CN105269560A - Novel ZR shaft assembly of horizontal multi-joint manipulator - Google Patents
Novel ZR shaft assembly of horizontal multi-joint manipulator Download PDFInfo
- Publication number
- CN105269560A CN105269560A CN201510734033.3A CN201510734033A CN105269560A CN 105269560 A CN105269560 A CN 105269560A CN 201510734033 A CN201510734033 A CN 201510734033A CN 105269560 A CN105269560 A CN 105269560A
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- ball screw
- described ball
- ball spline
- spline shaft
- shaft
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Abstract
The invention discloses a novel ZR shaft assembly of a horizontal multi-joint manipulator. The novel ZR shaft assembly comprises a ball screw, wherein the upper end of the ball screw is connected with a first driving device through a first transmission assembly; a ball screw nut penetrates through the ball screw, the lower end of the ball screw nut is connected with a ball spline shaft, a hollow inner hole allowing the ball screw to sleeve in is formed in the ball spline shaft, and the ball screw and the ball spline shaft are always coaxially arranged; the ball screw nut is further connected with a linear guide rail; the first driving device drives the ball screw to revolve and rotate, the ball screw nut follows the ball screw to revolve and rotate, and the ball spline shaft is carried to move in a vertical direction; and a spline is arranged on the ball spline shaft in a sleeving manner, the ball spline shaft is further connected with a second driving device through a second transmission assembly, the second driving device drives the ball spline shaft to horizontally revolve, and the spline supports the movement and the revolving of the ball spline shaft. The ZR shaft assembly is simple in structure, is small in assembly size, is flexible, is convenient to assemble, and is low in manufacture cost.
Description
Technical field
The present invention relates to industrial robot field, especially a kind of ZR shaft assembly of novel horizontal articulated manipulator.
Background technology
One of equipment of horizontal articulated manipulator necessity of accurate operation in industrial trade, utilizes horizontal articulated manipulator to realize the accurate snatch transhipment of level and vertical direction, especially applicable in the operation of product line.But what the design of the ZR shaft assembly of the horizontal articulated manipulator of existing invention adopted is ball screw and ball spline concurrent assembly, drive spline to realize moving both vertically by screw mandrel, spline horizontally rotates.So, have the following disadvantages:
One is, adopt concurrent assembly, structure is relatively complicated, and screw mandrel mates with the driving of spline and requires high, and the part processing precision of relevant matches also requires high;
Two are, parallel arrange screw mandrel and spline, and make assembly volume large, the weight of assembly is also large, lift ZR shaft assembly turning arm its bear larger gravity, cause manipulator to operate influenced, service life is not long;
Three are, assembly parts are many, and assembling and manufacturing cost are increased.
Therefore, the problems referred to above need the problem of solution badly.
Summary of the invention
The technical problem to be solved in the present invention is the defect for existing in existing design, provides a kind of ZR shaft assembly of novel horizontal articulated manipulator, and this ZR shaft assembly structure is simplified, and assembly volume is less, dexterous and equipped convenient, low cost of manufacture.
For overcoming the defect existed in prior art, the technical scheme that the present invention takes is as follows: a kind of ZR shaft assembly of novel horizontal articulated manipulator, comprises ball screw, and described ball screw upper end is connected with the first drive unit by the first transmission component; Described ball screw is equipped with ball screw nut; described ball screw nut lower end connects ball spline shaft; described ball spline shaft is provided with the hollow endoporus be inserted in for described ball screw; described ball screw can be movable be inserted in and screw out described endoporus, and described ball screw and described ball spline shaft keep coaxial arranges; Described ball screw nut is also connected with linear guides, and can move along described linear guides in the vertical direction; Described first drive unit drives described ball screw rotary motion, and described ball screw nut follows described ball screw rotary motion, and carries described ball spline shaft in the vertical direction and move; Described ball spline shaft is equipped with ball spline nuts, described ball spline shaft can move relative to described ball spline nuts in the vertical direction, described ball spline shaft is also connected with the second drive unit by the second transmission component, described second drive unit drives described ball spline shaft to horizontally rotate, and described ball spline nuts supports movement and the rotation of described rolling spline axle.
