CN209648728U - A kind of mechanical arm - Google Patents

Abstract

The utility model and robot device's technical field, refer in particular to a kind of mechanical arm, including driving pedestal, the first cursor, the second cursor and ball spline screw rod, the length of second cursor is 600mm, second cursor is provided with the first driving device for driving ball spline screw rod to rotate, the first driving device includes the first pulley connecting with the keyway of ball spline screw rod, deceleration device and first servo motor, and the first servo motor is drivingly connected via deceleration device and first pulley；The lower end of the ball spline screw rod is provided with the suction means for drawing extraneous material.The presence of deceleration device operates first servo motor under a suitable speed, and revolving speed is accurately dropped into ball spline screw rod required speed under high load, and then bigger torque is exported while improving mechanical body rigidity, so that it is guaranteed that entire mechanical arm can more accurate, reliably be run.

Description

A kind of mechanical arm

Technical field

The utility model relates to robot device's technical fields, refer in particular to a kind of mechanical arm.

Background technique

SCARA robot is four most wide shaft industrial robots of industrial robot field application range.The robot is flat The movement of face direction is steady, has biggish rigidity in vertical direction, can be widely applied to need efficient assembly, welding, carry, Numerous occasions such as sealing.Its use substantially increases robot to the adaptability of complex task, while also reducing cost, mentions It is significant to be realized that robot substitutes by high working space utilization rate for a variety of workplaces of modernization industry production line. In recent years, SCARA robot product type both domestic and external is more diversified, it has also become one of research hotspot of robot field.

But the rotation axis of existing SCARA robot end is directly driven using servo motor, load it is big, In the case that revolving speed is high, the transmission of servo motor is unstable, and transmission efficiency is low, and to generate operating accuracy low for the rotation of axis, holds The ability for carrying load is poor, so that manipulator fluctuation of service and precision are poor.The defect of the problem is fairly obvious, needs one Kind solution.

Summary of the invention

The purpose of this utility model is that provide in view of the deficiencies of the prior art it is a kind of simple and compact for structure, it is stable, The high mechanical arm of operating accuracy.

To achieve the goals above, the utility model adopts the following technical solution:

A kind of mechanical arm provided by the utility model, including driving pedestal, the first cursor, the second cursor and rolling Spline screw rod, first cursor and driving base rotation setting, second cursor are set with the rotation of the first cursor It sets, the ball spline screw rod is movably set in the second cursor；Second cursor is provided with for driving ball spline The first driving device of screw rod rotation, the first driving device includes the first band connecting with the keyway of ball spline screw rod Wheel, deceleration device and first servo motor, the first servo motor are drivingly connected via deceleration device and first pulley.

It is therein, the deceleration device include decelerating motor, be set to decelerating motor output shaft the second belt wheel and set It is placed in the third belt wheel of the output shaft of decelerating motor, the output shaft of the first servo motor is connected with the 4th belt wheel, and described Four belt wheels are connect via the first transmission belt with the second belt wheel, and the third belt wheel is connect via the second transmission belt with first pulley.

Further, the third belt wheel is located at the lower section of the second belt wheel, and the number of teeth of the third belt wheel is less than first band The number of teeth of wheel, the number of teeth of second belt wheel are greater than the number of teeth of the 4th belt wheel.

Therein, second cursor is provided with the second driving dress for driving ball spline screw rod to move up and down It sets, second driving device includes the 5th belt wheel connecting with the helicla flute of ball spline screw rod, the second servo motor, setting In the output shaft of the second servo motor the 6th belt wheel and be set around the third transmission belt of the 5th belt wheel and the 6th belt wheel.

Therein, the mechanical arm further includes being set to the lower end of ball spline screw rod and for drawing extraneous part Suction means；The suction means includes shaft coupling piece, connect with shaft coupling piece and four support rods of interlaced setting, It is slideably positioned in the suction nozzle of support rod and the moving drive mechanism for driving suction nozzle mobile.

Further, each support rod is correspondingly arranged on a moving drive mechanism, and the moving drive mechanism includes sliding Motion block, driving pulley, driven pulley, the 4th transmission belt and the device of rotation driving for driving driving pulley to rotate；It is described Support rod is provided with sliding groove, and the sliding shoe is slideably positioned in sliding groove, and the driving pulley is rotatably dispose in sliding groove Close to one end of shaft coupling piece, the driven pulley is rotatably dispose in the other end of the sliding groove far from shaft coupling piece；Described 4th Transmission belt is set around driving pulley and driven pulley, and a sideband of the 4th transmission belt and one end of sliding shoe connect, described The other end of sliding shoe is equipped with through-hole, and the another side band of the 4th transmission belt is through through-hole；The suction nozzle is installed on sliding shoe.

