CN105598961A - Single-shaft robot - Google Patents
Single-shaft robot Download PDFInfo
- Publication number
- CN105598961A CN105598961A CN201610150650.3A CN201610150650A CN105598961A CN 105598961 A CN105598961 A CN 105598961A CN 201610150650 A CN201610150650 A CN 201610150650A CN 105598961 A CN105598961 A CN 105598961A
- Authority
- CN
- China
- Prior art keywords
- fixed
- ball screw
- bearing
- base
- screw
- 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
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/123—Linear actuators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rolling Contact Bearings (AREA)
- Bearings For Parts Moving Linearly (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a single-shaft robot which comprises a base and a ball screw. The base is of a U-type structure, at least one linear sliding rail is fixed to the axis of the base, a plurality of linear sliders are arranged on the linear sliding rail, a bearing supporting base is further fixed to the base, a servo drive motor is fixed to one end of the bearing supporting base, the other end of the bearing supporting base is connected with the ball screw, the servo drive motor and the ball screw are connected through a coupler, the coupler is disposed in an inner cavity of the bearing supporting base, the ball screw is parallel to the linear sliding rail, and the other end of the ball screw is fixedly connected to a lead screw supporting base fixed to the end of the base. A sliding table is fixed to the linear sliders and fixedly connected with a lead screw nut, the linear sliding table moves linearly in the direction of the linear sliding rail, and a first end cap, a second end cap and a cover plate are arranged on the periphery of the robot. According to the single-shaft robot, parts are integrally designed and produced, assembly consistency of the single-shaft robot is improved, operation precision and stability are guaranteed, and maintenance difficulty is reduced.
Description
Technical field
The invention belongs to automatic field, be specifically related to a kind of single shaft robot.
Background technology
Single shaft robot, as the elementary cell of motion control, is widely used in industrial every field,Along with the propelling of industry 4.0, single shaft robot will welcome and significantly develops and apply. Traditional industryRobot is because the parts connecting methods that adopt are assembled more, and assembling process lacks effectively to be controlled, and assemblesRobot running precision is low, and uniformity is poor, so cause enterprise use time maintainability poor, can not meet realityBorder produces for high accuracy and high maintainable requirement.
Summary of the invention
For solving the problems of the technologies described above, the invention provides a kind of single shaft robot, by by parts collectionBecome design to produce, improve running precision and the stability of single shaft robot, reduce maintenance difficulties.
For achieving the above object, technical scheme of the present invention is as follows: a kind of single shaft robot, comprises U-shapedThe base of structure, ball screw are fixed with at least one line slide rail on described base axis, described inLine slide rail is fixed on described base, coordinates at least one straight line cunning is installed on described line slide railPiece is also fixed with bearing support block on described base, and described bearing support block one end is fixed with servo drivingMoving motor, the other end and described ball screw are in mating connection, described servo drive motor and described ballScrew mandrel connects by shaft coupling, and described shaft coupling is arranged in described bearing support block internal cavity, described inThe ball screw other end is fixedly connected with screw mandrel supporting seat, and described screw mandrel supporting seat is fixed on described base endPortion, relative with described servo drive motor, described bearing support block connects described ball screw side and is provided withBearings mounted hole, described ball screw one end is provided with for the step of nested bearing with for fixingThe screw thread of described bearing, described ball screw cover has at least two bearings, and described bearing is fixed by nut,Described ball screw and described bearing are nested in described hole, are provided with for solid in described hole peripheryThe bearing gland of fixed described bearing, is nested with bearing on described screw mandrel supporting seat, described ball screw anotherEnd gos deep in described dead eye;
On described ball screw, be nested with the feed screw nut who matches with described ball screw, at described straight lineOn slide block, be fixed with U-shaped slide unit, described slide unit is provided with the hole of matching with described feed screw nut, described inFeed screw nut can be inserted in described hole and be screwed, and described ball screw can drive institute while rotationState slide unit and do rectilinear motion along described line slide rail;
At described cover plate side, the sensor strip for fixation of sensor is installed, described sensor strip settingFluted, described inside grooves be provided with the first lower sensor stator, the second lower sensor stator,The 3rd lower sensor stator, with described the first lower sensor stator, the second lower sensor stator,What the 3rd lower sensor stator was oppositely arranged also comprise be close to described sensor strip can be fastening by screwed lockFixed the first upper sensor stator, the second upper sensor stator, the 3rd upper sensor stator, instituteState on the first upper sensor stator and be fixed with front limit sensor, on described the second upper sensor statorBe fixed with initial point reseting sensor, on described the 3rd upper sensor stator, be fixed with rear limit sensor.