Further elaboration as to technique scheme:
In technique scheme, described first transmission component comprises shaft coupling, main synchronizing wheel, from synchronizing wheel and Timing Belt, described shaft coupling one end connects described rolling lead screw upper end, and the other end connects described from synchronizing wheel; Described main synchronizing wheel is connected by described Timing Belt with described main synchronizing wheel, forms toothed belt transmission secondary; Described main synchronizing wheel is connected to the turning cylinder of described first drive unit, drives main synchronizing wheel to rotate by described first drive unit, is rotated by ball screw described in described toothed belt transmission auxiliary driving.
In technique scheme, described second transmission component comprises two drives, belt and decelerator, described decelerator is arranged between described second drive unit and a drive, this drive and the second drive unit are in transmission connection, this drive is connected by described belt with another drive, described second drive unit drives decelerator to rotate, and by described two drives and belt transmission power to described ball spline shaft, makes it to rotate in horizontal plane.
In technique scheme, described ball spline nuts is also provided with bearing outward, this bearing is installed on a fixed head, this bearing described is fixed described ball spline nuts and is tightly locked with a drive of described second transmission component being positioned at its lower end and is connected, described second transmission component drives this drive to rotate, and makes described bearing rotate and drive described ball spline shaft and ball spline nuts to horizontally rotate.
In technique scheme, described linear guides comprises two guide rails and take-up housing, the axis of ball screw described in described two guide rail parallels is arranged, described take-up housing to be nested on described two guide rails and to be connected with described ball screw nut, makes described ball screw nut drive the steadily movement of described ball spline shaft in the vertical direction.Further, described linear guides is square ball line slideway.
In technique scheme, described ball screw end also establishes the rolling assembly be made up of bearing and bearing holder (housing, cover), described rolling assembly is placed in the endoporus of described ball spline shaft, described ball spline shaft is mated with described ball screw by this rolling assembly and is connected, described ball screw nut moves down described ball screw when upwards screwing out completely, intercepted by described rolling assembly, ensure that described ball spline shaft and described ball screw begin to keep being connected.
In technique scheme, described first drive unit and described second drive unit are motor or motor.
Beneficial effect of the present invention is:
One is, ZR shaft assembly ball screw of the present invention and ball spline shaft adopt serial assembling, namely establish hollow endoporus to be nested with ball screw at ball spline shaft, complete and realize integrated structure design, the straight line rotation combination motion of coupling ZR shaft assembly arbitrfary point in its stroke.
Two are, serial arranges ball spline and ball screw, and component count is few, and assembly quality is light, lift ZR shaft assembly turning arm its bear lighter gravity, manipulator smooth movements, long service life.
Three are, ZR shaft assembly compact conformation of the present invention, manufacturing process are simple, and required precision is low, cost is low, and assembling and setting is convenient, and applicable situation is wide.
Accompanying drawing explanation
Fig. 1 is perspective view of the present invention.
Fig. 2 is cross-sectional view of the present invention.
Fig. 3 is decomposing schematic representation of the present invention.
In figure, 1. ball screw, 2. ball screw nut, 3. ball spline shaft, 4. linear guides, 5. ball spline nuts, 6. bearing, 7. fixed head, 8. the first transmission component, 9. the second transmission component, 10. the first drive unit, 11. second drive units, 41. guide rails, 42. take-up housings, 81. shaft couplings, 82. from synchronizing wheel, 83. Timing Belts, 84. main synchronizing wheels, 91. drives, 92. belts, 93. decelerators, 12. rolling assemblies.