Further, the device of rotation driving includes four first transmissions for being rotatably dispose in four support rods respectively Tooth is rotatably dispose in shaft coupling piece and is driven the second driving cog of tooth engagement with four first, is rotatably dispose in one of branch Strut simultaneously drives with the driving tooth of the first transmission tooth engagement and the rotation for driving driving tooth to rotate for being set to the support rod Dynamic motor, first driving cog are connect via transmission shaft with driving pulley.

Therein, the length of second cursor is 600mm.

Therein, the driving pedestal is provided with the third driving device for drive the rotation of the first cursor, and described the The turning end of two cursors and the first cursor is provided with the fourth drive device for driving the second cursor to rotate；Described Three driving devices include third servo motor and first harmonic decelerator, first cursor via first harmonic decelerator with Base rotation connection is driven, the third servo motor and first harmonic decelerator are drivingly connected.

It is therein, it is provided with fixing seat on second cursor, second harmonic retarder is provided in the fixing seat, The ball spline screw rod is rotatably dispose in fixing seat via second harmonic retarder.

The utility model has the beneficial effects that

A kind of mechanical arm provided by the utility model, the ball spline screw rod of this mechanical arm first servo motor with Lower realize of the cooperation driving of deceleration device reliablely and stablely rotates, and the presence of deceleration device keeps first servo motor suitable at one Speed under operate, and accurately by revolving speed drop to ball spline screw rod under high load required for speed, and then improve machine Bigger torque is exported while tool body rigidity, so that it is guaranteed that entire mechanical arm can more accurate, reliably be run.

Detailed description of the invention

Fig. 1 is the schematic perspective view of the mechanical arm of the utility model；

Fig. 2 is the inside schematic perspective view of second transmission arm of the utility model；

Fig. 3 is the inside schematic perspective view at another visual angle of second transmission arm of the utility model；

Fig. 4 is the top view of the second transmission arm internal structure of the utility model；

Fig. 5 is the cross-sectional view in Fig. 4 along line A-A；

Fig. 6 is the cross-sectional view in Fig. 4 along line B-B；

Fig. 7 is the schematic perspective view of the suction means of the utility model；

Fig. 8 is the cross-sectional view of the suction means of the utility model；

Fig. 9 is the enlarged structure schematic diagram in Fig. 7 at A；

Figure 10 is the schematic perspective view of the reverse side of the suction means of the utility model；

The suction means and the structural schematic diagram after mechanical arm assembly that Figure 11 is the utility model.

Description of symbols

1, pedestal is driven；11, first harmonic decelerator；2, the first cursor；3, the second cursor；31, the 4th driving dress It sets；321, the 5th belt wheel；322, first pulley；323, the second servo motor；324, first servo motor；325, the 6th belt wheel； 326, the 4th belt wheel；331, third transmission belt；332, the first transmission belt；333, the second transmission belt；341, decelerating motor；342, Three belt wheels；343, the second belt wheel；35, fixing seat；351, second harmonic retarder；4, ball spline screw rod；5- suction means； 51- shaft coupling piece；52- support rod；521- sliding groove；53- suction nozzle；541- sliding shoe；5411- through-hole；542- driving pulley； 543- driven pulley；The 4th transmission belt of 544-；The first driving cog of 551-；The second driving cog of 552-；553- driving tooth；554- transmission Axis；555- rotational drive motor.

Specific embodiment

For the ease of the understanding of those skilled in the art, the utility model is made below with reference to embodiment and attached drawing further Explanation, the content that embodiment refers to not is restriction to the utility model.The utility model is carried out below in conjunction with attached drawing Detailed description.

As shown in Figure 1 to 11, provided by the utility model includes driving pedestal 1, the first cursor 2, the second cursor 3 And ball spline screw rod 4, first cursor 2 are arranged with the driving rotation of pedestal 1, second cursor 3 and first turn The rotation setting of swing arm 2, the ball spline screw rod 4 are movably set in the second cursor 3；Second cursor 3 is arranged useful In the first driving device that driving ball spline screw rod 4 rotates, the first driving device includes the key with ball spline screw rod 4 First pulley 322, deceleration device and the first servo motor 324 of slot connection, the first servo motor 324 is via deceleration device It is drivingly connected with first pulley 322；The lower end of the ball spline screw rod 4 is provided with the suction means for drawing extraneous material 5.Specifically, first pulley 322 is set in the outside of ball spline screw rod 4.

