CN111941411A

CN111941411A - Horizontal articulated robot

Info

Publication number: CN111941411A
Application number: CN201910405937.XA
Authority: CN
Inventors: 朱维金; 王金涛; 刘长斌; 刘�文; 张恩涛
Original assignee: Shenyang Siasun Robot and Automation Co Ltd
Current assignee: Shenyang Siasun Robot and Automation Co Ltd
Priority date: 2019-05-16
Filing date: 2019-05-16
Publication date: 2020-11-17

Abstract

The invention belongs to the field of robots, in particular to a horizontal multi-joint robot.A base is respectively provided with a main arm driving unit, a nut driving motor, a spline nut driving motor and a head driving motor, the output end of the main arm driving unit is connected with one end of a main arm, the other end of the main arm is rotatably connected with one end of a head, the other end of the head is respectively rotatably provided with a nut and a spline nut, a main shaft is respectively connected with the nut and the spline nut, and the lower end of the main shaft is connected with a tail end flange; the nut driving motor drives the nut to rotate through the transmission device, the spline nut driving motor drives the spline nut to rotate through the transmission device, and the head driving motor drives the head to rotate through the transmission device. The driving motors are all arranged on the base, so that the problem that the existing robot cannot improve the speed and the movement precision due to the fact that the moving part of the existing robot is large in mass and the head of the existing robot is eccentric in a cantilever type structure is solved.

Description

Horizontal articulated robot

Technical Field

The invention belongs to the field of robots, and particularly relates to a horizontal articulated robot.

Background

SCARA (selective company Assembly Robot) Robot, which started in 1980, was developed and industrialized mainly by Proc, Sophora japonica, Japan Sorbomachinery, in order to solve the problem of Assembly process in automated production at high speed and efficiently. Therefore, SCARA robots are also typical representatives of assembly robots.

In the era of mass industrial production, the SCARA robot has certain application achievements by taking the characteristics of simple action, high speed, low cost and the like and taking the 3C electronic industry (computer, communication and consumer electronics) as the center, and the specific application procedures comprise grabbing and placing (inserting) parts, dispensing, locking screws, soldering and the like, and replace manual work to realize repeated work with high quality requirements.

With the arrival of a new industrial era mainly based on customization, the human needs to be a robot with higher performance, which is characterized by flexibility and intellectualization, and can more flexibly replace manual work in wider fields. The range of application of the assembly robot is also expanding from the 3c industry to the general industrial fields of 3p (food, pharmaceutical and cosmetic).

Specifically, cooperative robots and intelligent robots are the developing directions of robots. The cooperative robot can be matched with a human to perform mixed operation, needs the performances of safety, flexibility, convenience and the like, and is an effective way for realizing automation of the traditional assembly line. The intelligent robot is supported by the Internet of things and big data cloud computing, uses an artificial intelligence technology to a certain extent, and is an important basis for realizing industrial 4.0. The cooperative robot and the intelligent robot in the prior art have some common ontology problems.

The existing horizontal multi-joint conventional technical horizontal cooperative robot has four motors in total. The conventional art drives the motor three on the moving part (forearm) and one on the stationary part (base). The invention patent 'horizontal multi-joint SCARA type cooperative robot' disclosed in 12.12.2017 and having publication number CN107457777A, comprises a base, a main arm and a head which are rotatably connected with each other, a driving motor, two moving parts (small arms) and two static parts (base); a main arm driving motor and a head driving motor as well as a head driving shaft in a main arm transmission mechanism and a head transmission mechanism are arranged in the base; a spindle is arranged in the head, a spindle driving motor and a corresponding transmission mechanism are arranged in the head shell, and the transmission mechanism is connected with the spindle, so that the spindle can rotate and move up and down; a base bearing device is arranged between the main arm driven shaft and the base shell, and a main arm bearing device is arranged between the head transmission shaft and the main arm shell. The existing cooperative robot has large mass of a moving part and the head is in an eccentric cantilever type structure, so that the speed and the movement precision cannot be improved.

Disclosure of Invention

In order to solve the above-mentioned problems of the conventional cooperative robot, it is an object of the present invention to provide a horizontal articulated robot. The driving motor of the horizontal articulated robot is arranged on the static part (base), the head driving system is balanced in mass, the moving part is light in weight, the motion inertia is reduced, and the improvement of the induction precision is facilitated.