Detailed description of the invention
In order to make, object of the present invention, technical scheme and advantage are clearer and brighter to be understood, below in conjunction with drawings and Examples, the present invention is further detailed explanation.
Fig. 1-3 illustrates specific embodiments of the invention, and with reference to accompanying drawing 1-3, a kind of ZR shaft assembly of horizontal articulated manipulator of invention, comprises ball screw 1, and described ball screw 1 upper end is connected with the first drive unit 10 by the first transmission component 8; Described ball screw 1 is equipped with ball screw 1 nut, described ball screw 1 nut lower end connects ball spline shaft 3, described ball spline shaft 3 is provided with the hollow endoporus (not indicating in figure) be inserted in for described ball screw 1, what described ball screw 1 energy was movable is inserted in and screws out described endoporus, and described ball screw 1 keeps coaxial setting with described ball spline shaft 3.In the present embodiment, described ball spline shaft 3 upper end connects described ball screw nut 2, the rotation of described ball screw 1, wire rod thread makes ball screw nut 2 counter ball screw mandrel 1 rotate and move up and down, and the effect of reality is, described ball screw nut 2 is worked in coordination with described ball spline shaft 3 and is rotated together and move up and down.Described ball screw nut 2 is also connected with linear guides 4, and can move along described linear guides 4 in the vertical direction and (described ball screw nut 2 is connected with linear guides 4, described ball screw nut 2 is made steadily to move and transform the power of described ball screw nut 2 along linear guides 4 movement of sening as an envoy to, described ball screw nut 2 is avoided to rotate with ball screw 1 because of resistance without spin, not for vertical movement); Described first drive unit 10 drives described ball screw 1 rotary motion, and described ball screw nut 2 follows described ball screw 1 rotary motion, and carries described ball spline shaft 3 in the vertical direction and move; Described ball spline shaft 3 is equipped with ball spline nuts 5, described ball spline shaft 3 can move relative to described ball spline nuts 5 in the vertical direction, described ball spline shaft 3 is also connected with the second drive unit 11 by the second transmission component 9, described second drive unit 11 drives described ball spline shaft 3 to horizontally rotate, and described ball spline nuts 5 supports movement and the rotation of described rolling spline axle.During work, the first drive unit 10 drives ball screw 1 to rotate, and drives ball spline shaft 3 in the vertical direction for vertical movement, and the second drive unit 11 drives ball spline shaft 3 to horizontally rotate.It should be noted that, the vertical movement of described ball spline shaft 3 and to horizontally rotate be complementary the interference, ball spline shaft 3 can horizontally rotate in moving both vertically simultaneously, and namely in the formation of ZR shaft assembly, the movement and the rotation combination that complete arbitrfary point move.Described first drive unit 10 and described second drive unit 11 be motor or motor all preferably.
Wherein, with reference to accompanying drawing 1-3, described first transmission component 8 comprises shaft coupling 81, main synchronizing wheel 84, from synchronizing wheel 82 and Timing Belt 83, described shaft coupling 81 one end connects described rolling lead screw upper end, and the other end connects described from synchronizing wheel 82; Described main synchronizing wheel 84 is connected by described Timing Belt 83 with described main synchronizing wheel 84, forms Timing Belt 83 transmission; Described main synchronizing wheel 84 is connected to the turning cylinder of described first drive unit 10, drives main synchronizing wheel 84 to rotate by described first drive unit 10, by described Timing Belt 83 transmission transfer motion power, described ball screw 1 is rotated.
Wherein, with reference to accompanying drawing 1-3, described second transmission component 9 comprises two drives 91, belt 92 and decelerator 93, described decelerator 93 is arranged at described second drive unit 11 and drive 91(B) between, make this drive 91(B) be in transmission connection with the second drive unit 11, this drive 91(B) be connected by described belt 92 with another drive 91 (A); Described second drive unit 11 drives decelerator 93 to rotate, and by described two drives 91 and belt 92 transfer motion power to described ball spline shaft 3, makes it to rotate in horizontal plane; Described ball spline nuts 5 is outer is also provided with bearing 6, this bearing 6 is installed on a fixed head 7, this bearing 6 described fix described ball spline nuts 5 and with the drive 91(A of described second transmission component 9 being positioned at its lower end) tightly lock and be connected, described second transmission component 9 drives this drive 91(A) rotate, make described bearing 6 rotate and drive described ball spline shaft 3 and ball spline nuts 5 to horizontally rotate.
