CN205271996U - Novel ZR axle subassembly of many joints of level manipulator - Google Patents
Novel ZR axle subassembly of many joints of level manipulator Download PDFInfo
- Publication number
- CN205271996U CN205271996U CN201520865733.1U CN201520865733U CN205271996U CN 205271996 U CN205271996 U CN 205271996U CN 201520865733 U CN201520865733 U CN 201520865733U CN 205271996 U CN205271996 U CN 205271996U
- Authority
- CN
- China
- Prior art keywords
- ball screw
- described ball
- ball spline
- screw mandrel
- shaft
- 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.)
- Active
Links
Landscapes
- Transmission Devices (AREA)
- Bearings For Parts Moving Linearly (AREA)
- Manipulator (AREA)
Abstract
The utility model discloses a novel ZR axle subassembly of many joints of level manipulator, including ball screw, ball screw is connected with a drive arrangement through a drive assembly upper end, ball screw is last to wear to be equipped with the ball screw nut, and the ball spline axle is connected to ball screw nut lower extreme, the epaxial cavity hole that supplies ball screw to embolia that is equipped with of ball spline, and ball screw keeps coaxial setting with the ball spline axle, ball screw nut still is connected with linear guide rail, the rotatory rotation of drive arrangement drive ball screw, the rotatory rotation of ball screw is followed to the ball screw nut, and carries the ball spline axle in vertical side's rebound, the spline has been put to the epaxial cover of ball spline, and the ball spline axle still is connected with the 2nd drive arrangement through the secondary drive subassembly, the 2nd drive arrangement drive ball spline axle horizontal rotation, and spline support roll moves the removal and the rotation of integral key shaft. This neotype ZR axle subassembly structure is retrencied, and the subassembly volume is less, and the dexterous dress of just joining in marriage is convenient, low in manufacturing cost.
Description
Technical field
The utility model relates to industrial robot field, the ZR shaft assembly of especially a kind of novel horizontal articulated mechanical manipulator.
Background technology
One of equipment of necessity of horizontal articulated mechanical manipulator accurate operation in industrial trade, utilizes horizontal articulated mechanical manipulator to realize the accurate snatch transhipment of level and vertical direction, especially applicable in product line operation. But what the design of the ZR shaft assembly of existing novel horizontal articulated mechanical manipulator adopted is ball screw mandrel and ball spline concurrent assembly, driving spline to realize vertical movement by screw mandrel, spline horizontally rotates. So, have the following disadvantages:
One is, adopts concurrent assembly, and structure is relatively complicated, and it is high that screw mandrel mates requirement with the driving of spline, and the part processing precision of relevant matches also requires height;
Two are, arrange screw mandrel and spline parallel so that assembly volume is big, and the weight of assembly is also big, lift ZR shaft assembly pivot arm its bear bigger gravity, cause mechanical manipulator running influenced, it may also be useful to the life-span is not long;
Three are, assembly component are many so that assembling and manufacturing cost increase.
Therefore, the problems referred to above need the problem of solution badly.
Practical novel content
This novel technical problem to be solved is for the defect existed in existing design, it is provided that the ZR shaft assembly of a kind of novel horizontal articulated mechanical manipulator, and this ZR shaft assembly structure is simplified, and assembly volume is less, dexterous and to join dress convenient, low cost of manufacture.
The defect existed for overcoming in prior art, this novel technical scheme taked is as follows: the ZR shaft assembly of a kind of novel horizontal articulated mechanical manipulator, comprises ball screw mandrel, and described ball screw mandrel upper end is connected with the first drive unit by the first transmission assembly; Described ball screw mandrel is equipped with ball screw nut; the lower end of described ball screw nut connects ball spline shaft; described ball spline shaft is provided with hole in the hollow supplying described ball screw mandrel to be inserted in; described ball screw mandrel can be movable be inserted in and screw out described interior hole, and described ball screw mandrel and the coaxial setting of maintenance of described ball spline shaft; Described ball screw nut is also connected with linear guides, and can move along described linear guides in the vertical direction; Described first drive unit drives described ball screw mandrel rotary motion, and described ball screw nut follows described ball screw mandrel rotary motion, and carries described ball spline shaft in the vertical direction and move; Described ball spline shaft is equipped with ball spline nuts, described ball spline shaft can move relative to described ball spline nuts in the vertical direction, described ball spline shaft is also connected with the 2nd drive unit by the 2nd transmission assembly, described 2nd drive unit drives described ball spline shaft to horizontally rotate, and described ball spline nuts supports movement and the rotation of described rolling spline axle.
