CN203622444U - Lifting and rotating device - Google Patents
Lifting and rotating device Download PDFInfo
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- CN203622444U CN203622444U CN201320768134.9U CN201320768134U CN203622444U CN 203622444 U CN203622444 U CN 203622444U CN 201320768134 U CN201320768134 U CN 201320768134U CN 203622444 U CN203622444 U CN 203622444U
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- whirligig
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- 230000001360 synchronised effect Effects 0.000 claims description 36
- 230000003287 optical effect Effects 0.000 claims description 33
- 238000007789 sealing Methods 0.000 claims description 28
- 210000000245 forearm Anatomy 0.000 claims description 23
- 230000003028 elevating effect Effects 0.000 claims description 14
- 230000033001 locomotion Effects 0.000 claims description 8
- 238000004519 manufacturing process Methods 0.000 abstract description 7
- 230000001737 promoting effect Effects 0.000 abstract 1
- 238000004904 shortening Methods 0.000 abstract 1
- 238000004026 adhesive bonding Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Abstract
The utility model discloses a lifting and rotating device, which aims at solving the common problems of high cost and longer delivery period of the tail end executing device mechanism of the existing horizontal joint robot. The lifting and rotating device comprises a small arm, a lifting mechanism and a rotating mechanism, wherein the lifting mechanism is arranged at the lower end surface of the small arm, and the rotating mechanism is arranged at the upper end surface of the small arm. The lifting and rotating device has the advantages that the conception is skillful, the structure is simple, the manufacturing cost is effectively reduced, the delivery time is shortened, and the functions are same as the functions of existing ball screws and ball splines; the reliability is high, and the functions of the lifting and rotating device are same as the functions of the existing ball screws and ball splines, so the application requirement of the horizontal joint robot is met; the significance on reducing the manufacturing cost of the robot, shortening the production period, and promoting the popularization and application is realized.
Description
Technical field
The utility model relates to mechanical field, and especially industrial robot field, is specially a kind of lifting and whirligig, and it can be used in the industrial circles such as assembling, piling, transplanting, gluing.
Background technology
The end actuating unit mechanism of existing level articulated robot adopts following two kinds of forms conventionally, and the one, adopt ball-screw ball spline shaft, the 2nd, adopt the combination of a ball-screw and ball spline to use.The precision requirement of first kind of way is higher, and manufacture difficulty is larger, and Jin You minority enterprise can produce at present, and cost is higher, and delivery date is longer.And the high expensive of the second way, and space availability ratio is lower.Therefore, the problem that end actuating unit mechanism ubiquity cost is high, grow delivery date of existing level articulated robot, makes the complete machine high cost of such robot, is unfavorable for the promotion and application of such robot.
Utility model content
Goal of the invention of the present utility model is: for the problem that end actuating unit mechanism ubiquity cost is high, grow delivery date of existing level articulated robot, provide a kind of lifting and whirligig.The utility model is skillfully constructed, simple in structure, can effectively reduce manufacturing cost, shorten the time of delivery, and it has the function identical with existing ball-screw ball spline.Meanwhile, the utility model good reliability, has the performance identical with existing ball-screw ball spline, can meet the needs of flapping articulation robot application, for the manufacturing cost that reduces such robot, shorten the production cycle, promote that it is promoted, application has great importance.
To achieve these goals, the utility model adopts following technical scheme:
A kind of lifting and whirligig, comprise forearm, elevating mechanism, rotating mechanism, and described elevating mechanism is arranged on the lower surface of forearm, and described rotating mechanism is arranged on the upper surface of forearm;
Described lifting structure comprises ball-screw, is arranged on feed screw nut, nut sleeve, lifting synchronizing wheel, angular contact bearing, bearing case, locking device on ball-screw, described nut sleeve, lifting synchronizing wheel are separately positioned on feed screw nut, described feed screw nut, nut sleeve, lifting synchronizing wheel are fixedly connected with, described angular contact bearing is arranged on the outer wall of nut sleeve, described bearing case, angular contact bearing, nut sleeve link together by locking device, and described bearing case is fixedly connected with forearm;
Described rotating mechanism comprises the rotating seat being fixedly connected with forearm, deep groove ball bearing, end ring, the rotary synchronous wheel matching with rotating seat, rotation connecting rod, take turns with rotary synchronous the optical axis being fixedly connected with, linear bearing, described rotating seat, end ring, deep groove ball bearing forms the rotation platform of rotary synchronous wheel, described ball-screw is through rotary synchronous wheel, one end of described ball-screw is fixedly connected with rotation connecting rod, described linear bearing is arranged on optical axis and linear bearing is fixedly connected with rotation connecting rod, described linear bearing can be along optical axis relative motion, the axle center of described ball-screw overlaps with the pivot of rotating mechanism.
Also comprise bearing collar, described deep groove ball bearing is one group, and described bearing collar is arranged between deep groove ball bearing, and described rotating seat, end ring, deep groove ball bearing, bearing collar form the rotation platform of rotary synchronous wheel.
