CN109397329A - A kind of joint end low vibration driving mechanism of robot - Google Patents
A kind of joint end low vibration driving mechanism of robot Download PDFInfo
- Publication number
- CN109397329A CN109397329A CN201811575347.3A CN201811575347A CN109397329A CN 109397329 A CN109397329 A CN 109397329A CN 201811575347 A CN201811575347 A CN 201811575347A CN 109397329 A CN109397329 A CN 109397329A
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- driving mechanism
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- screw rod
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- 230000007246 mechanism Effects 0.000 title claims abstract description 46
- 238000013016 damping Methods 0.000 claims abstract description 11
- 238000003825 pressing Methods 0.000 claims description 4
- 208000002197 Ehlers-Danlos syndrome Diseases 0.000 claims description 2
- 230000008450 motivation Effects 0.000 claims 1
- 230000033001 locomotion Effects 0.000 description 14
- 238000000034 method Methods 0.000 description 6
- 238000009434 installation Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 235000001630 Pyrus pyrifolia var culta Nutrition 0.000 description 1
- 240000002609 Pyrus pyrifolia var. culta Species 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 239000012528 membrane Substances 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 125000006850 spacer group Chemical group 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
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
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
Abstract
A kind of joint end low vibration driving mechanism of robot, it is related to robot relevant device technical field of structures, including straight line driving mechanism, and the rotary drive mechanism being connect with the straight line driving mechanism, straight line driving mechanism includes Z axis motor and screw rod, the bottom end of screw rod is mounted on the big bearing of flange seat, the top of screw rod is equipped with feed screw nut, feed screw nut is connect by link block with rotary drive mechanism, the lower section of flange seat is equipped with Z axis belt pulley, the output shaft of Z axis motor is connect by belt with Z axis belt pulley, and elastic damping part is equipped between flange seat and Z axis belt pulley.The present invention utilizes elastic damping structure, and silk vibration of bar and mechanical arm are isolated, to be conducive to reduce the shake of robotic arm end, adapts to harsher application environment.In addition, the driving mechanism, structure is simple, and easy to assembly and cost is extremely low, and does not influence the weight and size of machine.
Description
Technical field
The present invention relates to robot relevant device technical field of structures more particularly to the joint tail house skills of robot
Art.
Background technique
Term is explained:
SCARA: selection compliance puts together machines arm, and there are four freedom degree, three horizontal rotation joints and a uplink and downlinks altogether
It gets round by bribery.
Z axis: walk up and down joint in robot.
R axis: robot end's rotary joint.
Integral type screw rod spline: it can be realized simultaneously the mechanical mechanism of linear motion and rotary motion.
Separate type screw rod spline: screw rod realizes that linear motion, spline realize rotary motion, and the two fits together use.
Hollow motor: servo motor, center be it is empty, be conducive in centre threading cable or some axial workpieces.
Currently, proposing increasingly higher demands to robot with automation industry development.Stabilization of the industry to robot
Property, speed, precision has extremely harsh requirement.The mechanical structure of robot is all toward simplifying, and lightweight develops, but right
It is designed, material, and technique proposes requirements at the higher level.In order to improve speed, when design, must be compressed under the premise of proof strength
Size mitigates weight；On the other hand, just there are requirements at the higher level to manufacturing process, need all for components to be made more accurate, ability
Guarantee the performance of robot.However, steeply rising for cost certainly will be will lead to by improving technique.Therefore, it is necessary to some novel knots
Structure design, not only can guarantee the performance of robot, but also can be by cost control in reasonable range.
For example, Scara robot, Yamanashi, Japan university herds wild ocean and invents for 1978, and there are four axis and four for robot tool
A freedom of motion is highly suitable for carrying out the repetitive operation of some planes on desktop.The overall structure of each producer all Datong District
Small difference, but Z axis and R axis are structures most complicated in complete machine, had both required compact-sized, and weight is light, while realizing again straight
Line and the two different movements of rotation, and also precision prescribed is high, and speed is fast, and stability is high.
The Z axis and R axis of SCARA robot are in robot end, and there are two types of mainstream structures in industry at present, and one is realities
With integral type screw rod spline；Another kind is using separate type screw rod spline.
Integral type screw rod spline is nut there are two an axis is matched, is limited by the structure that linear motion and rotary motion are all
It can only be driven using belt.The greatest problem of belt is then flexible bigger, therefore R axis is easy to appear shaking problem,
Especially when end has the biggish load of ratio of inertias.Using integral type screw rod, robot all will be by many industrial applications
Limitation.