The purpose of the invention is realized by the following technical scheme:

the main arm driving unit, the nut driving motor, the spline nut driving motor and the head driving motor are respectively installed on the base, the output end of the main arm driving unit is connected with one end of the main arm, the other end of the main arm is rotatably connected with one end of the head, one end of the head is respectively provided with a hollow synchronous pulley B and a synchronous pulley shaft B, one end of the synchronous pulley shaft B is rotatably connected with the other end of the main arm, the other end of the synchronous pulley shaft B is rotatably connected with one end of the head, the hollow synchronous pulley B is rotatably installed outside the synchronous pulley shaft B, the other end of the head is respectively rotatably installed with a nut and a spline nut, the main shaft is respectively connected with the nut and the spline nut, and the lower end of the main shaft is connected with a tail end flange for installing an actuating mechanism; one end of the main arm is respectively provided with a synchronous belt pulley A, a hollow synchronous belt pulley A and a hollow synchronous belt pulley C, wherein the hollow synchronous belt pulley C is rotatably arranged at one end of the main arm, one end of the hollow synchronous belt pulley C is connected with the output end of a head driving motor through a head transmission device A, and the other end of the hollow synchronous belt pulley C is connected with one end of the head through a head transmission device B; the hollow synchronous belt pulley A is rotatably arranged inside the hollow synchronous belt pulley C, one end of the hollow synchronous belt pulley A is connected with the output end of a spline nut driving motor through a spline nut transmission device A, the other end of the hollow synchronous belt pulley A is connected with one end of the hollow synchronous belt pulley B through a spline nut transmission device B, and the other end of the hollow synchronous belt pulley B is connected with the spline nut through the spline nut transmission device C; the synchronous belt pulley shaft A is rotatably arranged inside the hollow synchronous belt pulley A, one end of the synchronous belt pulley shaft A is connected with the output end of the nut driving motor through a nut transmission device A, the other end of the synchronous belt pulley shaft A is connected with one end of a synchronous belt pulley shaft B through a nut transmission device B, and the other end of the synchronous belt pulley shaft B is connected with the nut through a nut transmission device C;

wherein: the synchronous belt wheel shaft A comprises an upper belt wheel A, a hollow shaft A and a lower belt wheel A, the hollow shaft A is rotatably arranged in the hollow synchronous belt wheel A, the two ends of the hollow shaft A are respectively connected with the upper belt wheel A and the lower belt wheel A, the upper belt wheel A is connected with the output end of a nut driving motor through a nut transmission device A, and the lower belt wheel A is connected with one end of a synchronous belt wheel shaft B through a nut transmission device B;

the screw transmission device A comprises a synchronous belt wheel A and a synchronous belt A, the output end of the screw driving motor is connected with the synchronous belt wheel A, and the synchronous belt wheel A is connected with the upper belt wheel A through the synchronous belt A; the nut transmission device B comprises a synchronous belt B, and the synchronous belt B is connected between the lower belt wheel A and one end of a synchronous belt wheel shaft B;

the hollow synchronous belt pulley A comprises an upper belt pulley C, a hollow shaft C and a lower belt pulley C, the hollow shaft C is rotatably arranged in the hollow synchronous belt pulley C, the two ends of the hollow shaft C are respectively connected with the upper belt pulley C and the lower belt pulley C, the upper belt pulley C is connected with the output end of a spline nut driving motor through a spline nut transmission device A, and the lower belt pulley C is connected with one end of the hollow synchronous belt pulley B through the spline nut transmission device B;

the spline female transmission device A comprises a synchronous belt wheel C and a synchronous belt D, the output end of the spline female driving motor is connected with the synchronous belt wheel C, and the synchronous belt wheel C is connected with the upper belt wheel C through the synchronous belt D; the spline female transmission device B comprises a synchronous belt E, and the synchronous belt E is connected between the lower belt wheel C and one end of the hollow synchronous belt wheel B;

the hollow synchronous belt pulley C comprises an upper belt pulley E and a lower belt pulley E which are connected with each other, the connected upper belt pulley E and the connected lower belt pulley E are rotatably arranged at one end of the main arm, the upper belt pulley E is connected with the output end of a head driving motor through a head transmission device A, and the lower belt pulley E is connected with one end of the head through a head transmission device B;

the head transmission device A comprises a synchronous belt wheel D and a synchronous belt G, the output end of the head driving motor is connected with the synchronous belt wheel D, and the synchronous belt wheel D is connected with the upper belt wheel E through the synchronous belt G; the head transmission device B comprises a synchronous belt H and a synchronous belt wheel D, the synchronous belt wheel D is rotatably arranged at the other end of the main arm and is connected with one end of the head, and the synchronous belt H is connected between the lower belt wheel E and the synchronous belt wheel D;

the synchronous belt wheel shaft B comprises an upper belt wheel B, a hollow shaft B and a lower belt wheel B, two ends of the hollow shaft B are respectively connected with the upper belt wheel B and the lower belt wheel B, the upper belt wheel B is rotatably connected with a supporting seat A arranged at one end of the head, and the lower belt wheel B is rotatably connected with a supporting seat B arranged at the other end of the main arm; the upper belt wheel B is connected with a nut through a nut transmission device C, and the lower belt wheel B is connected with the other end of the synchronous belt wheel shaft A through a nut transmission device B;

