CN217434335U

CN217434335U - Industrial robot

Info

Publication number: CN217434335U
Application number: CN202220827969.6U
Authority: CN
Inventors: 卢涛; 江宏; 张朋
Original assignee: Guangdong Topstar Technology Co Ltd
Current assignee: Guangdong Topstar Technology Co Ltd
Priority date: 2022-04-11
Filing date: 2022-04-11
Publication date: 2022-09-16
Anticipated expiration: 2032-04-11

Abstract

The utility model discloses an industrial robot, which comprises a small arm, a screw rod component, a three-axis component and a four-axis component; the screw assembly comprises a screw, bearing seats and a reinforcing shaft, two ends of the screw are rotatably connected with one bearing seat, two ends of the reinforcing shaft are fixedly arranged on the two bearing seats, the three-shaft assembly comprises a three-shaft driving assembly and a ball nut, the ball nut is sleeved on the screw, the three-shaft driving assembly is arranged on the small arm and is in transmission connection with the ball nut and used for driving the ball nut to rotate so as to drive the screw to axially move, the four-shaft assembly comprises a four-shaft driving assembly, a harmonic reducer and a spline nut, the harmonic reducer and the spline nut are sleeved on the screw, the four-shaft driving assembly is arranged on the small arm and is in transmission connection with the harmonic reducer and used for driving the harmonic reducer and the spline nut to rotate so as to drive the screw to rotate; the utility model discloses technical scheme has improved the terminal rigidity of lead screw, has promoted load capacity, has improved the robot precision, has reduced the robot and has stopped the stabilization time.

Description

Industrial robot

Technical Field

The utility model relates to an industrial machine technical field, in particular to industrial robot.

Background

With the continuous and deep advance of 'Chinese manufacture 2025', the industrial automation level is remarkably improved, and under the condition that the initial population continuously slips down, the shortage of labor force leads to the increasing of the labor cost; in recent years, a plurality of manufacturing enterprises use robots instead of manual actions of workers, and the production efficiency of products and the economic benefits of companies are greatly improved. For the SCARA robot, the SCARA robot mainly undertakes the work of loading, unloading, assembling, checking and the like, and has the characteristics of quick response and high precision, thereby playing an increasingly important role in the household appliance industry, the 3C industry, the PCB industry and the lithium battery industry.

The existing transmission scheme of the fourth shaft structure of the SCARA four-shaft industrial robot generally adopts a transmission scheme of a secondary synchronous belt and a planetary reducer, and is constrained by the sizes of a synchronous belt wheel and a small arm, the fourth shaft reduction ratio (gear ratio) is difficult to be large, and the requirement of high inertia of an R shaft in industries such as lithium battery new energy and the like is difficult to meet; the obvious disadvantage of the transmission scheme of the planetary reducer is that along with the continuous increase of load inertia, the rigidity problem of the belt can lead the precision of the fourth shaft to be continuously deteriorated. In addition, in a high-load client application scene, the stability stopping time under the same precision is very important under the starting and stopping impact of high speed and high load of the SCARA four-axis industrial robot, the terminal of a screw rod of the conventional SCARA type is severely shaken under the high-load condition, the precision is limited, and the requirements of actual clients are difficult to meet.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing an industrial robot aims at improving the terminal rigidity of lead screw, has promoted load capacity to improve the robot precision, reduce the robot and open and stop stabilization time.

In order to achieve the above object, the utility model provides an industrial robot, include:

a small arm;

the screw rod assembly comprises a screw rod, bearing seats and a reinforcing shaft, wherein the two ends of the screw rod are respectively and rotatably connected with one of the bearing seats, and the two ends of the reinforcing shaft are fixedly arranged on the two bearing seats;

the three-shaft driving assembly is mounted on the small arm and is in transmission connection with the ball nut, and is used for driving the ball nut to rotate so as to drive the screw rod to axially move; and

four-axis subassembly, including four-axis drive assembly, harmonic speed reducer machine and spline nut, the harmonic speed reducer machine with spline nut cover is located on the lead screw, four-axis drive assembly install in the forearm and with the harmonic speed reducer machine transmission is connected, is used for the drive the harmonic speed reducer machine with spline nut rotates, in order to drive the lead screw rotates.

