CN201970315U - Third and fourth joint mechanisms of planar joint robot - Google Patents
Third and fourth joint mechanisms of planar joint robot Download PDFInfo
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- CN201970315U CN201970315U CN2011200691266U CN201120069126U CN201970315U CN 201970315 U CN201970315 U CN 201970315U CN 2011200691266 U CN2011200691266 U CN 2011200691266U CN 201120069126 U CN201120069126 U CN 201120069126U CN 201970315 U CN201970315 U CN 201970315U
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Abstract
The utility model discloses third and fourth joint mechanisms of planar joint robot which are installed on forearms of the robot and comprise a lead screw spline shaft, a third joint mechanism and a fourth joint mechanism; the third joint mechanism comprises a third joint driver, a third joint transmission component and a lead screw nut which is connected with the lead screw spline shaft in a thread manner; the third joint driver is connected with the lead screw nut via the third joint transmission component; the fourth joint mechanism comprises a fourth joint driver, a fourth joint transmission component and a spline nut which is connected with a key slot of the lead screw spline shaft; the fourth joint driver is connected with the spline nut via the fourth joint transmission component. Compared with conventional planar joint robot, the third and fourth joint mechanisms of the utility model are compact by adopting lead screw ball spline integrated shaft so that weight and inertia of the main body are reduced and dynamic characteristic of the mechanical arm is improved; meanwhile, the utility model is simple and convenient in mounting and smooth in motion so as to improve control precision of the mechanical arm and reduce error.
Description
Technical field
The utility model relates to the industrial robot field, three or four articulation mechanisms of particularly a kind of plane articulation robot.
Background technology
Usually, the plane articulation robot has four axles and four freedoms of motion, it is respectively the translational degree of freedom of X, Y, Z direction and around the rotary freedom (can be described as the R axle) of Z axle, therefore front-end architecture can move arbitrarily in two dimensional surface, it have in vertical direction high rigidity and the feature of the low rigidity (compliance) in horizontal plane, but the main this special compliance that except for it had in practical operation, but because it more can realize the motion that two dimensional surface is interior simply, thereby it is generally adopted in assembling work.
Three, four joints of the plane articulation robot of traditional structure are respectively main shaft and vertical rectilinear motion is provided and rotatablely moves, and wherein the 3rd vertical rectilinear motion is provided by ball-screw, and the 4th rotation is provided by ball spline.Traditional structure has following deficiency: because the forearm end has been used ball-screw and ball spline simultaneously, complex structure increases this body weight and inertia.And because ball-screw and ball spline installation requirement height must cause the precision of system to reduce like this.
The utility model content
The purpose of this utility model is to overcome the deficiencies in the prior art, three or four articulation mechanisms of a kind of plane articulation robot are provided, this mechanism simplifying the structure of plane articulation robot three or four articulation mechanisms, effectively alleviate the weight and the inertia of robot body, thereby improve the dynamic characteristics of mechanical arm.
The technical solution of the utility model is: three or four articulation mechanisms of a kind of plane articulation robot, be located on the forearm of robot, and comprise leading screw splined shaft, the 3rd articulation mechanism and the 4th articulation mechanism; Wherein, the 3rd articulation mechanism comprises the 3rd articulated driving equipment, the 3rd joint transmission component and feed screw nut, and feed screw nut is threaded with leading screw splined shaft periphery, and the 3rd articulated driving equipment is connected with feed screw nut by the 3rd joint transmission component; The 4th articulation mechanism comprises the 4th articulated driving equipment, the 4th joint transmission component and splined nut, and splined nut is connected with leading screw splined shaft periphery keyway, and the 4th articulated driving equipment is connected with splined nut by the 4th joint transmission component.Wherein, the 3rd articulation mechanism is realized the Z axle motion of leading screw splined shaft, i.e. the elevating movement of leading screw splined shaft, and the 4th articulation mechanism is realized the R axle motion of leading screw splined shaft, promptly the leading screw splined shaft rotatablely moves.
