CN106975964A - A kind of mechanical pushing linear motion device of use screw-nut transmission - Google Patents
A kind of mechanical pushing linear motion device of use screw-nut transmission Download PDFInfo
- Publication number
- CN106975964A CN106975964A CN201710421728.5A CN201710421728A CN106975964A CN 106975964 A CN106975964 A CN 106975964A CN 201710421728 A CN201710421728 A CN 201710421728A CN 106975964 A CN106975964 A CN 106975964A
- Authority
- CN
- China
- Prior art keywords
- screw
- bearing
- armature spindle
- motor
- manipulator
- 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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1035—Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
- B23Q5/22—Feeding members carrying tools or work
- B23Q5/34—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission
- B23Q5/38—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission feeding continuously
- B23Q5/40—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission feeding continuously by feed shaft, e.g. lead screw
- B23Q5/402—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission feeding continuously by feed shaft, e.g. lead screw in which screw or nut can both be driven
Abstract
The invention belongs to numerically controlled automatic technical field, more particularly to a kind of mechanical pushing linear motion device of use screw-nut transmission, it is made up of manipulator, long beam, leading screw, screw, direct driving motor and line slideway, leading screw two ends are fixedly installed on long beam；Two groups of line slideways are parallel to be distributed in leading screw both sides, and is fixed on long beam；Screw couples with the output end of direct driving motor, and spiral is on leading screw；Manipulator is fixedly installed on direct driving motor, and is slidably connected respectively with two groups of line slideways by carriage.Compact conformation of the present invention, space hold are small, convenient processing and manufacture, precision height, fast response time, cost are low, can either realize the longer linear motion of manipulator, higher precision of rectilinear motion is ensure that again.
Description
Technical field
The invention belongs to numerically controlled automatic technical field, it is mechanical pushing straight that more particularly to a kind of use screw-nut is driven
Line telecontrol equipment.
Background technology
In numerically controlled automatic manufacture field, the linear motion of the conveying of material generally by manipulator in long beam carrys out reality
Existing, current manipulator uses rack-and-pinion or toothed belt transmission mode mostly in the linear motion of long beam, although can realize
Faster response speed, but because the transmission accuracy of both structures is relatively low, on direction there is larger gap in backhaul, be extremely difficult to
High-precision transmission is required；And both kinds of drive all use servomotor drive control, it is necessary to reserved for servomotor
Larger installing space, space availability ratio is relatively low, it is impossible to adapt to the demand for development of equipment occupation space；In addition, both are driven
Mode is also easy to produce larger abrasion in engagement process, so as to influence service life.
Another kind of drive of linear motion is screw-nut transmission, it is possible to achieve accurate Fine Feed, and is had
Friction loss is small, transmission efficiency, high transmission accuracy the characteristics of, disclosure satisfy that to a certain extent high accuracy transmission require, but
Be it is main in existing screw-nut drive mechanism drive leading screw to rotate by shaft coupling using servomotor or reductor, it is watched
Take that motor and speed reducer space-consuming is larger, cost is higher, can also there is certain loss of significance, silk in shaft coupling transmission process
If thick stick is longer, mounting and adjusting is extremely difficult, and the precision and rigidity of leading screw also are difficult to ensure.And with automatic production line
Development, the length requirement more and more higher moved to manipulator linear, the kind of drive of existing screw-nut obviously can not meet
The long linear motion transmission of manipulator is required.
The content of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of compact conformation, space hold is small, process system
The mechanical pushing linear motion device of the low screw-nut transmission of convenience, precision height, fast response time, cost is made, can either be real
The longer linear motion of existing manipulator, ensure that higher precision of rectilinear motion again.
In order to solve the above-mentioned technical problem, the present invention is achieved by the following technical solutions：One kind uses screw-nut
The mechanical pushing linear motion device of transmission, by manipulator, long beam, leading screw, screw, direct driving motor and line slideway group
Into leading screw two ends are fixedly installed on long beam；Two groups of line slideways are parallel to be distributed in leading screw both sides, and is fixed on long beam
On；Screw couples with the output end of direct driving motor, and spiral is on leading screw；Manipulator is fixedly installed on direct driving motor, and is led to
Carriage is crossed to be slidably connected with two groups of line slideways respectively.