Optionally, the three-axis drive assembly and the four-axis drive assembly are mounted at one end of the small arm far away from the screw rod.

Optionally, a through hole is formed in the small arm, the reinforcing shaft penetrates through the through hole, and an oilless bushing is installed between the reinforcing shaft and the inner wall surface of the through hole.

Optionally, the triaxial drive assembly includes triaxial motor, triaxial action wheel, triaxial from driving wheel and triaxial drive belt, the triaxial motor install in the forearm, the output shaft of triaxial motor with triaxial action wheel fixed connection is used for the drive the triaxial action wheel rotates, triaxial drive belt cover is located the triaxial action wheel with the triaxial is followed the driving from driving the triaxial is followed the driving wheel and is rotated, makes ball nut rotates.

Optionally, four-axis drive assembly includes four-axis motor, four-axis action wheel, four-axis from driving wheel and four-axis drive belt, the four-axis motor with harmonic reducer's flexbile gear install in the forearm, harmonic reducer's wave generator screw lock attach in the four-axis is from the driving wheel, harmonic reducer's rigid wheel with spline nut fixed connection, four-axis drive belt cover is located the four-axis action wheel with the four-axis is from driving on the driving wheel the four-axis is from the driving wheel rotation, in order to drive spline nut with the lead screw rotates.

Optionally, a groove portion extending along the axial direction is provided on the screw rod, and a ball passage in the axial direction of the inner wall surface of the spline nut is matched with the groove portion to form a complete ball passage.

Optionally, the four-axis subassembly still includes the connecting piece, the rigid wheel of harmonic speed reducer machine with the spline nut passes through connecting piece fixed connection.

Optionally, the connecting piece is a spline flange, the spline flange is locked on a rigid gear of the harmonic speed reducer by a screw, and the spline nut is locked on the spline flange by a screw.

Optionally, a clamping ring is arranged on the bearing pedestal, a threaded hole is formed in the clamping ring, and the reinforcing shaft is arranged in the clamping ring and fixed to the bearing pedestal through the matching of a screw and the threaded hole.

Optionally, the screw rod further comprises a load flange, and the load flange is mounted on the screw rod and used for bearing goods.

The utility model discloses technical scheme drives the lead screw through adopting triaxial drive assembly and ball nut and removes in axial direction, it rotates to drive harmonic speed reducer machine and lead screw through four-axis drive assembly, the harmonic speed reducer machine is compared in traditional speed reducer's transmission precision higher, therefore, can extensively be applicable to in the customer application scene of the big eccentric inertia high accuracy of heavy load, furthermore, increase the reinforcing shaft on rotating the bearing frame that is connected with the lead screw, thereby make industrial robot in the motion process, and then make the lead screw can drive reinforcing shaft and bearing frame axial displacement together when axial displacement, thereby the terminal shake of lead screw has been reduced, the terminal rigidity of lead screw has been improved, and then the loading capacity of robot has been promoted, thereby the robot precision has been improved, and then the robot has been reduced and has been stopped the stable time.

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 an industrial robot according to an embodiment of the present invention;

fig. 2 is a cross-sectional view of an embodiment of an industrial robot according to the invention;

fig. 3 is a schematic structural diagram of another view angle of an industrial robot according to an embodiment of the present invention.

The reference numbers illustrate:

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

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that all the directional indicators (such as upper, lower, left, right, front and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.

In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit ly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In addition, "and/or" in the whole text includes three schemes, taking a and/or B as an example, including a technical scheme, and a technical scheme that a and B meet simultaneously; in addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.

The utility model provides an industrial robot.

