CN104827488A - Vertical position driving mechanism of four-freedom-degree high-speed conveying robot - Google Patents

Vertical position driving mechanism of four-freedom-degree high-speed conveying robot Download PDF

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Publication number
CN104827488A
CN104827488A CN201510175260.7A CN201510175260A CN104827488A CN 104827488 A CN104827488 A CN 104827488A CN 201510175260 A CN201510175260 A CN 201510175260A CN 104827488 A CN104827488 A CN 104827488A
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CN
China
Prior art keywords
screw
belt wheel
effector
driving
ball
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201510175260.7A
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Chinese (zh)
Inventor
刘冀鲁
刘凌云
史志民
章大林
冯凤来
赵正平
赵爱平
史晗
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SF Holding Co Ltd
Original Assignee
Maanshan Dingtai Rare Earth and New Materials Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Maanshan Dingtai Rare Earth and New Materials Co Ltd filed Critical Maanshan Dingtai Rare Earth and New Materials Co Ltd
Priority to CN201510175260.7A priority Critical patent/CN104827488A/en
Publication of CN104827488A publication Critical patent/CN104827488A/en
Pending legal-status Critical Current

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Abstract

The invention discloses a vertical position driving mechanism of a four-freedom-degree high-speed conveying robot. The driving mechanism comprises a vertical motion drive motor, a motor pedestal, and a tail end execution mechanism carrying platform. A ball screw is installed at the tail end execution mechanism carrying platform by a lead screw bearing, a lead screw bearing sleeve, and a bearing outer ring support sleeve and cooperates with a ball screw nut fixed inside the tail end execution mechanism carrying platform. A lead screw large belt wheel is fixed at the tail end execution mechanism carrying platform by a lead screw belt wheel connecting flange. The vertical motion drive motor is connected with a lead screw small belt wheel in transmission connection with the lead screw large belt wheel. According to the invention, flexibility of the mechanism is effectively improved; the operation space of the tail end executor is increased; and combination of parallel and series robot mechanisms can be realized. Meanwhile, characteristics of small inertia, high speed and accelerated speed, high positioning precision and repeated positioning precision of the mechanism are also kept.