Preferably, be respectively arranged with the first end cap and the second end cap, described first end at described base two endsLid is fixed on described chassis left side for the protection of described servo drive motor, and described the second end cap is fixed on instituteState base right side, for the protection of described screw mandrel supporting seat.
Preferably, also comprise cushion pad, described cushion pad side is provided with annular groove, and described annular is recessedGroove protuberance can be fastened on described bearing gland and described screw mandrel supporting seat side.
Preferably, also comprise outsides cover of electric machinery, described outsides cover of electric machinery is fixed on described base one end, for protectingProtect described servo drive motor.
Preferably, also comprise cover plate, described cover plate passes through in the U-shaped groove of described slide unit, and one end is fixed onOn described screw mandrel supporting seat, one end is fixed on described bearing support block.
Compared with prior art, the invention has the beneficial effects as follows:
1. owing to adopting integrated parts design and production, can increase substantially the consistent of robot assemblingProperty, on this basis, adopting the structure of servomotor+ball screw+line slide rail, can significantly reduceRigging error, increases substantially robot running precision.
2. adopt the structure of sealing due to robot, can adapt to various complex environments and produce, reduce extraneous ringThe infringement of border to robot itself, improves robot operation stability, the noise while reducing high-speed cruising.
3. owing to adopting integrated parts, in robot maintenance process, only need to change corresponding parts,Not can because of safeguard to robot intrinsic precision and mechanical location impact, reduce robot safeguardTime.
The design of 4.U type slide unit, does not need other support can embody high accuracy combination and minimum height yetThe characteristic of degree, improves secondary development autgmentability, reduces secondary development difficulty.
Brief description of the drawings
In order to be illustrated more clearly in the technical scheme in embodiment of the present invention technology, below will be to embodiment skillIn art description, the accompanying drawing of required use is briefly described, apparently, and the accompanying drawing in the following describesBe only some embodiments of the present invention, for those of ordinary skill in the art, do not paying creationUnder the prerequisite of property work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is exploded perspective view of the present invention
Fig. 2 is bearing support block structural representation
Fig. 3 is cushion structure schematic diagram
Fig. 4 is installation of sensors schematic diagram
Fig. 5 is structural scheme of mechanism of the present invention
Wherein, 1 is base, and 2 is bearing support block, and 3 is shaft coupling, and 4 is slide unit, and 5 is line slide rail,6 is ball screw, and 7 is screw mandrel supporting seat, and 8 is the second end cap, and 9 is linear slider, and 10 is servo drivingMoving motor, 11 is the first end cap, and 12 is bearing, and 13 is bearing gland, and 14 is cushion pad, 15 is lidPlate, 16 is sensor strip, and 17 is the first upper sensor stator, and 18 is front limit sensor, and 19 areInitial point reseting sensor, 20 is the second upper sensor stator, and 21 is rear limit sensor, and 22 is the 3rdUpper sensor stator, 23 is outsides cover of electric machinery, and 24 is the first lower sensor stator, and 25 is to pass for second timeSensor stator, 26 is the 3rd lower sensor stator, 27 is feed screw nut;
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried outDescribe clearly and completely, obviously, described embodiment is only the present invention's part embodiment, andNot whole embodiment. Based on the embodiment in the present invention, those of ordinary skill in the art are not doingGo out the every other embodiment obtaining under creative work prerequisite, all belong to the scope of protection of the invention.
