CN109571442A - A kind of attachment device and transmission mechanism and robot with it - Google Patents
A kind of attachment device and transmission mechanism and robot with it Download PDFInfo
- Publication number
- CN109571442A CN109571442A CN201910028218.0A CN201910028218A CN109571442A CN 109571442 A CN109571442 A CN 109571442A CN 201910028218 A CN201910028218 A CN 201910028218A CN 109571442 A CN109571442 A CN 109571442A
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- China
- Prior art keywords
- connector
- attachment device
- connection
- connecting portion
- slidably matched
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
- 230000005540 biological transmission Effects 0.000 title claims abstract description 16
- 230000007246 mechanism Effects 0.000 title claims abstract description 15
- 229920001643 poly(ether ketone) Polymers 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 210000000707 wrist Anatomy 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a kind of attachment device and with its transmission mechanism and robot, attachment device includes sequentially connected first connector, connection ring and the second connector；First connector, connection ring and the second connector are equipped with the axis hole of coaxial arrangement；First connector and second connector can radially moving in the connection ring.The attachment device provided according to the present invention, first connector can be connected with the nut on screw axis, second connector is connected with connection component, by that can be relatively rotated between connection ring between first connector and the second connector, when splined shaft is by external force, screw axis and splined shaft can automatically adjust the depth of parallelism, and robot is made to run smoothly.
Description
Technical field
The present invention relates to robotic technology field, a kind of attachment device and transmission mechanism and robot with it.
Background technique
In modern industry, the mechanization of production process, automation have become theme outstanding, the appearance of robot and answer
With, make handling, carry, assembly etc. operations realize mechanization, automation.It is adapted to the automatic production line of the artificial core of machine
The flexible production developing direction of the multi items of modern manufacturing industry, small batch has a vast market development prospect and powerful
Vitality has developed a variety of automation outfits and product of production line towards industries such as automobile, electronics, machinery.
SCARA robot is a kind of horizontal articulated robot, and wrist part structure is most important to the performance of robot, mesh
There are two types of the structures that preceding SCARA robot wrist uses: a kind of to use ball screw spline shaft, the Standard is simple,
Precision is high, but structure is complicated, and price is high, and delivery cycle is long, increases the cost and Lead Time of robot, and control needs coupling
Close, difficulty is high: another kind is ball screw axis and the separated structure of ball spline shaft, which includes ball wire disposed in parallel
Bar axis and ball spline shaft, ball screw axis are connected with ball spline shaft by connection component, and ball screw passes through connection machine
Structure drives ball spline shaft to move up and down, and the structure is simple, and production cost is low, but to guarantee the precision of robot, it is necessary to protect
The two-part depth of parallelism is demonstrate,proved, but in assembly, when the depth of parallelism of screw axis and splined shaft has deviation, splined shaft is in motion process
In will receive external force, to increase the frictional force of transmission, reduce the performance of robot, influence reliability.
Summary of the invention
The first object of the present invention is to provide a kind of transmission mechanism, to solve existing ball screw axis and ball spline
Ball screw axis existing for the separated structure of axis and ball spline shaft parastate be difficult to ensure, the high problem of assembly difficulty.
To achieve the above object, technical solution proposed by the present invention is as follows: a kind of attachment device, including sequentially connected
A connection piece, connection ring and the second connector；First connector, connection ring and the second connector are equipped with coaxial arrangement
Axis hole；First connector and second connector can radially moving in the connection ring.
First connector can be connected by the attachment device provided according to the present invention with the nut on screw axis, by
Two connectors are connected with connection component, by that can be relatively rotated between connection ring between the first connector and the second connector,
When splined shaft is by external force, screw axis and splined shaft can automatically adjust the depth of parallelism, and robot is made to run smoothly.
In addition, a kind of attachment device according to the above embodiment of the present invention, can also have the following additional technical features:
An example according to the present invention, first connector are slidably matched with the connection ring, and/or, described
Two connectors are slidably matched with the connection ring.
An example according to the present invention, first connector are equipped at least one first connecting portion, first ring
Body is equipped at least one first auxiliary section, and the first connecting portion and first auxiliary section are slidably matched.
An example according to the present invention, the first connecting portion include protrusion, and first auxiliary section includes and protrusion
The groove being slidably matched；And/or the first connecting portion includes groove, first auxiliary section includes being slidably matched with groove
Protrusion.