In practical applications, the ball spline screw rod 4 of this mechanical arm matching in first servo motor 324 and deceleration device It closes lower realize of driving reliablely and stablely to rotate, the presence of deceleration device makes first servo motor 324 under a suitable speed Operating, and revolving speed is accurately dropped into the required speed under high load of ball spline screw rod 4, and then improve mechanical body rigidity While export bigger torque, so that it is guaranteed that entire mechanical arm can more accurate, reliably be run.

In the technical scheme, the deceleration device includes decelerating motor 341, the output shaft for being set to decelerating motor 341 The second belt wheel 343 and be set to decelerating motor 341 output shaft third belt wheel 342, the first servo motor 324 it is defeated Shaft is connected with the 4th belt wheel 326, and the 4th belt wheel 326 is connect via the first transmission belt 332 with the second belt wheel 343, described Third belt wheel 342 is connect via the second transmission belt 333 with first pulley 322.

In practical applications, the rotation of the 4th belt wheel 326, the rotation of the 4th belt wheel 326 are driven by first servo motor 324 The first transmission belt 332 is driven to rotate, the rotation of the first transmission belt 332 just drives the second belt wheel 343 to rotate, the second belt wheel 343 Rotation drives the output shaft rotation of decelerating motor 341, drives third belt wheel 342 to rotate under the mating reaction of decelerating motor 341, The rotation of third belt wheel 342 drives first pulley 322 to rotate via the second transmission belt 333, and the rotation of first pulley 322 drives rolling Spline screw rod 4 rotates.First servo motor 324 via under the action of decelerating motor 341, transmission belt and belt wheel by power transmission To first pulley 322 to drive ball spline screw rod 4 steadily to rotate, the structure driven is steady, transmission ratio is accurate, work can Lean on, transmission efficiency and service life it is relatively high, further improve the job stability and operating accuracy of the utility model.

In the technical scheme, referring to Fig. 6, the third belt wheel 342 is located at the lower section of the second belt wheel 343, the third The number of teeth of belt wheel 342 is less than the number of teeth of first pulley 322, and the number of teeth of second belt wheel 343 is greater than the tooth of the 4th belt wheel 326 Number.Specifically, the transmission ratio of the 4th belt wheel 326 and the second belt wheel 343 is 1:4, the biography of third belt wheel 342 and first pulley 322 Dynamic ratio is 1:4, and the transmission mechanism resultant gear ratio for driving ball spline screw rod 4 to rotate is 1:16 in this way.It is achieved in ball Spline screw rod 4 also can be rotated stably and accurately under biggish load, to improve the operating accuracy of the utility model.

In the technical scheme, second cursor 3 is provided with for driving that ball spline screw rod 4 moves up and down Two driving devices, second driving device include the 5th belt wheel 321, second connecting with the helicla flute of ball spline screw rod 4 Servo motor 323, be set to the second servo motor 323 output shaft the 6th belt wheel 325 and be set around the 5th belt wheel 321 with The third transmission belt 331 of 6th belt wheel 325.Specifically, the 5th belt wheel 321 is set in the outside of ball spline screw rod 4.It is working When, the second servo motor 323 drives the rotation of the 6th belt wheel 325, and the rotation of the 6th belt wheel 325 drives via third transmission belt 331 The rotation of the rotation of 6th belt wheel 325, the 6th belt wheel 325 drives ball spline screw rod 4 to move up and down.The design of the structure is simple Compact, toothed belt transmission is steady, noiseless, and transmission is accurate.

In the technical scheme, referring to Figure 11, the mechanical arm further includes being set to the lower end of ball spline screw rod 4 simultaneously For drawing the suction means 5 of extraneous part.In practical applications, this mechanical arm extraneous taken part and is transferred to drawing The enterprising luggage of assembling line is matched, and in order to meet production requirement, the length of second cursor 3 of this mechanical arm is 600mm.

In the technical scheme, referring to Fig. 7, the suction means 5 is connect including shaft coupling piece 51, with shaft coupling piece 51 And four support rods 52 of interlaced setting, it is slideably positioned in the suction nozzle 53 of support rod 52 and for driving suction nozzle 53 mobile Moving drive mechanism.

Existing suction means 5 is all to be installed in sucker using by suction nozzle 53, then by the ball of sucker and this mechanical arm Spline screw rod 4 connects, and still, the position of traditional sucker and spacing are stationarily connected on sucker, and drawing can only also use every time In a kind of part of specified size；When needing to draw the part of other sizes, then require manual replacement another sucker or Person manually reinstalls the position of suction nozzle 53, and the mode manually adjusted is time-consuming and laborious, greatly reduces working efficiency.And this reality With it is novel in practical applications, as shown in fig. 7, four support rods 52 are in X-shaped, drive suction nozzle 53 propping up by moving drive mechanism It is moved on strut 52, can realize the spacing between each suction nozzle 53 and the adjustment of position, so that 5 nothing of this suction means It need to manually dismount, the position of automation adjustment suction nozzle 53 can be realized, to improve the using flexible and work of this mechanical arm Make efficiency.

