CN215548677U

CN215548677U - High-precision large-thrust structure of ZR manipulator rotating shaft

Info

Publication number: CN215548677U
Application number: CN202121615513.5U
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: 2021-07-15
Filing date: 2021-07-15
Publication date: 2022-01-18
Anticipated expiration: 2031-07-15

Abstract

The utility model discloses a high-precision large-thrust structure of a ZR manipulator rotating shaft, which comprises a lifting driving mechanism and a rotating driving mechanism; the rotary driving mechanism comprises a rotary motor, and a driving end of the rotary motor is provided with a rotary shaft through a coupling; the rotating shaft is arranged on the bearing seat through a bearing assembly; the bearing assembly comprises an E-shaped check ring, and a first bearing and a second bearing are respectively arranged on two sides of the E-shaped check ring; the bearing assembly also comprises a spacing ring and a third bearing which are sleeved outside the rotating shaft in sequence; a first rotary sealing ring is attached between the spacing ring and the rotating shaft, and a second rotary sealing ring is attached between the spacing ring and the bearing seat; the rotating shaft is set as a hollow shaft, a plurality of vent holes are formed in the side face of the rotating shaft, the spacing ring is provided with vent grooves corresponding to the vent holes, and an air faucet is mounted on the bearing seat and communicated with the vent holes. The technical scheme of the utility model improves the structure of the existing composite actuator and improves the rotation precision and the pressure-bearing capacity of the existing composite actuator.

Description

High-precision large-thrust structure of ZR manipulator rotating shaft

Technical Field

The utility model relates to the technical field of composite actuators, in particular to a high-precision large-thrust structure of a ZR manipulator rotating shaft.

Background

Along with the popularization of the composite actuator, in the production and use process, higher requirements are provided for the composite actuator to meet production requirements, if higher requirements are provided for the precision of the rotating shaft, the rotating shaft of the existing structure is driven by a belt, the problems of angle error and inaccurate positioning occur in the movement process, and a part of the composite actuator needs to apply certain pressure to the surface of a product in the use process to ensure that the surface of the product is pasted with the product in place, so that the composite actuator needs to have certain stressed requirements, and the existing composite actuator cannot meet the requirements.

Accordingly, the prior art is deficient and needs improvement.

SUMMERY OF THE UTILITY MODEL

The utility model mainly aims to provide a high-precision large-thrust structure of a ZR manipulator rotating shaft, and aims to improve the structure of the conventional composite actuator and improve the rotating precision and the pressure-bearing capacity of the conventional composite actuator.

In order to achieve the purpose, the high-precision large-thrust structure of the ZR manipulator rotating shaft comprises a lifting driving mechanism for performing lifting motion and a rotating driving mechanism for performing rotating motion, wherein the rotating driving mechanism is arranged at the driving end of the lifting driving mechanism; the rotary driving mechanism comprises a rotary motor, and a driving end of the rotary motor is provided with a rotary shaft through a coupling; the rotating shaft is arranged on the bearing seat through a bearing assembly; the bearing assembly comprises an E-shaped check ring, and the rotating shaft is provided with a limiting groove for mounting the E-shaped check ring; a first bearing and a second bearing are respectively arranged on two sides of the E-shaped check ring; the bearing assembly further comprises a spacing ring and a third bearing which are sequentially sleeved outside the rotating shaft; a first rotary sealing ring is attached between the spacing ring and the rotating shaft, and a second rotary sealing ring is attached between the spacing ring and the bearing seat; the bearing seat is characterized in that the rotating shaft is a hollow shaft, a plurality of vent holes are formed in the side face of the rotating shaft, vent grooves corresponding to the vent holes are formed in the spacing ring, an air faucet is installed on the bearing seat, and the air faucet is communicated with the vent holes.

Preferably, the rotary driving mechanism further comprises a rotary sensor for detecting rotation of the rotating shaft, the rotating shaft is provided with a rotary sensing piece, and the rotary sensing piece is provided with a sensing protrusion corresponding to the sensor.

Preferably, a plug is installed at one end of the rotating shaft, and a sucker for adsorbing products is installed at the other end of the rotating shaft.

Preferably, the lifting driving mechanism comprises a lifting motor, the lifting motor is connected with a screw rod in a driving mode, the screw rod is connected with a sliding table in a sliding mode, and the rotary driving mechanism is installed on the sliding table.