In described the 3rd articulation mechanism, the 3rd joint transmission component comprises the 3rd joint active synchronization wheel, the 3rd joint band and the driven synchronizing wheel in the 3rd joint synchronously, the 3rd joint active synchronization wheel is located at the output of the 3rd articulated driving equipment, be with synchronously by the 3rd joint between the 3rd joint active synchronization wheel and the driven synchronizing wheel in the 3rd joint to be connected, the driven synchronizing wheel in the 3rd joint is fixedlyed connected with feed screw nut by screw.
Gearratio between described the 3rd joint active synchronization wheel and the driven synchronizing wheel in the 3rd joint is 1: 1.
Described the 3rd articulated driving equipment is provided with the 3rd knuckle support, with installing and fixing of convenient the 3rd articulated driving equipment.
In described the 4th articulation mechanism, the 4th joint transmission component comprises the 4th joint one-level active synchronization wheel, the 4th joint one-level is with synchronously, the driven synchronizing wheel of the 4th joint one-level, deboost axle, the 4th joint secondary active synchronization wheel, the 4th joint secondary is band and the driven synchronizing wheel of the 4th joint secondary synchronously, the 4th joint one-level active synchronization wheel is located at the output of the 4th articulated driving equipment, be with synchronously by the 4th joint one-level between the 4th joint one-level active synchronization wheel and the driven synchronizing wheel of the 4th joint one-level and be connected, the driven synchronizing wheel of the 4th joint one-level passes through the coaxial setting of deboost axle between taking turns with the 4th joint secondary active synchronization, be with synchronously by the 4th joint secondary between the 4th joint secondary active synchronization wheel and the driven synchronizing wheel of the 4th joint secondary to be connected, the driven synchronizing wheel of the 4th joint secondary is fixedlyed connected with splined nut by screw.
Gearratio between described the 4th joint one-level active synchronization wheel and the driven synchronizing wheel of the 4th joint one-level is 5: 1, gearratio between the 4th joint secondary active synchronization wheel and the driven synchronizing wheel of the 4th joint secondary is 3: 1, and the resultant gear ratio between the 4th joint one-level active synchronization wheel and the driven synchronizing wheel of the 4th joint secondary is 15: 1.
Described deboost axle is fixed on the forearm of robot, and the deboost axle top is provided with nut, and the forearm touching position of deboost axle and robot is respectively equipped with on the deboost axle deep groove ball bearing under the deep groove ball bearing and deboost axle, and nut can adopt little round nut.
Described the 4th articulated driving equipment bottom is provided with the 4th joint flange, and fixedlys connected with the forearm of robot by the 4th joint flange.
The described leading screw splined shaft outside is provided with ball-screw spline support, and ball-screw spline support is fixed on the forearm of robot, ball-screw spline support can be preferably fixedly feed screw nut and splined nut.
When three or four articulation mechanisms of this plane articulation robot used, its operation principle is: the motion mode of leading screw end depended on the rotation situation of feed screw nut and splined nut; When the feed screw nut revolution was only arranged, the terminal linearity of doing of leading screw moved, and the direction of linear movement depends on the gyratory directions of feed screw nut; When feed screw nut and splined nut were done the constant speed revolution, the leading screw end just had only gyration; When the splined nut revolution was only arranged, leading screw splined shaft end was for the helical movement.
The utility model has following beneficial effect with respect to prior art:
Three or four articulation mechanisms of this plane articulation robot use ball-screw ball spline one axon, make that the three or four articulation mechanism is more compact than the three or four articulation mechanism of conventional planar articulated robot.Because mechanism's compactness can alleviate this body weight and inertia, thereby improve the dynamic characteristics of mechanical arm; Because of the compact simple installation of mechanism, motion is smooth simultaneously, therefore improves the control accuracy of mechanical arm, the minimizing error.
Description of drawings
Fig. 1 is the structural representation of three or four articulation mechanisms of this plane articulation robot.
Fig. 2 is that the A-A of Fig. 1 is to view.
Fig. 3 is that the B-B of Fig. 1 is to view.
The specific embodiment
Below in conjunction with embodiment and accompanying drawing, the utility model is described in further detail, but embodiment of the present utility model is not limited thereto.
