CN107584485A - Plane articulation end effector of robot and plane articulation robot - Google Patents
Plane articulation end effector of robot and plane articulation robot Download PDFInfo
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- CN107584485A CN107584485A CN201710824278.4A CN201710824278A CN107584485A CN 107584485 A CN107584485 A CN 107584485A CN 201710824278 A CN201710824278 A CN 201710824278A CN 107584485 A CN107584485 A CN 107584485A
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- robot
- plane articulation
- end effector
- ball spline
- lifting motor
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- 238000005096 rolling process Methods 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 description 7
- 230000005611 electricity Effects 0.000 description 4
- 230000001360 synchronised effect Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Abstract
The invention discloses plane articulation end effector of robot and its plane articulation robot.The plane articulation end effector of robot includes：Ball spline screw mandrel；Lifting motor, the lifting motor include lifting motor stator and lifting motor rotor；Ball nut, the ball nut are fixedly connected with the lifting motor rotor, and the ball spline screw mandrel connects with the ball nut axle；Electric rotating machine, the electric rotating machine include rotary electric machine and rotary motor rotor；Ball spline is female, and the ball spline is female to be fixedly connected with the rotary motor rotor, and the ball spline screw mandrel connects with the ball spline mother's axle.Plane articulation end effector of robot of the present invention, using motor direct-drive, substantially reduces driving error, improves positioning precision；It is in light weight and complete machine structure is relatively simplified.
Description
Technical field
The present invention relates to articulated robot technical field, and in particular to plane articulation end effector of robot and plane
Articulated robot.
Background technology
Existing plane articulation robot end is substantially electric rotating machine and coordinates speed reducer drive, same using motor belt motor up and down
Step V belt translation or screw mandrel push away ball spline movement.And plane articulation robot end typically require positioning precision is high, speed is fast,
Moment of torsion is big, in light weight.By way of reductor coordinates transmission, driving error be present, therefore positioning precision will receive influence；
And make it that main screw lift is bigger using drive mechanism, structure is more complicated, is increasingly difficult in adapt to for robot end's
It is required that.
The content of the invention
Based on this, the present invention provides a kind of plane articulation end effector of robot, and it uses motor direct-drive, significantly
Driving error is reduced, improves positioning precision；It is in light weight and complete machine structure is relatively simplified.
The present invention also provides a kind of plane articulation robot.
In order to realize the purpose of the present invention, the present invention uses following technical scheme：
A kind of plane articulation end effector of robot, including：
Ball spline screw mandrel；
Lifting motor, the lifting motor include lifting motor stator and lifting motor rotor；
Ball nut, the ball nut are fixedly connected with the lifting motor rotor, the ball spline screw mandrel and institute
Ball nut axle is stated to connect；
Electric rotating machine, the electric rotating machine include rotary electric machine and rotary motor rotor；
Ball spline is female, and the ball spline is female to be fixedly connected with the rotary motor rotor, the ball spline screw mandrel
Connect with the ball spline mother's axle.
Above-mentioned plane articulation end effector of robot, ball nut rotation is driven so that screw mandrel by lifting motor
Move up and down, the female rotation of ball spline is driven by electric rotating machine so that ball spline screw mandrel rotary motion, is so used same
Step transmission, no reductor design, reduces driving error, substantially increases positioning precision；The end effector of the structure, structure ratio
Relatively simplify, its weight significantly mitigates, and preferably meets the requirement of plane articulation robot end.
In wherein some embodiments, the plane articulation end effector of robot also includes a shell and upper end cover
With bottom end cover, the shell, upper end cover and bottom end cover are collectively forming host cavity, the lifting motor, ball nut, electric rotating machine
And ball spline mother is contained in the host cavity, the lifting motor stator and the rotary electric machine with it is described
Cage connection.
In wherein some embodiments, the side wall of the shell is provided with a connecting pole, and the connecting pole is used for and machine
Other positions connection of people.
In wherein some embodiments, the side wall of the shell is provided with a projection, and the connecting pole connects with the projection
Connect.