In the technical scheme, referring to Fig. 7 to Figure 10, each support rod 52 is correspondingly arranged on a moving drive mechanism, The moving drive mechanism includes sliding shoe 541, driving pulley 542, driven pulley 543, the 4th transmission belt 544 and for driving The device of rotation driving that dynamic driving pulley 542 rotates；The support rod 52 is provided with sliding groove 521, and the sliding shoe 541 slides It is set in sliding groove 521, the driving pulley 542 is rotatably dispose in sliding groove 521 close to one end of shaft coupling piece 51, described Driven pulley 543 is rotatably dispose in the other end of the sliding groove 521 far from shaft coupling piece 51；4th transmission belt 544 is set around Driving pulley 542 and driven pulley 543, a sideband of the 4th transmission belt 544 is connect with one end of sliding shoe 541, described The other end of sliding shoe 541 is equipped with through-hole 5411, and the another side band of the 4th transmission belt 544 is through through-hole 5411；The suction nozzle 53 are installed on sliding shoe 541.

In practical applications, device of rotation driving drives the driving pulley 542 of four support rods 52 to rotate simultaneously, main belt The rotation of wheel 542 drives the 4th transmission belt 544 to move in sliding groove 521 around 542 driven pulleys 543 of driving pulley, the The movement of four transmission belts 544 just drives sliding shoe 541 to move in sliding groove 521, and the movement of sliding shoe 541 just drives suction nozzle 53 It is moved along sliding groove 521, is achieved in the position adjust automatically of suction nozzle 53.Preferably, the device of rotation driving packet Include and be rotatably dispose in four the first driving cogs 551 of four support rods 52 respectively, be rotatably dispose in shaft coupling piece 51 and with four First driving cog 551 engagement the second driving cog 552, be rotatably dispose in one of support rod 52 and be set to the support rod The driving tooth 553 that 52 the first driving cog 551 engages and the rotational drive motor 555 for driving driving tooth 553 to rotate, institute It states the first driving cog 551 and is connect via transmission shaft 554 with driving pulley 542.Specifically, the rotational drive motor 555 is to watch Take motor；.At work, rotational drive motor 555 drives driving tooth 553 to rotate, and the rotation of driving tooth 553 drives the first transmission Tooth 551 rotates, and the rotation of the first driving cog 551 drives driving pulley 542 to rotate, and the rotation of driving pulley 542 drives suction in turn Mouth 53 is mobile；While driving tooth 553 drives one of them first driving cog 551 to rotate, the rotation of the first driving cog 551 is driven The rotation of second driving cog 552, the rotation of the second driving cog 552 just drives remaining three the first driving cog 551 rotations, and then drives Move its excess-three suction nozzle 53 while movement.The structure of the moving drive mechanism designs simple ingenious and compact, stable transmission, transmission Precision is high, and the movement of suction nozzle 53 is noiseless, under the mating reaction of servo motor, gear and transmission belt, the mobile precision of suction nozzle 53 It can reach 0.1mm, so that this mechanical arm is suitable for more accurate part and process.

In the technical scheme, the driving pedestal 1 is provided with the third driving dress for driving the first cursor 2 to rotate It sets, the turning end of second cursor 3 and the first cursor 2 is provided with the 4 wheel driven for driving the second cursor 3 to rotate Dynamic device 31.

Preferably, the third driving device includes that third servo motor (not indicating in figure) and first harmonic slow down Device 11, first cursor 2 are rotatablely connected via first harmonic decelerator 11 and driving pedestal 1, the third servo motor It is drivingly connected with first harmonic decelerator 11.Specifically, the knot of the structure of the fourth drive device 31 and third driving device Structure is identical.First cursor 2 and the second cursor 3 accurately can make mechanical arm slow down under the action of harmonic speed reducer, Its transmission accuracy is improved, and then realizes that mechanical arm accurately positions.

In the technical scheme, referring to figs. 2 and 3, fixing seat 35, the fixation are provided on second cursor 33 Second harmonic retarder 351 is provided on seat 35, the ball spline screw rod 4 runs through second harmonic retarder 351 and fixing seat 35, ball spline screw rod 4 is slidably matched with second harmonic retarder 351, fixing seat 35 respectively.The second harmonic retarder 351 Effect it is identical as the effect of first harmonic decelerator 11, repeat no more herein.

