Movable five-axis robot

Abstract

The invention discloses a movable five-axis robot and belongs to the technical field of application of industrial robots. The robot comprises a fixing base, guide rails, sliding blocks, a trochoidal rack, a roller, a robot mounting base, a tail-end mounting seat, a first driving device, a second driving device, a third driving device, a fourth driving device, a fifth driving device, a first branch chain, a second branch chain and a third branch chain, wherein the first branch chain comprises a large arm and a front arm; the second branch chain comprises a small arm, a small arm pull rod and a front arm; and the third branch chain comprises a rear arm, a first attitude holding rod, a triangular connecting frame and a second attitude holding rod. Through adoption of a transmission device composed of the trochoidal rack and roller pins, the robot is applicable to occasions where the robot is required to move; different types of grippers can be mounted at the tail end of the robot so as to finish gripping of different types of objects; and besides, the robot is simple in structure, high in rigidity and stability, simple to manufacture, convenient to mount and debug and low in mechanism manufacturing cost.

Description

Technical field: [0001] The invention belongs to the technical field of industrial robot application, and specifically relates to a movable five-axis robot. Background technique: [0002] In the automated production lines of light industry, medicine, food and electronics industries, such as sorting, packaging, packaging, especially in the repetitive, boring, and dangerous tasks such as material handling, machine tool loading and unloading, in order to reduce human labor Strength, improve work efficiency, it is often necessary to place repetitive work robots in the operation process, but the use of traditional palletizing robots is unnecessary or the manufacturing cost is too high, such as the traditional SCARA robot due to its own factors , Three motors and a ball screw are installed on the forearm, which limits its scope of action, and the manufacturing cost of a series five-axis robot is too high. However, in the translational parallel robot mechanism, the actuator on the movi...

AI Technical Summary

Problems solved by technology

[0002] In the automated production lines of light industry, medicine, food and electronics industries, such as sorting, packaging and packaging, especially in repetitive, boring and dangerous tasks such as material handling and machine tool loading and unloading, in order to reduce human labor Intensity, improve work efficiency, in the operation process, it is often necessary to place repetitive work robots in the space, but it is unnecessary to use traditional palletizing robots, or the manufacturing cost is too high, such as the traditional SCARA robot due to its own factors , three motors and a ball screw are installed on the small arm, which limits its range of action, and the manufacturing cost of the serial five-axis robot is too high

However, in the translational parallel robot mechanism, the method of connecting the actuator on the moving platform to the motor on the frame through the transmission shaft reduces the working space of the mechanism, limits the acceleration of the end effector, and makes the position and attitude Accuracy is difficult to guarantee

At present, most domestic robots do not have the characteristics of movement. They are large in size and heavy, resulting in high manufacturing costs, cumbersome assembly, and inconvenient transportation. Moreover, many industrial applications require changes in the posture of the robot end.

Moreover, the rack drives currently in use mainly include straight toothed racks and helical toothed racks, which are paired with involute spur gears and involute helical gears respectively. The straight racks have impact when meshing with the gears. , the coincidence degree is small, the transmission is not stable, the coincidence degree and vibration stability of the helical rack and gear are improved when it meshes with the gear, but there is an axial force, and only 1 to 2 teeth contact when the two racks and pinions are driven. And there is tooth backlash, there is transmission noise, and the transmission accuracy is low

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