Embodiment
Three or four articulation mechanisms of a kind of plane articulation of present embodiment robot are located on the forearm of robot, and its structure comprises leading screw splined shaft 10, the 3rd articulation mechanism and the 4th articulation mechanism shown in Fig. 1～3; Wherein, the 3rd articulation mechanism comprises the 3rd articulated driving equipment 5, the 3rd joint transmission component and feed screw nut 12, feed screw nut 12 is threaded with leading screw splined shaft 10 peripheries, and the 3rd articulated driving equipment 5 is connected with feed screw nut 12 by the 3rd joint transmission component; The 4th articulation mechanism comprises the 4th articulated driving equipment 2, the 4th joint transmission component and splined nut 13, and splined nut 13 is connected with leading screw splined shaft 10 periphery keyways, and the 4th articulated driving equipment 2 is connected with splined nut 13 by the 4th joint transmission component.Wherein, the 3rd articulation mechanism is realized the Z axle motion of leading screw splined shaft, i.e. the elevating movement of leading screw splined shaft 10, and the 4th articulation mechanism is realized the R axle motion of leading screw splined shaft 10, promptly leading screw splined shaft 10 rotatablely moves.
In the 3rd articulation mechanism, the 3rd joint transmission component comprises that the 3rd joint active synchronization wheel the 3, the 3rd joint is with the driven synchronizing wheel 11 in the 7 and the 3rd joint synchronously, the 3rd joint active synchronization wheel 3 is located at the output of the 3rd articulated driving equipment 5, be with 7 to be connected synchronously by the 3rd joint between the 3rd joint active synchronization wheel 3 and the driven synchronizing wheel 11 in the 3rd joint, the driven synchronizing wheel 11 in the 3rd joint is fixedlyed connected with feed screw nut 12 by screw.
Gearratio between the driven synchronizing wheel 11 in active synchronization wheel the 3 and the 3rd joint, the 3rd joint is 1: 1.
The 3rd articulated driving equipment 5 is provided with the 3rd knuckle support 4, with installing and fixing of convenient the 3rd articulated driving equipment 5.
In the 4th articulation mechanism, the 4th joint transmission component comprises the 4th joint one-level active synchronization wheel 21, the 4th joint one-level is with 20 synchronously, the driven synchronizing wheel 19 of the 4th joint one-level, deboost axle 16, the 4th joint secondary active synchronization wheel 17, the 4th joint secondary is with the driven synchronizing wheel 14 of the 15 and the 4th joint secondary synchronously, the 4th joint one-level active synchronization wheel 21 is located at the output of the 4th articulated driving equipment 2, be with 20 to be connected synchronously by the 4th joint one-level between the 4th joint one-level active synchronization wheel 21 and the driven synchronizing wheel 19 of the 4th joint one-level, the driven synchronizing wheel 19 of the 4th joint one-level passes through deboost axle 16 coaxial settings between taking turns 21 with the 4th joint secondary active synchronization, be with 15 to be connected synchronously by the 4th joint secondary between the 4th joint secondary active synchronization wheel 17 and the driven synchronizing wheel 14 of the 4th joint secondary, the driven synchronizing wheel 14 of the 4th joint secondary is fixedlyed connected with splined nut 13 by screw.
Gearratio between the driven synchronizing wheel 19 of the 4th joint one-level active synchronization wheel the 21 and the 4th joint one-level is 5: 1, gearratio between the driven synchronizing wheel 14 of the 4th joint secondary active synchronization wheel the 17 and the 4th joint secondary is 3: 1, and the resultant gear ratio between the driven synchronizing wheel 14 of the 4th joint one-level active synchronization wheel the 21 and the 4th joint secondary is 15: 1.
Deboost axle 16 is fixed on the forearm 22 of robot, and deboost axle 16 tops are provided with nut 6, and forearm 22 touching positions of deboost axle 16 and robot are respectively equipped with on the deboost axle deep groove ball bearing 18 under the deep groove ball bearing 8 and deboost axle, and nut 6 can adopt little round nut.
The 4th articulated driving equipment 2 bottoms are provided with the 4th joint flange 1, and fixedly connected with the forearm 22 of robot by the 4th joint flange 1.
