CN211761522U - Large-span double-support structure of SCARA robot moving shaft - Google Patents

Abstract

The utility model discloses a large-span double bracing structure of SCARA robot removal axle, including the lead screw axle, the integral key shaft, the top and the bottom of integral key shaft are provided with spline nut A and bearing A respectively, spline nut B and bearing B, form double bracing structure, improve the rigid support of integral key shaft, effectively improve the stability of integral key shaft, double bracing structure can reduce the beat of integral key shaft simultaneously, improve the positioning accuracy of integral key shaft, the epaxial load of integral key is shared by two spline nuts, can effectively improve the life of spline nut, thereby improve SCARA robot's life. This utility model is used for the robot field.

Description

A large-span double-support structure for the moving axis of a SCARA robot

technical field

The utility model relates to the field of robots, in particular to a large-span double-support structure of a moving axis of a SCARA robot.

Background technique

The moving axis of the SCARA robot is a ball spline shaft. When the center of gravity of the tool installed on the ball spline shaft is larger than the ball spline shaft axis, or when the center of gravity of the object being gripped is offset from the ball spline shaft When the shaft center of the key shaft is large, the ball spline shaft is easy to shake during the extension process of the ball spline shaft, and the ball spline on the rolling spline shaft is also subjected to a large force load and has a short life.

Utility model content

The purpose of the utility model is to provide a large-span double-support structure for the moving axis of a SCARA robot with high stability and high precision.

The technical scheme adopted by the utility model is:

A large-span double-support structure of a SCARA robot moving axis, comprising:

bottom plate;

a support, the support is fixed on the bottom plate;

Motor B, the motor B is fixedly installed on the bottom plate, and the output end of the motor B is set downward;

Motor A, the output end of the motor A and the output end of the motor B are arranged opposite to each other;

a screw shaft, the top of the screw shaft is connected with the output end of the motor A through a first transmission assembly, and a screw nut that can move along the screw shaft is arranged on the screw shaft;

Spline shaft, the bottom end of the spline shaft is connected with the output end of the motor B through the second transmission assembly, the spline shaft is connected with the second transmission assembly through the spline nut B and the bearing B, the spline screw The cap B is sleeved on the spline shaft, the bearing B is installed on the spline nut B, the top of the spline shaft is fixed on the support through the spline nut A and the bearing A, the spline nut A is Set on the spline shaft, the bearing A is installed on the spline nut A;

The fixing assembly is installed on the spline shaft, the fixing assembly is fixed with the screw nut, and the movement range of the screw nut is between the spline nut A and the spline nut B.

As a further improvement of the technical solution of the present invention, the fixing assembly includes a compression nut, a bearing pressure plate, an angular contact bearing, a coupling piece, and a fixing sleeve, the fixing sleeve is sleeved and fixed on the spline shaft, and the angular contact bearing sleeve is sleeved. On the outside of the fixed sleeve, the angular contact bearing is sleeved in the coupling piece, the coupling piece and the screw nut are fixed by screws, the bearing pressing plate fixes the outer ring of the angular contact bearing in the coupling piece, and the bearing pressing plate Fixing with the connecting piece screw, the pressing nut fixes the inner ring of the angular contact bearing in the fixing sleeve, and the fixing assembly moves up and down with the screw nut.

As a further improvement of the technical solution of the present invention, the fixing sleeve includes a fixing part and a sleeve part, and the fixing part is fixed with the spline shaft.

As a further improvement of the technical solution of the present invention, the fixing part is in contact with the spline shaft surface, and the fixing part is fixed on the spline shaft by a locking nut, and the locking nut is arranged along the circumferential direction of the spline shaft, so When the spline shaft rotates, the inner ring, the fixing sleeve and the compression nut of the angular contact bearing rotate together with the spline shaft.

As a further improvement of the technical solution of the present utility model, a gap is set between the fixed part and the spline shaft, the fixed part is fixed on the spline shaft through an expansion sleeve, and the expansion sleeve is installed in the gap, so The bottom end of the expansion sleeve is provided with an expansion sleeve pressure plate, and the expansion sleeve pressure plate is fixed with the fixing part by screws. When the spline shaft rotates, the inner ring of the angular contact bearing, the fixed sleeve, the compression nut, The expansion sleeve and the expansion sleeve pressure plate rotate together with the spline shaft.

