CN207359114U - A kind of cylindrical pair joint drive and drive mechanism for SCARA - Google Patents
A kind of cylindrical pair joint drive and drive mechanism for SCARA Download PDFInfo
- Publication number
- CN207359114U CN207359114U CN201721326841.7U CN201721326841U CN207359114U CN 207359114 U CN207359114 U CN 207359114U CN 201721326841 U CN201721326841 U CN 201721326841U CN 207359114 U CN207359114 U CN 207359114U
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- China
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- pair
- revolute pair
- belt wheel
- fixed seat
- jackshaft
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Abstract
The utility model discloses a kind of cylindrical pair joint drive and drive mechanism for SCARA.The joint drive is two servomotors, is realized mobile by the transmission agency of synchronous tape member and ball screw spline component and is rotated.Wherein movable part is by single-stage band deceleration transmission；Rotating part is fixedly mounted by two-stage synchronous belt deceleration transmission, the jackshaft of two-stage synchronous belt by an independent middle axle bed.By the differential input of two drive parts, realize that cylindrical pair end two degrees of freedom exports accordingly.Revolute pair and mobile auxiliary drive motor component, belt wheel jackshaft fixed seat, ball screw spline component, is all directly installed on connecting rod.Wherein independent belt wheel jackshaft fixed seat can preferably balance the suppressive jamming of belt wheel, and as a whole jackshaft can be driven to move, and adjust the pretension of synchronous belt.The configuration is rotated as general SCARA robots latter half and mobile combination joint structure, realizes roll angle pose adjustment and the vertical movement of robot end.
Description
Technical field
It the utility model is related to driving and the transmission parts of joint of robot, more particularly to a kind of cylinder for SCARA
Subjoint drives and drive mechanism.
Background technology
SCARA (Selective Compliance Assembly Robot Arm) robot is that usually have 4 freedom
Degree, including two parallel rotary joints enable its end to move in the horizontal plane, in addition it is another it is well matched put one rotate and on
The combination joint of lower movement is used as roll angle pose adjustment and vertical movement.SCARA robots are usually used in assembling work, they
There is larger flexibility in x-y plane, there is very strong rigidity along z-axis, thus it has submissive, this feature of selectivity
It is adapted to assembling work.
The content of the invention
The purpose of the utility model is to overcome the shortcomings that the above-mentioned prior art and deficiency, there is provided a kind of for SCARA's
Cylindrical pair joint drive and drive mechanism.It is with the advantages that stable drive, installation and debugging facilitate.
The utility model is achieved through the following technical solutions：
A kind of cylindrical pair joint drive and drive mechanism for SCARA, including connecting rod 1, and it is sequentially arranged at connecting rod 1
On ball screw spline component 5, prismatic pair motor component 4, belt wheel jackshaft fixed seat 3, revolute pair motor component 2；Rotate
Auxiliary-motor component 2 includes revolute pair driving motor 21, revolute pair motor flange 22；The revolute pair driving motor 21 and revolute pair
Motor flange 22 is fixed by screws on connecting rod 1；The axis of revolute pair driving motor 21 and the revolute pair for rotating auxiliary driving
First order small pulley 71 is connected, and revolute pair first order big belt wheel 73 is transferred to through revolute pair first order synchronous belt 72；Revolute pair
Level-one big belt wheel 73 is connected by the belt wheel jackshaft 35 of belt wheel jackshaft fixed seat 3 with revolute pair second level small pulley 74；Turn
Dynamic pair second level small pulley 74 realizes transmission between revolute pair second level synchronous belt 75 and revolute pair second level big belt wheel 76；
Prismatic pair motor component 4 includes prismatic pair servomotor 41, prismatic pair motor flange 42；Prismatic pair servomotor 41
It is fixed by screws in prismatic pair motor flange 42 on connecting rod 1；The axis of prismatic pair servomotor 41 and prismatic pair small pulley 61
It is connected, prismatic pair big belt wheel 63 is transferred to by prismatic pair synchronous belt 62；
Ball screw spline component 5 includes ball screw spline 51, ball screw spline flange 52；Ball screw spline 51
Lower end fixed part be directly installed on connecting rod 1, upper end fixation part is fixed on connecting rod 1 point by ball screw spline flange 52
On；The ball nut and ball of revolute pair second level big belt wheel 76 and prismatic pair big belt wheel 63 respectively with ball screw spline 51 are spent
Key set is connected.