Described locking device comprises the attaching nut that is arranged on nut sleeve outer wall, sealing ring, the Sealing shield ring being connected with bearing case, and attaching nut is connected with Sealing shield ring by sealing ring.
Described sealing ring is oil seal sealing ring.
One end of described ball-screw adopts flat key to be fixedly connected with rotation connecting rod.
Also comprise with rotary synchronous and take turns the casing being connected.
Described casing is tubulose.
The openend of described casing is provided with rotating disc, on described rotating disc, is provided with pressing plate, and one end of described optical axis is passed rotating disc and is connected with pressing plate.
Described optical axis is 2N, and N is positive integer.
Described optical axis is 2.
For foregoing problems, the utility model provides a kind of lifting and whirligig, and it can be used in the executing agency and the device that need Z axis and R axle, in order to substitute existing ball-screw ball spline shaft and to have the device of identity function.The utility model is skillfully constructed, simple in structure, compact, possesses function and the performance identical with existing ball-screw ball spline, and cost is low, delivery date is short, is easy to apply.
The utility model comprises forearm, elevating mechanism, rotating mechanism, and elevating mechanism is arranged on the lower surface of forearm, and rotating mechanism is arranged on the upper surface of forearm.Lifting structure of the present utility model comprises ball-screw, feed screw nut, nut sleeve, lifting synchronizing wheel, angular contact bearing, bearing case, locking device, feed screw nut is arranged on ball-screw, nut sleeve, lifting synchronizing wheel are separately positioned on feed screw nut, feed screw nut, nut sleeve, lifting synchronizing wheel are fixedly connected with, angular contact bearing is arranged on the outer wall of nut sleeve, bearing case, angular contact bearing, nut sleeve link together by locking device, and bearing case is fixedly connected with forearm.Rotating mechanism of the present utility model comprises rotating seat, deep groove ball bearing, end ring, the rotary synchronous wheel matching with rotating seat, rotation connecting rod, optical axis, linear bearing.Rotating seat is fixedly connected with forearm, rotating seat, end ring, deep groove ball bearing form the rotation platform of rotary synchronous wheel, one end of ball-screw is fixedly connected with rotation connecting rod, linear bearing is arranged on optical axis and linear bearing is fixedly connected with rotation connecting rod, ball-screw is through rotary synchronous wheel, optical axis is fixedly connected with rotary synchronous wheel, and linear bearing can be along optical axis relative motion, and the axle center of ball-screw overlaps with the pivot of rotating mechanism.
Further, also comprise bearing collar, deep groove ball bearing is one group, and bearing collar is arranged between deep groove ball bearing, and rotating seat, end ring, deep groove ball bearing, bearing collar form the rotation platform of rotary synchronous wheel.Locking device comprises the attaching nut that is arranged on nut sleeve outer wall, sealing ring, the Sealing shield ring being connected with bearing case, and attaching nut is connected with Sealing shield ring by sealing ring.Further, sealing ring is oil seal sealing ring, and one end of ball-screw adopts flat key to be fixedly connected with rotation connecting rod.Also comprise with rotary synchronous and take turns the casing being connected, casing is tubulose.Further, the openend of casing is provided with rotating disc, is provided with pressing plate on rotating disc, and one end of optical axis is passed rotating disc and is connected with pressing plate.Optical axis is 2N, and N is positive integer, and further, optical axis is 2.
The utility model can be realized rotation and the lifting of end.In elevating mechanism, bearing case, angular contact bearing, nut sleeve, attaching nut, sealing ring, Sealing shield ring link together, composition is for the counterrotating rotation platform of nut sleeve, and nut sleeve is arranged on (being that feed screw nut is nested in nut sleeve) on feed screw nut; Feed screw nut, nut sleeve, lifting synchronizing wheel are fixedly connected with, and form a nut rotating type ball screw pair, and bearing case is fixed on forearm.Lifting synchronizing wheel is through the driven rotary of external motor, feed screw nut, nut sleeve, attaching nut's synchronous rotary, and feed screw nut can not move, and only can rotate, and ball-screw, under the rotating condition of feed screw nut, completes elevating movement.One end driven rotary connecting rod of ball-screw and linear bearing, along optical axis lifting, are realized the elevating movement of ball-screw.
In rotating mechanism, rotary synchronous wheel is through the driven rotary of external motor, and casing, optical axis, linear bearing, rotation connecting rod, rotating disc, pressing plate are by the pivot around rotary synchronous wheel and rotary synchronous wheel synchronous rotary.Ball-screw, by synchronous rotary under the drive at rotation connecting rod, is realized rotatablely moving of ball-screw.Casing, optical axis, linear bearing, rotation connecting rod, rotating disc, pressing plate, for transmitting rotation torque, complete and rotatablely move.