the nut transmission device C comprises a synchronous belt C and a synchronous belt wheel B, and the synchronous belt wheel B is connected with the nut and is connected with an upper belt wheel B through the synchronous belt C;

the hollow synchronous pulley B comprises an upper pulley D, a hollow shaft D and a lower pulley D, the hollow shaft D is rotatably arranged outside the synchronous pulley shaft B, two ends of the hollow shaft D are respectively connected with the upper pulley D and the lower pulley D, the upper pulley D is connected with a spline nut through a spline nut transmission device C, and the lower pulley D is connected with the other end of the hollow synchronous pulley A through the spline nut transmission device B;

the spline nut transmission device C comprises a synchronous belt F and a synchronous belt wheel C, and the synchronous belt wheel C is connected with the spline nut and is connected with an upper belt wheel D through the synchronous belt F;

the main shaft is a spline lead screw, and the outer surface of the main shaft is respectively provided with a spiral groove connected with a nut and a linear groove connected with the spline nut.

The invention has the advantages and positive effects that:

according to the invention, the motor which is arranged in the head shell and drives the head to move in the prior art is moved into the base shell, so that the problem that the moving part of the existing robot is large in mass, and the head is in an eccentric cantilever type structure, so that the speed and the moving precision cannot be improved is solved; the robot head driving system has the advantages of balanced mass, light moving part and reduced motion inertia, and is beneficial to improving the induction precision.

Drawings

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a front view of the structure of the present invention;

FIG. 3 is a left side view of the structure of the present invention;

FIG. 4 is a top view of the structure of the present invention;

FIG. 5 is a cross-sectional view taken along line A-A of FIG. 4;

FIG. 6 is a partial enlarged view of FIG. 5 at B;

FIG. 7 is an enlarged view of a portion of FIG. 5 at C;

FIG. 8 is a bottom view of the structure of the present invention;

wherein: 1 is a base, 2 is a main arm, 3 is a head, 4 is a tail end flange, 5 is a main shaft, 6 is a main arm driving motor and a speed reducer,

a nut driving motor is 7, a fixing piece A is 701, a synchronous pulley A is 702, and a synchronous belt A is 703;

8 is a spline female driving motor, 801 is a fixing piece B, 802 is a synchronous pulley C, and 803 is a synchronous belt D;

9 is a head driving motor, 901 is a fixing piece C, 902 is a synchronous pulley D, 903 is a synchronous belt G;

10 is a synchronous belt wheel shaft A, 1001 is an upper belt wheel A, 1002 is a hollow shaft A, 1003 is a lower belt wheel A, 1004 is a synchronous belt B;

11 is a bearing group A, 1101 is an upper bearing A, 1102 is a lower bearing A;

12 is a hollow synchronous pulley A, 1201 is an upper pulley C, 1202 is a hollow shaft C, 1203 is a lower pulley C, 1204 is an upper sleeve, 1205 is a lower sleeve, and 1206 is a synchronous belt E;

13 is a synchronous pulley shaft B, 1301 is an upper pulley B, 1302 is a hollow shaft B, 1303 is a lower pulley B, 1304 is a synchronous belt C, and 1305 is a synchronous pulley B;

14 is a bearing group B, 1401 is an upper bearing B, and 1402 is a lower bearing B;

15 is a hollow synchronous pulley B, 1501 is an upper pulley D, 1502 is a hollow shaft D, 1503 is a lower pulley D, 1504 is a synchronous belt F, 1505 is a synchronous pulley C;

16 is a screw nut;

17 is bearing set C, 1701 is upper bearing C, 1702 is lower bearing C;

18 is a bearing group D, 1801 is an upper bearing D, 1802 is a lower bearing D;

19 is a hollow synchronous pulley C, 1901 is an upper pulley E, 1902 is a lower pulley E, 1903 is a main arm bearing A, 1904 is a synchronous belt H, 1905 is a synchronous pulley D, 1906 is a main arm bearing B;

20 is a spline nut, 21 is a support A, 22 is a support B, and 23 is a cable.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