Further elaboration as to technique scheme:
In technique scheme, described first transmission assembly comprises shaft coupling, main synchronously wheel, takes turns from synchronous and be synchronously with, and described shaft coupling one end connects described rolling lead screw upper end, and the other end connects described from synchronous wheel; Described master is synchronously taken turns synchronously to take turns with described master and is connected by described synchronous band, forms synchronous V belt translation secondary; Described master synchronously takes turns the rotation axis being connected to described first drive unit, drives master synchronously to take turns rotation by described first drive unit, is rotated by ball screw mandrel described in described synchronous V belt translation auxiliary driving.
In technique scheme, described 2nd transmission assembly comprises two power wheels, belt and speed reduction unit, described speed reduction unit is arranged between described 2nd drive unit and a power wheel, this power wheel and the 2nd drive unit are in transmission connection, this power wheel is connected by described belt with another power wheel, described 2nd drive unit drives speed reduction unit to rotate, and by described two power wheels and belt transmission power to described ball spline shaft, makes it rotation in horizontal plane.
In technique scheme, bearing also it is provided with outside described ball spline nuts, this bearing is installed on a retaining plate, described ball spline nuts fixed by this bearing described and the power wheel with the described 2nd transmission assembly being positioned at its lower end is tightly locked and is connected, described 2nd this power wheel of transmission Component driver rotates, and makes described bearing rotate and drive described ball spline shaft and ball spline nuts to horizontally rotate.
In technique scheme, described linear guides comprises two guide rails and slide block seat, the axis of ball screw mandrel described in described two guide rail parallels is arranged, described slide block seat is nested on described two guide rails and is connected with described ball screw nut, makes described ball screw nut drive described ball spline shaft in the vertical direction steadily to move. Further, described linear guides is square ball line slideway.
In technique scheme, described ball screw mandrel end also establishes the rolling assembly being made up of bearing and bearing housing, described rolling assembly is placed in the interior hole of described ball spline shaft, described ball spline shaft is connected with described ball screw mandrel coupling by this rolling assembly, described ball screw nut moves down described ball screw mandrel when upwards screwing out completely, intercept by described rolling assembly, ensure that described ball spline shaft and described ball screw mandrel begin to keep being connected.
In technique scheme, described first drive unit and described 2nd drive unit are motor or motor.
The beneficial effects of the utility model are:
One is, this novel ZR shaft assembly ball screw mandrel and ball spline shaft adopt serial assembling, namely establish hollow inner hole sleeve to put ball screw mandrel at ball spline shaft, complete to realize integrated structure design, the straight line rotation combination motion that coupling ZR shaft assembly is put arbitrarily in its stroke.
Two are, serial arranges ball spline and ball screw mandrel, and component count is few, and assembly quality is light, lift ZR shaft assembly pivot arm its bear lighter gravity, mechanical manipulator smooth movements, it may also be useful to the life-span is long.
Three are, this novel ZR shaft assembly compact construction, manufacturing process are simple, and accuracy requirement is low, cost is low, and assembling and setting is convenient, and applicable situation is wide.
Accompanying drawing explanation
Fig. 1 is this novel solid structural representation.
Fig. 2 is this lectostratotype section structural representation.
Fig. 3 is this novel decomposing schematic representation.
In figure, 1. ball screw mandrel, 2. ball screw nut, 3. ball spline shaft, 4. linear guides, 5. ball spline nuts, 6. bearing, 7. retaining plate, 8. the first transmission assembly, 9. the 2nd transmission assembly, 10. the first drive unit, 11. the 2nd drive units, 41. guide rails, 42. slide block seats, 81. shaft couplings, 82. from synchronous wheel, 83. are synchronously with, 84. main synchronous wheels, 91. power wheels, 92. belts, 93. speed reduction units, 12. rolling assemblies.
Embodiment
Object, technical scheme and advantage in order to make this novel is clearer and brighter to be understood, is described in further detail originally novel below in conjunction with drawings and Examples.