Separate type screw rod spline is a sleeve screw rod together with a set of splined builtup, realizes linear motion and rotation respectively
Movement.The structure of the invention is that general structure is improved in current industry, and current structure is using Yamaha SCARA as generation
The typical structure of table.Direct-connected using shaft coupling between the motor and screw rod of Yamaha SCARA Z axis, R axis is then using in one
Empty motor.The structure be mainly exactly it is at high cost, hollow motor is not easy to purchase.And also not by silk vibration of bar and mechanical arm into
Row isolation.
Currently, nearly all producer using separate type screw rod spline is all directly will be on the arm of screw rod installation machine.
Silk vibration of bar will be directly delivered on arm in this way, and arm is cantilever structure, easily cause the vibration of arm end
It is dynamic.
Summary of the invention
In view of the above drawbacks of the prior art, elasticity resistance is utilized technical problem to be solved by the invention is to provide a kind of
Buddhist nun's structure is isolated by silk vibration of bar and mechanical arm, to be conducive to reduce the joint of the robot of robotic arm end shake
End low vibration driving mechanism.
The present invention includes straight line driving mechanism and the rotary drive mechanism that connect with the straight line driving mechanism, described
Straight line driving mechanism includes Z axis motor and screw rod, and the bottom end of the screw rod is mounted on the big bearing of flange seat, the screw rod
Top is equipped with feed screw nut, and the feed screw nut is connect with rotary drive mechanism by link block, set below the flange seat
There is Z axis belt pulley, the output shaft of the Z axis motor is connect by belt with Z axis belt pulley, and in the flange seat and Z axis skin
Elastic damping part is equipped between belt wheel；The rotary drive mechanism includes R spindle motor and splined shaft, the top peace of the splined shaft
Equipped with small bearing, the small bearing is connect with link block, the splined shaft bottom end be successively arranged R shaft pulley, R axis retarder,
The output shaft of output flange and splined nut, the R spindle motor is connect by belt with R shaft pulley.
Further, the elastic damping part is diaphragm, diaphragm can also be replaced with spring part.
Further, the driving mechanism further includes y-axis motor and Y-axis retarder, and the y-axis motor passes through Y arm and rotation
Turn driving mechanism connection, is connected with X arm on the output end of the Y-axis retarder.
Further, the lower section of the big bearing is equipped with locking nut, is successively arranged big gasket above the big bearing
And large plate.
Further, minipad and small pressing plate are successively arranged above the small bearing.
The present invention utilizes elastic damping structure, and silk vibration of bar and mechanical arm are isolated, to be conducive to reduce mechanical hand
The shake of arm end adapts to harsher application environment.In addition, the driving mechanism, structure is simple, easy to assembly and cost pole
It is low, and the weight and size of machine are not influenced, it can apply on the complete series product of SCARA robot.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of the invention.
Fig. 2 is the cross-sectional view in the portion A in Fig. 1.
In figure: 1 Z axis motor, 2 screw rods, 3 flange seats, 4 big bearings, 5 feed screw nuts, 6 link blocks, 7 Z axis belt pulleys, 8
R spindle motor, 9 splined shafts, 10 small bearings, 11 R shaft pulleys, 12 R axis retarders, 13 output flanges, 14 splined nuts, 15 films
Piece, 16 y-axis motors, 17 Y-axis retarders, 18 Y arms, 19 X arms, 20 locking nuts, 21 big gaskets, 22 large plates, 23 pulvinuluses
Piece, 24 small pressing plates.
Specific embodiment
The architecture invention is can be applied in the product line of entire SCARA, for dissimilar arm exhibition, different loads
SCARA robot is all equally applicable.Some specific number of element types for being related in specific embodiment mentioned below, parameter are all
It is with 500mm arm exhibition, for the SCARA robot of 3kg load.
As shown in Figs. 1-2, the joint end low vibration driving mechanism of robot includes straight line driving mechanism, and and straight line
The rotary drive mechanism of driving mechanism connection, straight line driving mechanism includes Z axis motor 1 and screw rod 2, and the bottom end of screw rod 2 is mounted on
On the big bearing 4 of flange seat 3, the top of screw rod 2 is equipped with feed screw nut 5, and feed screw nut 5 passes through link block 6 and rotary driving machine
Structure connection, the lower section of flange seat 3 are equipped with Z axis belt pulley 7, and the output shaft of Z axis motor 1 is connect by belt with Z axis belt pulley 7,
And elastic damping part is equipped between the flange seat 3 and Z axis belt pulley 7.
