CN206140496U - Drive mechanism of horizontal joint robot Z and R axle - Google Patents

Drive mechanism of horizontal joint robot Z and R axle Download PDF

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Publication number
CN206140496U
CN206140496U CN201621210299.4U CN201621210299U CN206140496U CN 206140496 U CN206140496 U CN 206140496U CN 201621210299 U CN201621210299 U CN 201621210299U CN 206140496 U CN206140496 U CN 206140496U
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CN
China
Prior art keywords
ball
screw
motor
drive
nut
Prior art date
Application number
CN201621210299.4U
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Chinese (zh)
Inventor
杨乾坤
刘耀俊
田军
黄绍平
Original Assignee
慧灵科技(深圳)有限公司
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Priority to CN201621210299.4U priority Critical patent/CN206140496U/en
Application granted granted Critical
Publication of CN206140496U publication Critical patent/CN206140496U/en

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Abstract

The utility model provides a drive mechanism of horizontal joint robot Z and R axle, including the arm body, transmission mount, first motor and second motor, by a motor drive's integral key shaft and by the 2nd motor drive's ball, the dull hole that is used for inserting the integral key shaft is offered with the coaxial setting of ball and in the inside axial of ball lead screw to the integral key shaft, still including the spline nut subassembly that sets up on the integral key shaft, matches with ball one end, among the actual control process, through the method of operation of adjusting first motor and second motor, can realize respectively that the integral key shaft rotates, ball up -and -down motion and rotate and the integral key shaft does not rotate, ball up -and -down motion and not rotation and the integral key shaft rotates, ball does not move from top to bottom and rotate the operational mode of three kinds of differences, simple structure, cost are showing and are reducing.