The belt wheel jackshaft fixed seat 3 is used for fixed pulley jackshaft 35, bears 72 He of revolute pair first order synchronous belt
The pulling force of revolute pair second level synchronous belt 75, it include 31, two blocks of fixed seat side plates 32 of fixed seat bottom plate, fixed seat top plate 33,
Upper and lower two rolling bearings 34 and belt wheel jackshaft 35；
Wherein, 31, two blocks of fixed seat side plates 32 of fixed seat bottom plate and fixed seat top plate 33 are combined into frame structure, in belt wheel
Countershaft 35 is coupled revolute pair first order big belt wheel 73 and revolute pair second level small pulley 74, and passes through upper and lower two rolling bearings 34
On frame.
The belt wheel jackshaft fixed seat 3 is installed on connecting rod 1 by fixed seat bottom plate 31, the position corresponding thereto of connecting rod 1
Open up and go back rectangular shaped slot, with through hole of the bolt through fixed seat bottom plate surrounding and corresponding rectangular shaped slot, jackshaft can be fixed
Seat 3 is fixed on connecting rod 1；Can integrally it be slided when belt wheel jackshaft fixed seat 3 is installed along the length direction of connecting rod 1, with fine-adjustment rotary
The pretension degree of secondary first order synchronous belt 72, revolute pair second level synchronous belt 75.
It is a kind of to include the following steps for the cylindrical pair joint drive of SCARA with the operation method of drive mechanism, its spy：
The shaft of ball screw spline 51 moves up and down step：
When revolute pair driving motor 21 stops, prismatic pair servomotor 41 drives ball nut by prismatic pair synchronous belt 62
During rotation, the shaft of ball screw spline 51, which is realized, to be moved up and down；
The pure rotation step of shaft of ball screw spline 51；
When revolute pair driving motor 21 moves at the same time with prismatic pair servomotor 41, and ball nut and ball spline sleeve turn
When speed is identical, the shaft of ball screw spline 51 realizes pure rotation.
The shaft of ball screw spline 51 realizes the Union Movement step for rotating and moving up and down；
When prismatic pair servomotor 41 stops, revolute pair drives motor 21 by revolute pair first order synchronous belt 72 and rotates
When secondary second level synchronous belt 75 drives ball spline sleeve rotation, the shaft of ball screw spline 51 realize fixed proportion rotation and
The Union Movement moved up and down；
When revolute pair driving motor 21 and prismatic pair servomotor 41 are according to the rotational speed each set, then ball wire
The shaft of bar spline 51 makes the Union Movement of velocity of rotation and translational speed accordingly according to the rotating speed ratio of the two.
The utility model is had the following advantages and effect relative to the prior art：
The utility model by the cooperation transmission of synchronous belt and ball screw spline by motor postposition close to robot base,
Reduce own rotation inertia, reduce the rotation load of driving needed for above joint.
The utility model rationally utilizes connecting rod space, and all parts are all directly installed on connecting rod, compact-sized.
The utility model has independent belt wheel jackshaft fixed seat, and the suppressive jamming of belt wheel is all anti-by the bearing in fixed seat
Power preferably balances, and makes the transmission of synchronous belt more steady；Mounted jackshaft fixed seat can be as a whole with movable belt pulley
Countershaft moves, and makes synchronous belt installation and pretension more convenient.
Brief description of the drawings
Fig. 1 is the cylindrical pair joint drive and drive mechanism schematic diagram that the utility model is used for SCARA.
