CN209887583U - Connecting device and have its drive mechanism and robot - Google Patents
Connecting device and have its drive mechanism and robot Download PDFInfo
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- CN209887583U CN209887583U CN201920054517.7U CN201920054517U CN209887583U CN 209887583 U CN209887583 U CN 209887583U CN 201920054517 U CN201920054517 U CN 201920054517U CN 209887583 U CN209887583 U CN 209887583U
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Abstract
The utility model discloses a connecting device, a transmission mechanism with the same and a robot, wherein the connecting device comprises a first connecting piece, a connecting ring and a second connecting piece which are connected in sequence; the first connecting piece, the connecting ring and the second connecting piece are provided with shaft holes which are coaxially arranged; both the first and second connectors are movable in a radial direction of the connection ring. According to the utility model provides a connecting device can be connected first connecting piece with the nut on the screw shaft, is connected second connecting piece and coupling assembling, can rotate relatively between first connecting piece and second connecting piece through the go-between, and when the integral key shaft received external force, the screw shaft can automatically regulated depth of parallelism with the integral key shaft, made the robot operate steadily.
Description
Technical Field
The utility model relates to a robotechnology field, a connecting device and have its drive mechanism and robot.
Background
In modern industry, mechanization and automation of production process have become prominent subjects, and the appearance and application of robots enable operations such as loading, unloading, carrying and assembling to be mechanized and automated. The automatic production line taking the robot as the core adapts to the development direction of flexible production with multiple varieties and less batches in modern manufacturing industry, has wide market development prospect and strong vitality, and develops various automatic complete equipment and production line products oriented to industries such as automobiles, electronics, machinery and the like.
The SCARA robot is a horizontal multi-joint robot, the wrist structure of the SCARA robot is crucial to the performance of the robot, and the wrist of the current SCARA robot adopts two structures: the utility model provides an adopt ball screw spline shaft body, this structural assembly is simple, and the precision is high, but the structure is complicated, and the price is high, and supply cycle length has increased the cost and the supply period of robot, and control needs the coupling moreover, and the degree of difficulty is high: the other structure is a structure with the ball screw shaft and the ball spline shaft separated, the structure comprises the ball screw shaft and the ball spline shaft which are arranged in parallel, the ball screw shaft and the ball spline shaft are connected through a connecting assembly, the ball screw drives the ball spline shaft to move up and down through a connecting mechanism, the structure is simple, the production cost is low, the parallelism of the two parts must be guaranteed to ensure the precision of the robot, and when the parallelism of the screw shaft and the spline shaft is deviated in assembly, the spline shaft can be subjected to external force in the movement process, so that the transmission friction is increased, the performance of the robot is reduced, and the reliability is influenced.
SUMMERY OF THE UTILITY MODEL
A first object of the present invention is to provide a transmission mechanism to solve the problem that the parallel state of the ball screw shaft and the ball spline shaft, which exist in the existing structure of the ball screw shaft and the ball spline shaft, is difficult to be guaranteed and the assembly difficulty is high.
In order to achieve the above object, the present invention provides the following technical solutions: a connecting device comprises a first connecting piece, a connecting ring and a second connecting piece which are connected in sequence; the first connecting piece, the connecting ring and the second connecting piece are provided with shaft holes which are coaxially arranged; both the first and second connectors are movable in a radial direction of the connection ring.
According to the utility model provides a connecting device can be connected first connecting piece with the nut on the screw shaft, is connected second connecting piece and coupling assembling, can rotate relatively between first connecting piece and second connecting piece through the go-between, and when the integral key shaft received external force, the screw shaft can automatically regulated depth of parallelism with the integral key shaft, made the robot operate steadily.
In addition, according to the present invention, the connecting device according to the above embodiment may further have the following additional technical features:
according to an example of the present invention, the first connector is in sliding fit with the connection ring, and/or the second connector is in sliding fit with the connection ring.
According to an example of the present invention, the first connecting member is provided with at least one first connecting portion, the connecting ring is provided with at least one first fitting portion, the first connecting portion and the first fitting portion are slidably fitted.
According to an example of the present invention, the first connecting portion includes a protrusion, and the first fitting portion includes a groove that is slidably fitted with the protrusion; and/or the first connecting part comprises a groove, and the first matching part comprises a protrusion in sliding fit with the groove.
According to an example of the present invention, the second connecting member is provided with at least one second connecting portion, the connecting ring is provided with at least one second fitting portion, the second connecting portion and the second fitting portion are slidably fitted.
According to an example of the present invention, the second connecting portion includes a protrusion, and the second fitting portion includes a groove that is slidably fitted with the protrusion; and/or the second connecting part comprises a groove, and the second matching part comprises a protrusion in sliding fit with the groove.
According to an example of the present invention, the material of the connection ring includes polyetherketone.