A kind of mechanical pushing linear motion device of above-mentioned use screw-nut transmission, the direct driving motor is determined by motor
Son, armature spindle, bearing, bearing spacer, bearing block, bearing gland, locking nut, encoder, motor housing, motor rear cover, bone
Frame oil sealing and lubrication oiling plate composition, armature spindle are fixed on bearing block by two groups of bearings, are provided between two groups of bearings
Bearing spacer, the locking nut of two groups of bearings respectively by the bearing gland of bearing front end, bearing block and bearing rear end is turning
Sub- axle axial restraint, bearing gland is installed on bearing block, and locking nut spiral is on armature spindle, bearing gland and armature spindle axle
End forms labyrinth seal；The bearing block is fixedly connected with motor housing；Motor stator is located inside motor housing, and and rotor
Magnetic shoe interaction on axle, rotor driven axle is rotated；The rear end of armature spindle is fixedly connected and has encoder；Motor rear cover is arranged on
Rotor shaft tail end, the end center of motor rear cover is provided with outside framework oil seal；Lubrication oiling plate is installed on motor rear cover.
A kind of mechanical pushing linear motion device of above-mentioned use screw-nut transmission, the armature spindle is hollow structure,
Screw is coupled by screw with armature spindle.
It is provided with the outside of a kind of mechanical pushing linear motion device of above-mentioned use screw-nut transmission, the bearing block
Mounting hole, manipulator is installed on mounting hole by screw, and manipulator is linked together with bearing block.
Compared with prior art, the beneficial effects of the present invention are：Simple in construction, convenient processing and manufacture of the invention, cost
It is low, screw is directly driven using direct driving motor and rotated around leading screw, one side leading screw is fixed, and leading screw length does not influence leading screw silk
Mother's driving precision, and leading screw mounting and adjusting is convenient, without the installation position of the devices such as reserved servomotor, shaft coupling during installation
Put, space availability ratio is high；Another aspect direct driving motor drives, and eliminates the intermediate connectors such as shaft coupling, reduces shaft coupling etc.
The trueness error that device transmission belt comes, response is rapider, substantially increases the transmission accuracy of screw-nut, it is ensured that manipulator is real
Now high accuracy moves along a straight line.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the present invention.
Fig. 2 is draw bail schematic diagram inside direct driving motor of the present invention.
Fig. 3 is draw bail schematic diagram outside direct driving motor of the present invention.
Embodiment
The present invention is described in further detail with embodiment below in conjunction with the accompanying drawings.
With reference to shown in Fig. 1 to Fig. 3, the mechanical pushing linear motion device that a kind of use screw-nut of the invention is driven,
It is made up of long beam 1, manipulator 2, direct driving motor 3, leading screw 4, screw 5 and line slideway 6.
Wherein, direct driving motor 3 includes armature spindle 301, bearing 302, bearing spacer 303, bearing block 304, bearing gland
305th, locking nut 306, motor stator 307, motor housing 308, encoder 309, motor rear cover 310, outside framework oil seal 311 and
Oiling plate 312 is lubricated, as shown in Fig. 2 armature spindle 301 is hollow structure, and bearing block 304 is fixed on by two groups of bearings 302
On, bearing spacer 303 is provided between two groups of bearings 302, the inner ring of bearing spacer 303 is corresponding with the inner ring of bearing 302, with axle
Hold 302 inner rings to rotate together, the outer ring of bearing spacer 303 is corresponding with the outer ring of bearing 302.Bearing 302 respectively by bearing before
Bearing gland 305, bearing block 304 and the locking nut 306 of bearing rear end at end are in the axial restraint of armature spindle 301, bearing pressure
Lid 305 is installed on bearing block 304, and forms labyrinth seal with the shaft end of armature spindle 301, prevents cutting fluid etc. from entering direct driving motor
It is internal；The spiral of locking nut 306 is on armature spindle 301.Bearing block 304 is fixedly connected with motor housing 308；Motor stator 307
Interacted inside motor housing 308, and with the magnetic shoe on armature spindle 301, rotor driven axle 301 is rotated.Armature spindle 301
Rear end have encoder 309 by screw attachment, encoder 309 is rotated with armature spindle, can be known by encoder count head
The other rotational angle of encoder 309, and feed back to control system and compensate, it is ensured that armature spindle 301 can complete high-precision rotation.
