CN109605359A - A kind of lead screw splined member and robot - Google Patents
A kind of lead screw splined member and robot Download PDFInfo
- Publication number
- CN109605359A CN109605359A CN201910054649.4A CN201910054649A CN109605359A CN 109605359 A CN109605359 A CN 109605359A CN 201910054649 A CN201910054649 A CN 201910054649A CN 109605359 A CN109605359 A CN 109605359A
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- China
- Prior art keywords
- nut
- splined
- lead screw
- feed screw
- outer ring
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- 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.)
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- 230000015572 biosynthetic process Effects 0.000 claims description 2
- 238000009434 installation Methods 0.000 abstract description 14
- 238000000034 method Methods 0.000 abstract description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000001360 synchronised effect Effects 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
Abstract
The present invention relates to field of mechanical technique, disclose a kind of lead screw splined member and robot, the lead screw splined member includes: feed screw nut, splined nut and bearing outer ring, wherein: feed screw nut has the first shaft hole for wearing for lead screw shaft, and feed screw nut inner ring is formed with the internal screw thread for being threadedly engaged with lead screw shaft；Splined nut has the second axis hole for wearing for lead screw shaft, and the inner ring of splined nut is formed with the spline structure for cooperating with lead screw shaft, and the axial line of the second axis hole is overlapped with the axial line of first shaft hole；Bearing outer ring is sheathed on the outside of feed screw nut and splined nut, and opposite bearing outer ring, feed screw nut can be rotated around axial line, and splined nut can be rotated around axial line.Lead screw splined member provided by the invention carries out installation fixation to feed screw nut and splined nut using the same bearing outer ring, and the concentricity of feed screw nut and splined nut can be effectively ensured.
Description
Technical field
The present invention relates to field of mechanical technique, in particular to a kind of lead screw splined member and robot.
Background technique
Selection compliance put together machines arm (Selective Compliance Assembly Robot Arm, referred to as
SCARA) by using ball-screw spline structure in robot, by the synchronous belt being mounted on motor and ball-screw spline knot
Belt pulley on structure is connected, and driving third and fourth axis of SCARA robot movement not only can realize robot end's axis
It rotation and moves up and down, can also slow down and improves the output torque of motor.
Ball-screw spline currently used for SCARA robot has split type and two kinds of forms of integral type.Integral type ball
Lead screw spline has spline direction of rotation zero clearance, high-precision, high speed, runs smooth, low noise, high rigidity, installation convenience
And the features such as saving space, therefore, integral type ball-screw spline is answered extensively in the SCARA robot that major producer produces
With.
But traditional integral type ball-screw spline uses two bearing supports.Respectively by feed screw nut and spline spiral shell
Female outer circle is directly loadable into dedicated spring bearing.Although the material that outer ring uses can be effectively reduced by doing so, two axis
Bearing outer-ring needs are fixed respectively, have strict demand to the concentricity of two bearing outer rings.
Summary of the invention
The present invention provides a kind of lead screw splined member and robots, and the lead screw splined member is by using same bearing
Outer ring, it is possible to prevente effectively from two bearing out-of-alignment problems caused by installation error.
In order to achieve the above objectives, the present invention the following technical schemes are provided:
A kind of lead screw splined member, comprising: feed screw nut, splined nut and bearing outer ring, in which:
The feed screw nut has the first shaft hole for wearing for lead screw shaft, and the feed screw nut inner ring, which is formed with, to be used for
The internal screw thread being threadedly engaged with the lead screw shaft；The splined nut has the second axis hole for wearing for the lead screw shaft,
The inner ring of the splined nut is formed with the spline structure for cooperating with the lead screw shaft, and the axial line of second axis hole
It is overlapped with the axial line of the first shaft hole；The bearing outer ring is sheathed on the outer of the feed screw nut and the splined nut
Side, and the relatively described bearing outer ring, the feed screw nut can be rotated around the axial line, and the splined nut can be around the axle center
Line rotation.