Fig. 2 is the sectional view of Fig. 1.
Fig. 3 is the sectional view of belt wheel jackshaft fixed seat.
Fig. 4 is the top view of Fig. 1.
Fig. 5 is the bottom view of Fig. 1.
Digital number represents following technical characteristic shown in upper figure：
1- connecting rods；
2- revolute pair motor components, 21- revolute pairs servomotor (including brake), 22- revolute pair motor flanges；
3- belt wheel jackshaft fixed seats, 31- fixed seat bottom plates, 32- fixed seat side plates, 33- fixed seat top plates, 34- are rolled
Bearing, 35- belt wheel jackshafts, synchronous tape member 6,7；
4- prismatic pair motor components, 41- prismatic pairs servomotor (including brake), 42- prismatic pair motor flanges；
5- ball screw spline components, 51- ball screw splines, 52- ball screw spline flanges
6- prismatic pair synchronization tape members, 61- prismatic pair small pulleys, 62- prismatic pair synchronous belts, 63- prismatic pair big belt wheels；
7- revolute pair synchronization tape members, 71- revolute pair first order small pulleys, 72- revolute pair first order synchronous belts, 73- turn
Dynamic pair first order big belt wheel, 74- revolute pairs second level small pulley, 75- revolute pairs second level synchronous belt, the 76- revolute pairs second level
Big belt wheel.
Embodiment
The utility model is described in further detail with reference to specific embodiment.
Embodiment
The utility model discloses a kind of cylindrical pair joint drive and drive mechanism for SCARA, including connecting rod 1, with
And it is sequentially arranged at ball screw spline component 5 on connecting rod 1, prismatic pair motor component 4, belt wheel jackshaft fixed seat 3, rotates
Auxiliary-motor component 2；Revolute pair motor component 2 includes revolute pair driving motor 21, revolute pair motor flange 22；The revolute pair is driven
Dynamic motor 21 is fixed by screws on connecting rod 1 with revolute pair motor flange 22；The axis of revolute pair driving motor 21 turns with being used for
The revolute pair first order small pulley 71 of dynamic auxiliary driving is connected, and it is big to be transferred to the revolute pair first order through revolute pair first order synchronous belt 72
Belt wheel 73；Belt wheel jackshaft 35 and the revolute pair second level of the revolute pair first order big belt wheel 73 by belt wheel jackshaft fixed seat 3
Small pulley 74 is connected；Revolute pair second level small pulley 74 is via revolute pair second level synchronous belt 75 and revolute pair second level big belt wheel
Transmission is realized between 76；
Prismatic pair motor component 4 includes prismatic pair servomotor 41, prismatic pair motor flange 42；Prismatic pair servomotor 41
It is fixed by screws in prismatic pair motor flange 42 on connecting rod 1；The axis of prismatic pair servomotor 41 and prismatic pair small pulley 61
It is connected, prismatic pair big belt wheel 63 is transferred to by prismatic pair synchronous belt 62；
Ball screw spline component 5 includes ball screw spline 51, ball screw spline flange 52；Ball screw spline 51
Lower end fixed part be directly installed on connecting rod 1, upper end fixation part is fixed on connecting rod 1 point by ball screw spline flange 52
On；The ball nut and ball of revolute pair second level big belt wheel 76 and prismatic pair big belt wheel 63 respectively with ball screw spline 51 are spent
Key set is connected.
The belt wheel jackshaft fixed seat 3 is used for fixed pulley jackshaft 35, bears 72 He of revolute pair first order synchronous belt
The pulling force of revolute pair second level synchronous belt 75, it include 31, two blocks of fixed seat side plates 32 of fixed seat bottom plate, fixed seat top plate 33,
Upper and lower two rolling bearings 34 and belt wheel jackshaft 35；
Wherein, 31, two blocks of fixed seat side plates 32 of fixed seat bottom plate and fixed seat top plate 33 are combined into frame structure, in belt wheel
Countershaft 35 is coupled revolute pair first order big belt wheel 73 and revolute pair second level small pulley 74, and passes through upper and lower two rolling bearings 34
On frame.