Description

A kind of four-degree-of-freedom high speed transfer robot vertical position driving mechanism
Technical field
The invention belongs to Industrial Robot Technology field, be specifically related to a kind of four-degree-of-freedom high speed transfer robot vertical position driving mechanism.
Background technology
High speed transfer robot replaces human labour, complete a kind of industrial robot of fast removal work, be widely used in the automatic production line of the industries such as light industry, medicine, food and electronics, such as sort, pack, the operation such as encapsulation often needs end effector to carry out the manipulator of high-speed job in space, but the precision under the condition of transporting velocity raising of high speed transfer robot in the past will decline to some extent, and the free degree only has three or following usually, operating space is little, and kinematic dexterity is not high yet.
The drive motors of some transfer robot is placed on joint of robot, adds the carrying of robot, makes inertia increase, error accumulation increase, easy generation is impacted, cause robot motion steady, the degree of accuracy is low, and be difficult to meet at a high speed, accurate etc. carries requirement.
Summary of the invention
The present invention is directed to the technical problem existed in existing high speed carrying robot mechanism, a kind of four-degree-of-freedom high speed transfer robot vertical position driving mechanism is provided.
The technical solution used in the present invention is as follows:
A kind of four-degree-of-freedom high speed transfer robot vertical position driving mechanism, include vertical motion drive motors, motor base, end effector mechanism microscope carrier, ball-screw is by leading screw bearing, lead screw shaft bearing sleeve, bearing outer ring support set is installed on end effector mechanism microscope carrier, ball-screw is combined with the ball screw nut be fixed in end effector mechanism microscope carrier, the large belt wheel of screw mandrel is fixed on end effector mechanism microscope carrier by screw pulley adpting flange, vertical motion drive motors is connected with the screw mandrel small pulley that belt wheel transmission large with screw mandrel is connected, splined nut is passed through in end effector mechanism microscope carrier, splined shaft bearing sleeve is provided with spline bearing, spline bearing internal spline is combined with the optical axis guide pillar be arranged in parallel with ball-screw, optical axis guide pillar lower end is by being installed with moving platform, flange, ball-screw lower end is fixedly installed in moving platform.
Be provided with belt wheel back-up ring below the large belt wheel of described screw mandrel, between the large belt wheel of screw mandrel and screw mandrel small pulley, be set with driving-belt.
End effector of the present invention can realize translation and move both vertically, and can realize again rotating, and adds a rotational freedom, can realize kinematic dexterity so high, and operating space is large, the carrying requirement of high precision; Described horizontal level driving mechanism contains a parallelogram sturcutre, comprises two groups of master arms simultaneously, increases the rigidity of robot, improves bearing capacity; The present invention contains four groups of servomotors wherein three groups of inside being arranged on frame, realizes the isolation of motor and external operating environment, plays a protective role to a great extent to motor device, can reduce impact again simultaneously, improve the stationarity of robot motion.
The present invention has following Advantageous Effects:
The present invention is by horizontal level driving mechanism, vertical position driving mechanism and gesture drive mechanism; The translation of end effector, vertical motion and rotation can be realized.First horizontal movement master arm, the second horizontal movement master arm of horizontal level driving mechanism of the present invention provide power by different driving device.Drive and adopt servo-drive system, action is accurate, flexible operation.
Robot mechanism provided by the present invention, two translations one realizing end effector with different driving side chain respectively move both vertically and rotational motion, effectively improve the flexibility of mechanism, increase the operating space of end effector, achieve the combination of parallel connection and serial connection robot mechanism, the inertia simultaneously maintaining mechanism is preferably little, high-speed high acceleration, the feature of high position precision and repetitive positioning accuracy.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 is the scheme of installation of screw mandrel belt wheel of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described:
A kind of four-degree-of-freedom high speed transfer robot vertical position driving mechanism, include vertical motion drive motors 1, motor base 3, end effector mechanism microscope carrier 2, ball-screw 4 is by leading screw bearing 5, lead screw shaft bearing sleeve 6, bearing outer ring support set 7 is installed on end effector mechanism microscope carrier 2, ball-screw 4 is combined with the ball screw nut 8 be fixed in end effector mechanism microscope carrier 2, the large belt wheel 9 of screw mandrel is fixed on end effector mechanism microscope carrier 2 by screw pulley adpting flange 10, belt wheel back-up ring 18 is provided with below the large belt wheel 9 of screw mandrel, driving-belt 12 is set with between the large belt wheel 9 of screw mandrel and screw mandrel small pulley 11, vertical motion drive motors 1 is connected with the screw mandrel small pulley 11 that large belt wheel 9 is in transmission connection with screw mandrel, by splined nut 19 in end effector mechanism microscope carrier 2, splined shaft bearing sleeve 13 is provided with spline bearing 14, spline bearing 14 internal spline is combined with the optical axis guide pillar 15 be arranged in parallel with ball-screw 4, optical axis guide pillar 15 lower end is by being installed with moving platform 16, flange 17, ball-screw 4 lower end is fixedly installed in moving platform 16.
Vertical position driving mechanism of the present invention is connected with described end effector mechanism, and the structure of vertical position driving mechanism and described end effector mechanism is: described vertical motion drive motors to be arranged on described motor base and to be fixed on described end effector mechanism microscope carrier with holding screw; The large belt wheel of described leading screw is connected with belt wheel back-up ring and is connected with described lead screw shaft bearing sleeve by described screw pulley adpting flange, and fix with described ball-screw nut, described lead screw shaft bearing sleeve matches with described leading screw bearing and is fixed in described end effector mechanism microscope carrier by described lead screw shaft bearing outer-ring support set and lead screw shaft bearing outer-ring end cap; Described ball-screw matches with described ball-screw nut; Described leading screw small pulley is engaged on the motor shaft in described vertical motion drive motors by key; The large belt wheel of described leading screw and described leading screw small pulley transmit power by described driving-belt; Described optical axis guide pillar and described splined shaft bearing sleeve are matched in clearance, and are fixed in described end effector mechanism microscope carrier by described spline bearing and described splined shaft socket end outer ring lid; Described ball-screw lower end is cemented in described moving platform; Described optical axis guide pillar bottom and described moving platform are fixed up and down by described nut; Described flange is cemented in optical axis guide pillar lower end; Thus the optical axis guide pillar described in realizing drive described in the moving up and down of flange; All be connected by described bearing between one end of described end effector mechanism microscope carrier and described translation bar, between the other end of described end effector mechanism microscope carrier and described connecting rod; Described vertical motion drive motors adopts AC servo drive system; The type of described bearing is identical.