In above-mentioned lead screw splined member, lead screw splined member includes feed screw nut, splined nut and bearing outer ring.It is answering
When with above-mentioned lead screw splined member, lead screw shaft can be worn in the first shaft hole of feed screw nut and the second axis hole of splined nut,
Since the axial line of the first shaft hole of feed screw nut is overlapped with the axial line of the second axis hole of splined nut, and feed screw nut and flower
Key nut can carry out installation fixation by both being sheathed on bearing outer ring, then can guarantee the coaxial of feed screw nut and splined nut
Degree.
It should be noted that lead screw splined member provided by the invention using the same bearing outer ring to feed screw nut and
Splined nut carries out installation fixation, and the concentricity of feed screw nut and splined nut can be effectively ensured.
Therefore, the lead screw splined member is by using same bearing outer ring, it is possible to prevente effectively from since installation error is led
The two bearing out-of-alignment problems caused.
Preferably, the outer ring of the feed screw nut and the outer ring of the splined nut are generally aligned in the same plane.
Preferably, ball, and the splined nut and the axis are equipped between the feed screw nut and the bearing outer ring
Ball is equipped between bearing outer-ring.
Preferably, the feed screw nut leans out the bearing outer ring, and the lead screw spiral shell away from the splined nut side
One end that mother leans out the bearing outer ring forms feed screw nut connecting pin.
Preferably, the splined nut leans out the bearing outer ring, and the spline away from one end of the feed screw nut
One end that nut leans out the bearing outer ring forms splined nut connecting pin.
Preferably, the bearing outer ring is formed with flange arrangement close to one end of the splined nut.
Preferably, between having between the direction of axis line of the first shaft hole, the feed screw nut and the splined nut
Every.
The present invention also provides a kind of robots, comprising: any one lead screw provided in lead screw shaft and above-mentioned technical proposal
Splined member, the lead screw shaft are arranged in the first shaft hole of the feed screw nut and the second axis hole of the splined nut,
And the outer surface of the lead screw shaft is formed with and matches with the spline structure of the internal screw thread of the feed screw nut and the splined nut
The drive mechanism of conjunction so that the feed screw nut can around the axial line of the lead screw shaft rotate, the splined nut can be along described
The axial line extending direction of lead screw shaft is mobile.
It preferably, further include erecting bed for installing the lead screw splined member, outside the erecting bed and the bearing
Enclose the mounting surface being detachably connected.
It preferably, further include being installed on the feed screw nut away from the first pulley of described splined nut one end and being installed on
The splined nut deviates from second belt wheel of described feed screw nut one end.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of lead screw splined member provided in an embodiment of the present invention；
Fig. 2 is the cross-sectional view of structure in Fig. 1；
Fig. 3 is the structural schematic diagram of robot provided in an embodiment of the present invention；
Fig. 4 is the cross-sectional view of structure in Fig. 3.
Icon: 1- feed screw nut；2- splined nut；3- bearing outer ring；4- lead screw shaft；5- erecting bed.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1 and Fig. 2 is please referred to, the present invention provides a kind of lead screw splined member, comprising: feed screw nut 1, splined nut 2
And bearing outer ring 3, in which:
Feed screw nut 1 has the first shaft hole for wearing for lead screw shaft 4 (as shown in Figure 4), and 1 inner ring of feed screw nut is formed
There is the internal screw thread for being threadedly engaged with lead screw shaft 4；Splined nut 2 has the second axis hole for wearing for lead screw shaft 4, spline
The inner ring of nut 2 is formed with the spline structure for cooperating with lead screw shaft 4, and the axis of the axial line of the second axis hole and first shaft hole
Heart line is overlapped；Bearing outer ring 3 is sheathed on the outside of feed screw nut 1 Yu splined nut 2, and opposite bearing outer ring 3, feed screw nut 1
It can be rotated around axial line, splined nut 2 can be rotated around axial line.
In above-mentioned lead screw splined member, lead screw splined member includes feed screw nut 1, splined nut 2 and bearing outer ring 3.