An example according to the present invention, second connector are equipped at least one second connecting portion, second ring
Body is equipped at least one second auxiliary section, and the second connecting portion and second auxiliary section are slidably matched.
An example according to the present invention, the second connecting portion include protrusion, and second auxiliary section includes and protrusion
The groove being slidably matched；And/or the second connecting portion includes groove, second auxiliary section includes being slidably matched with groove
Protrusion.
An example according to the present invention, the material of the connection ring includes polyether-ketone.
The second object of the present invention is to provide a kind of transmission mechanism, including screw axis, splined shaft, connection component and such as power
Attachment device described in above-mentioned technical proposal；The screw axis and the splined shaft are arranged in parallel；The first of the attachment device
Connector is connected with the nut on the screw axis, the second connector and the described connection component one end phase of the attachment device
Connection；The other end of the connection component is connected with the splined shaft.
An example according to the present invention, the connection component include linking arm, first bearing and second bearing；The company
It connects arm one end and is connected by the first bearing with second connector, the other end passes through the second bearing and the flower
Key axis is connected.
The third object of the present invention is to provide a kind of robot, with driver as described in the above technical scheme
Structure.
The advantages of above additional aspect, will be set forth in part in the description, and partially will become from the following description bright
It is aobvious, or practice through the invention recognizes.
Detailed description of the invention
Fig. 1 is the explosive view of the attachment device of the embodiment of the present invention；
Fig. 2 is the structural schematic diagram of the transmission mechanism of the embodiment of the present invention.
In attached drawing, parts list represented by the reference numerals are as follows:
1, the first connector；2, connection ring；3, the second connector；4, first connecting portion；5, second connecting portion；6, second matches
Conjunction portion；7, plate-like portion；8, interconnecting piece；9, screw axis；10, splined shaft；11, connection component；12, linking arm；13, first bearing；
14, second bearing.
Embodiment
The principle and features of the present invention will be described below with reference to the accompanying drawings, and the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the invention.
Embodiment one
In conjunction with shown in attached drawing 1, a kind of attachment device, including sequentially connected first connector 1, company are present embodiments provided
Ring 2 and the second connector 3 are connect, the first connector 1, connection ring 2 and the second connector 3 have certain interconnection in the axial direction
Or spacing relation, since it is the prior art, the present embodiment is not to being described excessively herein.The present embodiment connects first
Axis hole is offered among fitting 1, connection ring 2 and the second connector 3, and the axis hole axle center of three is overlapped, so that dress will be connected
It sets and is socketed on screw axis 9 (the present embodiment attached drawing is not shown, and provides in example 2).
First connector 1 of the present embodiment consists of two parts, i.e. plate-like portion 7 and interconnecting piece 8 in Fig. 1,7 He of plate-like portion
Interconnecting piece 8 is equipped with axis hole, and interconnecting piece 8 is cylindrical and plate-like portion 7 is arranged in close to the side of connection ring 2, and interconnecting piece 8 is used for
Nut on connection wire rod axis,.
First connector 1 and the second connector 3 of the present embodiment can radially moving in connection ring 2 so that
A connection piece 1 and the second connector 3 can produce relative displacement, so that when splined shaft is by external force, screw axis and splined shaft
It can produce certain horizontal displacement, and then automatically adjust the depth of parallelism, robot is made to run smoothly.
Preferably, the connection ring 2 of the present embodiment is made of polyether-ketone (abbreviation PEK), the material have good toughness, just
Property and fatigue-resistance characteristics, sliding properties high abrasion resistance, can reduce the frictional force in motion process, improve the resistance to of connection ring 2
Mill property.
First ring body of the present embodiment and the connection type of the first connector 1 are: being equipped at least one in the first connector 1
First connecting portion 4 is equipped at least one first auxiliary section (not shown) in the first ring body, and first connecting portion 4 and first is matched
Conjunction portion is slidably matched；The first connecting portion 4 of the present embodiment and the quantity of the first auxiliary section are preferably two, and two first connections
Portion 4 is oppositely arranged；Similarly, the quantity of the first auxiliary section is also two, and two the first auxiliary sections settings are in the first ring body close to the
The side of a connection piece 1.