Leading screw splined shaft 10 outsides are provided with ball-screw spline support 9, and ball-screw spline support 9 is fixed on the forearm 22 of robot, ball-screw spline support 9 can be preferably fixedly feed screw nut 12 and splined nut 13.
When three or four articulation mechanisms of this plane articulation robot used, its operation principle is: the motion mode of leading screw 10 ends depended on the rotation situation of feed screw nut 12 and splined nut 13; When feed screw nut 12 revolutions were only arranged, the leading screw 10 terminal linearities of doing moved, and the direction of linear movement is decided by the gyratory directions of feed screw nut 12; When feed screw nut 12 and splined nut 13 were done the constant speed revolution, leading screw 10 ends just had only gyration; When splined nut 12 revolutions were only arranged, leading screw splined shaft 10 was terminal for the helical movement.
Each parameter of present embodiment midplane articulated robot is as follows:
Little arm lengths: 350mm;
Forearm quality: 11.0384kg;
Forearm rotary inertia: 0.223kg.m
2
The 3rd joint action scope: 200mm;
The 4th joint action scope: ± 360 °;
The 3rd joint maximal rate: 1000mm/sec;
The 4th joint maximal rate: 1200 °/sec;
The 3rd joint repetitive positioning accuracy: ± 0.02mm;
The 4th joint repetitive positioning accuracy: ± 0.03 °.
As mentioned above, just can realize the utility model preferably, the foregoing description is preferred embodiment of the present utility model only, is not to be used for limiting practical range of the present utility model; Be that all equalizations of being done according to the utility model content change and modification, all contained by the utility model claim scope required for protection.
Claims (9)
1. three or four articulation mechanisms of a plane articulation robot are located on the forearm of robot, it is characterized in that, comprise leading screw splined shaft, the 3rd articulation mechanism and the 4th articulation mechanism; Wherein, the 3rd articulation mechanism comprises the 3rd articulated driving equipment, the 3rd joint transmission component and feed screw nut, and feed screw nut is threaded with leading screw splined shaft periphery, and the 3rd articulated driving equipment is connected with feed screw nut by the 3rd joint transmission component; The 4th articulation mechanism comprises the 4th articulated driving equipment, the 4th joint transmission component and splined nut, and splined nut is connected with leading screw splined shaft periphery keyway, and the 4th articulated driving equipment is connected with splined nut by the 4th joint transmission component.
2. according to three or four articulation mechanisms of the described a kind of plane articulation of claim 1 robot, it is characterized in that, in described the 3rd articulation mechanism, the 3rd joint transmission component comprises the 3rd joint active synchronization wheel, the 3rd joint band and the driven synchronizing wheel in the 3rd joint synchronously, the 3rd joint active synchronization wheel is located at the output of the 3rd articulated driving equipment, be with synchronously by the 3rd joint between the 3rd joint active synchronization wheel and the driven synchronizing wheel in the 3rd joint to be connected, the driven synchronizing wheel in the 3rd joint is fixedlyed connected with feed screw nut by screw.
3. according to three or four articulation mechanisms of the described a kind of plane articulation of claim 2 robot, it is characterized in that the gearratio between described the 3rd joint active synchronization wheel and the driven synchronizing wheel in the 3rd joint is 1: 1.
4. according to three or four articulation mechanisms of the described a kind of plane articulation of claim 1 robot, it is characterized in that described the 3rd articulated driving equipment is provided with the 3rd knuckle support.
5. according to three or four articulation mechanisms of the described a kind of plane articulation of claim 1 robot, it is characterized in that, in described the 4th articulation mechanism, the 4th joint transmission component comprises the 4th joint one-level active synchronization wheel, the 4th joint one-level is with synchronously, the driven synchronizing wheel of the 4th joint one-level, deboost axle, the 4th joint secondary active synchronization wheel, the 4th joint secondary is band and the driven synchronizing wheel of the 4th joint secondary synchronously, the 4th joint one-level active synchronization wheel is located at the output of the 4th articulated driving equipment, be with synchronously by the 4th joint one-level between the 4th joint one-level active synchronization wheel and the driven synchronizing wheel of the 4th joint one-level and be connected, the driven synchronizing wheel of the 4th joint one-level passes through the coaxial setting of deboost axle between taking turns with the 4th joint secondary active synchronization, be with synchronously by the 4th joint secondary between the 4th joint secondary active synchronization wheel and the driven synchronizing wheel of the 4th joint secondary to be connected, the driven synchronizing wheel of the 4th joint secondary is fixedlyed connected with splined nut by screw.