In the present embodiment, which is realized using screw rod, when practical application, screw rod will be mounted on method
On the big bearing of blue seat, screw axis rotation is driven by belt, so that feed screw nut carries out straight line walking movement；Screw rod spiral shell simultaneously
It between the splined shaft of female and following rotary drive mechanisms, is connected using link block, so that feed screw nut, which moves, drives spline
Axis moves up and down；
Rotary drive mechanism includes R spindle motor 8 and splined shaft 9, and the top of splined shaft 9 is equipped with small bearing 10, the small bearing
10 connect with link block 6, and 9 bottom end of splined shaft is successively arranged R shaft pulley 11, R axis retarder 12, output flange 13 and flower
The output shaft of key nut 14, the R spindle motor 8 is connect by belt with R shaft pulley 11；In the present embodiment, by R spindle motor
Belt is connected, belt drives R axis retarder, since R axis retarder and splined nut fit together, so that splined nut and flower
Key axis moves together.In the structure, retarder can be increased, thus the rigidity of rotary joint can be greatly increased, so as to
Greatly increase the inertial loads of robot R axis.
In the present embodiment, screw rod is the executive component in drive mechanism and mechanical system.In motion process,
In the energy transmission to flange seat that itself will necessarily will be vibrated.Elastic damping knot is added between the flange seat and arm of screw rod
Structure then can significantly reduce robot end's amplitude.
Specifically, the elastic damping part is diaphragm 15；In practical application, because of robot motion's area requirement, screw rod
It is general long, therefore, the size of components is required more stringent.And the diaphragm can be bent in all directions, i.e.,
The location dimension and verticality, verticality for making workpiece have some deviations, which can also eliminate influences brought by machining deviation.
Specifically, the diaphragm 15 can be replaced spring part, said effect equally can reach using spring part here.
Specifically, the driving mechanism further includes y-axis motor 16 and Y-axis retarder 17, the y-axis motor 16 passes through Y arm
18 connect with rotary drive mechanism, are connected with X arm 19 on the output end of the Y-axis retarder 17；The lower section of the big bearing 4 is set
There is locking nut 20, the top of the big bearing 4 is successively arranged big gasket 21 and large plate 22；The top of the small bearing 10 according to
It is secondary to be equipped with minipad 23 and small pressing plate 24；The structure can further improve the stability and reliability when robot motion.
During installation, the drawing that can be designed according to mechanism, process component can also buy mating make to the present embodiment simultaneously
Standard parts and components, and the processing dimension of components requires to need to reach IT7 class precision.In addition, when installation, installation one
The diaphragm of block theoretical size (about 90% thickness of ideal dimensions) and one piece of gasket (about 90% thickness of ideal dimensions).If
Complete machine is ineffective, can be adjusted by suitably increasing and decreasing spacer membrane quantity.
In addition, the above-mentioned straight line driving mechanism and rotary drive mechanism being related to of the application, due to the prior art without this
Matter difference, therefore its working principle no longer elaborates herein.
In conclusion the joint end low vibration driving mechanism of the robot, so that the inertia load of R axis is obviously improved；
And the shake of robot end is obviously reduced, to adapt to harsher application environment；Meanwhile it can suitably relax components
The qualification rate of processing technology requirement, components rises；In addition, the noise of machine operation is also obviously reduced.
Claims (6)
1. a kind of joint end low vibration driving mechanism of robot, including straight line driving mechanism and the straight line driving mechanism
The rotary drive mechanism of connection, it is characterised in that: the straight line driving mechanism includes Z axis motor (1) and screw rod (2), the silk
The bottom end of bar (2) is mounted on the big bearing (4) of flange seat (3), and the top of the screw rod (2) is equipped with feed screw nut (5), described
Feed screw nut (5) is connect by link block (6) with rotary drive mechanism, and the lower section of the flange seat (3) is equipped with Z axis belt pulley
(7), the output shaft of the Z axis motor (1) is connect by belt with Z axis belt pulley (7), and in the flange seat (3) and Z axis skin
Elastic damping part is equipped between belt wheel (7)；The rotary drive mechanism includes R spindle motor (8) and splined shaft (9), the spline
The top of axis (9) is equipped with small bearing (10), and the small bearing (10) connect with link block (6), splined shaft (9) bottom end according to
It is secondary to be equipped with R shaft pulley (11), R axis retarder (12), output flange (13) and splined nut (14), the R spindle motor (8)
Output shaft is connect by belt with R shaft pulley (11).
2. a kind of joint end low vibration driving mechanism of robot according to claim 1, it is characterised in that: the bullet
Property damping piece be diaphragm (15).
3. a kind of joint end low vibration driving mechanism of robot according to claim 1, it is characterised in that: the bullet
Property damping piece be spring part.