Claims (2)

1. a four-degree-of-freedom high speed transfer robot vertical position driving mechanism, it is characterized in that, include vertical motion drive motors, motor base, end effector mechanism microscope carrier, ball-screw is by leading screw bearing, lead screw shaft bearing sleeve, bearing outer ring support set is installed on end effector mechanism microscope carrier, ball-screw is combined with the ball screw nut be fixed in end effector mechanism microscope carrier, the large belt wheel of screw mandrel is fixed on end effector mechanism microscope carrier by screw pulley adpting flange, vertical motion drive motors is connected with the screw mandrel small pulley that belt wheel transmission large with screw mandrel is connected, splined nut is passed through in end effector mechanism microscope carrier, splined shaft bearing sleeve is provided with spline bearing, spline bearing internal spline is combined with the optical axis guide pillar be arranged in parallel with ball-screw, optical axis guide pillar lower end is by being installed with moving platform, flange, ball-screw lower end is fixedly installed in moving platform.
2. four-degree-of-freedom high speed transfer robot vertical position driving mechanism according to claim 1, is characterized in that, be provided with belt wheel back-up ring below the large belt wheel of described screw mandrel, be set with driving-belt between the large belt wheel of screw mandrel and screw mandrel small pulley.
CN201510175260.7A 2015-04-14 2015-04-14 Vertical position driving mechanism of four-freedom-degree high-speed conveying robot Pending CN104827488A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201510175260.7A CN104827488A (en) 2015-04-14 2015-04-14 Vertical position driving mechanism of four-freedom-degree high-speed conveying robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201510175260.7A CN104827488A (en) 2015-04-14 2015-04-14 Vertical position driving mechanism of four-freedom-degree high-speed conveying robot

Publications (1)

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CN104827488A true CN104827488A (en) 2015-08-12

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105108741A (en) * 2015-10-13 2015-12-02 安徽工程大学 Four-DOF (degree of freedom) hybrid robot having large work space
CN105500359A (en) * 2016-03-02 2016-04-20 安徽华创智能装备有限公司 Heavy-load SCARA (selective compliance assembly robot arm) transfer robot
CN105500404A (en) * 2015-12-29 2016-04-20 苏州卓德电子有限公司 Mechanical arm with auxiliary heightening structure
CN105619395A (en) * 2016-03-07 2016-06-01 单家正 Economical robot wrist structure for selective compliance assembly robot arm (SCARA)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61144462A (en) * 1984-12-17 1986-07-02 Seiko Instr & Electronics Ltd Drive unit for industrial robot
JP2003275978A (en) * 2002-03-20 2003-09-30 Yamaha Motor Co Ltd Scara robot
CN101081514A (en) * 2006-05-30 2007-12-05 宝山钢铁股份有限公司 Lift rack for jet printing
CN203485202U (en) * 2013-08-28 2014-03-19 东莞市瓦力智能科技有限公司 Robot arm and four axis robot
CN203622435U (en) * 2013-12-10 2014-06-04 成都市嘉熠科技有限公司 Precise single-axis mechanical arm
CN103978477A (en) * 2014-05-20 2014-08-13 奇瑞汽车股份有限公司 Multi-joint robot
CN204183573U (en) * 2014-10-10 2015-03-04 苏州艾达特智能科技有限公司 Manipulator vertical movement mechanism

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61144462A (en) * 1984-12-17 1986-07-02 Seiko Instr & Electronics Ltd Drive unit for industrial robot
JP2003275978A (en) * 2002-03-20 2003-09-30 Yamaha Motor Co Ltd Scara robot
CN101081514A (en) * 2006-05-30 2007-12-05 宝山钢铁股份有限公司 Lift rack for jet printing
CN203485202U (en) * 2013-08-28 2014-03-19 东莞市瓦力智能科技有限公司 Robot arm and four axis robot
CN203622435U (en) * 2013-12-10 2014-06-04 成都市嘉熠科技有限公司 Precise single-axis mechanical arm
CN103978477A (en) * 2014-05-20 2014-08-13 奇瑞汽车股份有限公司 Multi-joint robot
CN204183573U (en) * 2014-10-10 2015-03-04 苏州艾达特智能科技有限公司 Manipulator vertical movement mechanism

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105108741A (en) * 2015-10-13 2015-12-02 安徽工程大学 Four-DOF (degree of freedom) hybrid robot having large work space
CN105500404A (en) * 2015-12-29 2016-04-20 苏州卓德电子有限公司 Mechanical arm with auxiliary heightening structure
CN105500359A (en) * 2016-03-02 2016-04-20 安徽华创智能装备有限公司 Heavy-load SCARA (selective compliance assembly robot arm) transfer robot
CN105619395A (en) * 2016-03-07 2016-06-01 单家正 Economical robot wrist structure for selective compliance assembly robot arm (SCARA)

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Application publication date: 20150812

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