Embodiment
As Figure 1-5, a kind of single shaft robot is disclosed, along U-shaped base 1 axis in the present embodimentOn be fixed with at least one line slide rail 5, line slide rail 5 is fixed on base 1, U-shaped base 1 is oneBody formed processing, compares traditional splicing construction, assembling high conformity, and precision is easy to control, at straight lineOn slide rail 5, coordinate at least one linear slider 9 be installed, on base 1, be also fixed with bearing support block 2,Bearing support block 2 one end are fixed with servo drive motor 10, and the other end and ball screw 6 are connected,Servo drive motor 10 is connected by shaft coupling 3 with ball screw 6, and shaft coupling 3 is arranged on bearingsIn seat 2 internal cavities, after bearing support block 2 is formed in one, Precision Machining is produced, by watching traditionallyTake motor cabinet and ball screw supporting mechanism combines together, can improve servo drive motor 10 and ball screw6 alignment, reduces wearing and tearing, improves operation stability, ball screw 6 other ends and screw mandrel supporting seat 7Be connected, screw mandrel supporting seat 7 is fixed on base 1 end, relative with servo drive motor 10, at axleHold supporting seat 2 and connect ball screw 6 sides and be provided with the hole of bearing 12 is installed, establish ball screw 6 one endBe equipped with for the step of nested bearing 12 with for the screw thread of rigid bearing 12, ball screw 6 covers have twoIndividual bearing 12, bearing 12 is fixed by nut, and ball screw 6 and bearing 12 are nested in hole,Hole periphery is provided with the bearing gland 13 for rigid bearing 12, and ball screw 6 other ends are fixed on silkOn bar supporting seat 7, be provided with bearing 12 on screw mandrel supporting seat 7, ball screw 6 is from bearing 12 centre boresPass, on screw mandrel supporting seat 7, card has cushion pad 14, and cushion pad 14 sides are provided with annular groove, at axlePressure cap 13 and screw mandrel supporting seat 7 sides are coaxially arranged with the groove matching with this annular groove, bufferingPad 14 annular groove protuberances and can be fastened on bearing gland 13 and screw mandrel supporting seat 7 sides, providingWhen cushioning effect, can also play intercepting dust etc. and enter bearing inside, improve bearing service life;Be respectively arranged with the first end cap 11 at base 1 two ends and the second end cap 8, the first end caps 11 are fixed on base1 left side is fixed on base 1 right side for the protection of servo drive motor 10, the second end caps 8, for the protection ofScrew mandrel supporting seat 7;
On ball screw 6, be nested with the feed screw nut 27 who matches with ball screw 6, in linear slider 9On be fixed with slide unit 4, slide unit 4 is radially U-shaped structure, the design of U-shaped structure can make slide unit 4 moveIn journey, do not contact with cover plate 15, cover plate 15 can better be protected robot inner chamber, slide unit 4 sides withFeed screw nut 27 is fixing, can drive slide unit 4 to do rectilinear motion along line slide rail 5 when ball screw 6 rotates;
At cover plate 15 sides, the sensor strip 16 for fixation of sensor is installed, sensor strip is provided with recessedGroove, is provided with the first lower sensor stator 24, the second lower sensor stator 25, in inside groovesThree lower sensor stators 26, with the first lower sensor stator 24, the second lower sensor stator 25,What the 3rd lower sensor stator 22 was oppositely arranged also comprises that being close to sensor strip 16 can pass through screw lockingFixing the first upper sensor stator 17, the second upper sensor stator 20, the 3rd upper sensor are fixedOn sheet 22, the first upper sensor stators 17, be fixed with front limit sensor 18, the second upper sensors solidOn stator 20, be fixed with on initial point reseting sensor 19, the three upper sensor stators 22 and be fixed with the rear utmost pointLimit sensor 21; Sensor strip 16 is machined moulding part, coordinates upper sensor stator and lower sensorStator, accurately fixation of sensor position.