Fig. 1-3 illustrates this novel specific embodiment, and with reference to accompanying drawing 1-3, the ZR shaft assembly of a kind of novel horizontal articulated mechanical manipulator, comprises ball screw mandrel 1, and described ball screw mandrel 1 upper end is connected with the first drive unit 10 by the first transmission assembly 8; Described ball screw mandrel 1 is equipped with ball screw mandrel 1 nut, the lower end of described ball screw mandrel 1 nut connects ball spline shaft 3, described ball spline shaft 3 is provided with hole (not indicating in figure) in the hollow supplying described ball screw mandrel 1 to be inserted in, what described ball screw mandrel 1 energy was movable is inserted in and screws out described interior hole, and described ball screw mandrel 1 remains coaxial setting with described ball spline shaft 3. In the present embodiment, described ball spline shaft 3 upper end connects described ball screw nut 2, the rotation of described ball screw mandrel 1, wire rod thread makes ball screw nut 2 counter ball screw mandrel 1 rotate and move up and down, and the effect of reality is, described ball screw nut 2 is worked in coordination with described ball spline shaft 3 and is rotated together and move up and down. Described ball screw nut 2 is also connected with linear guides 4, and can move along described linear guides 4 in the vertical direction and (described ball screw nut 2 is connected with linear guides 4, described ball screw nut 2 is made steadily to move and transform the power that described ball screw nut 2 of sening as an envoy to moves along linear guides 4, described ball screw nut 2 is avoided to rotate with ball screw mandrel 1 because of resistance without spin, not for vertical movement); Described first drive unit 10 drives described ball screw mandrel 1 rotary motion, and described ball screw nut 2 follows described ball screw mandrel 1 rotary motion, and carries described ball spline shaft 3 in the vertical direction and move; Described ball spline shaft 3 is equipped with ball spline nuts 5, described ball spline shaft 3 can move relative to described ball spline nuts 5 in the vertical direction, described ball spline shaft 3 is also connected with the 2nd drive unit 11 by the 2nd transmission assembly 9, described 2nd drive unit 11 drives described ball spline shaft 3 to horizontally rotate, and described ball spline nuts 5 supports movement and the rotation of described rolling spline axle. During work, the first drive unit 10 drives ball screw mandrel 1 to rotate, and drives ball spline shaft 3 in the vertical direction for vertical movement, and the 2nd drive unit 11 drives ball spline shaft 3 to horizontally rotate. It should be noted that, the vertical movement of described ball spline shaft 3 and to horizontally rotate be complementary the interference, ball spline shaft 3 can horizontally rotate doing in vertical movement while, is also exactly in the formation of ZR shaft assembly, completes movement and the rotation combination motion of point arbitrarily. Described first drive unit 10 and described 2nd drive unit 11 be motor or motor all preferably.
Wherein, with reference to accompanying drawing 1-3, described first transmission assembly 8 comprises shaft coupling 81, main synchronous wheel 84, from synchronous wheel 82 and be synchronously with 83, described shaft coupling 81 one end connects described rolling lead screw upper end, and the other end connects described from synchronous wheel 82; Described master is synchronously taken turns 84 and synchronously takes turns 84 with described master and connected by described synchronous band 83, forms synchronous band 83 transmission pairs; Described master synchronously takes turns the rotation axis that 84 are connected to described first drive unit 10, drives the rotation of main synchronous wheel 84 by described first drive unit 10, by described synchronous band 83 transmission pair transfer motion power, described ball screw mandrel 1 is rotated.
Wherein, with reference to accompanying drawing 1-3, described 2nd transmission assembly 9 comprises two power wheels 91, belt 92 and speed reduction unit 93, described speed reduction unit 93 is arranged at described 2nd drive unit 11 and power wheel 91(B) between, make this power wheel 91(B) it is in transmission connection with the 2nd drive unit 11, this power wheel 91(B) it is connected by described belt 92 with another power wheel 91 (A); Described 2nd drive unit 11 drives speed reduction unit 93 to rotate, and by described two power wheels 91 and belt 92 transfer motion power to described ball spline shaft 3, makes it to rotate in horizontal plane; Described ball spline nuts 5 is outer is also provided with bearing 6, this bearing 6 is installed on a retaining plate 7, this bearing 6 described fixes described ball spline nuts 5 and the power wheel 91(A with the described 2nd transmission assembly 9 being positioned at its lower end) tightly lock and it is connected, described 2nd transmission assembly 9 drives this power wheel 91(A) rotate, make described bearing 6 rotate and drive described ball spline shaft 3 and ball spline nuts 5 to horizontally rotate.
Wherein, with reference to accompanying drawing 1-3, described linear guides 4 comprises two guide rails 41 and slide block seat 42, the axis of the described two parallel described ball screw mandrels 1 of guide rail 41 is arranged, described slide block seat 42 is nested on described two guide rails 41 and is connected with described ball screw nut 2, makes described ball screw nut 2 drive described ball spline shaft 3 in the vertical direction steadily to move. Further, described linear guides 4 is square ball line slideway.