Wherein, with reference to accompanying drawing 1-3, described linear guides 4 comprises two guide rails 41 and take-up housing 42, the axis of the parallel described ball screw 1 of described two guide rail 41 is arranged, described take-up housing 42 to be nested on described two guide rails 41 and to be connected with described ball screw nut 2, makes described ball screw nut 2 drive the steadily movement of described ball spline shaft 3 in the vertical direction.Further, described linear guides 4 is square ball line slideway.
Wherein, with reference to accompanying drawing 2-3, described ball screw 1 end also establishes the rolling assembly 12 be made up of bearing (not indicating in figure) and bearing holder (housing, cover) (not indicating in figure), described rolling assembly 12 is placed in the endoporus of described ball spline shaft 3, described ball spline shaft 3 is mated with described ball screw 1 by this rolling assembly 12 and is connected, described ball screw nut 2 moves down described ball screw 1 when upwards screwing out completely, intercepted by described rolling assembly 12, ensure that described ball spline shaft 3 begins to keep being connected with described ball screw 1.
The above not imposes any restrictions technical scope of the present invention, all above embodiment is done according to the technology of the present invention essence any amendment, equivalent variations and modification, all still belong in the scope of technical scheme of the present invention.
Claims (8)
1. a ZR shaft assembly for novel horizontal articulated manipulator, is characterized in that: comprise ball screw, and described ball screw upper end is connected with the first drive unit by the first transmission component; Described ball screw is equipped with ball screw nut; described ball screw nut lower end connects ball spline shaft; described ball spline shaft is provided with the hollow endoporus be inserted in for described ball screw; described ball screw can be movable be inserted in and screw out described endoporus, and described ball screw and described ball spline shaft keep coaxial arranges; Described ball screw nut is also connected with linear guides, and can move along described linear guides in the vertical direction; Described first drive unit drives described ball screw rotary motion, and described ball screw nut follows described ball screw rotary motion, and carries described ball spline shaft in the vertical direction and move; Described ball spline shaft is equipped with ball spline nuts, described ball spline shaft can move relative to described ball spline nuts in the vertical direction, described ball spline shaft is also connected with the second drive unit by the second transmission component, described second drive unit drives described ball spline shaft to horizontally rotate, and described ball spline nuts supports movement and the rotation of described rolling spline axle.
2. the ZR shaft assembly of a kind of novel horizontal articulated manipulator according to claim 1; it is characterized in that: described first transmission component comprise shaft coupling, main synchronizing wheel, from synchronizing wheel and Timing Belt; described shaft coupling one end connects described rolling lead screw upper end, and the other end connects described from synchronizing wheel; Described main synchronizing wheel is connected by described Timing Belt with described main synchronizing wheel, forms toothed belt transmission secondary; Described main synchronizing wheel is connected to the turning cylinder of described first drive unit, drives main synchronizing wheel to rotate by described first drive unit, is rotated by ball screw described in described toothed belt transmission auxiliary driving.
3. the ZR shaft assembly of a kind of novel horizontal articulated manipulator according to claim 1, it is characterized in that: described second transmission component comprises two drives, belt and decelerator, described decelerator is arranged between described second drive unit and a drive, this drive and the second drive unit are in transmission connection, this drive is connected by described belt with another drive, described second drive unit drives decelerator to rotate, by described two drives and a belt transmission power to described ball spline shaft, make it to rotate in horizontal plane.