In the above-mentioned lead screw splined member of application, silk can be worn in the first shaft hole of feed screw nut 1 and the second axis hole of splined nut 2
Thick stick axis 4, since the axial line of the first shaft hole of feed screw nut 1 is overlapped with the axial line of the second axis hole of splined nut 2, and lead screw
Nut 1 and splined nut 2 can carry out installation fixation by being sheathed on the two bearing outer ring 3, then can guarantee feed screw nut 1 and spline
The concentricity of nut 2.
It should be noted that lead screw splined member provided by the invention use the same bearing outer ring 3 to feed screw nut 1 with
And splined nut 2 carries out installation fixation, and the concentricity of feed screw nut 1 Yu splined nut 2 can be effectively ensured.
Therefore, the lead screw splined member is by using same bearing outer ring 3, it is possible to prevente effectively from since installation error is led
The two bearing out-of-alignment problems caused.
Specifically, since 1 inner ring of feed screw nut is formed with the internal screw thread for being threadedly engaged with lead screw shaft 4, splined nut 2
Inner ring be formed with the spline structure for cooperating with lead screw shaft 4, and opposite bearing outer ring 3, feed screw nut 1 can be revolved around axial line
Turn, splined nut 2 can be rotated around axial line, then when feed screw nut 1 rotates, feed screw nut 1 drives lead screw shaft 4 along axial line side
To linear motion, at this point, splined nut 2 remains stationary；When splined nut 2 rotates, due to the presence of spline structure, spline spiral shell
Mother 2 will drive lead screw shaft 4 to rotate together with feed screw nut 1.
Based on the above technical solution, in order to preferably guarantee feed screw nut 1 and splined nut 2 is installed on outside bearing
Concentricity after circle 3, be arranged as a preferred implementation manner: the outer ring of feed screw nut 1 and the outer ring of splined nut 2 are located at
Same plane.
Based on the above technical solution, ball, and flower specific setting: are equipped between feed screw nut 1 and bearing outer ring 3
Ball is equipped between key nut 2 and bearing outer ring 3.
Based on the above technical solution, for the ease of the installation between feed screw nut 1 and other devices, feed screw nut
1 leans out bearing outer ring 3 away from 2 side of splined nut, and feed screw nut 1 leans out one end formation feed screw nut 1 company of bearing outer ring 3
Connect end.
It should be noted that 1 connecting pin of feed screw nut can be formed with through-hole, with pass through between other component bolt or
Screw disassembling connection.
Likewise, splined nut 2 leans out bearing outer ring 3 away from one end of feed screw nut 1, and splined nut 2 leans out bearing
One end of outer ring 3 forms 2 connecting pin of splined nut.
It should be noted that 2 connecting pin of splined nut can also be formed with through-hole, with pass through between other component bolt or
The connection of person's screw disassembling.
Based on the above technical solution, since the overall stiffness of lead screw splined member provided by the invention is main and flower
Key nut 2 is related, therefore, when design, as shown in Figure 3 and Figure 4, the structure of feed screw nut 1 upper, splined nut 2
For structure under, bearing outer ring 3 is formed with flange arrangement close to one end of splined nut 2, to pass through the flange arrangement of bearing outer ring 3
It is installed with mounting platform.
It should be noted that since silk provided by the invention only can be realized by the flange arrangement of 3 one end of bearing outer ring
The installation of thick stick splined member then during installation, in equipment only needs that a mounting plane is arranged, and only need to the mounting plane into
Row finishing.Polished surface not only can be effectively reduced, the manufacture and assembly difficulty of complete machine is reduced, and can be saved
About cost promotes whole precision.
Significantly, since feed screw nut 1 and each autokinesis of splined nut 2, non-interference, then it is preferably provided with: edge
The direction of axis line of first shaft hole has interval between feed screw nut 1 and splined nut 2.