In wherein some embodiments, the ball nut is fixedly connected with the lifting motor rotor by connector.
In wherein some embodiments, the connector is screw.
In wherein some embodiments, female fixed with the rotary motor rotor by connector of the ball spline connects
Connect.
In wherein some embodiments, the connector is screw.
The present invention also provides following technical scheme：
A kind of plane articulation robot, it includes described plane articulation end effector of robot.
In wherein some embodiments, the plane articulation robot includes joint, the plane articulation robot end
Actuator is connected with the joint.
Brief description of the drawings
Fig. 1 is the structural representation of plane articulation end effector of robot described in a preferred embodiment of the present invention；
Fig. 2 is the decomposed structural representation of plane articulation end effector of robot described in Fig. 1；
Fig. 3 is the structural representation at another visual angle of plane articulation end effector of robot described in Fig. 2；
Fig. 4 is the profile of plane articulation end effector of robot described in Fig. 1；
Fig. 5 is the structural representation of plane articulation robot described in a preferred embodiment of the present invention.
Embodiment
For the ease of understanding the present invention, the present invention is described more fully below with reference to relevant drawings.In accompanying drawing
Give presently preferred embodiments of the present invention.But the present invention can realize in many different forms, however it is not limited to this paper institutes
The embodiment of description.On the contrary, the purpose for providing these embodiments is to make the understanding to the disclosure more thorough
Comprehensively.
It should be noted that when element is referred to as " being fixed on " another element, it can be directly on another element
Or there may also be element placed in the middle.When an element is considered as " connection " another element, it can be directly connected to
To another element or it may be simultaneously present centering elements.
Unless otherwise defined, all of technologies and scientific terms used here by the article is with belonging to technical field of the invention
The implication that technical staff is generally understood that is identical.Term used in the description of the invention herein is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.
Embodiment
Fig. 1 to Fig. 4 is refer to, plane articulation end effector of robot 100 of the present invention, it includes ball spline
Screw mandrel 10, lifting motor 20, ball nut 30, electric rotating machine 40 and ball spline mother 50.Wherein, lifting motor 20 includes rising
Motor stator 21 and lifting motor rotor 22 drop, and electric rotating machine 40 includes rotary electric machine 41 and rotary motor rotor 42, rolling
Pearl nut 30 is connected with lifting motor rotor 22, and ball spline screw mandrel 10 connects with the axle of ball nut 30 so that 20 turns of lifting motor
When dynamic, the rotation of driving ball spline screw mandrel 10 moves up and down.Rotary motor rotor 42 is connected with ball spline mother 50, ball spline
Screw mandrel 10 connects with female 50 axles of ball spline so that when electric rotating machine 40 rotates, driving ball spline screw mandrel 10 rotates.
Above-mentioned plane articulation end effector of robot 100, operating principle are：
Action 1：Lifting motor 20 is rotated, and electricity is kept on electric rotating machine 40, and now ball nut 30 revolves with lifting motor 20
Turn, ball spline mother 50 is kept not turning, and ball spline screw mandrel 10 is driven same with the direction of rotation of lifting motor 20 by ball nut 30
Step moves up and down.This motion state is applied to lifting and processed.
Action 2：Electricity is kept on lifting motor 20, and electricity rotation on electric rotating machine 40, now ball spline mother 50 is with electric rotating
Machine 40 rotates, and ball nut 30 keeps not turning, and ball spline screw mandrel 10 is with electric rotating machine direction of rotation synchronous rotary, due to ball
Nut 30 keeps not turning, and ball spline screw mandrel 10 can move by a small margin up and down when rotating.This motion state be applied to rotation and it is small
Width lifting processing.
