characteristics, it is difficult to meet the operation requirements of large working space, high precision and high reliability, which has become a difficult problem in the design and manufacture of high-end industrial robots

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