Preferably, the lifting driving mechanism further comprises a guide mechanism for supporting the sliding table, and the guide mechanism is a guide rail slider mechanism.

Preferably, the lifting driving mechanism further comprises an origin sensor for sensing lifting of the sliding table, and an origin sensing piece corresponding to the origin sensor is mounted on the sliding table.

Compared with the prior art, the utility model has the beneficial effects that: rotation axis and rotating electrical machines direct connection, adopt the rigidity hookup, do not receive other factors when the rotation axis is rotatory to influence, the operating mode that the rotation angle has direct requirement can be fine assurance, the angle precision is high, and simultaneously, increase E type retaining ring on the rotation axis, structure bearing and spacer ring, can bear axial definite value pressure, cooperation through the bearing when receiving pressure, make the rotation axis can not produce axial direction's displacement, can not influence the shaft coupling, there is fine assurance to the precision of product, make its function increase, let the customer have great choice space, make its self product abundanter, increase the product and compete the reinforcement.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings 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 a ZR robot of the present invention;

FIG. 2 is a schematic structural view of a ZR manipulator lifting driving mechanism of the present invention;

FIG. 3 is a schematic structural view of a ZR robot rotation driving mechanism according to the present invention;

FIG. 4 is an exploded view of the ZR robot rotary drive mechanism configuration of the present invention;

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

Detailed Description

Referring to fig. 1, the high-precision and high-thrust structure of a rotating shaft of a ZR manipulator according to this embodiment includes a lifting driving mechanism 1 for performing lifting motion, and a rotation driving mechanism 2 for performing rotation motion, where the rotation driving mechanism 2 is installed at a driving end of the lifting driving mechanism 1; the lifting and rotating compound motion is realized.

Referring to fig. 2, the lifting driving mechanism 1 includes a lifting motor 11, the lifting motor 11 is connected to a screw rod 12 in a driving manner, the screw rod 12 is connected to a sliding table 13 in a sliding manner, and the rotary driving mechanism 2 is installed on the sliding table 13.

Further, the lifting driving mechanism 1 further includes a guiding mechanism 14 for supporting the sliding table 13, and the guiding mechanism is a guide rail slider mechanism.

Further, lift actuating mechanism 1 still includes an initial point inductor that is used for responding to slip table 13 and goes up and down, install on the slip table 13 with the initial point response piece that the initial point inductor corresponds.

In this embodiment, lifting drive mechanism 1 adopts lead screw 12 and line rail to constitute, adopts big helical pitch lead screw 12, can guarantee like this that the slider rapid motion on the lead screw 12 nut to reach the required requirement of customer, and the initial point inductor sets up to flute profile photoelectric switch, so that the Z axle can return to zero, and further, be equipped with the shock pad on slip table 13 both sides limit, carry out certain buffering to it, guarantee life.

Referring to fig. 3 and 4, the rotary drive mechanism 2 includes a rotary motor 21, a drive end of the rotary motor 21 is provided with a rotary shaft 23 through a coupling 22; in the embodiment, the rotating motor 21 is directly connected with the rotating shaft 23 by the coupler 22, so that the rigidity type can be adopted to ensure the torque transmission effect, the rotating shaft 23 is not influenced by other factors when rotating, the working condition with direct requirements on the rotating angle can be well ensured, and the angle precision is high; the rotation driving mechanism 2 further comprises a rotation sensor 213 for detecting rotation of the rotation shaft 23, a rotation sensing piece 214 is installed on the rotation shaft 23, the rotation sensing piece 214 is provided with a sensing protrusion corresponding to the sensor, and the rotation sensor 213 can sense a signal when the rotation shaft 23 rotates by setting the sensing protrusion, so that the rotation function of returning to zero and a specified angle is achieved.

Further, the rotary shaft 23 is mounted on a bearing housing 24 through a bearing assembly; the bearing assembly comprises an E-shaped retainer ring 25, and the rotating shaft 23 is provided with a limiting groove 231 for mounting the E-shaped retainer ring 25; a first bearing 26 and a second bearing 27 are respectively arranged on two sides of the E-shaped retainer ring 25; the bearing assembly further comprises a spacing ring 28 and a third bearing 29 which are sequentially sleeved outside the rotating shaft 23; a first rotary sealing ring 210 is attached between the spacing ring 28 and the rotating shaft 23, and a second rotary sealing ring 211 is attached between the spacing ring 28 and the bearing seat 24; the rotating shaft 23 is a hollow shaft, a plurality of vent holes 232 are formed in the side surface of the rotating shaft 23, vent grooves 281 corresponding to the vent holes 232 are formed in the spacer ring 28, an air nozzle 212 is mounted on the bearing seat 24, and the air nozzle 212 is communicated with the vent holes 232.