Fig. 3 and Fig. 4 are please referred to, the present invention also provides a kind of robots, comprising: mention in lead screw shaft 4 and above-mentioned technical proposal
Supply any one lead screw splined member, lead screw shaft 4 be arranged in feed screw nut 1 first shaft hole and splined nut 2 second
In axis hole, and the outer surface of lead screw shaft 4 is formed with and cooperates with the spline structure of the internal screw thread of feed screw nut 1 and splined nut 2
Drive mechanism so that feed screw nut 1 can around the axial line of lead screw shaft 4 rotate, splined nut 2 can be along the axial line of lead screw shaft 4
Extending direction is mobile.
Specifically, feed screw nut 1 is matched by internal screw thread and the drive mechanism in lead screw shaft 4 when feed screw nut 1 rotates
It closes, lead screw shaft 4 is driven to move along a straight line along direction of axis line, at this point, splined nut 2 remains stationary；When splined nut 2 rotates,
Due to the presence of spline structure, splined nut 2 will drive lead screw shaft 4 to rotate together with feed screw nut 1.
Based on the above technical solution, robot provided by the invention further includes for installing lead screw splined member
The mounting surface that erecting bed 5, erecting bed 5 and bearing outer ring 3 are detachably connected.
Referring to FIG. 3, specifically first pulley can be installed away from one end of splined nut 2 in feed screw nut, in spline spiral shell
Mother 2 installs the second belt wheel away from one end of feed screw nut 1, so that first pulley driving feed screw nut 1 moves, the second belt wheel is driven
Dynamic splined nut 2 moves.
Specifically, when first pulley driving feed screw nut 1 moves, when the second band wheel drive splined nut 2 moves, lead screw spiral shell
Mother 1 and splined nut 2 are rotated around the axial line of lead screw shaft 4, and then realize the rotation and up and down motion of lead screw shaft 4.
It should be noted that since feed screw nut 1 and splined nut 2 are using an installation of bearing outer ring 3, then in robot
Inside forms a boss structure, i.e. erecting bed 5, and in a pre-installation only to erecting bed 5 for installing the one of bearing outer ring 3
Side mounting surface is finished.
Specifically, flange arrangement is installed on mounting surface i.e. by screw when flange arrangement is arranged on bearing outer ring 3
It can.
Obviously, those skilled in the art can carry out various modification and variations without departing from this hair to the embodiment of the present invention
Bright spirit and scope.In this way, if these modifications and changes of the present invention belongs to the claims in the present invention and its equivalent technologies
Within the scope of, then the present invention is also intended to include these modifications and variations.
Claims (10)
1. a kind of lead screw splined member characterized by comprising feed screw nut, splined nut and bearing outer ring, in which:
The feed screw nut has a first shaft hole for wearing for lead screw shaft, the feed screw nut inner ring be formed with for institute
State the internal screw thread that lead screw shaft is threadedly engaged；The splined nut has the second axis hole for wearing for the lead screw shaft, described
The inner ring of splined nut is formed with the spline structure for cooperating with the lead screw shaft, and the axial line of second axis hole and institute
The axial line for stating first shaft hole is overlapped；The bearing outer ring is sheathed on the outside of the feed screw nut Yu the splined nut, and
The relatively described bearing outer ring, the feed screw nut can be rotated around the axial line, and the splined nut can be revolved around the axial line
Turn.
2. lead screw splined member according to claim 1, which is characterized in that the outer ring of the feed screw nut and the spline
The outer ring of nut is generally aligned in the same plane.
3. lead screw splined member according to claim 2, which is characterized in that the feed screw nut and the bearing outer ring it
Between be equipped with ball, and between the splined nut and the bearing outer ring be equipped with ball.
4. lead screw splined member according to claim 3, which is characterized in that the feed screw nut deviates from the splined nut
Side leans out the bearing outer ring, and the feed screw nut leans out one end formation feed screw nut connecting pin of the bearing outer ring.