Wherein, with reference to accompanying drawing 2-3, described ball screw mandrel 1 end also establishes the rolling assembly 12 being made up of bearing (not indicating in figure) and bearing housing (not indicating in figure), described rolling assembly 12 is placed in the interior hole of described ball spline shaft 3, described ball spline shaft 3 is connected with described ball screw mandrel 1 coupling by this rolling assembly 12, described ball screw nut 2 moves down described ball screw mandrel 1 when upwards screwing out completely, intercept by described rolling assembly 12, ensure that described ball spline shaft 3 and described ball screw mandrel 1 begin to keep being connected.
This novel technical scope is not imposed any restrictions by the above, all any amendment, equivalent variations and modifications above embodiment done according to this new technique essence, all still belongs in the scope of this novel technical scheme.
Claims (8)
1. the ZR shaft assembly of a novel horizontal articulated mechanical manipulator, it is characterised in that: comprising ball screw mandrel, described ball screw mandrel upper end is connected with the first drive unit by the first transmission assembly; Described ball screw mandrel is equipped with ball screw nut, the lower end of described ball screw nut connects ball spline shaft, described ball spline shaft is provided with hole in the hollow supplying described ball screw mandrel to be inserted in, described ball screw mandrel can be movable be inserted in and screw out described interior hole, and described ball screw mandrel and the coaxial setting of maintenance of described ball spline shaft; Described ball screw nut is also connected with linear guides, and can move along described linear guides in the vertical direction; Described first drive unit drives described ball screw mandrel rotary motion, and described ball screw nut follows described ball screw mandrel rotary motion, and carries described ball spline shaft in the vertical direction and move; Described ball spline shaft is equipped with ball spline nuts, described ball spline shaft can move relative to described ball spline nuts in the vertical direction, described ball spline shaft is also connected with the 2nd drive unit by the 2nd transmission assembly, described 2nd drive unit drives described ball spline shaft to horizontally rotate, and described ball spline nuts supports movement and the rotation of described ball spline shaft.
2. the ZR shaft assembly of a kind of novel horizontal articulated mechanical manipulator according to claim 1, it is characterized in that: described first transmission assembly comprises shaft coupling, main synchronously wheel, takes turns from synchronous and be synchronously with, described shaft coupling one end connects described ball screw mandrel upper end, and the other end connects described from synchronous wheel; Described master is synchronously taken turns synchronously to take turns with described master and is connected by described synchronous band, forms synchronous V belt translation secondary; Described master synchronously takes turns the rotation axis being connected to described first drive unit, drives master synchronously to take turns rotation by described first drive unit, is rotated by ball screw mandrel described in described synchronous V belt translation auxiliary driving.
3. the ZR shaft assembly of a kind of novel horizontal articulated mechanical manipulator according to claim 1, it is characterized in that: described 2nd transmission assembly comprises two power wheels, belt and speed reduction unit, described speed reduction unit is arranged between described 2nd drive unit and a power wheel, this power wheel and the 2nd drive unit are in transmission connection, this power wheel is connected by described belt with another power wheel, described 2nd drive unit drives speed reduction unit to rotate, by ball spline shaft described in described two power wheels and belt drive, make it to rotate in horizontal plane.
4. the ZR shaft assembly of a kind of novel horizontal articulated mechanical manipulator according to claim 3, it is characterized in that: outside described ball spline nuts, be also provided with bearing, this bearing is installed on a retaining plate, described ball spline nuts fixed by described bearing and the power wheel with the described 2nd transmission assembly being positioned at its lower end is tightly locked and is connected, described 2nd this power wheel of transmission Component driver rotates, and makes described bearing rotate and drive described ball spline shaft and ball spline nuts to horizontally rotate.
5. the ZR shaft assembly of a kind of novel horizontal articulated mechanical manipulator according to claim 1, it is characterized in that: described linear guides comprises two guide rails and slide block seat, the axis of ball screw mandrel described in described two guide rail parallels is arranged, described slide block seat is nested on described two guide rails and is connected with described ball screw nut, makes described ball screw nut drive described ball spline shaft in the vertical direction steadily to move.
6. the ZR shaft assembly of a kind of novel horizontal articulated mechanical manipulator according to claim 1, it is characterised in that: described linear guides is square ball line slideway.
7. the ZR shaft assembly of a kind of novel horizontal articulated mechanical manipulator according to claim 1, it is characterized in that: described ball screw mandrel end also establishes the rolling assembly being made up of bearing and bearing housing, described rolling assembly is placed in the interior hole of described ball spline shaft, described ball spline shaft is connected with described ball screw mandrel coupling by this rolling assembly, described ball screw nut moves down described ball screw mandrel when upwards screwing out completely, intercept by described rolling assembly, described ball spline shaft is remained with described ball screw mandrel and is connected.