The belt wheel jackshaft fixed seat 3 is installed on connecting rod 1 by fixed seat bottom plate 31, the position corresponding thereto of connecting rod 1
Also rectangular shaped slot is opened up, the surrounding of fixed seat bottom plate 31 passes through rectangular shaped slot by bolt；Belt wheel jackshaft fixed seat 3 is installed
When can integrally be slided along the length direction of connecting rod 1, with fine-adjustment rotary pair first order synchronous belt 72, revolute pair second level synchronous belt 75
Pretension degree.
During assembling, distinguished first by the ball nut of ball screw spline and the threaded hole of ball spline sleeve and location hole
Prismatic pair big belt wheel 63 and revolute pair second level big belt wheel 76 is mounted thereto.Again by prismatic pair synchronous belt 62 and revolute pair
Secondary synchronization band 75 is inserted in respective belt wheel.The above-mentioned ball screw spline static part installed is installed to what connecting rod 1 was reserved
Kong Zhong, fixes 51 top half of ball screw spline via ball screw spline flange 52.
When belt wheel jackshaft fixed seat 3 is processed, it is necessary to first that fixed seat bottom plate 31, fixed seat side plate 32 is affixed, order is fixed
Bearing hole on seat bottom plate 31, with work, utilizes finger setting with the bearing hole on fixed seat top plate 33.It is fixed during assembling (such as Fig. 3)
Seat bottom plate 31 is considered as an entirety with fixed seat side plate 32, and rolling bearing 34 (deep groove ball bearing) is respectively charged into fixed seat top plate
33 and fixed seat bottom plate 31 bearing hole in；Revolute pair first order big belt wheel 73 is installed successively on belt wheel jackshaft 35 and is rotated
Secondary second level small pulley 74, then revolute pair second level synchronous belt 75 is inserted in revolute pair second level small pulley 74.Among belt wheel
Axis 35 is installed in rolling bearing 34, and revolute pair first order big belt wheel 73 is inserted in revolute pair first order synchronous belt 72.Finally install
Fixed seat top plate 33 fixes belt wheel jackshaft 35, enough belt wheel jackshaft fixed seats 3 into an entirety.In connecting rod 1 and belt wheel
3 relative position of countershaft fixed seat offers rectangular shaped slot, with through hole of the bolt through 31 surrounding of fixed seat bottom plate and corresponding square
Jackshaft fixed seat 3, can be fixed on connecting rod 1 by shape slot；Can be integrally along connecting rod 1 during installation belt wheel jackshaft fixed seat 3
Bar length direction slides, with the pretension degree of fine-adjustment rotary pair first order synchronous belt 72, revolute pair second level synchronous belt 75, such as Fig. 4
With 5.
The revolute pair servomotor 21 of band brake and its revolute pair motor flange 22 are affixed, the electricity of revolute pair servomotor 21
Arbor and revolute pair first order small pulley 71 it is affixed it is good after, be inserted in revolute pair first order synchronous belt 72.Using with dynamometer
Rope pulls whole belt wheel jackshaft fixed seat 3, observes the registration of dynamometer, revolute pair second level synchronous belt 75 is reached pretension
Power requirement, fixed seat 3 is locked on connecting rod 1.Revolute pair motor component 2 equally is pulled with the rope with dynamometer, makes rotation
Secondary first order synchronous belt 72 reaches pretightning force requirement, and revolute pair servo motor flange 22 is fixed on connecting rod 1.
The prismatic pair servomotor 41 of band brake and its prismatic pair motor flange 42 are affixed, the electricity of prismatic pair servomotor 41
Arbor and prismatic pair small pulley 61 it is affixed it is good after, be inserted in prismatic pair synchronous belt 62.Equally pulled and moved with the rope with dynamometer
Dynamic auxiliary-motor component 4, makes prismatic pair synchronous belt 62 reach pretightning force requirement, prismatic pair servo motor flange 42 is fixed on connecting rod
On 1.