6. according to three or four articulation mechanisms of the described a kind of plane articulation of claim 5 robot, it is characterized in that, gearratio between described the 4th joint one-level active synchronization wheel and the driven synchronizing wheel of the 4th joint one-level is 5: 1, gearratio between the 4th joint secondary active synchronization wheel and the driven synchronizing wheel of the 4th joint secondary is 3: 1, and the resultant gear ratio between the 4th joint one-level active synchronization wheel and the driven synchronizing wheel of the 4th joint secondary is 15: 1.
7. according to three or four articulation mechanisms of the described a kind of plane articulation of claim 5 robot, it is characterized in that, described deboost axle is fixed on the forearm of robot, the deboost axle top is provided with nut, and the forearm touching position of deboost axle and robot is respectively equipped with on the deboost axle deep groove ball bearing under the deep groove ball bearing and deboost axle.
8. according to three or four articulation mechanisms of the described a kind of plane articulation of claim 1 robot, it is characterized in that described the 4th articulated driving equipment bottom is provided with the 4th joint flange, and fixedlys connected with the forearm of robot by the 4th joint flange.
9. according to three or four articulation mechanisms of the described a kind of plane articulation of claim 1 robot, it is characterized in that the described leading screw splined shaft outside is provided with ball-screw spline support, and ball-screw spline support is fixed on the forearm of robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN2011200691266U CN201970315U (en) | 2011-03-16 | 2011-03-16 | Third and fourth joint mechanisms of planar joint robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011200691266U CN201970315U (en) | 2011-03-16 | 2011-03-16 | Third and fourth joint mechanisms of planar joint robot |
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| CN201970315U true CN201970315U (en) | 2011-09-14 |
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| CN103495971A (en) * | 2013-06-06 | 2014-01-08 | 合肥工业大学 | Five degree-of-freedom combined robot platform |
| CN103624794A (en) * | 2013-04-27 | 2014-03-12 | 张家港诺信自动化设备有限公司 | Scara robot |
| CN103624775A (en) * | 2013-11-28 | 2014-03-12 | 华南理工大学 | Synchronous belt deceleration plane joint robot |
| CN104382722A (en) * | 2014-11-24 | 2015-03-04 | 江苏大学 | Volute spring type flexible and elastic joint applicable to rehabilitation robot |
| CN105041993A (en) * | 2015-07-16 | 2015-11-11 | 南京埃斯顿机器人工程有限公司 | Reduction gear for SCARA industrial robot |
| CN105345807A (en) * | 2015-11-30 | 2016-02-24 | 无锡艾度科技有限公司 | Efficient robot |
| CN105965499A (en) * | 2016-06-29 | 2016-09-28 | 佛山市西岭机电设备有限公司 | Transmission gear of horizontal multi-joint robot wrist rotating shaft |
| CN107336224A (en) * | 2017-01-18 | 2017-11-10 | 河北工业大学 | A kind of electric control element integrated form SCARA robots |
| CN107571251A (en) * | 2017-08-28 | 2018-01-12 | 珠海格力节能环保制冷技术研究中心有限公司 | Mechanical arm and there is its horizontal articulated robots of SCARA |
| CN107972020A (en) * | 2017-11-30 | 2018-05-01 | 珠海格力节能环保制冷技术研究中心有限公司 | Horizontal articulated industrial robot |