4. the ZR shaft assembly of a kind of novel horizontal articulated manipulator according to claim 3, it is characterized in that: described ball spline nuts is also provided with bearing outward, this bearing is installed on a fixed head, this bearing described is fixed described ball spline nuts and is tightly locked with a drive of described second transmission component being positioned at its lower end and is connected, described second transmission component drives this drive to rotate, and makes described bearing rotate and drive described ball spline shaft and ball spline nuts to horizontally rotate.
5. the ZR shaft assembly of a kind of novel horizontal articulated manipulator according to claim 1, it is characterized in that: described linear guides comprises two guide rails and take-up housing, the axis of ball screw described in described two guide rail parallels is arranged, described take-up housing to be nested on described two guide rails and to be connected with described ball screw nut, makes described ball screw nut drive the steadily movement of described ball spline shaft in the vertical direction.
6. the ZR shaft assembly of a kind of novel horizontal articulated manipulator according to claim 1, is characterized in that: described linear guides is square ball line slideway.
7. the ZR shaft assembly of a kind of novel horizontal articulated manipulator according to claim 1, it is characterized in that: described ball screw end also establishes the rolling assembly be made up of bearing and bearing holder (housing, cover), described rolling assembly is placed in the endoporus of described ball spline shaft, described ball spline shaft is mated with described ball screw by this rolling assembly and is connected, described ball screw nut moves down described ball screw when upwards screwing out completely, intercepted by described rolling assembly, ensure that described ball spline shaft and described ball screw begin to keep being connected.
8. the ZR shaft assembly of a kind of novel horizontal articulated manipulator according to claim 1-7 any one, is characterized in that: described first drive unit and described second drive unit are motor or motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510734033.3A CN105269560A (en) | 2015-11-03 | 2015-11-03 | Novel ZR shaft assembly of horizontal multi-joint manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510734033.3A CN105269560A (en) | 2015-11-03 | 2015-11-03 | Novel ZR shaft assembly of horizontal multi-joint manipulator |
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| CN105269560A true CN105269560A (en) | 2016-01-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510734033.3A Pending CN105269560A (en) | 2015-11-03 | 2015-11-03 | Novel ZR shaft assembly of horizontal multi-joint manipulator |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106002996A (en) * | 2016-05-27 | 2016-10-12 | 胡高鹏 | Final motion rotating assembly of punching and pasting head |
| CN106272365A (en) * | 2016-11-10 | 2017-01-04 | 慧灵科技（深圳）有限公司 | A kind of flapping articulation robot Z and the drive mechanism of R axle |
| CN107433610A (en) * | 2017-09-15 | 2017-12-05 | 苏州瑞玛金属成型有限公司 | Manipulator is taken product automation device |
| CN107498546A (en) * | 2017-09-12 | 2017-12-22 | 慧灵科技（深圳）有限公司 | A kind of transmission mechanism and mechanical arm of flapping articulation robot Z and R axle |
| CN108436967A (en) * | 2017-02-16 | 2018-08-24 | 发那科株式会社 | Horizontal articulated robot and its inversion setting method |
| CN108750653A (en) * | 2018-07-17 | 2018-11-06 | 陕西科技大学 | A kind of multi-trace electric cam pick and place machine tool hand and its control method |