As a further improvement of the technical solution of the present invention, the fixing part is set as a clamping ring, the fixing part clamps the spline shaft by a clamping screw, and both ends of the clamping screw are fixed on the fixing part, so When the spline shaft rotates, the inner ring, the fixing sleeve and the clamping screw of the angular contact bearing rotate together with the spline shaft.

As a further improvement of the technical solution of the present invention, the first transmission component is a first synchronous wheel structure, and the first synchronous wheel structure includes a synchronous wheel A, a synchronous wheel B, and a synchronous belt connecting the synchronous wheel A and the synchronous wheel B. A, the synchronous wheel A is installed on the output shaft of the motor A, and the synchronous wheel B is installed on the screw shaft.

As a further improvement of the technical solution of the present invention, the second transmission component is a second synchronous wheel structure, and the second synchronous wheel structure includes a synchronous wheel C, a synchronous wheel D, and a synchronous belt connecting the synchronous wheel C and the synchronous wheel D. B, the synchronous wheel C is installed on the output shaft of the motor B, and the synchronous wheel D is installed on the spline shaft.

As a further improvement of the technical solution of the present invention, the spline nut A and the spline nut B both use linear ball spline nut.

As a further improvement of the technical solution of the present invention, the support includes an upper support plate and a lower support plate arranged oppositely, the upper support plate and the lower support plate are connected by a connecting plate, and the lower support plate Fastened to the base plate through the support column connection

The beneficial effects of the utility model: the large-span double-support structure of the moving shaft of the SCARA robot includes a screw shaft and a spline shaft. The top and bottom ends of the spline shaft are respectively provided with a spline nut A, a bearing A, a spline Nut B and bearing B form a double support structure, which improves the rigid support of the spline shaft and effectively improves the stability of the spline shaft. At the same time, the double support structure can reduce the yaw of the spline shaft and improve the positioning accuracy of the spline shaft. The load on the spline shaft is shared by the two spline nuts, which can effectively improve the service life of the spline nuts, thereby increasing the service life of the SCARA robot.

Description of drawings

Below in conjunction with accompanying drawing, the utility model is further described:

Fig. 1 is the overall structure schematic diagram of the embodiment of the present utility model;

Fig. 2 is the sectional view of the utility model embodiment Fig. 1;

3 is a schematic diagram of Embodiment 1 of the fixing assembly according to the embodiment of the present invention;

4 is a schematic diagram of Embodiment 2 of the fixing assembly according to the embodiment of the present invention;

5 is a schematic diagram of Embodiment 3 of the fixing assembly according to the embodiment of the present invention;

6 is a schematic diagram of the double-supported spline shaft deflection analysis according to the embodiment of the present invention;

7 is a schematic diagram of a single-supported spline shaft deflection analysis according to an embodiment of the present utility model;

8 is a schematic diagram of load analysis of a double-supported spline nut according to an embodiment of the present invention;

9 is a schematic diagram of load analysis of a single-supported spline nut according to an embodiment of the present invention.

Detailed ways

This part will describe the specific embodiments of the present invention in detail, and the preferred embodiments of the present invention are shown in the accompanying drawings. Understand each technical feature and overall technical solution of the present invention, but it should not be construed as a limitation on the protection scope of the present invention.

In the description of the present utility model, it should be understood that the orientation descriptions related to orientations, such as up, down, front, rear, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings, only It is for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

In the description of the present utility model, the meaning of several is one or more, the meaning of multiple is two or more, greater than, less than, exceeding, etc. are understood as not including this number, above, below, within, etc. are understood as including this number. If it is described that the first and the second are only for the purpose of distinguishing technical features, it cannot be understood as indicating or implying relative importance, or indicating the number of the indicated technical features or the order of the indicated technical features. relation.

In the description of the present invention, unless otherwise clearly defined, words such as setting, installation, connection should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in the present invention in combination with the specific content of the technical solution .