A second object of the present invention is to provide a transmission mechanism, which comprises a screw shaft, a spline shaft, a connecting assembly and a connecting device according to the above technical solution; the screw shaft and the spline shaft are arranged in parallel; the first connecting piece of the connecting device is connected with the nut on the screw rod shaft, and the second connecting piece of the connecting device is connected with one end of the connecting assembly; the other end of the connecting component is connected with the spline shaft.
According to an example of the present invention, the connection assembly comprises a connection arm, a first bearing and a second bearing; one end of the connecting arm is connected with the second connecting piece through the first bearing, and the other end of the connecting arm is connected with the spline shaft through the second bearing.
A third object of the present invention is to provide a robot, which has the transmission mechanism according to the above technical solution.
Advantages of the above additional aspects will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
Fig. 1 is an exploded view of a connection device according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a transmission mechanism according to an embodiment of the present invention.
In the drawings, the components represented by the respective reference numerals are listed below:
1. a first connecting member; 2. a connecting ring; 3. a second connecting member; 4. a first connection portion; 5. a second connecting portion; 6. a second mating portion; 7. a plate-like portion; 8. a connecting portion; 9. a screw shaft; 10. a spline shaft; 11. a connecting assembly; 12. a connecting arm; 13. a first bearing; 14. a second bearing.
Detailed Description
The principles and features of the present invention are described below in conjunction with the following drawings, the examples given are only intended to illustrate the present invention and are not intended to limit the scope of the present invention.
Example one
Referring to fig. 1, the present embodiment provides a connecting device, which includes a first connecting member 1, a connecting ring 2 and a second connecting member 3 connected in sequence, wherein the first connecting member 1, the connecting ring 2 and the second connecting member 3 have a certain mutual connection or limit relationship in the axial direction, and the present embodiment will not be described herein too much because it is a prior art. In the embodiment, shaft holes are formed in the middle of the first connecting piece 1, the connecting ring 2 and the second connecting piece 3, and the shaft centers of the shaft holes of the first connecting piece, the connecting ring 2 and the second connecting piece coincide with each other, so that the connecting device is sleeved on a screw shaft 9 (not shown in the drawings, but shown in the second embodiment).
The first connecting member 1 of the present embodiment is composed of two parts, i.e., a plate-shaped portion 7 and a connecting portion 8 in fig. 1, the plate-shaped portion 7 and the connecting portion 8 are each provided with a shaft hole, the connecting portion 8 is cylindrical and is provided on a side of the plate-shaped portion 7 close to the connecting ring 2, and the connecting portion 8 is used for connecting a nut on a screw shaft.
The first connecting piece 1 and the second connecting piece 3 of this embodiment can both move in the radial direction of the connecting ring 2, so that the first connecting piece 1 and the second connecting piece 3 can generate relative displacement, and further when the spline shaft is subjected to external force, the screw shaft and the spline shaft can generate certain horizontal displacement, and further the parallelism is automatically adjusted, and the robot can run stably.
Preferably, the connection ring 2 of the present embodiment is made of polyether ketone (PEK), which has good toughness, rigidity, fatigue resistance, sliding property, and wear resistance, and can reduce friction force during movement and improve wear resistance of the connection ring 2.
The connection mode of the connection ring 2 and the first connection member 1 of the present embodiment is: at least one first connecting portion 4 is provided at the first connecting member 1, at least one first fitting portion (not shown) is provided at the connecting ring 2, and the first connecting portion 4 and the first fitting portion are slidably fitted; the number of the first connecting parts 4 and the first matching parts in this embodiment is preferably two, and the two first connecting parts 4 are oppositely arranged; similarly, the number of the first fitting portions is also two, and two first fitting portions are provided on the side of the connection ring 2 close to the first connection member 1.
The first connecting portion 4 of this embodiment includes a protrusion, and the first mating portion includes a groove that is slidably mated with the protrusion; or the first connecting portion 4 includes a groove and the first matching portion includes a protrusion matching with the groove, it is needless to say that the first connecting portion 4 has both the protrusion and the groove, and the first matching portion has both the groove and the protrusion matching with the protrusion and the groove of the first connecting portion. The matching form of the protrusion and the groove is simple in structure and easy to machine and form.
Similarly, the second connecting member 3 of the present embodiment is provided with at least one second connecting portion 5, the connecting ring 2 is provided with at least one second matching portion 6, and the second connecting portion 5 and the second matching portion 6 are slidably matched. The second connecting portion 5 may have the same structural form as the first connecting portion, and the second matching portion 6 may have the same structural form as the first matching portion, which is not described in detail in this embodiment.
Example two
Referring to fig. 2, the present embodiment provides a transmission mechanism (i.e. a wrist structure in the background art), which includes a screw shaft 9, a spline shaft 10, a connecting assembly 11 and a connecting device according to the above technical solution; the screw shaft 9 and the spline shaft 10 are arranged in parallel; the first connecting piece 1 of the connecting device is fixedly connected with the nut on the screw rod shaft 9, the second connecting piece 3 of the connecting device is connected with one end of the connecting component 11, and the other end of the connecting component 11 is connected with the spline shaft 10.
Specifically, the connecting assembly 11 of the present embodiment includes a connecting arm 12, a first bearing 13, and a second bearing 14; the connecting arm 12 of this embodiment is in the form of a crank, and one end (upper end in the drawing) of the connecting arm 12 is connected to the second connecting member 3 via a first bearing 13, and the other end (lower end in the drawing) is connected to the spline shaft 10 via a second bearing 14.
The action process of the embodiment in the operation process of the transmission mechanism is as follows: the first motor 18 connected with the screw shaft 9 drives the screw shaft 9 to rotate through a coupling (not shown in the figure), and the screw shaft 9 drives the spline shaft 10 to move up and down in a translation manner through the connecting assembly 11, so that the up and down translation of the tail end is realized. A second motor (not shown in the figure) drives the spline shaft 10 to rotate through a belt pulley, so that the tail end of the spline shaft 10 rotates, and the posture is adjusted.
The transmission mechanism of this embodiment is substantially the same as the existing transmission mechanism, and the difference is only that the connection device described in the first embodiment is added, and the technical effect of the connection device is already given in the first embodiment, and the description of this embodiment is omitted.
EXAMPLE III
The present embodiment provides a robot having a transmission mechanism as described in the second embodiment; other components of the robot are the same as those of the conventional horizontal articulated robot, and therefore the present embodiment will not be described in detail.
In the description of the present invention, it should be understood that the terms "upper", "lower", "left", "right", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device referred to must have a specific orientation, be constructed and operated in a specific orientation, and should not be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral connections. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
Although embodiments of the present invention have been shown and described, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art without departing from the scope of the present invention.
Claims (10)
1. A connecting device is characterized by comprising a first connecting piece (1), a connecting ring (2) and a second connecting piece (3) which are connected in sequence; the first connecting piece (1), the connecting ring (2) and the second connecting piece (3) are provided with shaft holes which are coaxially arranged; the first connection piece (1) and the second connection piece (3) are both movable in the radial direction of the connection ring (2).
2. A connection device according to claim 1, characterized in that the first connector (1) is a sliding fit with the connection ring (2) and/or the second connector (3) is a sliding fit with the connection ring (2).
3. A connection device according to claim 2, characterized in that the first connection member (1) is provided with at least one first connection portion (4), the connection ring (2) is provided with at least one first mating portion, and the first connection portion (4) and the first mating portion are a sliding fit.
4. A connection device according to claim 3, wherein the first connection portion (4) comprises a protrusion and the first mating portion comprises a groove in sliding engagement with the protrusion; and/or the first connecting part (4) comprises a groove, and the first matching part comprises a protrusion matched with the groove in a sliding way.
5. A connection device according to claim 2, characterized in that the second connection member (3) is provided with at least one second connection portion (5), the connection ring (2) is provided with at least one second fitting portion (6), and the second connection portion (5) and the second fitting portion (6) are slidably fitted.
6. A connection device according to claim 5, characterized in that the second connection part (5) comprises a protrusion and the second mating part (6) comprises a groove which is a sliding fit with the protrusion; and/or the second connecting part (5) comprises a groove, and the second matching part (6) comprises a protrusion in sliding fit with the groove.
7. A connection device according to any of claims 1-5, characterized in that the material of the connection ring (2) comprises polyetherketone.
8. A transmission, characterized by comprising a screw shaft (9), a spline shaft (10), a connecting assembly (11) and a connecting device according to any one of claims 1-7; the screw shaft (9) and the spline shaft (10) are arranged in parallel; the first connecting piece (1) is connected with a nut on the screw rod shaft (9), and the second connecting piece (3) is connected with one end of the connecting assembly (11); the other end of the connecting component is connected with the spline shaft (10).
9. Transmission mechanism according to claim 8, characterized in that the connecting assembly (11) comprises a connecting arm (12), a first bearing (13) and a second bearing (14); one end of the connecting arm (12) is connected with the second connecting piece (3) through the first bearing (13), and the other end of the connecting arm is connected with the spline shaft (10) through the second bearing (14).
10. A robot having a transmission according to claim 8 or 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920054517.7U CN209887583U (en) | 2019-01-11 | 2019-01-11 | Connecting device and have its drive mechanism and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920054517.7U CN209887583U (en) | 2019-01-11 | 2019-01-11 | Connecting device and have its drive mechanism and robot |
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| Publication Number | Publication Date |
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| CN209887583U true CN209887583U (en) | 2020-01-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201920054517.7U Active CN209887583U (en) | 2019-01-11 | 2019-01-11 | Connecting device and have its drive mechanism and robot |
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| CN (1) | CN209887583U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109571442A (en) * | 2019-01-11 | 2019-04-05 | 珠海格力电器股份有限公司 | A kind of attachment device and transmission mechanism and robot with it |
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2019
- 2019-01-11 CN CN201920054517.7U patent/CN209887583U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109571442A (en) * | 2019-01-11 | 2019-04-05 | 珠海格力电器股份有限公司 | A kind of attachment device and transmission mechanism and robot with it |
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