Referring to fig. 1 and 2, the utility model provides an industrial robot, include:

a small arm 10;

the screw rod assembly comprises a screw rod 21, bearing seats 22 and a reinforcing shaft 23, wherein the two ends of the screw rod 21 are rotatably connected with the bearing seats 22, and the two ends of the reinforcing shaft 23 are fixedly arranged on the two bearing seats 22;

the three-axis component comprises a three-axis driving component and a ball nut 35, the ball nut 35 is sleeved on the screw 21, and the three-axis driving component is mounted on the small arm 10, is in transmission connection with the ball nut 35 and is used for driving the ball nut 35 to rotate so as to drive the screw 21 to move axially; and

four-axis subassembly, including four-axis drive assembly, harmonic speed reducer 45 and spline nut 46, harmonic speed reducer 45 with spline nut 46 cover is located on the lead screw 21, four-axis drive assembly install in forearm 10 and with harmonic speed reducer 45 transmission is connected, is used for the drive harmonic speed reducer 45 with spline nut 46 rotates, in order to drive lead screw 21 rotates.

The technical proposal of the utility model is that the screw rod 21 is driven to move in the axial direction by adopting the three-shaft driving component and the ball nut 35, the harmonic speed reducer 45 and the screw rod 21 are driven to rotate by the four-axis driving assembly, the transmission precision of the harmonic speed reducer 45 is higher than that of the traditional speed reducer, therefore, the method can be widely applied to the heavy-load large-eccentric inertia high-precision client application scene, and further, a reinforcing shaft 23 is added on the bearing seat 22 which is rotatably connected with the screw rod 21, so that during the movement of the industrial robot, so that the screw rod 21 can drive the reinforcing shaft 23 and the bearing seat 22 to axially move together when axially moving, thereby reducing the vibration of the tail end of the screw rod 21, improving the rigidity of the tail end of the screw rod 21, and then the load capacity of the robot is improved, so that the precision of the robot is improved, and the start-stop stable time of the robot is reduced.

In the technical scheme of the utility model, the lead screw 21 in the industrial robot has three motion states in total, i.e. when only the three-axis driving component is opened, the three-axis driving component drives the ball nut 35 to rotate, and the further ball nut 35 changes the rotation into linear motion, so that the lead screw 21 is driven to move axially without rotating; when only the four-axis driving assembly is started, the four-axis driving assembly drives the harmonic accelerator to rotate so as to drive the screw rod 21 to rotate, and meanwhile, as the screw rod 21 is provided with external threads, the screw rod 21 can move in the axial direction while rotating; when the three-axis driving assembly and the four-axis driving assembly are simultaneously started, the four-axis driving assembly can drive the screw rod 21 to axially move and rotate, and the three-axis driving assembly is started and drives the ball nut 35 to rotate to offset the axial movement of the screw rod 21, so that the screw rod 21 can only rotate and does not move in the axial direction.

The triaxial drive assembly includes triaxial motor 31, triaxial action wheel 32, triaxial from driving wheel 34 and triaxial drive belt 33, triaxial motor 31 install in forearm 10, triaxial motor 31's output shaft with triaxial action wheel 32 fixed connection is used for the drive triaxial action wheel 32 rotates, triaxial drive belt 33 cover is located triaxial action wheel 32 with the triaxial is driven in order to drive on the wheel 34 the triaxial is driven from driving wheel 34 and is rotated, makes ball nut 35 rotates, and in this embodiment, the drive belt is the hold-in range to the transmission efficiency of drive belt has been improved.

The rotation speed of the motor can reach higher usually, but the torque is not large, in order to realize outputting large torque, an external speed reducer is usually required to reduce the angular speed, and the speed reduction ratio can amplify the output torque of the motor, therefore, in this embodiment, the four-axis driving assembly includes a four-axis motor 41, a four-axis driving wheel 42, a four-axis driven wheel 44, and a four-axis transmission belt 43, the four-axis motor 41 and the flexible wheel of the harmonic reducer 45 are mounted on the small arm 10, the wave generator screw of the harmonic reducer 45 is locked to the four-axis driven wheel 44, the rigid wheel of the harmonic reducer 45 is fixedly connected with the spline nut 46, the four-axis transmission belt 43 is sleeved on the four-axis driving wheel 42 and the four-axis driven wheel 44 to drive the four-axis driven wheel 44 to rotate, so as to drive the spline nut 46 and the lead screw 21 to rotate, and the spline nut 46 and the lead screw 21 are driven to rotate by the harmonic reducer 45, thereby increasing the torque of the lead screw 21 and thus improving the accuracy and stability of the industrial robot.