1 and 2, a large-span double-support structure of a SCARA robot moving axis includes a base plate 100, a support 200, a motor B300, a motor A400, a screw shaft 500, a spline shaft 600, and a fixed assembly 700.

Wherein, the support 200 is fixed on the base plate 100 . Specifically, in this embodiment, the support 200 includes an upper support plate 201 and a lower support plate 202 arranged oppositely. The upper support plate 201 and the lower support plate 202 are connected by a connecting plate 203 , and the lower support plate 202 It is connected and fixed on the bottom plate 100 through the support column 204 .

As shown in FIG. 1 , the motor B300 is fixedly installed on the bottom plate 100 , and a motor mounting plate is provided at the bottom of the motor B300 , and the motor mounting plate is bolted and fixed to the bottom plate 100 through a support column. The output end of the motor B300 is arranged downward, and the output end of the motor A400 and the output end of the motor B300 are arranged opposite to each other. The top end of the screw shaft 500 is connected with the output end of the motor A400 through the first synchronizing wheel structure 800 .

The first synchronous wheel structure 800 includes a synchronous wheel A801, a synchronous wheel B802, and a synchronous belt A803 connecting the synchronous wheel A801 and the synchronous wheel B802. The synchronous wheel A801 is installed on the output shaft of the motor A400, and the synchronous wheel B802 is installed on the screw shaft 500. The motor A400 drives the synchronous wheel A801 to rotate, drives the synchronous wheel B802 to rotate through the synchronous belt A803, and drives the screw shaft 500 to rotate.

The screw shaft 500 is provided with a screw nut 501 that can move along the screw shaft 500. The bottom end of the spline shaft 600 is connected to the output end of the motor B300 through a second synchronizing wheel structure 900. The second synchronizing wheel structure 900 includes a synchronizing wheel. Wheel C901, synchronous wheel D902, synchronous belt B903 connecting the synchronous wheel C901 and synchronous wheel D902, the synchronous wheel C901 is installed on the output shaft of the motor B300, and the synchronous wheel D902 is installed on the spline shaft 600. The motor B300 drives the synchronous wheel C901 to rotate, and the synchronous wheel C901 drives the synchronous wheel D902 to rotate through the synchronous belt B903, thereby driving the spline shaft to rotate.

The spline shaft 600 is connected with the second synchronizing wheel structure 900 through the spline nut B601 and the bearing B602, the spline nut B601 is fitted on the spline shaft 600, the bearing B602 is installed on the spline nut B601, and the spline shaft 600 The top is fixed on the support 200 through the spline nut A603 and the bearing A604, the spline nut A603 is fitted on the spline shaft 600, the bearing A604 is installed on the spline nut A603, and the fixing assembly 700 is installed on the spline shaft 600 Above, the fixing assembly 700 is fixed with the screw nut 501, and the movement range of the screw nut 501 is between the spline nut A603 and the spline nut B601.

The spline nut A603, bearing A604, spline nut B601 and bearing B602 together form the large-span double support structure of the SCARA robot moving axis. In actual use, spline nut A603 and spline nut B601 both use linear ball spline nuts, and the purchase cost of using linear ball spline nuts is about one-fifth of the purchase cost of composite ball spline nuts. , effectively reducing the cost of SCARA robots. In addition, the double support structure can improve the rigid support structure of the spline shaft 600 and effectively improve the stability of the spline shaft 600 .

Specifically, the fixing assembly 700 includes a compression nut 701, a bearing pressing plate 702, an angular contact bearing 703, a coupling piece 704, and a fixing sleeve 705. The fixing sleeve 705 is fitted over the spline shaft 600 and the angular contact bearing 703 is fitted over the fixing sleeve 705 On the outside, the angular contact bearing 703 is sheathed in the coupling piece 704, the coupling piece 704 and the screw nut 501 are fixed by screws, the bearing pressing plate 702 fixes the outer ring of the angular contact bearing 703 in the coupling piece 704, and the bearing pressing plate 702 and the coupling piece 704 screws are fixed, the inner ring of the angular contact bearing 703 is fixed in the fixing sleeve 705 by the compression nut 701, and the fixing assembly 700 moves up and down with the screw nut 501. Further, the fixing sleeve 705 includes a fixing part and a sleeve part, and the fixing part is fixed with the spline shaft 600 .

Referring to FIG. 3 , in Embodiment 1, the fixed part is in surface contact with the spline shaft 600 , and the fixed part is fixed on the spline shaft 600 by a lock nut 706 , and the lock nut 706 is arranged along the circumferential direction of the spline shaft 600 . When the spline shaft 600 rotates, the inner ring of the angular contact bearing 703 , the fixed sleeve 705 , and the compression nut 701 rotate together with the spline shaft 600 .

4, in Embodiment 2, a gap is set between the fixed part and the spline shaft, the fixed part is fixed on the spline shaft 600 through the expansion sleeve 707, the expansion sleeve 707 is installed in the gap, and the expansion sleeve 707 is installed in the gap. The bottom end of 707 is provided with an expansion sleeve pressing plate 708, and the expansion sleeve pressing plate 708 is screwed to the fixing part. When the spline shaft 600 rotates, the inner ring of the angular contact bearing 703 , the fixed sleeve 705 , the compression nut 701 , the expansion sleeve 707 , and the expansion sleeve pressing plate 708 rotate together with the spline shaft 600 .

Referring to Figure 5, in Embodiment 3, the fixing part is set as a clamping ring, the fixing part clamps the spline shaft 600 by a clamping screw 709, and both ends of the clamping screw 709 are fixed on the fixing part. When the spline shaft 600 rotates, the inner ring of the angular contact bearing 703 , the fixing sleeve 705 , and the clamping screw 709 rotate together with the spline shaft 600 .

Referring to Figures 6 and 7, the deflection amount of the double-supported spline shaft: ΔL2=ΔL1*L2/L3. The deflection of the single-support spline shaft: △L2＝△L1*L2/L1, L1 is the length of the spline nut, L2 is the extension length of the spline shaft, L3 is the distance between the two spline nuts, △ L1 is the clearance between the spline shaft and the spline nut, and △L2 is the deflection at the end of the spline shaft. Among them, in a specific embodiment, the stroke of SCARA is 150mm, the length of the spline nut is 50mm, the gap between the spline shaft and the spline nut is 0.2mm, the double support structure is adopted, and the deflection of the spline shaft is 0.02*150/(150+50+50)=0.012mm, when a single support structure is used, the deflection of the spline shaft is 0.02*150/150=0.06mm. It can be seen that the double support structure can reduce the yaw of the spline shaft and significantly improve the positioning accuracy of the spline shaft of the SCARA robot.

Referring to Figures 8 and 9, the load of the double-supported spline nut: F=M/L3, the load of the single-supported spline nut: F=M/L1, L1 is the length of the spline nut, and L2 is the The protruding length of the spline shaft, L3 is the distance between the two spline nuts, F is the load of the spline nut, and M is the bending moment received by the end of the spline shaft. The SCARA stroke is 150mm, the length of the spline nut is 50mm, and the end of the spline shaft is 2N m. When the double support structure is used, the load of the spline nut is 2/(150+50+50)=0.008N. In the case of a single support structure, the load of the spline nut is 2/50=0.04N. It can be seen that the load on the spline shaft of the SCARA robot is shared by the two spline nuts, which can effectively improve the service life of the spline nuts, thereby improving the service life of the SCARA robot.

The embodiments of the present utility model have been described in detail above in conjunction with the accompanying drawings, but the present utility model is not limited to the above-mentioned embodiments, and within the scope of knowledge possessed by those of ordinary skill in the technical field, the present utility model can also be used without departing from the purpose of the present utility model. make various changes.

Claims (10)

1. A large-span double-support structure of a moving shaft of a SCARA robot is characterized by comprising:

a base plate;

the support is fixed on the bottom plate;

the motor B is fixedly arranged on the bottom plate, and the output end of the motor B is arranged downwards;

the output end of the motor A and the output end of the motor B are arranged oppositely;

the top end of the screw shaft is connected with the output end of the motor A through a first transmission assembly, and a screw nut capable of moving along the screw shaft is arranged on the screw shaft;

the bottom end of the spline shaft is connected with the output end of the motor B through a second transmission assembly, the spline shaft and the second transmission assembly are connected through a spline nut B and a bearing B, the spline nut B is sleeved on the spline shaft, the bearing B is installed on the spline nut B, the top end of the spline shaft is fixed on the support through the spline nut A and the bearing A, the spline nut A is sleeved on the spline shaft, and the bearing A is installed on the spline nut A;

the fixed subassembly, fixed subassembly installs on the integral key shaft, fixed subassembly is fixed with screw nut, screw nut's home range is between spline nut A and spline nut B.

2. The large span dual support structure of a SCARA robot locomotion axis of claim 1, characterized in that: the fixing assembly comprises a compression nut, a bearing pressing plate, an angular contact bearing, a connector and a fixing sleeve, the fixing sleeve is sleeved and fixed on the spline shaft, the angular contact bearing is sleeved outside the fixing sleeve, the angular contact bearing is sleeved in the connector, the connector is fixed with the screw cap through a screw, the bearing pressing plate fixes the outer ring of the angular contact bearing in the connector, the bearing pressing plate is fixed with the connector through a screw, the compression nut fixes the inner ring of the angular contact bearing in the fixing sleeve, and the fixing assembly moves up and down along with the screw cap.

3. The large span dual support structure of a SCARA robot locomotion axis of claim 2, characterized in that: the fixed sleeve comprises a fixed part and a sleeve part, and the fixed part is fixed with the spline shaft.

4. The large span dual support structure of a SCARA robot locomotion axis of claim 3, characterized in that: the fixing part is in contact with the shaft surface of the spline, the fixing part is fixed on the spline shaft through a locking nut, the locking nut is arranged along the circumferential direction of the spline shaft, and when the spline shaft rotates, the inner ring, the fixing sleeve and the compression nut of the angular contact bearing rotate together with the spline shaft.

5. The large span dual support structure of a SCARA robot locomotion axis of claim 3, characterized in that: the fixed part is fixed on the spline shaft through the expansion sleeve, the expansion sleeve is installed in the gap, the bottom end of the expansion sleeve is provided with an expansion sleeve pressing plate, the expansion sleeve pressing plate is fixed with the fixed part through screws, and when the spline shaft rotates, the inner ring, the fixed sleeve, the compression nut, the expansion sleeve and the expansion sleeve pressing plate of the angular contact bearing rotate together with the spline shaft.

6. The large span dual support structure of a SCARA robot locomotion axis of claim 3, characterized in that: the fixing part is a clamping ring, the fixing part clamps the spline shaft through a clamping screw, two ends of the clamping screw are fixed on the fixing part, and when the spline shaft rotates, the inner ring, the fixing sleeve and the clamping screw of the angular contact bearing rotate together with the spline shaft.

7. The large span dual support structure of a SCARA robot locomotion axis of claim 1, characterized in that: the first transmission assembly is of a first synchronous wheel structure, the first synchronous wheel structure comprises a synchronous wheel A, a synchronous wheel B and a synchronous belt A connected with the synchronous wheel A and the synchronous wheel B, the synchronous wheel A is installed on an output shaft of the motor A, and the synchronous wheel B is installed on a screw shaft.

8. The large span dual support structure of a SCARA robot locomotion axis of claim 1, characterized in that: the second transmission assembly is a second synchronous wheel structure, the second synchronous wheel structure comprises a synchronous wheel C, a synchronous wheel D and a synchronous belt B connected with the synchronous wheel C and the synchronous wheel D, the synchronous wheel C is installed on an output shaft of the motor B, and the synchronous wheel D is installed on the spline shaft.

9. A large span dual support structure of a SCARA robot locomotion axis according to any one of claims 1-8, characterized in that: spline nut A and spline nut B all adopt sharp ball spline nut.

10. A large span dual support structure of a SCARA robot locomotion axis according to any one of claims 1-8, characterized in that: the support includes relative upper bracket board, the bottom suspension bedplate that sets up, upper bracket board and bottom suspension bedplate pass through the connecting plate to be connected, the bottom suspension bedplate passes through the support column to be connected to be fixed on the bottom plate.

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