So far, mobile combination joint and its driving is rotated completely to be installed on connecting rod (such as Fig. 1).The connecting rod is as machine
Device people latter half can be connected by the joint of the plane motion with SCARA robots front ends, form the machine of a four-degree-of-freedom
Device people.
The utility model can pass through following steps for the cylindrical pair joint drive of SCARA and the operation method of drive mechanism
It is rapid to realize：
First, the shaft of ball screw spline 51 moves up and down step：
When revolute pair driving motor 21 stops, prismatic pair servomotor 41 drives ball nut by prismatic pair synchronous belt 62
During rotation, the shaft of ball screw spline 51, which is realized, to be moved up and down；
2nd, the pure rotation step of the shaft of ball screw spline 51；
When revolute pair driving motor 21 moves at the same time with prismatic pair servomotor 41, and ball nut and ball spline sleeve turn
When speed is identical, the shaft of ball screw spline 51 realizes pure rotation.
3rd, the shaft of ball screw spline 51 realizes the Union Movement step for rotating and moving up and down；
When prismatic pair servomotor 41 stops, revolute pair drives motor 21 by revolute pair first order synchronous belt 72 and rotates
When secondary second level synchronous belt 75 drives ball spline sleeve rotation, the shaft of ball screw spline 51 realize fixed proportion rotation and
The Union Movement moved up and down；
When revolute pair driving motor 21 and prismatic pair servomotor 41 are according to the rotational speed each set, then ball wire
The shaft of bar spline 51 makes the Union Movement of velocity of rotation and translational speed accordingly according to the rotating speed ratio of the two.
The utility model is used for the rotation of general four-degree-of-freedom SCARA robots latter half and mobile two degrees of freedom combination
The driving in joint and the configuration of drive mechanism；The joint drive is two servomotors, is driven by synchronous tape member and ball wire
Bar spline component is realized mobile and rotated.Wherein movable part is by single-stage band deceleration transmission；Rotating part is subtracted by two-stage synchronous belt
Speed transmission, the jackshaft of two-stage synchronous belt are fixedly mounted by an independent middle axle bed.By the differential of two drive parts
Input, realizes that cylindrical pair end two degrees of freedom exports accordingly.
Revolute pair drives motor component, mobile auxiliary drive motor component, belt wheel jackshaft fixed seat, rolling in the utility model
Ballscrew spline component, is all directly installed on connecting rod.Wherein independent belt wheel jackshaft fixed seat can preferably balancing band
The suppressive jamming of wheel, and as a whole jackshaft can be driven to move, adjust the pretension of synchronous belt.The configuration is as general SCARA machines
Device people latter half rotates and mobile combination joint structure, realizes the roll angle pose adjustment of robot end and vertical fortune
It is dynamic.
As described above, it can preferably realize the utility model.
The embodiment of the utility model is simultaneously not restricted to the described embodiments, other are any without departing from the utility model
Spirit Essence with made under principle change, modification, replacement, combine, simplification, should be equivalent substitute mode, be included in
Within the scope of protection of the utility model.