5. lead screw splined member according to claim 3, which is characterized in that the splined nut deviates from the feed screw nut
One end lean out the bearing outer ring, and the splined nut leans out one end of the bearing outer ring and forms splined nut connection
End.
6. lead screw splined member according to claim 1-5, which is characterized in that the bearing outer ring is close to described
One end of splined nut is formed with flange arrangement.
7. lead screw splined member according to claim 6, which is characterized in that along the direction of axis line of the first shaft hole,
There is interval between the feed screw nut and the splined nut.
8. a kind of robot characterized by comprising lead screw shaft and such as described in any item lead screw spline groups of claim 1-7
Part, the lead screw shaft are arranged in the first shaft hole of the feed screw nut and the second axis hole of the splined nut, and described
The outer surface of lead screw shaft is formed with the biography with the cooperation of the spline structure of the internal screw thread of the feed screw nut and the splined nut
Dynamic structure so that the feed screw nut can be rotated around the axial line of the lead screw shaft, the splined nut can be along the lead screw shaft
Axial line extending direction it is mobile.
9. robot according to claim 8, which is characterized in that further include the peace for installing the lead screw splined member
Fill platform, the mounting surface that the erecting bed and the bearing outer ring are detachably connected.
10. robot according to claim 8, which is characterized in that further include being installed on the feed screw nut away from described
The first pulley of splined nut one end deviates from second belt wheel of described feed screw nut one end with the splined nut is installed on.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910054649.4A CN109605359A (en) | 2019-01-21 | 2019-01-21 | A kind of lead screw splined member and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910054649.4A CN109605359A (en) | 2019-01-21 | 2019-01-21 | A kind of lead screw splined member and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109605359A true CN109605359A (en) | 2019-04-12 |
Family
ID=66018014
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910054649.4A Pending CN109605359A (en) | 2019-01-21 | 2019-01-21 | A kind of lead screw splined member and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109605359A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109895080A (en) * | 2019-04-25 | 2019-06-18 | 珠海格力电器股份有限公司 | SCARA robot forearm structure and SCARA robot |
| CN112659177A (en) * | 2020-12-10 | 2021-04-16 | 珠海格力电器股份有限公司 | Stopper and robot arm |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4939946A (en) * | 1988-03-05 | 1990-07-10 | Hiroshi Teramachi | Composite motion guide device |
| US5228353A (en) * | 1990-12-25 | 1993-07-20 | Nsk, Ltd. | Ball screw device |
| CN201970315U (en) * | 2011-03-16 | 2011-09-14 | 华南理工大学广州汽车学院 | Third and fourth joint mechanisms of planar joint robot |
| CN209478194U (en) * | 2019-01-21 | 2019-10-11 | 珠海格力电器股份有限公司 | A kind of lead screw splined member and robot |
-
2019
- 2019-01-21 CN CN201910054649.4A patent/CN109605359A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4939946A (en) * | 1988-03-05 | 1990-07-10 | Hiroshi Teramachi | Composite motion guide device |
| US5228353A (en) * | 1990-12-25 | 1993-07-20 | Nsk, Ltd. | Ball screw device |
| CN201970315U (en) * | 2011-03-16 | 2011-09-14 | 华南理工大学广州汽车学院 | Third and fourth joint mechanisms of planar joint robot |
| CN209478194U (en) * | 2019-01-21 | 2019-10-11 | 珠海格力电器股份有限公司 | A kind of lead screw splined member and robot |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109895080A (en) * | 2019-04-25 | 2019-06-18 | 珠海格力电器股份有限公司 | SCARA robot forearm structure and SCARA robot |
| CN109895080B (en) * | 2019-04-25 | 2024-04-16 | 珠海格力电器股份有限公司 | SCARA robot forearm structure and SCARA robot |
| CN112659177A (en) * | 2020-12-10 | 2021-04-16 | 珠海格力电器股份有限公司 | Stopper and robot arm |
| CN112659177B (en) * | 2020-12-10 | 2023-07-04 | 珠海格力电器股份有限公司 | Brake and robot arm |
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