8. the ZR shaft assembly of a kind of novel horizontal articulated mechanical manipulator according to claim 1-7 any one, it is characterised in that: described first drive unit and described 2nd drive unit are motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520865733.1U CN205271996U (en) | 2015-11-03 | 2015-11-03 | Novel ZR axle subassembly of many joints of level manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520865733.1U CN205271996U (en) | 2015-11-03 | 2015-11-03 | Novel ZR axle subassembly of many joints of level manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205271996U true CN205271996U (en) | 2016-06-01 |
Family
ID=56056612
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520865733.1U Active CN205271996U (en) | 2015-11-03 | 2015-11-03 | Novel ZR axle subassembly of many joints of level manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205271996U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105269560A (en) * | 2015-11-03 | 2016-01-27 | 深圳市福士工业科技有限公司 | Novel ZR shaft assembly of horizontal multi-joint manipulator |
| CN106494882A (en) * | 2016-12-31 | 2017-03-15 | 深圳大宇精雕科技有限公司 | Transfer line |
| CN106514639A (en) * | 2016-12-31 | 2017-03-22 | 深圳大宇精雕科技有限公司 | Manipulator |
| CN109665304A (en) * | 2017-10-13 | 2019-04-23 | 蓝思智能机器人(长沙)有限公司 | A kind of part flow arrangement for automatic assembly line |
| CN110415968A (en) * | 2019-09-05 | 2019-11-05 | 珠海市科瑞思机械科技有限公司 | A kind of winding mechanism |
-
2015
- 2015-11-03 CN CN201520865733.1U patent/CN205271996U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105269560A (en) * | 2015-11-03 | 2016-01-27 | 深圳市福士工业科技有限公司 | Novel ZR shaft assembly of horizontal multi-joint manipulator |
| CN106494882A (en) * | 2016-12-31 | 2017-03-15 | 深圳大宇精雕科技有限公司 | Transfer line |
| CN106514639A (en) * | 2016-12-31 | 2017-03-22 | 深圳大宇精雕科技有限公司 | Manipulator |
| CN109665304A (en) * | 2017-10-13 | 2019-04-23 | 蓝思智能机器人(长沙)有限公司 | A kind of part flow arrangement for automatic assembly line |
| CN110415968A (en) * | 2019-09-05 | 2019-11-05 | 珠海市科瑞思机械科技有限公司 | A kind of winding mechanism |
| CN110415968B (en) * | 2019-09-05 | 2023-09-12 | 珠海市科瑞思机械科技有限公司 | Winding mechanism |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205271996U (en) | Novel ZR axle subassembly of many joints of level manipulator | |
| CN105269560A (en) | Novel ZR shaft assembly of horizontal multi-joint manipulator | |
| CN201792126U (en) | Five-axis steel pipe intersecting line cutting machine | |
| CN203955950U (en) | The four axle stamping machine manipulators that arm load capacity is strong | |
| CN207127175U (en) | A kind of mould forges device | |
| CN109292411B (en) | Turnover mechanism based on hub processing equipment | |
| CN110316284B (en) | Integrated automatic assembly equipment for automobile tires | |
| CN106064342A (en) | One carries high efficiency multistation letter out machine | |
| CN103934439B (en) | Foundry robot | |
| CN105269561A (en) | Horizontal four-joint manipulator | |
| CN104291248A (en) | Station conversion device | |
| CN107717967A (en) | A kind of planer-type wu-zhi-shan pig using RV reductors | |
| CN206779191U (en) | A kind of automobile mechanical rotating shaft apparatus for correcting | |
| CN201744587U (en) | Integrated can making machine | |
| CN105269567A (en) | Platform manipulator | |
| CN105692060B (en) | A kind of Multi-station circulating operation loop wire | |
| CN205271997U (en) | Four joint manipulators of level | |
| CN203339870U (en) | Electric push rod | |
| CN201371192Y (en) | Rotary processing device of plate metal part with non-circular section | |
| CN203317988U (en) | Cylindrical plane carving all-in-one machine | |
| CN202825419U (en) | Vertical inner broaching machine screw rod protective device | |
| CN202910576U (en) | Precise gear transmission type A/C shaft double pivot angle numerical control milling head | |
| CN206047898U (en) | A kind of workpiece is loaded and synchronous rotary control workbench | |
| CN206493511U (en) | A kind of synchronous lifting device | |
| CN112355093A (en) | Universal horizontal frame forming structure of stainless steel pipe making machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |