CN215037591U

CN215037591U - Split type ZR manipulator of lead screw spline

Info

Publication number: CN215037591U
Application number: CN202120455604.0U
Authority: CN
Inventors: 戴仙芝; 刘晓金
Original assignee: Shenzhen Sucheng Precision Technology Co ltd
Current assignee: Shenzhen Sucheng Precision Technology Co ltd
Priority date: 2020-11-25
Filing date: 2021-03-02
Publication date: 2021-12-07
Anticipated expiration: 2031-03-02

Abstract

The utility model discloses a split type ZR manipulator of a lead screw spline, which comprises a spline shaft which can lift along a Z axis and rotate along an R axis, wherein the spline shaft is arranged along the Z axis direction, and the split type ZR manipulator also comprises a lifting driving component which is used for driving the spline shaft to lift along the Z axis and a rotating driving component which is used for driving the spline shaft to rotate along the R axis; the lifting driving assembly comprises a Z-axis driving motor, the driving end of the Z-axis driving motor is connected with a lead screw along the Z-axis direction, a lead screw nut is installed on the lead screw in a matched mode, a Z-axis connecting bearing is installed on the spline shaft, and the lead screw nut is connected with the Z-axis connecting bearing through a connecting block; the rotary driving assembly comprises an R-axis driving motor, a first synchronizing wheel is connected to the driving end of the R-axis driving motor along the Z-axis direction, a spline nut is installed on the spline shaft, a second synchronizing wheel is coaxially installed on the outer side of the spline nut, and the first synchronizing wheel and the second synchronizing wheel are connected through a synchronous belt. The utility model discloses technical scheme has improved the mechanism of current ZR manipulator.

Description

Split type ZR manipulator of lead screw spline

Technical Field

The utility model relates to a ZR manipulator technical field, in particular to split type ZR manipulator of lead screw spline.

Background

Along with the use to the ZR manipulator, also higher and higher to its product requirement, not only to the function, have higher requirement to the external form size, also have higher requirement to price and shelf life equally, the external form size that needs the ZR manipulator is littleer, Z axle functioning speed is higher, the cost is lower, production efficiency is higher, and current ZR manipulator adopts lead screw and spline integral type axle structure, this axle needs the import, the cost is higher, the shelf life is longer, and Z axle lead is fixed, and is fast, can't satisfy current production demand.

Accordingly, the prior art is deficient and needs improvement.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a split type ZR manipulator of lead screw spline aims at improving the mechanism of current ZR manipulator, reduces its overall dimension, and reduce cost improves functioning speed and production efficiency.

In order to achieve the above object, the utility model provides a split type ZR manipulator of lead screw spline, including a spline shaft that can go up and down along the Z-axis, rotate along the R-axis, the spline shaft is installed along the Z-axis direction, and also includes a lift drive assembly for driving the spline shaft to go up and down along the Z-axis, a rotation drive assembly for driving the spline shaft to rotate along the R-axis;

the lifting driving assembly comprises a Z-axis driving motor, the driving end of the Z-axis driving motor is connected with a lead screw along the Z-axis direction, a lead screw nut is installed on the lead screw in a matched mode, a Z-axis connecting bearing is installed on the spline shaft, and the lead screw nut is connected with the Z-axis connecting bearing through a connecting block;

the rotary driving assembly comprises an R-axis driving motor, a first synchronizing wheel is connected to the driving end of the R-axis driving motor along the Z-axis direction, a spline nut is installed on the spline shaft, a second synchronizing wheel is coaxially installed on the outer side of the spline nut, and the first synchronizing wheel is connected with the second synchronizing wheel through a synchronizing belt.

Preferably, the lifting driving assembly further comprises a guide mechanism, the guide mechanism comprises a guide rail installed along the Z-axis direction, a sliding block is installed on the guide rail, and the sliding block is connected with the connecting block.

Preferably, the lifting driving assembly further comprises a first limit inductor and a second limit inductor which are used for respectively inducing the lifting limit of the manipulator, and an inductor sheet used for triggering the first limit inductor and the second limit inductor is mounted on the screw rod nut.

Preferably, the lifting driving assembly further comprises a first limiting block and a second limiting block, the first limiting block and the second limiting block are used for limiting the lifting limit of the manipulator respectively, and the first limiting block and the second limiting block are both arranged to be an optimal glue integrated structure block.

Preferably, R axle driving motor installs on a motor mounting panel, the waist type hole that is used for installing the screw is offered along the synchronous belt drive direction to the motor mounting panel, still includes a regulating block that is used for controlling the hold-in range elasticity, an installation adjusting screw in the regulating block, adjusting screw passes along the synchronous belt drive direction the regulating block with motor mounting panel butt.

Preferably, two deep groove ball bearings are further symmetrically sleeved on the outer side of the spline nut and clamped at two ends of the second synchronizing wheel.

Compared with the prior art, the beneficial effects of the utility model are that: the structure of current ZR manipulator has been improved, the integral type lead screw integral key shaft that the tradition needs the import has been cancelled, set up lead screw axle and integral key shaft into split type ordinary specification structure, when satisfying ZR manipulator lift and rotation function, greatly reduced manufacturing cost, production efficiency has been promoted, and whole overall dimension reduces to 25mm by 38mm, the lead screw helical pitch of Z axle no longer is subject to the structure of integral type lead screw integral key shaft, can promote Z axle lead stroke greatly, promote its Z axle functioning speed, satisfy different production demands.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

FIG. 1 is a schematic view of the overall structure of the ZR manipulator of the present invention;

FIG. 2 is a schematic structural view of the lifting driving assembly of the present invention;

FIG. 3 is a schematic structural view of the rotary driving assembly of the present invention;

the objects, features and advantages of the present invention will be further described with reference to the accompanying drawings.

Detailed Description

Referring to fig. 1, the split type ZR manipulator with screw and spline provided in this embodiment includes a spline shaft 1 capable of lifting along a Z axis and rotating along an R axis, where the spline shaft 1 is installed along the Z axis direction, and further includes a lifting driving assembly 2 for driving the spline shaft 1 to lift along the Z axis, and a rotation driving assembly 3 for driving the spline shaft 1 to rotate along the R axis;

referring to fig. 2, the lifting driving assembly 2 includes a Z-axis driving motor 21, a driving end of the Z-axis driving motor 21 is connected to a lead screw 22 along the Z-axis direction, a lead screw nut 23 is mounted on the lead screw 22 in a matching manner, a Z-axis connecting bearing 24 is mounted on the spline shaft 1, and the lead screw nut 23 is connected to the Z-axis connecting bearing 24 through a connecting block 25;

referring to fig. 3, the rotation driving assembly 3 includes an R-axis driving motor 31, a first synchronizing wheel 32 is connected to a driving end of the R-axis driving motor 31 along a Z-axis direction, a spline nut 33 is installed on the spline shaft 1, a second synchronizing wheel 34 is coaxially installed outside the spline nut, and the first synchronizing wheel 32 is connected to the second synchronizing wheel 34 through a synchronizing belt 35.

It should be noted that, the structure of current ZR manipulator has been improved to this embodiment, integral type lead screw 22 integral key shaft 1 that the tradition needs the import has been cancelled, set up lead screw 22 axle and integral key shaft 1 into split type ordinary specification structure, when satisfying the lifting and rotation function of ZR manipulator, greatly reduced manufacturing cost, production efficiency has been promoted, and whole overall dimension reduces to 25mm by 38mm, the lead screw 22 helical pitch of Z axle no longer is subject to integral type lead screw 22 integral key shaft 1's structure, can promote Z axle lead screw 22 helical pitch greatly, promote its Z axle functioning speed, satisfy different production demands.

Specifically, when the ZR robot needs to perform Z-axis lifting, the Z-axis driving motor 21 drives the lead screw 22 to rotate forward and backward, the lead screw nut 23 installed on the lead screw 22 reciprocates along the length direction of the lead screw 22 (i.e., lifts along the Z-axis direction), the lead screw nut 23 is connected to the connecting block 25, and the connecting block 25 is connected to the Z-axis connecting bearing 24 on the spline shaft 1, so that the spline shaft 1 is driven to lift through the connecting block 25 and the Z-axis connecting bearing 24 by the movement of the lead screw nut 23.

It should be noted that the lead screw nut 23 is installed inside one end of the connecting block 25, and the lead screw nut 23 can rotate in the connecting block 25 and can drive the connecting block 25 to move. The Z-axis connecting bearing 24 comprises an inner layer and an outer layer which rotate mutually, the inner layer is connected to the spline shaft 1 in a clamped mode, and the outer layer is installed inside the other end of the connecting block 25 and can move together with the connecting block 25. Therefore, when the screw rod nut 23 moves, the connecting block 25 and the Z-axis connecting bearing 24 can be driven to move, and the Z-axis connecting bearing 24 is clamped with the spline shaft 1 along the Z-axis direction, so that the spline shaft 1 can be driven to lift along the Z-axis direction; meanwhile, it should be noted that, since the Z-axis connecting bearing 24 is relatively coaxially rotatable between the inner layer and the outer layer, the spline shaft 1 can perform a rotational motion within the Z-axis connecting shaft.

When the ZR manipulator needs to rotate in the R axis direction, the R axis driving motor 31 drives the first synchronizing wheel 32 to rotate, the first synchronizing wheel 32 drives the second synchronizing wheel 34 to rotate through the synchronizing belt 35, the second synchronizing wheel 34 is connected with the spline nut 33, and thus the R axis direction rotation is performed through the driving spline nut 33 and the spline shaft 1.

When the ZR manipulator needs to lift in the Z axis direction and rotate in the R axis direction at the same time, only the Z axis driving motor 21 and the R axis driving motor 31 need to be turned on at the same time, and the rotation speed of the two motors is adjusted and matched, because the spline shaft 1 is connected with the Z axis connecting bearing 24, and the inner layer and the outer layer of the Z axis connecting bearing 24 can rotate coaxially relatively, therefore, the lifting motion and the rotating motion of the spline shaft 1 can be performed at the same time, and interference does not occur.

Further, the lifting driving assembly 2 further comprises a guiding mechanism, the guiding mechanism comprises a guide rail 26 installed along the Z-axis direction, a sliding block 27 is installed on the guide rail 26, and the sliding block 27 is connected with the connecting block 25. Through setting up guiding mechanism, carry out the lift removal in-process to connecting block 25 along the Z axle and lead, improve overall structure's mobility stability.

Further, the lifting driving assembly 2 further comprises a first limit sensor 28 and a second limit sensor 29 for respectively sensing the lifting limit of the manipulator, and a sensor sheet 210 for triggering the first limit sensor 28 and the second limit sensor 29 is mounted on the lead screw nut 23. Through setting up first spacing inductor 28 and second spacing inductor 29, set up the biggest safe distance that lead screw nut 23 goes up and down to spacing the lift of lead screw nut 23, can also carry out the operation that resets.

Further, the lifting driving assembly 2 further comprises a first limiting block 211 and a second limiting block 212 for respectively limiting the lifting limit of the manipulator, and the first limiting block 211 and the second limiting block 212 are all set as a high-strength glue integrated structure block. Prevent that because the misoperation, screw-nut 23 removes and surpasss spacingly, cushions and protects it, prevents to damage because of the collision.

Further, R axle driving motor 31 installs on a motor mounting panel 36, waist type hole 37 that is used for the mounting screw is offered along hold-in range 35 transmission direction to motor mounting panel 36, still includes an adjusting block 38 that is used for controlling hold-in range 35 elasticity, an adjusting screw 39 of installation in the adjusting block 38, adjusting screw 39 passes along hold-in range 35 transmission direction adjusting block 38 with motor mounting panel 36 butt. The motor mounting plate 36 can be jacked up by rotating the adjusting screw 39 to move towards the motor mounting plate 36, so that the synchronous belt 35 is tensioned, and the motor mounting plate 36 is mounted through the waist-shaped hole 37, so that fine adjustment can be conveniently carried out.

Furthermore, two deep groove ball bearings 310 are symmetrically sleeved on the outer side of the spline nut 33, and the two deep groove ball bearings 310 are clamped at two ends of the second synchronizing wheel 34, so that the stability of the movement process of the spline nut 33 is ensured, and meanwhile, the installation stability of the second synchronizing wheel 34 is improved.

The above is only the preferred embodiment of the present invention, and not the scope of the present invention, all the equivalent structures or equivalent flow changes made by the contents of the specification and the drawings or the direct or indirect application in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. The split type ZR manipulator with the lead screw and the spline is characterized by comprising a spline shaft, a lifting driving assembly and a rotating driving assembly, wherein the spline shaft can lift along a Z axis and rotate along an R axis;

2. The lead screw spline split type ZR manipulator as claimed in claim 1, wherein the lifting driving assembly further comprises a guiding mechanism, the guiding mechanism comprises a guide rail arranged along the Z-axis direction, a sliding block is arranged on the guide rail, and the sliding block is connected with the connecting block.

3. The lead screw spline split type ZR manipulator according to claim 1 or 2, wherein the lifting driving assembly further comprises a first limit sensor and a second limit sensor for respectively sensing the lifting limit of the manipulator, and the lead screw nut is provided with a sensor sheet for triggering the first limit sensor and the second limit sensor.

4. The lead screw spline split type ZR manipulator of claim 1 or 2, wherein the lifting drive assembly further comprises a first limit block and a second limit block for respectively limiting the lifting limit of the manipulator, and the first limit block and the second limit block are both configured as a high-strength rubber integrated structure block.

5. The split-type ZR manipulator with lead screw and spline as claimed in claim 1, wherein the R-axis driving motor is installed on a motor installation plate, the motor installation plate is provided with a waist-shaped hole for installing a screw along the transmission direction of the synchronous belt, the manipulator further comprises an adjusting block for controlling the tightness of the synchronous belt, an adjusting screw is installed in the adjusting block, and the adjusting screw passes through the adjusting block along the transmission direction of the synchronous belt and abuts against the motor installation plate.

6. The lead screw spline split type ZR manipulator of claim 1, wherein two deep groove ball bearings are further symmetrically sleeved on the outer side of the spline nut, and the two deep groove ball bearings are clamped at two ends of the second synchronizing wheel.