Motor rear cover 310 is corresponding with motor housing 308, and positioned at the tail end of armature spindle 301, the end center of motor rear cover 310 is also
Outside framework oil seal 311 is provided with, direct driving motor is internally formed effective sealing.Lubrication oiling plate 312 is installed on motor rear cover 310
On.
The two ends of leading screw 4 are fixedly installed on long beam 1；Line slideway 6 is parallel to be distributed in the both sides of leading screw 4, and is fixed on
On long beam 1.Screw 5 is coupled by screw with armature spindle 301, and the spiral of screw 5 makes leading screw 4 through rotor on leading screw 4
The centre bore of axle 301.Screw mounting hole 341 is provided with bearing block 304, as shown in Figure 3；Manipulator 2 passes through screw and screw
Mounting hole 341 couples with bearing block 304；Meanwhile, manipulator 2 is slidably connected with line slideway 6 respectively by carriage.
During work, the armature spindle 301 of direct driving motor 3 drives screw 5 to be rotated around the axis of leading screw 4, and the two ends of leading screw 1 are fixed not
It is dynamic, so as to realize smooth movement of the screw 5 on leading screw 4, and then drive direct driving motor 3 and manipulator 2 to be put down with screw 5
Sliding is dynamic, and coordinates line slideway 6 to realize that the high accuracy of manipulator 2 moves along a straight line.
Although the present invention is described in detail above, the invention is not restricted to this, those skilled in the art can be with
Various modifications are carried out according to the principle of the present invention.Therefore, all modifications made according to the principle of the invention, all should be understood to fall into
Protection scope of the present invention.
Claims (4)
1. a kind of mechanical pushing linear motion device of use screw-nut transmission, it is characterised in that by manipulator, long beam,
Leading screw, screw, direct driving motor and line slideway composition, leading screw two ends are fixedly installed on long beam；Two groups of line slideways are put down
Row is distributed in leading screw both sides, and is fixed on long beam；Screw couples with the output end of direct driving motor, and spiral is on leading screw；
Manipulator is fixedly installed on direct driving motor, and is slidably connected respectively with two groups of line slideways by carriage.
2. a kind of mechanical pushing linear motion device of use screw-nut transmission according to claim 1, its feature exists
In the direct driving motor is by motor stator, armature spindle, bearing, bearing spacer, bearing block, bearing gland, locking nut, coding
Device, motor housing, motor rear cover, outside framework oil seal and lubrication oiling plate composition, armature spindle are fixed on bearing by two groups of bearings
On seat, be provided with bearing spacer between two groups of bearings, two groups of bearings respectively by the bearing gland of bearing front end, bearing block and
The locking nut of bearing rear end is installed on bearing block in armature spindle axial restraint, bearing gland, and locking nut spiral is in rotor
On axle, bearing gland and armature spindle shaft end form labyrinth seal；The bearing block is fixedly connected with motor housing；Motor stator position
Interacted inside motor housing, and with the magnetic shoe on armature spindle, rotor driven axle is rotated；The rear end of armature spindle is fixedly connected
There is encoder；Motor rear cover is arranged on rotor shaft tail end, and the end center of motor rear cover is provided with outside framework oil seal；Lubricate oiling
Plate is installed on motor rear cover.
3. a kind of mechanical pushing linear motion device of use screw-nut transmission according to claim 2, its feature exists
In the armature spindle is hollow structure, and screw is coupled by screw with armature spindle.