The first connecting portion 4 of the present embodiment includes protrusion, and the first auxiliary section includes the groove being slidably matched with protrusion；Or
It is that first connecting portion 4 includes groove, the first auxiliary section includes the protrusion matched with groove, naturally it is also possible to be first connecting portion
4 have protrusion and groove simultaneously, and the first auxiliary section has the groove matched with the protrusion and groove of first connecting portion simultaneously
And protrusion.Fit form structure using protrusion and groove is simple and easily processed into type.
Similarly, second connector 3 of the present embodiment is equipped at least one second connecting portion 5, and the first ring body is equipped at least one
A second auxiliary section 6, second connecting portion 5 and the second auxiliary section 6 are slidably matched.Second connecting portion 5 can be with first connecting portion knot
Configuration formula is identical, and the second auxiliary section 6 can be identical as the first auxiliary section structure type, and the present embodiment is to this without repeating.
Embodiment two
In conjunction with shown in attached drawing 2, a kind of transmission mechanism (wrist part structure i.e. described in background technology) is present embodiments provided,
It includes screw axis 9, splined shaft 10, connection component 11 and the attachment device as described in power above-mentioned technical proposal；Screw axis 9 and flower
Key axis 10 is arranged in parallel；First connector 1 of attachment device is fixedly connected with the nut on screw axis 9, and the second of attachment device
Connector 3 is connected with 11 one end of connection component, and the other end of connection component 11 is connected with splined shaft 10.
Specifically, the connection component 11 of the present embodiment includes linking arm 12, first bearing 13 and second bearing 14；This implementation
The linking arm 12 of example is in crank shape, and 12 one end of linking arm (upper end in figure) is connected by first bearing 13 with the second connector 3
It connects, the other end (lower end in figure) is connected by second bearing 14 with splined shaft 10.
The action process in transmission mechanism operational process of the present embodiment is as follows: the first electricity being connected with screw axis 9
Machine 18 drives screw axis 9 to rotate by shaft coupling (not shown), and screw axis 9 is driven on splined shaft 10 by connection component 11
Lower translational motion, to realize the upper and lower translation of end.Second motor (not shown) drives splined shaft 10 by belt pulley
Rotation realizes the rotation of 10 end of splined shaft, so as to adjust posture.
The transmission mechanism of the present embodiment is substantially the same with existing transmission mechanism, and difference, which is only that, to be increased in embodiment one
The attachment device, and since the technical effect of attachment device has provided in example 1, the present embodiment is without superfluous
It states.
Embodiment three
A kind of robot is present embodiments provided, there is the transmission mechanism as described in embodiment two；About robot its
His component is identical as existing horizontal articulated robot, therefore the present embodiment is without excessively describing.
In the description of the present invention, it is to be understood that, term " on ", "lower", "left", "right", "inner", "outside" etc. indicate
Orientation or positional relationship be based on the orientation or positional relationship shown in the drawings, be merely for convenience of description the present invention and simplification retouch
It states, rather than the device of indication or suggestion meaning must have a particular orientation, be constructed and operated in a specific orientation, Bu Nengli
Solution is limitation of the present invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicit includes one or more of the features.In the description of the present invention, the meaning of " plurality " is two or more, unless otherwise
Clear specific restriction.
In the present invention unless specifically defined or limited otherwise, the terms such as term " installation ", " connected ", " connection " are answered
It is interpreted broadly, for example, it may be being fixedly connected, may be a detachable connection, or is integral etc..For the common of this field
For technical staff, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (10)
1. a kind of attachment device, which is characterized in that including sequentially connected first connector (1), connection ring (2) and the second connection
Part (3)；First connector (1), connection ring (2) and the second connector (3) are equipped with the axis hole of coaxial arrangement；Described first
Connector (1) and second connector (3) can radially moving in the connection ring (2).
2. attachment device according to claim 1, which is characterized in that first connector (1) and the connection ring (2)
It is slidably matched, and/or, second connector (3) is slidably matched with the connection ring (2).
3. attachment device according to claim 2, which is characterized in that first connector (1) be equipped at least one the
One interconnecting piece (4), first ring body are equipped at least one first auxiliary section, and the first connecting portion (4) and described first is matched
Conjunction portion is slidably matched.
4. attachment device according to claim 3, which is characterized in that the first connecting portion (4) includes protrusion, and described the
One auxiliary section includes the groove being slidably matched with protrusion；And/or the first connecting portion (4) includes groove, first cooperation
Portion includes the protrusion being slidably matched with groove.