Claims (3)
1. a kind of cylindrical pair joint drive and drive mechanism for SCARA, including connecting rod (1), and it is sequentially arranged at connecting rod
(1) ball screw spline mechanism (5), prismatic pair motor mechanism (4), belt wheel jackshaft fixed seat (3), rotation auxiliary-motor machine on
Structure (2)；It is characterized in that：
Revolute pair motor mechanism (2) includes revolute pair driving motor (21), revolute pair motor flange (22)；The revolute pair driving
Motor (21) is fixed by screws on connecting rod (1) with revolute pair motor flange (22)；Revolute pair driving motor (21) axis with
Revolute pair first order small pulley (71) for rotating auxiliary driving is connected, and rotation is transferred to through revolute pair first order synchronous belt (72)
Secondary first order big belt wheel (73)；The belt wheel jackshaft that revolute pair first order big belt wheel (73) passes through belt wheel jackshaft fixed seat (3)
(35) it is connected with revolute pair second level small pulley (74)；Revolute pair second level small pulley (74) is via revolute pair second level synchronous belt
(75) transmission is realized between revolute pair second level big belt wheel (76)；
Prismatic pair motor mechanism (4) includes prismatic pair servomotor (41), prismatic pair motor flange (42)；Prismatic pair servomotor
(41) it is fixed by screws in prismatic pair motor flange (42) on connecting rod (1)；The axis of prismatic pair servomotor (41) and movement
Secondary small pulley (61) is connected, and prismatic pair big belt wheel (63) is transferred to by prismatic pair synchronous belt (62)；
Ball screw spline mechanism (5) includes ball screw spline (51), ball screw spline flange (52)；Ball screw spline
(51) lower end fixed part is directly installed on connecting rod (1), and upper end fixation part point is solid by ball screw spline flange (52)
It is scheduled on connecting rod (1)；Revolute pair second level big belt wheel (76) and prismatic pair big belt wheel (63) respectively with ball screw spline (51)
Ball nut and ball spline sleeve be connected.
2. it is used for the cylindrical pair joint drive and drive mechanism of SCARA according to claim 1, it is characterised in that：The band
Wheel jackshaft fixed seat (3) is used for fixed pulley jackshaft (35), bears revolute pair first order synchronous belt (72) and revolute pair the
The pulling force of secondary synchronization band (75), it include fixed seat bottom plate (31), two pieces of fixed seat side plates (32), fixed seat top plate (33),
Upper and lower two rolling bearings (34) and belt wheel jackshaft (35)；
Wherein, fixed seat bottom plate (31), two pieces of fixed seat side plates (32) and fixed seat top plate (33) are combined into frame structure, belt wheel
Jackshaft (35) is coupled revolute pair first order big belt wheel (73) and revolute pair second level small pulley (74), and passes through upper and lower two rollings
Dynamic bearing (34) is installed on frame.
3. it is used for the cylindrical pair joint drive and drive mechanism of SCARA according to claim 2, it is characterised in that：The band
Take turns jackshaft fixed seat (3) to be installed on connecting rod (1) by fixed seat bottom plate (31), connecting rod (1) offers position corresponding thereto
Rectangular shaped slot, the surrounding of fixed seat bottom plate (31) pass through rectangular shaped slot by bolt；Can during installation belt wheel jackshaft fixed seat (3)
The overall length direction along connecting rod (1) slides, with fine-adjustment rotary pair first order synchronous belt (72), revolute pair second level synchronous belt (75)
Pretension degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721326841.7U CN207359114U (en) | 2017-10-16 | 2017-10-16 | A kind of cylindrical pair joint drive and drive mechanism for SCARA |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721326841.7U CN207359114U (en) | 2017-10-16 | 2017-10-16 | A kind of cylindrical pair joint drive and drive mechanism for SCARA |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207359114U true CN207359114U (en) | 2018-05-15 |
Family
ID=62347576
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721326841.7U Expired - Fee Related CN207359114U (en) | 2017-10-16 | 2017-10-16 | A kind of cylindrical pair joint drive and drive mechanism for SCARA |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207359114U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107756436A (en) * | 2017-10-16 | 2018-03-06 | 华南理工大学 | A kind of cylindrical pair joint drive and drive mechanism and its method for SCARA |
-
2017
- 2017-10-16 CN CN201721326841.7U patent/CN207359114U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107756436A (en) * | 2017-10-16 | 2018-03-06 | 华南理工大学 | A kind of cylindrical pair joint drive and drive mechanism and its method for SCARA |
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|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180515 Termination date: 20211016 |