4. a kind of joint end low vibration driving mechanism of robot according to claim 1, it is characterised in that: the drive
Motivation structure further includes y-axis motor (16) and Y-axis retarder (17), and the y-axis motor (16) passes through Y arm (18) and rotary driving machine
Structure connects, and is connected with X arm (19) on the output end of the Y-axis retarder (17).
5. a kind of joint end low vibration driving mechanism of robot according to claim 4, it is characterised in that: described big
The lower section of bearing (4) is equipped with locking nut (20), is successively arranged big gasket (21) and large plate above the big bearing (4)
(22).
6. a kind of joint end low vibration driving mechanism of robot according to claim 5, it is characterised in that: described small
Minipad (23) and small pressing plate (24) are successively arranged above bearing (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811575347.3A CN109397329A (en) | 2018-12-22 | 2018-12-22 | A kind of joint end low vibration driving mechanism of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811575347.3A CN109397329A (en) | 2018-12-22 | 2018-12-22 | A kind of joint end low vibration driving mechanism of robot |
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| Publication Number | Publication Date |
|---|---|
| CN109397329A true CN109397329A (en) | 2019-03-01 |
Family
ID=65460487
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811575347.3A Pending CN109397329A (en) | 2018-12-22 | 2018-12-22 | A kind of joint end low vibration driving mechanism of robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114454140A (en) * | 2021-09-22 | 2022-05-10 | 江苏图灵智能机器人有限公司 | Ultrahigh-speed Scara robot capable of self-lubricating |
| CN114714397A (en) * | 2022-04-15 | 2022-07-08 | 江苏图灵智能机器人有限公司 | Inverted medium-sized horizontal multi-joint robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007239783A (en) * | 2006-03-06 | 2007-09-20 | Toshiba Mach Co Ltd | Bearing supporting method and robot device using this method |
| CN201744996U (en) * | 2010-03-12 | 2011-02-16 | 杭州电子科技大学 | Omni directional mobile robot transmission mechanism |
| JP2013006259A (en) * | 2011-06-27 | 2013-01-10 | Iai:Kk | Industrial robot |
| CN104858647A (en) * | 2015-06-10 | 2015-08-26 | 深圳博美德机器人有限公司 | SCARA screw hitting manipulator and SCARA robot |
| CN207593799U (en) * | 2017-12-12 | 2018-07-10 | 广东工业大学 | A kind of mechanical arm attachment device |
| CN207644521U (en) * | 2017-11-27 | 2018-07-24 | 深圳图灵智能机器人科技有限公司 | A kind of chassis structure |
| CN109048939A (en) * | 2018-08-28 | 2018-12-21 | 南京理工大学 | Intelligent dining for chafing dish industry takes robot |
| CN209256985U (en) * | 2018-12-22 | 2019-08-16 | 江苏图灵智能机器人有限公司 | A kind of joint end low vibration driving mechanism of robot |
-
2018
- 2018-12-22 CN CN201811575347.3A patent/CN109397329A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007239783A (en) * | 2006-03-06 | 2007-09-20 | Toshiba Mach Co Ltd | Bearing supporting method and robot device using this method |
| CN201744996U (en) * | 2010-03-12 | 2011-02-16 | 杭州电子科技大学 | Omni directional mobile robot transmission mechanism |
| JP2013006259A (en) * | 2011-06-27 | 2013-01-10 | Iai:Kk | Industrial robot |
| CN104858647A (en) * | 2015-06-10 | 2015-08-26 | 深圳博美德机器人有限公司 | SCARA screw hitting manipulator and SCARA robot |
| CN207644521U (en) * | 2017-11-27 | 2018-07-24 | 深圳图灵智能机器人科技有限公司 | A kind of chassis structure |
| CN207593799U (en) * | 2017-12-12 | 2018-07-10 | 广东工业大学 | A kind of mechanical arm attachment device |
| CN109048939A (en) * | 2018-08-28 | 2018-12-21 | 南京理工大学 | Intelligent dining for chafing dish industry takes robot |
| CN209256985U (en) * | 2018-12-22 | 2019-08-16 | 江苏图灵智能机器人有限公司 | A kind of joint end low vibration driving mechanism of robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114454140A (en) * | 2021-09-22 | 2022-05-10 | 江苏图灵智能机器人有限公司 | Ultrahigh-speed Scara robot capable of self-lubricating |
| CN114714397A (en) * | 2022-04-15 | 2022-07-08 | 江苏图灵智能机器人有限公司 | Inverted medium-sized horizontal multi-joint robot |
| CN114714397B (en) * | 2022-04-15 | 2023-01-24 | 江苏图灵智能机器人有限公司 | Inverted medium-sized horizontal multi-joint robot |
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