Description

The drive mechanism of flapping articulation robot Z and R axles
[technical field]
This utility model is related to robot transmission technical field, more particularly to a kind of manipulation is flexible, can carry out it is various not The flapping articulation robot Z run with mode and the drive mechanism of R axles.
[background technology]
The axle robot of flapping articulation four is widely applied at present, has non-in the environment such as carrying, processing, assembling Often important effect, the features such as itself has flexible movements, compact conformation, space requirement is little, repetitive positioning accuracy is high, can Accurately and fast reach space a bit.The axle robot of flapping articulation four has small volume for six-shaft industrial robot, Flexibly, the low advantage of cost, is widely used in futurity industry streamline and would is that inexorable trend.Increase to flapping articulation four The research of axle robot is also very necessary, and at present both at home and abroad the major brand of the axle robot of flapping articulation four includes Epson, refined Horse breathes out, Ku Kadeng enterprises.
In the market the Z axis of the axle robot of existing flapping articulation four and R axles great majority all adopt ball-screw spline, Ball-screw spline be one kind on ball-screw simultaneous with splined nut and ball-screw nut, it is possible to achieve splined nut Axially-movable and the device of ball-screw nut rotary motion.Ball-screw spline precision is very high, but price is very expensive.
In order to solve the above problems, those skilled in the art has carried out substantial amounts of research and development and experiment, by carrying out structure With the improvement and improvement of operational mode, preferable achievement is achieved, reduce cost of manufacture, and ensure the spirit of various methods of operation Switching living.
[utility model content]
To overcome the problems of prior art, it is flexible that this utility model provides a kind of manipulation, can carry out it is various not The flapping articulation robot Z run with mode and the drive mechanism of R axles.
This utility model solves the scheme of technical problem and is to provide a kind of drive mechanism of flapping articulation robot Z and R axle, Including arm body, the drive fixed mount being arranged on arm body, the first motor being fixedly installed on drive fixed mount and the second motor, By the first motor-driven splined shaft and by the second motor-driven ball-screw;The splined shaft coaxially sets with ball-screw Put and axially offer inside ball screw the running-deep-hole for inserting splined shaft;
Also include being arranged on splined shaft the splined nut component matched with ball-screw one end;The splined nut group Part includes splined nut and the splined nut fixed cover for fixing splined nut;When first Motor drive splined shaft is rotated, By the transmission of splined nut component, ball-screw is driven to rotate simultaneously;
Also include being matched with ball-screw, by the second motor-driven ball-screw nut;The second Motor drive rolling When screw nut rotates, axial movement is produced with driving ball-screw is merged with ball-screw by ball-screw nut;
Also include being arranged at the controller in portion in arm body, first motor, the second motor and controller are electrically connected with.
Preferably, between first motor and splined shaft and the second motor and ball-screw pass through gear drive;Institute State and the first driving gear is set on the first motor, the first driven gear is fixedly installed on splined shaft, by the first driving gear and The ratcheting transmission of one driven gear;The second driving gear is set on second motor, second is fixedly installed on ball-screw driven Gear, by the second driving gear and the ratcheting transmission of the second driven gear.
Preferably, at least one is arranged between the drive fixed mount and splined shaft is used to prevent splined shaft axial float Splined shaft angular contact bearing;At least one is arranged between the arm body and ball-screw is used to prevent ball-screw axial direction play Ball-screw angular contact bearing;Ball-screw angular contact bearing is fixed on arm body;Each splined shaft angular contact bearing and ball Leading screw angular contact bearing is fixed by bearing (ball) cover.
Preferably, tension device is set between the splined shaft terminal shaft shoulders and the first driven gear, and by tensioner Device is fixed on the first driven gear on splined shaft.
Preferably, a kind of drive mechanism of flapping articulation robot Z and R axle also includes and the ball-screw corner connection The ball-screw nut fixed cover that contact bearing is equipped with;The ball-screw nut is fixed on ball-screw nut fixed cover On;Ball-screw angular contact bearing is by locking nut and tight.
Preferably, the groove for placing the controller is offered on the arm body.
Preferably, the ball-screw runs through arm body one end, and ball-screw angular contact bearing, ball-screw bearing end Lid, the second driven gear and ball-screw nut are all arranged inside arm body one end;The groove is opened in the centre of arm body Position.
Preferably, first driving gear and the first driven gear and the second driving gear and the second driven gear tool There is same gear ratio.
Preferably, first motor and the second motor are DC brushless motor;Between first motor and splined shaft and Second motor passes through toothed belt transmission with ball-screw.
Preferably, the ball-screw is fixedly installed ring flange with respect to the other end of splined nut component, and in arm body Bottom be provided with match with ball-screw, for preventing portion ball-screw angular contact bearing inner space in dust arm entry body Dust-proof end cap.
Compared with prior art, the drive mechanism of this utility model flapping articulation robot Z and R axles is by arranging the simultaneously One motor and the second motor, by the first motor-driven splined shaft and by the second motor-driven ball-screw;And will be described Splined shaft is coaxially disposed with ball-screw, and the running-deep-hole for inserting splined shaft is axially offered inside ball-screw, actual During manipulation, by the method for operation for adjusting the first motor and the second motor, splined shaft rotation, ball wire can be respectively realized Thick stick moves up and down and rotation and splined shaft are not rotated, ball-screw moves up and down and not rotation and splined shaft are rotated, ball Leading screw is not moved up and down and rotates three kinds of different operational modes, and simple structure, cost is significantly reduced.
[description of the drawings]
Fig. 1 is the stereoscopic-state structural representation of the drive mechanism of this utility model flapping articulation robot Z and R axle.
Fig. 2 is the cross section structure schematic diagram of the drive mechanism of this utility model flapping articulation robot Z and R axle.
Fig. 3 is the explosive state structural representation of the drive mechanism of this utility model flapping articulation robot Z and R axle.
[specific embodiment]
To make the purpose of this utility model, technical scheme and advantage become more apparent, below in conjunction with drawings and Examples, This utility model is further elaborated.It should be appreciated that specific embodiment described herein is used only for explaining this Utility model, is not used to limit this utility model.