To the above-mentioned explanation of the disclosed embodiments, professional and technical personnel in the field can be realized or useThe present invention. To be aobvious and easy for those skilled in the art to the multiple amendment of these embodimentSee, General Principle as defined herein can be in the situation that not departing from the spirit or scope of the present invention,Realize in other embodiments. Therefore, the present invention will can not be restricted to these embodiment shown in this article,But to meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (5)
1. a single shaft robot, is characterized in that: comprise base, the ball screw of U-shaped structure, describedOn base axis, be fixed with at least one line slide rail, on described line slide rail, cooperation is provided with at least oneIndividual linear slider is also fixed with bearing support block on described base, and described bearing support block one end is fixedHave servo drive motor, the other end and described ball screw are in mating connection, described servo drive motor andDescribed ball screw connects by shaft coupling, and described shaft coupling is arranged on described bearing support block internal cavityIn, the described ball screw other end is connected with screw mandrel supporting seat, and described screw mandrel supporting seat is fixed on the described endSeat end, relative with described servo drive motor, described bearing support block connects described ball screw side and establishesBe equipped with bearings mounted hole, described ball screw one end be provided with for the step of nested bearing and forThe screw thread of fixing described bearing, described ball screw cover has at least two bearings, and described bearing passes through nutFixing, described ball screw and described bearing are nested in described hole, are provided with in described hole peripheryFor the bearing gland of fixing described bearing, on described screw mandrel supporting seat, be nested with bearing, described ball wireThe bar other end gos deep in described dead eye;
On described ball screw, be nested with the feed screw nut who matches with described ball screw, at described straight lineOn slide block, be fixed with U-shaped slide unit, described slide unit is provided with the hole of matching with described feed screw nut, described inFeed screw nut can be inserted in described hole and be screwed, and described ball screw can drive institute while rotationState slide unit and do rectilinear motion along described line slide rail;
At described cover plate side, the sensor strip for fixation of sensor is installed, described sensor strip settingFluted, described inside grooves be provided with the first lower sensor stator, the second lower sensor stator,The 3rd lower sensor stator, with described the first lower sensor stator, the second lower sensor stator,What the 3rd lower sensor stator was oppositely arranged also comprise be close to described sensor strip can be fastening by screwed lockFixed the first upper sensor stator, the second upper sensor stator, the 3rd upper sensor stator, instituteState on the first upper sensor stator and be fixed with front limit sensor, on described the second upper sensor statorBe fixed with initial point reseting sensor, on described the 3rd upper sensor stator, be fixed with rear limit sensor.
2. a kind of single shaft according to claim 1 robot, is characterized in that: at described base twoEnd is respectively arranged with the first end cap and the second end cap, described the first end cap be fixed on described chassis left side forProtect described servo drive motor, described the second end cap is fixed on described base right side, for the protection of describedScrew mandrel supporting seat.
3. a kind of single shaft according to claim 1 robot, is characterized in that: also comprise cushion pad,Described cushion pad side is provided with annular groove, and described annular groove protuberance can be fastened in described bearing and pressOn lid and described screw mandrel supporting seat side.
4. a kind of single shaft according to claim 1 robot, is characterized in that: also comprise outside motorCover, described outsides cover of electric machinery is fixed on described base one end, for the protection of described servo drive motor.
5. a kind of single shaft according to claim 1 robot, is characterized in that: also comprise cover plate,Described cover plate passes through in the U-shaped groove of described slide unit, and one end is fixed on described screw mandrel supporting seat, and one end is solidFix on described bearing support block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610150650.3A CN105598961A (en) | 2016-03-17 | 2016-03-17 | Single-shaft robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610150650.3A CN105598961A (en) | 2016-03-17 | 2016-03-17 | Single-shaft robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105598961A true CN105598961A (en) | 2016-05-25 |
Family
ID=55979565
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610150650.3A Pending CN105598961A (en) | 2016-03-17 | 2016-03-17 | Single-shaft robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105598961A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107538481A (en) * | 2017-10-24 | 2018-01-05 | 赵修汉 | A kind of manipulator |
| CN107606090A (en) * | 2017-10-31 | 2018-01-19 | 广东利元亨智能装备有限公司 | A kind of screw type linear transmission |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2621100Y (en) * | 2003-06-19 | 2004-06-23 | 深圳市大族数控科技有限公司 | PCB six-bit drilling machine |
| CN102079088A (en) * | 2010-11-09 | 2011-06-01 | 苏州凯欧机械科技有限公司 | Single-shaft high-precision intelligent linear motion mechanical arm |
| CN202192474U (en) * | 2011-08-01 | 2012-04-18 | 苏州领创激光科技有限公司 | Nut-rotation driving mechanism |
| CN203863677U (en) * | 2014-03-31 | 2014-10-08 | 温州职业技术学院 | Linear motion module |
| CN204036454U (en) * | 2014-07-30 | 2014-12-24 | 歌尔声学股份有限公司 | Single-shaft mechanical arm |
| CN204183571U (en) * | 2014-10-23 | 2015-03-04 | 苏州卓兆自动化科技有限公司 | A kind of single shaft mechanical arm |
| US20150184730A1 (en) * | 2013-12-30 | 2015-07-02 | Hong Fu Jin Precision Industry (Shenzhen) Co., Ltd. | Single axis robot |
| CN204997348U (en) * | 2015-08-18 | 2016-01-27 | 无锡知本电子有限公司 | Column assembly who mills processing equipment is attacked to brill |
| CN205704172U (en) * | 2016-03-17 | 2016-11-23 | 苏州特瑞特机器人有限公司 | A kind of single axis robot |
-
2016
- 2016-03-17 CN CN201610150650.3A patent/CN105598961A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2621100Y (en) * | 2003-06-19 | 2004-06-23 | 深圳市大族数控科技有限公司 | PCB six-bit drilling machine |
| CN102079088A (en) * | 2010-11-09 | 2011-06-01 | 苏州凯欧机械科技有限公司 | Single-shaft high-precision intelligent linear motion mechanical arm |
| CN202192474U (en) * | 2011-08-01 | 2012-04-18 | 苏州领创激光科技有限公司 | Nut-rotation driving mechanism |
| US20150184730A1 (en) * | 2013-12-30 | 2015-07-02 | Hong Fu Jin Precision Industry (Shenzhen) Co., Ltd. | Single axis robot |
| CN203863677U (en) * | 2014-03-31 | 2014-10-08 | 温州职业技术学院 | Linear motion module |
| CN204036454U (en) * | 2014-07-30 | 2014-12-24 | 歌尔声学股份有限公司 | Single-shaft mechanical arm |
| CN204183571U (en) * | 2014-10-23 | 2015-03-04 | 苏州卓兆自动化科技有限公司 | A kind of single shaft mechanical arm |
| CN204997348U (en) * | 2015-08-18 | 2016-01-27 | 无锡知本电子有限公司 | Column assembly who mills processing equipment is attacked to brill |
| CN205704172U (en) * | 2016-03-17 | 2016-11-23 | 苏州特瑞特机器人有限公司 | A kind of single axis robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107538481A (en) * | 2017-10-24 | 2018-01-05 | 赵修汉 | A kind of manipulator |
| CN107606090A (en) * | 2017-10-31 | 2018-01-19 | 广东利元亨智能装备有限公司 | A kind of screw type linear transmission |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105598951A (en) | Wing type slide table single-axis robot | |
| CN105598956A (en) | Three-shaft rectangular coordinate robot | |
| CN105598961A (en) | Single-shaft robot | |
| CN103335064A (en) | Automatic clearance-removing double-worm speed reducer | |
| CN204538882U (en) | A kind of electromechanical actuator of redundance | |
| CN205497471U (en) | Triaxial cartesian robot | |
| CN208772980U (en) | A kind of slide carriage structure of numerical control gantry machining center | |
| CN205704149U (en) | A kind of assistant type slide unit single axis robot | |
| CN207043698U (en) | A kind of Horizontal axle class pressing machine | |
| CN206754309U (en) | Straight line module and automation equipment | |
| CN205147874U (en) | A special frock for processing support and cover terminal surface | |
| CN204538883U (en) | A kind of LVDT formula electromechanical actuator | |
| CN205704172U (en) | A kind of single axis robot | |
| CN204174392U (en) | With the industrial sewing machine of feed dog height governor motion | |
| CN203779498U (en) | Transmission seat assembly | |
| CN201665019U (en) | Octahedral guide rail accuracy adjusting mechanism of press machine | |
| CN104028786A (en) | Split type vertical machining center spindle box structure | |
| CN205915040U (en) | Bed saddle of no nut seat and be applicable to machining center's part | |
| CN105322705A (en) | Cover shell for shell-less servo motor, and sewing machine | |
| CN108220536B (en) | Same-tooth electrical tracking mechanism for single-tooth quenching machine tool | |
| CN208083902U (en) | Between centers transfer case body bore hole fixture | |
| CN218776379U (en) | Double-rod type transmission sliding block assembly with adjustable precision | |
| CN219522121U (en) | Dustproof straight line slip table base | |
| CN111371245A (en) | Small-size precision positioning module | |
| CN216112007U (en) | Lead screw nut without back clearance |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160525 |