As shown in fig. 1 to 8, the present invention includes a base 1, a main arm 2, a head 3 and a main shaft 5, wherein the base 1, the main arm 2 and the head 3 are rotatably connected to each other, the base 1 is respectively provided with a main arm driving unit, a nut driving motor 7, a spline nut driving motor 8 and a head driving motor 9, wherein the main arm driving unit is installed inside the base 1, the nut driving motor 7, the spline nut driving motor 8 and the head driving motor 9 are respectively fixed on the upper surface of the base 1 through a fixing member a701, a fixing member B801 and a fixing member C901, and heights of the nut driving motor 7, the spline nut driving motor 8 and the head driving motor 9 are set from high to low to avoid interference of transmission devices. The nut driving motor 7 and the spline nut driving motor 8 respectively drive the main shaft 5, so that the main shaft 5 can rotate and move up and down; the main arm driving unit of the embodiment is a main arm driving motor and a speed reducer 6, and drives the main arm 2 to rotate relative to the base 1; the head driving motor 9 drives the head 3 to rotate relative to the main arm 2. All the driving motors are arranged on the base 1, so that the problem that the moving part of the original robot is large in mass, and the head of the original robot is eccentric in a cantilever type structure, so that the speed and the moving precision cannot be improved is solved; the head 3 of the robot is balanced in mass, moving parts are light in weight, the moving inertia is reduced, and the induction precision is improved. The four-freedom-degree robot comprises a main arm driving chain, a lead screw driving chain, a spline transmission driving chain and a head driving chain, wherein the four kinematic chains are total four kinematic chains, the four kinematic chains can control the follow-up control of the robot, and the tail end flange 4 at the lower end of a main shaft 5 is controlled to realize the SCARA configuration motion with four degrees of freedom. The transmission device of the invention is a variable speed transmission device comprising a synchronous belt and a synchronous belt wheel, can perform deceleration movement and acceleration movement, and is specifically corresponding to the application environment of the horizontal articulated robot. The concrete structure is as follows:

the fixed end of the main arm driving motor and the speed reducer 6 is fixed in the base 1, and the low-speed output end is connected with one end of the main arm 2 to drive the main arm 2 to rotate. The other end of the main arm 2 is rotatably connected with one end of the head 3 through a main arm bearing B1906, one end of the head 3 is respectively provided with a hollow synchronous pulley B15 and a synchronous pulley shaft B13, one end of the synchronous pulley shaft B13 is rotatably connected with the other end of the main arm 2, the other end of the synchronous pulley shaft B13 is rotatably connected with one end of the head 3, the hollow synchronous pulley B15 is rotatably mounted on the outer portion of the synchronous pulley shaft B15, and the other end of the head 3 is respectively rotatably mounted with a nut 16 and a spline nut 20. The main shaft 5 is respectively connected with a screw nut 16 and a spline nut 20, and the lower end of the main shaft 5 is connected with a tail end flange 4 for installing an actuating mechanism. One end of the main arm 2 is respectively provided with a synchronous pulley A10, a hollow synchronous pulley A12 and a hollow synchronous pulley C19, wherein the hollow synchronous pulley C19 is rotatably arranged at one end of the main arm 2 through a main arm bearing A1903, one end of the hollow synchronous pulley C19 is connected with the output end of the head driving motor 9 through a head transmission device A, and the other end is connected with one end of the head 3 through a head transmission device B. The hollow synchronous pulley A12 is rotatably installed inside the hollow synchronous pulley C19, one end of the hollow synchronous pulley A12 is connected with the output end of the spline nut driving motor 8 through a spline nut transmission device A, the other end of the hollow synchronous pulley A12 is connected with one end of the hollow synchronous pulley B15 through a spline nut transmission device B, and the other end of the hollow synchronous pulley B15 is connected with the spline nut 20 through a spline nut transmission device C. The synchronous pulley shaft A10 is rotatably installed inside the hollow synchronous pulley A12, one end of the synchronous pulley shaft A10 is connected with the output end of the nut driving motor 7 through the nut transmission device A, the other end of the synchronous pulley shaft A10 is connected with one end of the synchronous pulley shaft B13 through the nut transmission device B, and the other end of the synchronous pulley shaft B13 is connected with the nut 16 through the nut transmission device C.