Fig. 1 to Fig. 3 is referred to, a kind of drive mechanism 1 of flapping articulation robot Z and R axle of this utility model includes arm body 158th, the drive fixed mount 153 being arranged on arm body 158, the first motor 151 and being fixedly installed on drive fixed mount 153 Two motors 152, the splined shaft 154 driven by the first motor 151 and the ball-screw 156 driven by the second motor 152;It is described Splined shaft 154 is coaxially disposed with ball-screw 156 and axially offers for inserting splined shaft 154 in the inside of ball-screw 156 Running-deep-hole, for empty avoiding splined shaft 154;
Also include being arranged on splined shaft 154 the splined nut component 155 matched with the one end of ball-screw 156;The flower Key nut component 155 includes splined nut 1551 and the splined nut fixed cover 1553 for fixing splined nut 1551;The When one motor 151 drives splined shaft 154 to rotate, by the transmission of splined nut component 155, ball-screw 156 is driven to turn simultaneously It is dynamic;
Also include the ball-screw nut 1561 for matching with ball-screw 156, being driven by the second motor 152;Described second When motor 152 drives ball-screw nut 1561 to rotate, rolled with driving is merged with ball-screw 156 by ball-screw nut 1561 Ballscrew 156 produces axial movement;
Also include being arranged at the controller inside arm body 158, first motor 151, the second motor 152 and controller electricity Property connection.
By the splined shaft 154 that arranges the first motor 151 and the second motor 152 simultaneously, driven by the first motor 151 and The ball-screw 156 driven by the second motor 152;And be coaxially disposed the splined shaft 154 with ball-screw 156, in ball The inside of leading screw 156 axially offers the running-deep-hole for inserting splined shaft 154, electric by adjustment first during actual manipulation The method of operation of the motor 152 of machine 151 and second, can realize respectively splined shaft 154 rotate, ball-screw 156 move up and down and Rotation and splined shaft 154 are not rotated, ball-screw 156 moves up and down and not rotation and splined shaft 154 are rotated, ball-screw About 156 do not move and rotate three kinds of different operational modes, and simple structure, cost is significantly reduced.
Preferably, between first motor 151 and splined shaft 154 and the second motor 152 passes through with ball-screw 156 Gear drive;First driving gear is set on first motor 151, the first driven gear is fixedly installed on splined shaft 154 1511, by the first driving gear and the ratcheting transmission of the first driven gear 1511;Second driving tooth is set on second motor 152 Wheel, is fixedly installed the second driven gear 1521 on ball-screw 156, ratcheting with the second driven gear 1521 by the second driving gear Transmission.
During actually used, gear drive can also adopt the synchronous pulley of same speed reducing ratio to replace.
Preferably, at least one is arranged between the drive fixed mount 153 and splined shaft 154 is used to prevent splined shaft 154 The splined shaft angular contact bearing 1541 of axial float;At least one is arranged between the arm body 158 and ball-screw 156 is used to prevent The only ball-screw angular contact bearing 1563 of the axial float of ball-screw 156;Ball-screw angular contact bearing 1563 is fixed on arm On body 158;Each splined shaft angular contact bearing 1541 and ball-screw angular contact bearing 1563 are fixed by bearing (ball) cover 1565.
Preferably, tension device is set between the terminal shaft shoulders of the splined shaft 154 and the first driven gear 1511, and leads to Cross tension device the first driven gear 1511 is fixed on splined shaft 151.
Preferably, a kind of drive mechanism 1 of flapping articulation robot Z and R axle also includes and the ball-screw angle The ball-screw nut fixed cover 1565 that contact bearing 1563 is equipped with;The ball-screw nut 1561 is fixed on ball wire On thick stick nut fixed cover 1565;Ball-screw angular contact bearing 1563 is by locking nut and tight.
Preferably, the groove 1581 for placing the controller is offered on the arm body 158.
Preferably, the ball-screw 156 runs through the one end of arm body 158, and ball-screw angular contact bearing 1563, ball wire Thick stick bearing (ball) cover, the second driven gear 1521 and ball-screw nut 1561 are all arranged inside the one end of arm body 158;It is described recessed Groove 1581 is opened in the middle part of arm body 158.
Preferably, first driving gear and the first driven gear 1511 and the second driving gear and the second driven tooth Wheel 1521 has same gear ratio.
Preferably, the motor 152 of first motor 151 and second is DC brushless motor;First motor 151 and splined shaft Between 154 and the second motor 152 passes through toothed belt transmission with ball-screw 156.
Preferably, the other end of the relative splined nut component 155 of the ball-screw 156 is fixedly installed ring flange 157, And be provided with the bottom of arm body 158 match with ball-screw 156, for preventing the inside ball-screw angle of dust arm entry body 158 The dust-proof end cap 1567 of the inner space of contact bearing 1563.
When the second motor 152 is rotated, the first motor 151 does not turn, then ball-screw nut 1561 is rotated, and splined shaft 154 is not Turn, that is, ball-screw 156 does not turn, ball-screw 156 will move up and down and not rotation, now 154 guiding of splined shaft Effect.
When the second motor 152 does not turn, the first motor 151 is rotated, then ball-screw nut 1561 does not turn, 154 turns of splined shaft Move, that is, ball-screw 156 is rotated, ball-screw 156 will move up and down and rotation.
When the second motor 152 and the first motor 151 are with same rotational speed, then ball-screw nut 1561 is rotated, flower Key axle 154 is rotated, that is, ball-screw 156 is rotated, and now ball-screw 156 and ball-screw nut 1561 are rotated at the same speed, So ball-screw 156 will rotation and up and down motionless.
In actual moving process, the ball-screw 156 moves up and down and rotation is all previously provided with zero-bit by system, leads to Cross the magnet ring, Magnet and the Hall element that are arranged in splined nut component 155 to detect zero-bit.By zero position, it is easy to The distance that control and calculating ball-screw 156 move up and down.
Compared with prior art, the drive mechanism 1 of this utility model flapping articulation robot Z and R axles is by arranging simultaneously First motor 151 and the second motor 152, the splined shaft 154 driven by the first motor 151 and driven by the second motor 152 Ball-screw 156;And be coaxially disposed the splined shaft 154 with ball-screw 156, axially open up in the inside of ball-screw 156 There is a running-deep-hole for inserting splined shaft 154, during actual manipulation, by adjusting the first motor 151 and the second motor 152 The method of operation, can realize respectively splined shaft 154 rotate, ball-screw 156 move up and down and rotate and splined shaft 154 not Rotate, ball-screw 156 moves up and down and not rotation and splined shaft 154 are rotated, ball-screw is not moved and rotated about 156 Three kinds of different operational modes, simple structure, cost is significantly reduced.
Above-described this utility model embodiment, does not constitute the restriction to this utility model protection domain.It is any Modification, equivalent and improvement made within spirit of the present utility model and principle etc., should be included in this utility model Claims within.