4. a kind of mechanical pushing linear motion device of use screw-nut transmission according to Claims 2 or 3, its feature
It is, mounting hole is provided with the outside of the bearing block, and manipulator is installed on mounting hole by screw, by manipulator and bearing
Seat is linked together.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710421728.5A CN106975964A (en) | 2017-06-07 | 2017-06-07 | A kind of mechanical pushing linear motion device of use screw-nut transmission |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710421728.5A CN106975964A (en) | 2017-06-07 | 2017-06-07 | A kind of mechanical pushing linear motion device of use screw-nut transmission |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106975964A true CN106975964A (en) | 2017-07-25 |
Family
ID=59344333
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710421728.5A Pending CN106975964A (en) | 2017-06-07 | 2017-06-07 | A kind of mechanical pushing linear motion device of use screw-nut transmission |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106975964A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108631205A (en) * | 2018-06-06 | 2018-10-09 | 河南森源电气股份有限公司 | The chassis vehicle of leadscrew-nut mechanism and breaker |
| CN113496064A (en) * | 2021-09-07 | 2021-10-12 | 北京精雕科技集团有限公司 | Compensation adjustment method for straightness of numerical control machine tool |
| WO2022001409A1 (en) * | 2020-07-01 | 2022-01-06 | 琦星智能科技股份有限公司 | Reducer-free four-axis scara manipulator |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB284275A (en) * | 1927-01-27 | 1928-03-01 | Walter Scott Mumford | Improvements in motors for use in operating rotatable view screens |
| JPH07276269A (en) * | 1994-04-07 | 1995-10-24 | Yamaha Motor Co Ltd | Single axis robot and orthogonal type robot using the same |
| US20100183392A1 (en) * | 2007-06-20 | 2010-07-22 | Harmonic Drive Systems Inc. | Motor with cutting tool mounting hole |
| CN202462082U (en) * | 2012-02-21 | 2012-10-03 | 山东宏康机械制造有限公司 | Nut direct-driven numerical control feeding device |
| CN102717884A (en) * | 2012-06-15 | 2012-10-10 | 上海大学 | Active underwater robot posture adjusting system |
| CN102780311A (en) * | 2012-08-22 | 2012-11-14 | 成都联腾动力控制技术有限公司 | Ball screw linear driver for built-in permanent magnet synchronous motor |
| CN106737844A (en) * | 2017-03-07 | 2017-05-31 | 慧灵科技（深圳）有限公司 | A kind of axle robot of flapping articulation four |
| CN206764422U (en) * | 2017-06-07 | 2017-12-19 | 北京精雕科技集团有限公司 | A kind of mechanical pushing linear motion device being driven using screw-nut |
-
2017
- 2017-06-07 CN CN201710421728.5A patent/CN106975964A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB284275A (en) * | 1927-01-27 | 1928-03-01 | Walter Scott Mumford | Improvements in motors for use in operating rotatable view screens |
| JPH07276269A (en) * | 1994-04-07 | 1995-10-24 | Yamaha Motor Co Ltd | Single axis robot and orthogonal type robot using the same |
| US20100183392A1 (en) * | 2007-06-20 | 2010-07-22 | Harmonic Drive Systems Inc. | Motor with cutting tool mounting hole |
| CN202462082U (en) * | 2012-02-21 | 2012-10-03 | 山东宏康机械制造有限公司 | Nut direct-driven numerical control feeding device |
| CN102717884A (en) * | 2012-06-15 | 2012-10-10 | 上海大学 | Active underwater robot posture adjusting system |
| CN102780311A (en) * | 2012-08-22 | 2012-11-14 | 成都联腾动力控制技术有限公司 | Ball screw linear driver for built-in permanent magnet synchronous motor |
| CN106737844A (en) * | 2017-03-07 | 2017-05-31 | 慧灵科技（深圳）有限公司 | A kind of axle robot of flapping articulation four |
| CN206764422U (en) * | 2017-06-07 | 2017-12-19 | 北京精雕科技集团有限公司 | A kind of mechanical pushing linear motion device being driven using screw-nut |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108631205A (en) * | 2018-06-06 | 2018-10-09 | 河南森源电气股份有限公司 | The chassis vehicle of leadscrew-nut mechanism and breaker |
| CN108631205B (en) * | 2018-06-06 | 2023-09-19 | 河南森源电气股份有限公司 | Screw nut mechanism and chassis truck of circuit breaker |
| WO2022001409A1 (en) * | 2020-07-01 | 2022-01-06 | 琦星智能科技股份有限公司 | Reducer-free four-axis scara manipulator |
| CN113496064A (en) * | 2021-09-07 | 2021-10-12 | 北京精雕科技集团有限公司 | Compensation adjustment method for straightness of numerical control machine tool |
| CN113496064B (en) * | 2021-09-07 | 2021-11-30 | 北京精雕科技集团有限公司 | Compensation adjustment method for straightness of numerical control machine tool |
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