The harmonic speed reducer 45 is a mechanical product which increases the load of the lead screw 21 by reducing the rotation speed of the four-axis driven wheel 44 and further increasing the torque of the spline nut 46, in this embodiment, the four-axis motor 41 drives the four-axis driving wheel 42 to rotate, the four-axis driving wheel 42 drives the harmonic speed reducer 45 to rotate through the four-axis driving belt 43 and the four-axis driven wheel 44, and it can be understood that the four-axis driving belt 43 is used for transmission as a first-stage transmission mode, and the harmonic speed reducer 45 is used for driving the spline nut 46 to rotate as a second-stage transmission mode; compare four-axis motor 41 in prior art and drive harmonic speed reducer 45 and rotate, harmonic speed reducer 45 drives the transmission mode of four-axis drive belt 43 as first order transmission mode again, because harmonic speed reducer 45 can produce great torque, if harmonic speed reducer 45 is first order transmission, then four-axis drive belt 43 then need bear great torque, thereby the rigidity requirement of four-axis drive belt 43 has been increased, consequently, harmonic speed reducer 45 in this embodiment can reduce four-axis drive belt 43 tensile force as second order transmission mode, the influence of four-axis drive belt 43 rigidity to lead screw 21 precision has been reduced.

In this embodiment, triaxial drive assembly with four-axis drive assembly install in forearm 10 keeps away from the one end of lead screw 21, specifically, triaxial motor 31 and four-axis motor 41 carry out the transmission and install in the one end that the lead screw 21 was kept away from to forearm 10 through triaxial drive belt 33 and four-axis drive belt 43, compare in installing in the one end that forearm 10 is close to lead screw 21, the technical scheme of the utility model reduce the self inertia that produces big arm 11, promoted the load capacity of big arm 11.

Preferably, the screw rod 21 is provided with a groove portion 210 extending along the axial direction, a ball channel in the axial direction of the inner wall surface of the spline nut 46 is matched with the groove portion 210 to form a complete ball channel in the axial direction of the screw rod 21, when the screw rod is installed in the spline nut 46, the groove portion 210 and the original ball channel in the spline nut 46 form a complete ball channel for ball flowing, so that the screw rod 21 is driven to rotate when the four-axis motor 41 drives the harmonic speed reducer 45 and the spline nut 46 to rotate, and meanwhile, when the screw rod 21 moves in the axial direction, the spline nut 46 is not driven to rotate.

In order to increase the transmission efficiency between the harmonic reducer 45 and the spline nut 46, in this embodiment, the four-shaft assembly further includes a connecting member through which the rigid gear of the harmonic reducer 45 and the spline nut 46 are in transmission connection.

Specifically, the connecting member is a spline flange 47, the spline flange 47 is screwed to the rigid wheel of the harmonic speed reducer 45, the spline nut 46 is screwed to the spline flange 47, and in other embodiments, the spline nut 46 may be screwed to the rigid wheel of the harmonic speed reducer 45 directly.

In this embodiment, be equipped with the through hole on the forearm 10, reinforcing shaft 23 passes the through hole, and with install oilless bush 25 between the internal wall face of through hole, when reinforcing shaft 23 follows lead screw 21 axle and moves in circumference, because the span at reinforcing shaft 23 both ends is great, in order to prevent reinforcing shaft 23 to produce bending deformation at the in-process that removes, consequently, reinforcing shaft 23 runs through in the through hole of forearm 10, thereby make the span of reinforcing shaft 23 reduced, and then improved industrial robot's precision, furtherly, install oilless bush 25 on the internal wall face of through hole, thereby reduced the frictional force of reinforcing shaft 23 when the forearm 10 slides, and then improved industrial robot's transmission precision.