Claims (10)

1. a kind of drive mechanism of flapping articulation robot Z and R axle, it is characterised in that:Including arm body, the biography being arranged on arm body Dynamic fixed mount, the first motor being fixedly installed on drive fixed mount and the second motor, by the first motor-driven splined shaft with And by the second motor-driven ball-screw;The splined shaft is coaxially disposed and in ball-screw screw mandrel inner shaft with ball-screw To the running-deep-hole offered for inserting splined shaft;
Also include being arranged on splined shaft the splined nut component matched with ball-screw one end;The splined nut component bag Include splined nut and the splined nut fixed cover for fixing splined nut;When first Motor drive splined shaft is rotated, pass through The transmission of splined nut component, drives ball-screw to rotate simultaneously;
Also include being matched with ball-screw, by the second motor-driven ball-screw nut;The second motor driven ball silk When thick stick nut rotates, axial movement is produced with driving ball-screw is merged with ball-screw by ball-screw nut;
Also include being arranged at the controller in portion in arm body, first motor, the second motor and controller are electrically connected with.
2. a kind of drive mechanism of flapping articulation robot Z and R axle as claimed in claim 1, it is characterised in that:Described first Between motor and splined shaft and the second motor and ball-screw pass through gear drive;First is arranged on first motor actively Gear, is fixedly installed the first driven gear on splined shaft, by the first driving gear and the ratcheting transmission of the first driven gear;Described Second driving gear is set on two motors, the second driven gear is fixedly installed on ball-screw, by the second driving gear and second The ratcheting transmission of driven gear.
3. a kind of drive mechanism of flapping articulation robot Z and R axle as claimed in claim 1, it is characterised in that:The transmission At least one is arranged between fixed mount and splined shaft is used to prevent the splined shaft angular contact bearing of splined shaft axial float;The arm At least one is arranged between body and ball-screw is used to prevent the ball-screw angular contact bearing of ball-screw axial direction play;Ball Leading screw angular contact bearing is fixed on arm body;Each splined shaft angular contact bearing and ball-screw angular contact bearing are by bearing (ball) cover It is fixed.
4. a kind of drive mechanism of flapping articulation robot Z and R axle as claimed in claim 2, it is characterised in that:The spline Tension device is set between shaft end shaft shoulder position and the first driven gear, and the first driven gear is fixed on by flower by tension device On key axle.
5. a kind of drive mechanism of flapping articulation robot Z and R axle as claimed in claim 3, it is characterised in that:Also include with The ball-screw nut fixed cover that the ball-screw angular contact bearing is equipped with;The ball-screw nut is fixed on ball On feed screw nut fixed cover;Ball-screw angular contact bearing is by locking nut and tight.
6. the driver of a kind of flapping articulation robot Z and R axle as described in any one claim in claim 1 to 5 Structure, it is characterised in that:The groove for placing the controller is offered on the arm body.
7. a kind of drive mechanism of flapping articulation robot Z and R axle as claimed in claim 6, it is characterised in that:The ball Leading screw runs through arm body one end, and ball-screw angular contact bearing, ball-screw bearing end lid, the second driven gear and ball wire Thick stick nut is all arranged inside arm body one end;The groove is opened in the middle part of arm body.
8. a kind of drive mechanism of flapping articulation robot Z and R axle as claimed in claim 2, it is characterised in that:Described first Driving gear and the first driven gear and the second driving gear and the second driven gear have same gear ratio.
9. a kind of drive mechanism of flapping articulation robot Z and R axle as claimed in claim 1, it is characterised in that:Described first Motor and the second motor are DC brushless motor;Between first motor and splined shaft and the second motor and ball-screw are by same Step V belt translation.
10. a kind of drive mechanism of flapping articulation robot Z and R axle as claimed in claim 1, it is characterised in that:The rolling Ballscrew is fixedly installed ring flange with respect to the other end of splined nut component, and is provided with and ball-screw in arm body bottom With, the dust-proof end cap for preventing portion ball-screw angular contact bearing inner space in dust arm entry body.
CN201621210299.4U 2016-11-10 2016-11-10 Drive mechanism of horizontal joint robot Z and R axle CN206140496U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201621210299.4U CN206140496U (en) 2016-11-10 2016-11-10 Drive mechanism of horizontal joint robot Z and R axle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201621210299.4U CN206140496U (en) 2016-11-10 2016-11-10 Drive mechanism of horizontal joint robot Z and R axle