In order to solve the problem that when the rotating shaft 23 applies an axial pressure downwards, the rotating shaft 23 is not affected by displacement, and the coupling 22 is protected, therefore, in this embodiment, a limiting groove 231 is processed on the rotating shaft 23, an E-shaped retaining ring 25 is additionally installed on the limiting groove 231, two sides of the E-shaped retaining ring 25 are tightly attached with a first bearing 26 and a second bearing 27, the E-shaped retaining ring 25 and the rotating shaft 23 are tightly matched and can rotate together with the shaft, when the rotating shaft 23 receives the axial pressure, the E-shaped retaining ring 25 is combined with the first bearing 26, the second bearing 27, the third bearing 29 and the spacing ring 28, so as to clamp the rotating shaft 23 and prevent the rotating shaft 23 from moving up and down, so that the holding force of the coupling 22 is not affected, and when the rotating shaft 23 receives the axial pressure, the axial force is transmitted to the first bearing 26, the second bearing 27, the third bearing 29 and the spacing ring 28, so that the rotating shaft 23 achieves a limiting effect.

In this embodiment, rotation axis 23 is still used for adsorbing external product, and consequently, rotation axis 23 is hollow structure, carries out vacuum negative pressure through air cock 212 and adsorbs, and consequently, a plurality of air vents 232 that correspond with air cock 212 are seted up to rotation axis 23 side, evenly set up to four in this embodiment, just rotation axis 23 one end is installed the end cap, the sucking disc that is used for adsorbing the product is installed to the other end. In order to ensure the sealing performance when the rotating shaft 23 rotates, the first rotary sealing ring 210 and the second rotary sealing ring 211 are added, and the sealing parts can be prevented from being influenced when the rotating shaft 23 rotates.

The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

The ZR manipulator rotating shaft high-precision large-thrust structure is characterized by comprising a lifting driving mechanism for lifting motion and a rotating driving mechanism for rotating motion, wherein the rotating driving mechanism is arranged at the driving end of the lifting driving mechanism; the rotary driving mechanism comprises a rotary motor, and a driving end of the rotary motor is provided with a rotary shaft through a coupling; the rotating shaft is arranged on the bearing seat through a bearing assembly; the bearing assembly comprises an E-shaped check ring, and the rotating shaft is provided with a limiting groove for mounting the E-shaped check ring; a first bearing and a second bearing are respectively arranged on two sides of the E-shaped check ring; the bearing assembly further comprises a spacing ring and a third bearing which are sequentially sleeved outside the rotating shaft; a first rotary sealing ring is attached between the spacing ring and the rotating shaft, and a second rotary sealing ring is attached between the spacing ring and the bearing seat; the bearing seat is characterized in that the rotating shaft is a hollow shaft, a plurality of vent holes are formed in the side face of the rotating shaft, vent grooves corresponding to the vent holes are formed in the spacing ring, an air faucet is installed on the bearing seat, and the air faucet is communicated with the vent holes.
2. The ZR robot rotation axis high precision large thrust structure of claim 1, wherein said rotation driving mechanism further comprises a rotation sensor for detecting rotation of the rotation axis, said rotation axis is mounted with a rotation sensing piece, said rotation sensing piece is provided with a sensing protrusion corresponding to said sensor.
3. The ZR robot rotation axis high precision high thrust structure of claim 1, wherein the rotation axis is installed with a plug at one end and a suction cup for absorbing the product at the other end.
4. The ZR robot rotation axis high precision high thrust structure of claim 1, wherein the lifting driving mechanism comprises a lifting motor, the lifting motor is connected with a lead screw in a driving way, a sliding platform is connected on the lead screw in a sliding way, and the rotation driving mechanism is installed on the sliding platform.
5. The ZR robot rotation axis high precision large thrust structure of claim 4, wherein said lifting driving mechanism further comprises a guide mechanism for supporting said slide table, said guide mechanism being configured as a rail-slider mechanism.
6. The ZR robot rotation axis high accuracy high thrust structure of claim 4, wherein said lifting driving mechanism further comprises an origin sensor for sensing the lifting of the slide table, said slide table having an origin sensing piece corresponding to said origin sensor mounted thereon.