The hollow timing pulley C19 of the present embodiment includes an upper pulley E1901 and a lower pulley E1902 connected to each other, the connected upper and lower pulleys E1901, 1902 are rotatably mounted to one end of the main arm 2 via a main arm bearing a1903, the upper pulley E1901 is connected to the output end of the head driving motor 9 via a head gear a, and the lower pulley E1902 is connected to one end of the head 3 via a head gear B. The head transmission device a of the present embodiment includes a synchronous pulley D902 and a synchronous belt G903, the output end of the head driving motor 9 is connected to the synchronous pulley D902, and the synchronous pulley D902 is connected to an upper pulley E1901 through the synchronous belt G903; the head driving device B of the present embodiment includes a timing belt H1904 and a timing pulley D1905, the timing pulley D1905 is rotatably mounted to the other end of the main arm 2 through a main arm bearing B1906 and connected to one end of the head 3, and the timing belt H1904 is connected between the lower pulley E1902 and the timing pulley D1905. The head driving motor 9 is fixed to the base 1 by a fixing member C901, and the head driving motor 9 drives the hollow timing pulley C19 to rotate at a variable speed by a timing pulley D902 and a timing belt G903. The hollow timing pulley C19 forms a rotational motion pair with the main arm 2 via the main arm bearing a 1903. The hollow synchronous pulley C19 and the synchronous pulley D1905 form a variable speed transmission relationship through a synchronous belt H1904, and the synchronous pulley D1905 is fixedly connected with one end (motion input end) of the head 3 to form a transmission relationship that the head driving motor 9 drives the head 3. One end of the head 3 and the other end of the main arm 2 form a rotational kinematic pair via a main arm bearing B1906. This is the head drive chain.

The hollow timing pulley a12 of the present embodiment includes an upper pulley C1201, a hollow shaft C1202, a lower pulley C1203, an upper sleeve 1204, and a lower sleeve 1205, the hollow shaft C1202 is rotatably mounted inside the upper and lower pulleys E1901, 1902 of the hollow timing pulley C19 through a bearing set D18, and the upper pulley C1201 and the lower pulley C1203 are connected to both ends of the hollow shaft C1202, respectively. The bearing group D18 comprises an upper bearing D1801 and a lower bearing D1802, and the hollow shaft C1202 is rotationally connected with the upper belt wheel E1901 through the upper bearing D1801 and is rotationally connected with the lower belt wheel E1902 through the lower bearing D1802; an upper sleeve 1204 and a lower sleeve 1205 for limiting are respectively arranged above the upper bearing D1801 and below the lower bearing D1802. The upper belt wheel C1201 is connected with the output end of the spline female driving motor 8 through a spline female transmission device A, and the lower belt wheel C1203 is connected with one end of the hollow synchronous belt wheel B15 through a spline female transmission device B. The hollow synchronous pulley B15 and the middle synchronous pulley shaft B13 form a rotary motion pair through a bearing set B14, the hollow synchronous pulley B15 of the present embodiment includes an upper pulley D1501, a hollow shaft D1502 and a lower pulley D1503, the hollow shaft D1502 is rotatably mounted outside the synchronous pulley shaft B13, two ends of the hollow shaft D1502 are respectively connected with the upper pulley D1501 and the lower pulley D1503, the upper pulley D1501 is rotatably connected with the upper pulley B1301 in the synchronous pulley shaft B13 through an upper bearing B1401 in the bearing set B14, and the lower pulley D1503 is rotatably connected with the lower pulley B1303 in the synchronous pulley shaft B13 through a lower bearing B1402 in the bearing set B14; the upper pulley D1501 is connected to the spline nut 20 via a spline nut transmission C, and the lower pulley D1503 is connected to the lower pulley C1203 in the hollow timing pulley a12 via a spline nut transmission B. The spline female transmission device a of the embodiment includes a synchronous pulley C802 and a synchronous belt D803, the output end of the spline female driving motor 8 is connected with the synchronous pulley C802, and the synchronous pulley C802 is connected with an upper pulley C1201 through the synchronous belt D803; the spline female transmission B of the present embodiment includes a timing belt E1206, and the timing belt E1206 is connected between the lower pulley C1203 and a lower pulley D1503 in the hollow timing pulley B15. The spline female transmission device C of the present embodiment includes a timing belt F1504 and a timing pulley C1505, and the timing pulley C1505 is connected to the spline female 20 and connected to the upper pulley D1501 through the timing belt F1504. The spline female driving motor 8 is fixed on the base 1 through a fixing piece B801, and the spline female driving motor 8 drives the hollow synchronous belt wheel shaft A12 to rotate at a variable speed through a synchronous belt wheel C802 and a synchronous belt D803. The hollow timing pulley a12 and the hollow timing pulley C19 form a rotary kinematic pair through a bearing set D18. The hollow timing pulley a12 is in a speed change transmission relationship with the hollow timing pulley B15 via the timing belt E1206. The hollow timing pulley B15 and the timing pulley B1305 form a speed change transmission relationship through the timing belt F1504, and the timing pulley B1305 is fixedly connected with the motion input end of the spline nut 20. This is a splined drive chain.

