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

A technology of industrial robots and ball screws, which is applied to manipulators, manufacturing tools, program-controlled manipulators, etc., can solve the problems of large impact on robot precision, small working space, and difficult application, so as to improve dynamic performance and reduce load carrying capacity , Convenient and precise control of the effect
CN103737577AInactive Publication Date: 2014-04-23GUANGXI UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
GUANGXI UNIV
Publication Date
2014-04-23
Estimated Expiration
Not applicable · inactive patent

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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.
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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...

Claims

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