| CN109605359A (en) * | 2019-01-21 | 2019-04-12 | 珠海格力电器股份有限公司 | A kind of lead screw splined member and robot |
| CN109702723A (en) * | 2019-02-28 | 2019-05-03 | 广东力顺源智能自动化有限公司 | A kind of mechanical arm |
| WO2019109273A1 (en) * | 2017-12-06 | 2019-06-13 | Abb Schweiz Ag | Ball screw spline assembly and related method |
| CN110103213A (en) * | 2019-05-09 | 2019-08-09 | 戴建国 | A kind of four shaft industrial robots |
| CN110203503A (en) * | 2019-04-26 | 2019-09-06 | 苏州领裕电子科技有限公司 | A kind of four Axle mould group of linear splines for being posted at a high speed |
| CN110696039A (en) * | 2019-11-04 | 2020-01-17 | 杭州亿微自动化有限公司 | Robot tail end grabbing device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103624794A (en) * | 2013-04-27 | 2014-03-12 | 张家港诺信自动化设备有限公司 | Scara robot |
| CN103495971A (en) * | 2013-06-06 | 2014-01-08 | 合肥工业大学 | Five degree-of-freedom combined robot platform |
| CN103495971B (en) * | 2013-06-06 | 2016-02-03 | 合肥工业大学 | A kind of five degree of freedom Combined robot platform |
| CN103624775A (en) * | 2013-11-28 | 2014-03-12 | 华南理工大学 | Synchronous belt deceleration plane joint robot |
| CN103624775B (en) * | 2013-11-28 | 2016-01-06 | 华南理工大学 | A kind of Timing Belt deceleration plane joint robot |
| CN104382722A (en) * | 2014-11-24 | 2015-03-04 | 江苏大学 | Volute spring type flexible and elastic joint applicable to rehabilitation robot |
| CN105041993A (en) * | 2015-07-16 | 2015-11-11 | 南京埃斯顿机器人工程有限公司 | Reduction gear for SCARA industrial robot |
| CN105345807A (en) * | 2015-11-30 | 2016-02-24 | 无锡艾度科技有限公司 | Efficient robot |
| CN105965499A (en) * | 2016-06-29 | 2016-09-28 | 佛山市西岭机电设备有限公司 | Transmission gear of horizontal multi-joint robot wrist rotating shaft |
| CN107336224A (en) * | 2017-01-18 | 2017-11-10 | 河北工业大学 | A kind of electric control element integrated form SCARA robots |
| CN107571251A (en) * | 2017-08-28 | 2018-01-12 | 珠海格力节能环保制冷技术研究中心有限公司 | Mechanical arm and there is its horizontal articulated robots of SCARA |
| CN107972020A (en) * | 2017-11-30 | 2018-05-01 | 珠海格力节能环保制冷技术研究中心有限公司 | Horizontal articulated industrial robot |
| WO2019109273A1 (en) * | 2017-12-06 | 2019-06-13 | Abb Schweiz Ag | Ball screw spline assembly and related method |
| CN111225770A (en) * | 2017-12-06 | 2020-06-02 | Abb瑞士股份有限公司 | Ball screw spline assembly and related method |
| CN111225770B (en) * | 2017-12-06 | 2022-06-14 | Abb瑞士股份有限公司 | Ball screw spline assembly and related method |
| US11660743B2 (en) | 2017-12-06 | 2023-05-30 | Abb Schweiz Ag | Ball screw spline assembly and related method |
| CN109605359A (en) * | 2019-01-21 | 2019-04-12 | 珠海格力电器股份有限公司 | A kind of lead screw splined member and robot |
| CN109702723A (en) * | 2019-02-28 | 2019-05-03 | 广东力顺源智能自动化有限公司 | A kind of mechanical arm |
| CN110203503A (en) * | 2019-04-26 | 2019-09-06 | 苏州领裕电子科技有限公司 | A kind of four Axle mould group of linear splines for being posted at a high speed |
| CN110103213A (en) * | 2019-05-09 | 2019-08-09 | 戴建国 | A kind of four shaft industrial robots |
| CN110696039A (en) * | 2019-11-04 | 2020-01-17 | 杭州亿微自动化有限公司 | Robot tail end grabbing device |
| CN110696039B (en) * | 2019-11-04 | 2021-07-27 | 杭州亿微自动化有限公司 | Robot tail end grabbing device |
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Granted publication date: 20110914 Termination date: 20150316 |
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