Action 3：Lifting motor 20 is rotated with the synchronous backward of electric rotating machine 40 by certain rotary proportional, electric rotating
On machine 40 during electricity rotation, ball spline mother 50 rotates with electric rotating machine 40, and ball spline screw mandrel 10 is with electric rotating machine direction of rotation
Synchronous rotary, while can move by a small margin up and down；Lifting motor 20 reversely rotates, and ball nut 30 rotates with lifting motor 20,
Ball spline screw mandrel 10 is with ball nut counter motion about 30, hereby it is achieved that 10 rotations of ball spline screw mandrel.This motion shape
State is applied to rotation and processed.Above-mentioned rotary proportional is that moment of torsion is different when lifting motor 20 rotates from electric rotating machine 40.
Above-mentioned plane articulation end effector of robot 100, by lifting motor drive ball nut rotation so that
Screw mandrel is moved up and down, and the female rotation of ball spline is driven so that ball spline screw mandrel rotary motion, is so adopted by electric rotating machine
With Synchronous Transmission, no reductor design, driving error is reduced, substantially increases positioning precision；The end effector of the structure, knot
Structure is relatively simplified, and its weight significantly mitigates, and preferably meets the requirement of plane articulation robot end.
In a wherein embodiment, ball nut 30 is fixedly connected with lifting motor rotor 22 by a connection piece.At this
In embodiment, the connector is screw.
In a wherein embodiment, ball spline mother 50 is fixedly connected with rotary motor rotor 42 by a connection piece.
In the present embodiment, the connector is screw.
Above-mentioned fixed connection structure so that ball spline mother 50 can be stably rotated with ball nut 30.
Fig. 1 to Fig. 4 is continued referring to, further, the plane articulation end effector of robot 100 also includes a shell
60 and upper end cover 70 and bottom end cover 80, shell 60, upper end cover 70 and bottom end cover 80 are collectively forming a host cavity, above-mentioned lifting
Motor 20, ball nut 30, electric rotating machine 40 and ball spline mother 50 are contained in above-mentioned host cavity so that the execution
The profile of device 100 is more simplified.Lifting motor stator 21 is fixedly connected with rotary electric machine 41 with shell 60, is carried out by shell
It is fixedly connected.
Fig. 1 to Fig. 3 is refer to, further, a connecting pole 61 is provided with the side wall of shell 60, the connecting pole 61 is used for
It is connected with other positions of robot.For example, connecting pole 61 is connected with the rotary joint of articulated robot.Yet further,
A projection 62 is provided with the side wall of shell 60, connecting pole 61 is connected with projection 62, so that the design structure of connecting pole 61
It is more stable.
Fig. 5 is refer to, the present invention also protects a kind of plane articulation robot 200, and it includes above-mentioned plane articulation machine
People's end effector 100.
Specifically, plane articulation robot 200 includes the first joint 201 and second joint 202, plane articulation robot end
End actuator 100 is connected with the first above-mentioned joint 201 by the first joint connector 203, the joint of second joint 202 and first
201 are connected by second joint connector 204.In the present embodiment, the first joint connector 203 and end effector of robot
The connecting pole 61 of 100 shell 60 connects.
Embodiment described above only expresses the several embodiments of the present invention, and its description is more specific and detailed, but simultaneously
Therefore the limitation to the scope of the claims of the present invention can not be interpreted as.It should be pointed out that for one of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the guarantor of the present invention
Protect scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
- A kind of 1. plane articulation end effector of robot, it is characterised in that including：Ball spline screw mandrel；Lifting motor, the lifting motor include lifting motor stator and lifting motor rotor；Ball nut, the ball nut are fixedly connected with the lifting motor rotor, the ball spline screw mandrel and the rolling Pearl nut shaft connects；Electric rotating machine, the electric rotating machine include rotary electric machine and rotary motor rotor；Ball spline is female, and the ball spline is female to be fixedly connected with the rotary motor rotor, the ball spline screw mandrel and institute Ball spline mother's axle is stated to connect.
- 2. plane articulation end effector of robot according to claim 1, it is characterised in that：The plane articulation machine People's end effector also includes a shell and upper end cover and bottom end cover, and the shell, upper end cover and bottom end cover are collectively forming receipts Cavity volume, the lifting motor, ball nut, electric rotating machine and ball spline mother are contained in the host cavity, the liter Drop motor stator and the rotary electric machine with the cage connection.