5. attachment device according to claim 2, which is characterized in that second connector (3) be equipped at least one the
Two interconnecting pieces (5), second ring body are equipped at least one second auxiliary section (6), the second connecting portion (5) and described second
Auxiliary section (6) is slidably matched.
6. attachment device according to claim 5, which is characterized in that the second connecting portion (5) includes protrusion, and described the
Two auxiliary sections (6) include the groove being slidably matched with protrusion；And/or the second connecting portion (5) includes groove, described second
Auxiliary section (6) includes the protrusion being slidably matched with groove.
7. attachment device according to claim 1-5, which is characterized in that the material of the connection ring (2) includes
Polyether-ketone.
8. a kind of transmission mechanism, which is characterized in that including screw axis (9), splined shaft (10), connection component (11) and as right is wanted
Seek the described in any item attachment devices of 1-7；The screw axis (9) and the splined shaft (10) are arranged in parallel；First connection
Part (1) is connected with the nut on the screw axis (9), second connector (3) and the connection component (11) one end phase
Connection；The other end of the connection component is connected with the splined shaft (10).
9. transmission mechanism according to claim 8, which is characterized in that the connection component (11) include linking arm (12),
First bearing (13) and second bearing (14)；Described linking arm (12) one end is connected by the first bearing (13) and described second
Fitting (3) is connected, and the other end is connected by the second bearing (14) with the splined shaft (10).
10. a kind of robot, which is characterized in that it is with transmission mechanism as claimed in claim 8 or 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910028218.0A CN109571442A (en) | 2019-01-11 | 2019-01-11 | A kind of attachment device and transmission mechanism and robot with it |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910028218.0A CN109571442A (en) | 2019-01-11 | 2019-01-11 | A kind of attachment device and transmission mechanism and robot with it |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109571442A true CN109571442A (en) | 2019-04-05 |
Family
ID=65916597
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910028218.0A Withdrawn CN109571442A (en) | 2019-01-11 | 2019-01-11 | A kind of attachment device and transmission mechanism and robot with it |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109571442A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006029400A (en) * | 2004-07-14 | 2006-02-02 | Asa Denshi Kogyo Kk | Hub for oldham's coupling, oldham's coupling and hub processing equipment |
| CN202732749U (en) * | 2012-08-22 | 2013-02-13 | 莱芜钢铁集团有限公司 | Slide block coupler |
| CN204382299U (en) * | 2014-12-22 | 2015-06-10 | 珠海格力电器股份有限公司 | SCARA robot shells structure and there is its SCARA robot |
| CN207915457U (en) * | 2018-03-08 | 2018-09-28 | 深圳市凡诚智能装备有限公司 | A kind of robot and four axis robots |
| CN108895093A (en) * | 2018-09-25 | 2018-11-27 | 珠海格力电器股份有限公司 | Cross slip-ring, sliding cross coupling and harmonic speed reducer |
| CN209887583U (en) * | 2019-01-11 | 2020-01-03 | 珠海格力电器股份有限公司 | Connecting device and have its drive mechanism and robot |
-
2019
- 2019-01-11 CN CN201910028218.0A patent/CN109571442A/en not_active Withdrawn
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006029400A (en) * | 2004-07-14 | 2006-02-02 | Asa Denshi Kogyo Kk | Hub for oldham's coupling, oldham's coupling and hub processing equipment |
| CN202732749U (en) * | 2012-08-22 | 2013-02-13 | 莱芜钢铁集团有限公司 | Slide block coupler |
| CN204382299U (en) * | 2014-12-22 | 2015-06-10 | 珠海格力电器股份有限公司 | SCARA robot shells structure and there is its SCARA robot |
| CN207915457U (en) * | 2018-03-08 | 2018-09-28 | 深圳市凡诚智能装备有限公司 | A kind of robot and four axis robots |
| CN108895093A (en) * | 2018-09-25 | 2018-11-27 | 珠海格力电器股份有限公司 | Cross slip-ring, sliding cross coupling and harmonic speed reducer |
| CN209887583U (en) * | 2019-01-11 | 2020-01-03 | 珠海格力电器股份有限公司 | Connecting device and have its drive mechanism and robot |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190405 |