Furthermore, the number of the reinforcing shafts 23 is multiple, and the rigidity of the screw rod 21 is further enhanced by arranging the plurality of reinforcing shafts 23, so that the vibration of the tail end of the screw rod 21 is further reduced, and the precision of the robot is improved.

Optionally, a clamping ring 220 is arranged on the bearing seat 22, a threaded hole is formed in the clamping ring 220, the reinforcing shaft 23 is arranged in the clamping ring 220 and fixed to the bearing seat 22 through the matching of screws and the threaded hole, and the two ends of the reinforcing shaft 23 are fixed through the matching of the clamping ring 220 and the screws, so that the reinforcing shaft 23 is convenient to mount and fix, and the mounting efficiency of the industrial robot is improved.

In this embodiment, the industrial robot further includes a load flange 24, the load flange 24 is installed on the screw rod 21 for bearing the goods, and the load flange 24 is connected with the end transmission of the screw rod 21, so that the screw rod 21 drives the load flange 24 to perform axial movement or rotation, or to perform rotation and axial movement simultaneously, and further drives the goods to move.

The above is only the optional embodiment of the present invention, and not the scope of the present invention is limited thereby, all the equivalent structure changes made by the contents of the specification and the drawings are utilized under the inventive concept of the present invention, or the direct/indirect application in other related technical fields is included in the patent protection scope of the present invention.

Claims

1. An industrial robot, characterized by comprising:

a small arm;

2. An industrial robot according to claim 1 wherein said three axis drive assembly and said four axis drive assembly are mounted to an end of said forearm remote from said lead screw.

3. An industrial robot according to claim 1, wherein said small arm is provided with a through hole, said reinforcing shaft passes through said through hole, and an oilless bush is installed between said reinforcing shaft and an inner wall surface of said through hole.

4. The industrial robot of claim 1 wherein the three-axis drive assembly includes a three-axis motor, a three-axis drive wheel, a three-axis driven wheel, and a three-axis drive belt, the three-axis motor being mounted to the forearm, an output shaft of the three-axis motor being fixedly connected to the three-axis drive wheel for driving the three-axis drive wheel to rotate, the three-axis drive belt being sleeved over the three-axis drive wheel and the three-axis driven wheel for driving the three-axis driven wheel to rotate, thereby rotating the ball nut.

5. The industrial robot of claim 1, wherein the four-axis driving assembly comprises a four-axis motor, a four-axis driving wheel, a four-axis driven wheel and a four-axis driving belt, the four-axis motor and a flexible wheel of the harmonic reducer are mounted on the small arm, a wave generator screw of the harmonic reducer is locked on the four-axis driven wheel, a rigid wheel of the harmonic reducer is fixedly connected with the spline nut, and the four-axis driving belt is sleeved on the four-axis driving wheel and the four-axis driven wheel to drive the four-axis driven wheel to rotate so as to drive the spline nut and the screw rod to rotate.

6. An industrial robot according to claim 5, wherein said screw is provided with a recessed portion extending in the axial direction, and a ball passage in the axial direction of an inner wall surface of said spline nut is fitted to said recessed portion to form a complete ball passage.

7. An industrial robot according to claim 5 wherein said four-axis assembly further comprises a connecting member through which a rigid gear of said harmonic reducer and said spline nut are fixedly connected.

8. An industrial robot according to claim 7 wherein said connecting member is a splined flange, said splined flange screw is locked to a rigid wheel of said harmonic reducer, and said splined nut is locked to said splined flange by a screw.

9. An industrial robot according to claim 1 wherein said bearing housing is provided with a clamping ring, said clamping ring is provided with a threaded bore, and said reinforcing shaft is disposed within said clamping ring and secured to said bearing housing by engagement of a screw with said threaded bore.

10. An industrial robot according to claim 1 further comprising a load flange mounted on said lead screw for carrying cargo.