- 3. plane articulation end effector of robot according to claim 2, it is characterised in that：In the side wall of the shell Provided with a connecting pole, the connecting pole is used to be connected with other positions of robot.
- 4. plane articulation end effector of robot according to claim 3, it is characterised in that：In the side wall of the shell Provided with a projection, the connecting pole is connected with the projection.
- 5. plane articulation end effector of robot according to claim 1, it is characterised in that：The ball nut and institute Lifting motor rotor is stated to be fixedly connected by connector.
- 6. plane articulation end effector of robot according to claim 5, it is characterised in that：The connector is spiral shell Nail.
- 7. plane articulation end effector of robot according to claim 1, it is characterised in that：The ball spline it is female with The rotor of the electric rotating machine is fixedly connected by connector.
- 8. plane articulation end effector of robot according to claim 7, it is characterised in that：The connector is spiral shell Nail.
- 9. a kind of plane articulation robot, it is characterised in that including the plane articulation machine described in any one of claim 1~8 People's end effector.
- 10. plane articulation robot according to claim 9, it is characterised in that：The plane articulation robot includes closing Section, the plane articulation end effector of robot are connected with the joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710824278.4A CN107584485A (en) | 2017-09-13 | 2017-09-13 | Plane articulation end effector of robot and plane articulation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710824278.4A CN107584485A (en) | 2017-09-13 | 2017-09-13 | Plane articulation end effector of robot and plane articulation robot |
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| Publication Number | Publication Date |
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| CN107584485A true CN107584485A (en) | 2018-01-16 |
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| CN201710824278.4A Pending CN107584485A (en) | 2017-09-13 | 2017-09-13 | Plane articulation end effector of robot and plane articulation robot |
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Citations (6)
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| JP2005073320A (en) * | 2003-08-28 | 2005-03-17 | Nsk Ltd | Motor built-in type ball screw device |
| JP2007044838A (en) * | 2005-08-11 | 2007-02-22 | Toshiba Mach Co Ltd | Industrial robot |
| CN101850435A (en) * | 2009-04-01 | 2010-10-06 | 德阳嘉龙机械制造有限公司 | X-shaft ball screw nut transmission mechanism of numerical control floor type boring and milling machine |
| CN105619395A (en) * | 2016-03-07 | 2016-06-01 | 单家正 | Economical robot wrist structure for selective compliance assembly robot arm (SCARA) |
| US20160221197A1 (en) * | 2015-01-30 | 2016-08-04 | Irobot Corporation | Robotic Arm and Wrist Mechanisms |
| CN207290105U (en) * | 2017-09-13 | 2018-05-01 | 深圳市卓博机器人有限公司 | Plane articulation end effector of robot and plane articulation robot |
-
2017
- 2017-09-13 CN CN201710824278.4A patent/CN107584485A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005073320A (en) * | 2003-08-28 | 2005-03-17 | Nsk Ltd | Motor built-in type ball screw device |
| JP2007044838A (en) * | 2005-08-11 | 2007-02-22 | Toshiba Mach Co Ltd | Industrial robot |
| CN101850435A (en) * | 2009-04-01 | 2010-10-06 | 德阳嘉龙机械制造有限公司 | X-shaft ball screw nut transmission mechanism of numerical control floor type boring and milling machine |
| US20160221197A1 (en) * | 2015-01-30 | 2016-08-04 | Irobot Corporation | Robotic Arm and Wrist Mechanisms |
| CN105619395A (en) * | 2016-03-07 | 2016-06-01 | 单家正 | Economical robot wrist structure for selective compliance assembly robot arm (SCARA) |
| CN207290105U (en) * | 2017-09-13 | 2018-05-01 | 深圳市卓博机器人有限公司 | Plane articulation end effector of robot and plane articulation robot |
Non-Patent Citations (1)
| Title |
|---|
| 林恒;谈士力;陈凯;龙秀兵;: "基于模块化的SCARA机器人结构设计与优化", 工业控制计算机, no. 03 * |
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