The above is only the utility model preferred embodiment, is not made in any form to the utility model Limitation, although the utility model is disclosed as above with preferred embodiment, is not intended to limit the utility model, any to be familiar with sheet Technical professional is not departing within the scope of technical solutions of the utility model, makes when using the technology contents of the disclosure above A little change or the equivalent embodiment for being modified to equivalent variations, but it is all without departing from the content of the technical scheme of the utility model, foundation The utility model technology refers to any simple modification, equivalent change and modification to the above embodiments, belongs to practical In the range of new technique scheme.

Claims (10)

1. a kind of mechanical arm, it is characterised in that: including driving pedestal, the first cursor, the second cursor and ball spline Screw rod, first cursor and driving base rotation setting, second cursor and the rotation of the first cursor are arranged, described Ball spline screw rod is movably set in the second cursor；Second cursor is provided with for driving ball spline screw rod to rotate First driving device, the first driving device include the first pulley being connect with the keyway of ball spline screw rod, slow down dress It sets and first servo motor, the first servo motor is drivingly connected via deceleration device and first pulley.

2. a kind of mechanical arm according to claim 1, it is characterised in that: the deceleration device includes decelerating motor, sets It is placed in the second belt wheel of the output shaft of decelerating motor and is set to the third belt wheel of the output shaft of decelerating motor, first servo The output shaft of motor is connected with the 4th belt wheel, and the 4th belt wheel is connect via the first transmission belt with the second belt wheel, the third Belt wheel is connect via the second transmission belt with first pulley.

3. a kind of mechanical arm according to claim 2, it is characterised in that: the third belt wheel is located under the second belt wheel Side, the number of teeth of the third belt wheel are less than the number of teeth of first pulley, and the number of teeth of second belt wheel is greater than the number of teeth of the 4th belt wheel.

4. a kind of mechanical arm according to claim 1, it is characterised in that: second cursor is provided with for driving The second driving device that ball spline screw rod moves up and down, second driving device include the helicla flute with ball spline screw rod 5th belt wheel of connection, the second servo motor, be set to the second servo motor output shaft the 6th belt wheel and be set around the The third transmission belt of five belt wheels and the 6th belt wheel.

5. a kind of mechanical arm according to claim 1, it is characterised in that: the mechanical arm further includes being set to ball The lower end of spline screw rod and the suction means for being used to draw extraneous part；The suction means include shaft coupling piece, with axis connect Fitting connection and four support rods of interlaced setting are slideably positioned in the suction nozzle of support rod and for driving suction nozzle mobile Moving drive mechanism.

6. a kind of mechanical arm according to claim 5, it is characterised in that: each support rod is correspondingly arranged on a movement Driving mechanism, the moving drive mechanism include sliding shoe, driving pulley, driven pulley, the 4th transmission belt and for driving The device of rotation driving of driving pulley rotation；The support rod is provided with sliding groove, and the sliding shoe is slideably positioned in sliding groove Interior, the driving pulley is rotatably dispose in the one end of sliding groove close to shaft coupling piece, and the driven pulley is rotatably dispose in sliding The other end of the slot far from shaft coupling piece；4th transmission belt is set around driving pulley and driven pulley, the 4th transmission belt A sideband and one end of sliding shoe connect, the other end of the sliding shoe is equipped with through-hole, and the another side of the 4th transmission belt is coherent It is through at through-hole；The suction nozzle is installed on sliding shoe.

7. a kind of mechanical arm according to claim 6, it is characterised in that: the device of rotation driving includes rotating respectively Four the first driving cogs of four support rods are set to, shaft coupling piece is rotatably dispose in and are driven the of tooth engagement with four first Two driving cogs, be rotatably dispose in one of support rod and be set to the support rod first transmission tooth engagement driving tooth with And the rotational drive motor for driving driving tooth to rotate, first driving cog are connect via transmission shaft with driving pulley.

8. a kind of mechanical arm according to claim 1, it is characterised in that: the length of second cursor is 600mm.

9. a kind of mechanical arm according to claim 1, it is characterised in that: the driving pedestal is provided with for driving the The third driving device of one cursor rotation, the turning end of second cursor and the first cursor are provided with for driving the The fourth drive device of two cursors rotation；The third driving device includes third servo motor and first harmonic decelerator, First cursor is connect via first harmonic decelerator with driving base rotation, the third servo motor and first harmonic Retarder is drivingly connected.

10. a kind of mechanical arm according to claim 1, it is characterised in that: be provided with fixation on second cursor , second harmonic retarder is provided in the fixing seat, the ball spline screw rod runs through second harmonic retarder and fixation Seat.