Publications (1)

Publication Number Publication Date
CN206140496U true CN206140496U (en) 2017-05-03

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201621210299.4U CN206140496U (en) 2016-11-10 2016-11-10 Drive mechanism of horizontal joint robot Z and R axle

Country Status (1)

Country Link
CN (1) CN206140496U (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106272365A (en) * 2016-11-10 2017-01-04 慧灵科技(深圳)有限公司 A kind of flapping articulation robot Z and the drive mechanism of R axle
CN107322568A (en) * 2017-07-31 2017-11-07 珠海格力节能环保制冷技术研究中心有限公司 Ball-screw spline supporting construction and the robot with it
CN107571251A (en) * 2017-08-28 2018-01-12 珠海格力节能环保制冷技术研究中心有限公司 Mechanical arm and there is its horizontal articulated robots of SCARA
CN107972020A (en) * 2017-11-30 2018-05-01 珠海格力节能环保制冷技术研究中心有限公司 Horizontal articulated industrial robot

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106272365A (en) * 2016-11-10 2017-01-04 慧灵科技(深圳)有限公司 A kind of flapping articulation robot Z and the drive mechanism of R axle
CN106272365B (en) * 2016-11-10 2018-11-02 慧灵科技(深圳)有限公司 A kind of transmission mechanism of flapping articulation robot Z and R axis
CN107322568A (en) * 2017-07-31 2017-11-07 珠海格力节能环保制冷技术研究中心有限公司 Ball-screw spline supporting construction and the robot with it
CN107571251A (en) * 2017-08-28 2018-01-12 珠海格力节能环保制冷技术研究中心有限公司 Mechanical arm and there is its horizontal articulated robots of SCARA
CN107972020A (en) * 2017-11-30 2018-05-01 珠海格力节能环保制冷技术研究中心有限公司 Horizontal articulated industrial robot

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Granted publication date: 20170503

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