The synchronous pulley shaft a10 of this embodiment includes an upper pulley a1001, a hollow shaft a1002 and a lower pulley a1003, the hollow shaft a1002 is rotatably mounted inside a hollow synchronous pulley a12 through a bearing set a11, and both ends are respectively connected with the upper pulley a1001 and the lower pulley a 1002; the bearing set a11 includes an upper bearing a1101 and a lower bearing a1102, the upper pulley a1001 is rotatably connected to the upper pulley C1201 via the upper bearing a1101, and the lower pulley a1003 is rotatably connected to the lower pulley C1203 via the lower bearing a 1102. The upper belt wheel A1001 is connected with the output end of the nut driving motor 7 through a nut transmission device A, and the lower belt wheel A1003 is connected with one end of a synchronous belt wheel shaft B13 through a nut transmission device B. The screw nut transmission device A of the embodiment comprises a synchronous pulley A (02 and a synchronous belt A703, the output end of a screw nut driving motor 7 is connected with the synchronous pulley A702, the synchronous pulley A702 is connected with an upper pulley A1001 through the synchronous belt A703, the screw nut transmission device B of the embodiment comprises a synchronous belt B1004, the synchronous belt B1004 is connected between a lower pulley A1003 and one end of a synchronous belt wheel shaft B13, the screw nut driving motor 7 is fixed on a base 1 through a fixing piece A701, the screw nut driving motor 7 drives the synchronous belt wheel shaft A10 to rotate in a variable speed mode through the synchronous pulley A702 and the synchronous belt A703, the synchronous belt wheel shaft A10 forms a rotary motion pair through a bearing group A11 and a hollow synchronous pulley A12, the synchronous belt wheel shaft A10 forms a variable speed transmission relationship with the synchronous belt wheel shaft B13 through the synchronous belt B1004, the synchronous belt wheel shaft B13 of the embodiment comprises an upper pulley B1301, a hollow shaft B1302 and a lower pulley B1303, two ends of, the upper pulley B1301 is rotatably connected to a bearing a21 mounted at one end of the head 3 by an upper bearing C1701 in a bearing set C17, and the lower pulley B1303 is rotatably connected to a bearing B22 mounted at the other end of the main arm 2 by a lower bearing C1702 in a bearing set C17. The upper pulley B1301 is connected to the nut 16 through a nut gear C, and the lower pulley B1303 is connected to the lower pulley a1003 in the timing pulley shaft a10 through a timing belt B1004. The nut transmission device C of the present embodiment includes a timing belt C1304 and a timing pulley B1305, and the timing pulley B1305 is fixedly connected to the motion input end of the nut 16 and connected to the upper pulley B1301 through the timing belt C1304. The timing pulley shaft B13 is in a variable speed transmission relationship with the timing pulley B1305 through the timing belt C1304. The timing pulley shaft B13 forms a rotary motion pair with the head 3 through an upper bearing C1701 and a support seat A21 in a bearing set C17, and the support seat A21 and one end of the head 3 are mutually fixed. The timing pulley shaft B13 forms a rotary motion pair with the main arm 2 through a lower bearing C1702 and a support seat B22 in a bearing group C17, and the support seat B22 is fixed with the other end of the main arm 2. This is the screw drive train.

The main shaft 5 of the embodiment is a spline screw, and the outer surface of the main shaft is respectively provided with a spiral groove connected with a nut 16 and a linear groove connected with a spline nut 20; by rotating or stopping the nut 16 and the spline nut 20, three types of motions (rotational, linear, and spiral) can be performed with only one main shaft 5, and the purpose thereof includes: the Z-axis of a horizontal articulated robot, an ATC device of an assembly robot, an automatic loader, a machining center machine, and the like are most suitable for a combination device of a rotational motion and a linear motion.

The cables 23 of the actuator attached to the distal end flange 4 of the present embodiment are routed through the inside of the main shaft 5, the inside of the hollow shaft B1302 of the timing pulley shaft B13, the inside of the main arm 2, and the inside of the hollow shaft a1002 of the timing pulley shaft a10, respectively.

The main arm bearing a1903 and the main arm bearing B1906 of the present invention are conventional, and in this embodiment, are cross roller bearings (i.e., angular contact rolling bearings having a row of rollers), and adjacent rollers are arranged in a cross so that one half of the rollers (arranged alternately) receive an axial load in one direction, and the other half of the rollers receive an axial load in the opposite direction. The crossed roller bearing can be applied to mechanical engineering (primary subject), mechanical parts (secondary subject) and rolling bearings (secondary subject), wherein rollers of the crossed roller bearing are arranged between an inner wheel and an outer wheel at intervals and in a crossed manner at right angles to each other, and can simultaneously bear loads (such as axial loads, thrust loads or momentum loads) from all directions; since the rollers are in linear contact with the surface of the track, the shaft is less likely to elastically deform under load. The bearing is widely used in the fields such as industrial robots, working machines, medical facilities and the like, which require high rigidity, compactness and high rotational speed to ensure accuracy.

The working principle of the invention is as follows:

the nut driving motor 7 works to drive the nut 16 to rotate through transmission of a synchronous pulley A702, a synchronous belt A703, an upper pulley A1001, a hollow shaft A1002, a lower pulley A1003, a synchronous belt B1004, a lower pulley B1303, a hollow shaft B1302, an upper pulley B1301, a synchronous belt C1304 and a synchronous pulley B1305 in sequence, and further drives the main shaft 5 to realize linear lifting action.

The spline nut driving motor 8 operates to drive the spline nut 20 to rotate and further drive the main shaft 5 to rotate through transmission of a synchronous pulley C802, a synchronous belt D803, an upper pulley C1201, a hollow shaft C1202, a lower pulley C1203, a synchronous belt E1206, a lower pulley D1503, a hollow shaft D1502, an upper pulley D1501, a synchronous belt F1504 and a synchronous pulley C1505 in sequence.

The head driving motor 9 operates to drive the head 3 to rotate with respect to the main arm 2 by sequentially transmitting the head driving motor through the timing pulley D902, the timing belt G903, the upper pulley E1901, the lower pulley E1902, the timing belt H1904, and the timing pulley D1905, and the main shaft 5 rotates with the head 3.

The main arm driving motor and the speed reducer 6 work to drive the main arm 2 to rotate; meanwhile, the nut driving motor 7, the spline nut driving motor 8 and the head driving motor 9 work to perform follow-up compensation.

Claims

1. The utility model provides a many joint type robots of level, includes base, main arm, head and main shaft, its characterized in that: a main arm driving unit, a nut driving motor (7), a spline nut driving motor (8) and a head driving motor (9) are respectively installed on the base (1), the output end of the main arm driving unit is connected with one end of the main arm (2), the other end of the main arm (2) is rotatably connected with one end of the head (3), one end of the head (3) is respectively provided with a hollow synchronous pulley B (15) and a synchronous pulley shaft B (13), one end of the synchronous pulley shaft B (13) is rotatably connected with the other end of the main arm (2), the other end of the synchronous pulley shaft B (13) is rotatably connected with one end of the head (3), the hollow synchronous pulley B (15) is rotatably installed outside the synchronous pulley shaft B (15), the other end of the head (3) is respectively rotatably installed with a nut (16) and a spline nut (20), the main shaft (5) is respectively connected with the nut (16) and the spline nut (20), the lower end of the main shaft (5) is connected with a tail end flange (4) for installing an actuating mechanism; one end of the main arm (2) is respectively provided with a synchronous belt pulley A (10), a hollow synchronous belt pulley A (12) and a hollow synchronous belt pulley C (19), wherein the hollow synchronous belt pulley C (19) is rotatably arranged at one end of the main arm (2), one end of the hollow synchronous belt pulley C (19) is connected with the output end of the head driving motor (9) through a head transmission device A, and the other end of the hollow synchronous belt pulley C (19) is connected with one end of the head (3) through a head transmission device B; the hollow synchronous pulley A (12) is rotatably arranged inside the hollow synchronous pulley C (19), one end of the hollow synchronous pulley A (12) is connected with the output end of a spline female driving motor (8) through a spline female transmission device A, the other end of the hollow synchronous pulley A is connected with one end of the hollow synchronous pulley B (15) through a spline female transmission device B, and the other end of the hollow synchronous pulley B (15) is connected with the spline female (20) through the spline female transmission device C; the synchronous belt pulley shaft A (10) is rotatably installed inside the hollow synchronous belt pulley A (12), one end of the synchronous belt pulley shaft A (10) is connected with the output end of the nut driving motor (7) through the nut transmission device A, the other end of the synchronous belt pulley shaft A is connected with one end of the synchronous belt pulley shaft B (13) through the nut transmission device B, and the other end of the synchronous belt pulley shaft B (13) is connected with the nut (16) through the nut transmission device C.

2. The horizontal articulated robot of claim 1, wherein: the synchronous belt wheel shaft A (10) comprises an upper belt wheel A (1001), a hollow shaft A (1002) and a lower belt wheel A (1003), the hollow shaft A (1002) is rotatably installed inside the hollow synchronous belt wheel A (12), the two ends of the hollow shaft A are respectively connected with the upper belt wheel A (1001) and the lower belt wheel A (1002), the upper belt wheel A (1001) is connected with the output end of a nut driving motor (7) through a nut transmission device A, and the lower belt wheel A (1003) is connected with one end of a synchronous belt wheel shaft B (13) through a nut transmission device B.

3. The horizontal articulated robot of claim 2, wherein: the nut transmission device A comprises a synchronous pulley A (702) and a synchronous belt A (703), the output end of the nut driving motor (7) is connected with the synchronous pulley A (702), and the synchronous pulley A (702) is connected with the upper pulley A (1001) through the synchronous belt A (703); the nut transmission device B comprises a synchronous belt B (1004), and the synchronous belt B (1004) is connected between the lower belt wheel A (1003) and one end of the synchronous belt wheel shaft B (13).

4. The horizontal articulated robot of claim 1, wherein: the hollow synchronous pulley A (12) comprises an upper pulley C (1201), a hollow shaft C (1202) and a lower pulley C (1203), the hollow shaft C (1202) is rotatably installed inside the hollow synchronous pulley C (19), the two ends of the hollow shaft C (1202) are respectively connected with the upper pulley C (1201) and the lower pulley C (1203), the upper pulley C (1201) is connected with the output end of a spline female driving motor (8) through a spline female transmission device A, and the lower pulley C (1203) is connected with one end of the hollow synchronous pulley B (15) through a spline female transmission device B.

5. The horizontal articulated robot of claim 4, wherein: the spline female transmission device A comprises a synchronous pulley C (802) and a synchronous belt D (803), the output end of the spline female driving motor (8) is connected with the synchronous pulley C (802), and the synchronous pulley C (802) is connected with the upper pulley C (1201) through the synchronous belt D (803); the spline female transmission device B comprises a synchronous belt E (1206), and the synchronous belt E (1206) is connected between the lower belt wheel C (1203) and one end of the hollow synchronous belt wheel B (15).

6. The horizontal articulated robot of claim 1, wherein: the hollow synchronous pulley C (19) comprises an upper pulley E (1901) and a lower pulley E (1902) which are connected with each other, the connected upper and lower pulleys E (1901, 1902) are rotatably mounted at one end of the main arm (2), the upper pulley E (1901) is connected with the output end of the head driving motor (9) through a head transmission device A, and the lower pulley E (1902) is connected with one end of the head (3) through a head transmission device B.

7. The horizontal articulated robot of claim 6, wherein: the head transmission device A comprises a synchronous pulley D (902) and a synchronous belt G (903), the output end of the head driving motor (9) is connected with the synchronous pulley D (902), and the synchronous pulley D (902) is connected with the upper pulley E (1901) through the synchronous belt G (903); the head transmission device B comprises a synchronous belt H (1904) and a synchronous belt wheel D (1905), the synchronous belt wheel D (1905) is rotatably installed at the other end of the main arm (2) and connected with one end of the head (3), and the synchronous belt H (1904) is connected between the lower belt wheel E (1902) and the synchronous belt wheel D (1905).

8. The horizontal articulated robot of claim 1, wherein: the synchronous belt wheel shaft B (13) comprises an upper belt wheel B (1301), a hollow shaft B (1302) and a lower belt wheel B (1303), the two ends of the hollow shaft B (1302) are respectively connected with the upper belt wheel B (1301) and the lower belt wheel B (1303), the upper belt wheel B (1301) is rotatably connected with a supporting seat A (21) arranged at one end of the head (3), and the lower belt wheel B (1303) is rotatably connected with a supporting seat B (22) arranged at the other end of the main arm (2); the upper belt wheel B (1301) is connected with a nut (16) through a nut transmission device C, and the lower belt wheel B (1303) is connected with the other end of the synchronous belt wheel shaft A (10) through a nut transmission device B.

9. The horizontal articulated robot of claim 8, wherein: the nut transmission device C comprises a synchronous belt C (1304) and a synchronous belt wheel B (1305), wherein the synchronous belt wheel B (1305) is connected with the nut (16) and is connected with an upper belt wheel B (1301) through the synchronous belt C (1304).

10. The horizontal articulated robot of claim 1, wherein: the hollow synchronous pulley B (15) comprises an upper pulley D (1501), a hollow shaft D (1502) and a lower pulley D (1503), the hollow shaft D (1502) is rotatably installed outside the synchronous pulley shaft B (13), two ends of the hollow shaft D are respectively connected with the upper pulley D (1501) and the lower pulley D (1503), the upper pulley D (1501) is connected with a spline nut (20) through a spline nut transmission device C, and the lower pulley D (1503) is connected with the other end of the hollow synchronous pulley A (12) through a spline nut transmission device B.

11. The horizontal articulated robot of claim 10, wherein: the spline female transmission device C comprises a synchronous belt F (1504) and a synchronous belt wheel C (1505), wherein the synchronous belt wheel C (1505) is connected with the spline female (20) and is connected with an upper belt wheel D (1501) through the synchronous belt F (1504).

12. The horizontal articulated robot of claim 1, wherein: the main shaft (5) is a spline lead screw, and the outer surface of the main shaft is respectively provided with a spiral groove connected with a screw nut (16) and a linear groove connected with a spline nut (20).