| CN110415968A (en) * | 2019-09-05 | 2019-11-05 | 珠海市科瑞思机械科技有限公司 | A kind of winding mechanism |
| CN111452020A (en) * | 2020-05-08 | 2020-07-28 | 深圳中科捷飞科技有限公司 | Unattended robot between metering room and valve group room and control method thereof |
| CN112875281A (en) * | 2021-01-20 | 2021-06-01 | 北京半导体专用设备研究所（中国电子科技集团公司第四十五研究所） | Rotation adjusting mechanism and transport manipulator of manipulator |
| CN114560419A (en) * | 2022-03-04 | 2022-05-31 | 昆山哲特机电科技有限公司 | Three-section lifting column with two solid ball screws |
| CN114560418A (en) * | 2022-03-04 | 2022-05-31 | 昆山哲特机电科技有限公司 | Four-section lifting column with three solid ball screws |
| CN116040307A (en) * | 2023-01-10 | 2023-05-02 | 上海狄兹精密机械股份有限公司 | ZR module |
| CN116269810A (en) * | 2023-02-24 | 2023-06-23 | 北京衔微医疗科技有限公司 | Master manipulator of master-slave type ophthalmic surgery robot with force feedback function |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106002996A (en) * | 2016-05-27 | 2016-10-12 | 胡高鹏 | Final motion rotating assembly of punching and pasting head |
| CN106272365A (en) * | 2016-11-10 | 2017-01-04 | 慧灵科技（深圳）有限公司 | A kind of flapping articulation robot Z and the drive mechanism of R axle |
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| CN108436967A (en) * | 2017-02-16 | 2018-08-24 | 发那科株式会社 | Horizontal articulated robot and its inversion setting method |
| CN107498546A (en) * | 2017-09-12 | 2017-12-22 | 慧灵科技（深圳）有限公司 | A kind of transmission mechanism and mechanical arm of flapping articulation robot Z and R axle |
| CN107433610A (en) * | 2017-09-15 | 2017-12-05 | 苏州瑞玛金属成型有限公司 | Manipulator is taken product automation device |
| CN108750653A (en) * | 2018-07-17 | 2018-11-06 | 陕西科技大学 | A kind of multi-trace electric cam pick and place machine tool hand and its control method |
| CN108750653B (en) * | 2018-07-17 | 2024-02-27 | 陕西科技大学 | Control method of multi-track electronic cam picking and placing manipulator |
| CN110415968B (en) * | 2019-09-05 | 2023-09-12 | 珠海市科瑞思机械科技有限公司 | Winding mechanism |
| CN110415968A (en) * | 2019-09-05 | 2019-11-05 | 珠海市科瑞思机械科技有限公司 | A kind of winding mechanism |
| CN111452020A (en) * | 2020-05-08 | 2020-07-28 | 深圳中科捷飞科技有限公司 | Unattended robot between metering room and valve group room and control method thereof |
| CN112875281A (en) * | 2021-01-20 | 2021-06-01 | 北京半导体专用设备研究所（中国电子科技集团公司第四十五研究所） | Rotation adjusting mechanism and transport manipulator of manipulator |
| CN114560419A (en) * | 2022-03-04 | 2022-05-31 | 昆山哲特机电科技有限公司 | Three-section lifting column with two solid ball screws |
| CN114560418A (en) * | 2022-03-04 | 2022-05-31 | 昆山哲特机电科技有限公司 | Four-section lifting column with three solid ball screws |
| CN114560419B (en) * | 2022-03-04 | 2024-05-17 | 昆山哲特机电科技有限公司 | Three-section lifting column with two solid ball screws |
| CN114560418B (en) * | 2022-03-04 | 2024-05-17 | 昆山哲特机电科技有限公司 | Four-section lifting column with three solid ball screws |
| CN116040307A (en) * | 2023-01-10 | 2023-05-02 | 上海狄兹精密机械股份有限公司 | ZR module |
| CN116040307B (en) * | 2023-01-10 | 2023-09-22 | 上海狄兹精密机械股份有限公司 | ZR module |
| CN116269810A (en) * | 2023-02-24 | 2023-06-23 | 北京衔微医疗科技有限公司 | Master manipulator of master-slave type ophthalmic surgery robot with force feedback function |
| CN116269810B (en) * | 2023-02-24 | 2023-12-22 | 北京衔微医疗科技有限公司 | Master manipulator of master-slave type ophthalmic surgery robot with force feedback function |
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Application publication date: 20160127 |
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| RJ01 | Rejection of invention patent application after publication |