Accompanying drawing explanation
Fig. 1 is explosive view of the present utility model.
Fig. 2 is structural representation of the present utility model.
Mark in figure: 1 is forearm, 2 is elevating mechanism, and 3 is rotating mechanism, and 4 is ball-screw, 5 is nut sleeve, and 6 is attaching nut, and 7 is sealing ring, and 8 is Sealing shield ring, 9 is angular contact bearing, and 10 is bearing case, and 11 is feed screw nut, and 12 is lifting synchronizing wheel, 13 is end ring, and 14 is rotating disc, and 15 is pressing plate, and 16 is deep groove ball bearing, 17 is bearing collar, and 18 is rotating seat, and 19 is rotary synchronous wheel, and 20 is casing, 21 is optical axis, and 22 is linear bearing, and 23 is rotation connecting rod.
The specific embodiment
Below in conjunction with accompanying drawing, the utility model is described in detail.
In order to make the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the utility model is further elaborated.Should be appreciated that specific embodiment described herein is only in order to explain the utility model, and be not used in restriction the utility model.
Embodiment 1
As shown in the figure, the utility model comprises forearm 1, elevating mechanism 2, rotating mechanism 3, and elevating mechanism 2 is arranged on the lower surface of forearm 1, and rotating mechanism 3 is arranged on the upper surface of forearm 1.
Lifting structure comprises ball-screw 4, feed screw nut 11, nut sleeve 5, lifting synchronizing wheel 12, angular contact bearing 9, bearing case 10, locking device, feed screw nut 11 is arranged on ball-screw 4, nut sleeve 5, lifting synchronizing wheel 12 are separately positioned on feed screw nut 11, feed screw nut 11, nut sleeve 5, lifting synchronizing wheel 12 are fixedly connected with, angular contact bearing 9 is arranged on the outer wall of nut sleeve 5, bearing case 10, angular contact bearing 9, nut sleeve 5 link together by locking device, and bearing case 10 is fixedly connected with forearm 1.Locking device comprises the attaching nut 6 that is arranged on nut sleeve 5 outer walls, sealing ring 7, the Sealing shield ring 8 being connected with bearing case 10, and attaching nut 6 is connected with Sealing shield ring 8 by sealing ring 7.Bearing case 10, angular contact bearing 9, nut sleeve 5, attaching nut 6, sealing ring 7, Sealing shield ring 8 link together, and composition is for the counterrotating rotation platform of nut sleeve 5, and feed screw nut 11 is nested in nut sleeve 5.Feed screw nut 11, nut sleeve 5, lifting synchronizing wheel 12 are fixedly connected with, and form a nut rotating type ball screw pair, and bearing case 10 is fixed on forearm 1.Lifting synchronizing wheel 12 is through the driven rotary of external motor, feed screw nut 11, nut sleeve 5, attaching nut's 6 synchronous rotaries, and 11 rotations of feed screw nut, ball-screw 4, under the rotating condition of feed screw nut 11, completes elevating movement.One end driven rotary connecting rod 23 of ball-screw 4 and linear bearing 22, along optical axis 21 liftings, are realized the elevating movement of ball-screw 4.
Rotating mechanism 3 comprises rotating seat 18, deep groove ball bearing 16, end ring 13, the rotary synchronous wheel 19 matching with rotating seat 18, rotation connecting rod 23, optical axis 21, linear bearing 22, bearing collar 17, takes turns 19 casings that are connected 20 with rotary synchronous.Wherein, deep groove ball bearing 16 is one group, and bearing collar 17 is arranged between deep groove ball bearing 16, and optical axis 21 is two.The openend that casing 20 is tubulose casing 20 is provided with rotating disc 14, is provided with pressing plate 15 on rotating disc 14, and one end of optical axis 21 is through rotating disc 14 and be connected with pressing plate 15, and pressing plate 15 equates with the quantity of optical axis 21, and pressing plate 15 is also two.Rotating seat 18 is fixedly connected with forearm 1, rotating seat 18, end ring 13, deep groove ball bearing 16, bearing collar 17 form the rotation platform of rotary synchronous wheel 19, one end of ball-screw 4 is fixedly connected with rotation connecting rod 23, further, one end of ball-screw 4 adopts flat key to be fixedly connected with rotation connecting rod 23.Linear bearing 22 is arranged on optical axis 21 and linear bearing 22 is fixedly connected with rotation connecting rod 23, ball-screw 4 is through rotary synchronous wheel 19, optical axis 21 is fixedly connected with rotary synchronous wheel 19, linear bearing 22 can be along optical axis 21 relative motions, and the axle center of ball-screw 4 overlaps with the pivot of rotating mechanism 3.When use, rotary synchronous wheel 19 driven rotary through external motor, casing 20, optical axis 21, linear bearing 22, rotation connecting rod 23, rotating disc 14, pressing plate 15 will be taken turns 19 synchronous rotaries around pivot and the rotary synchronous of rotary synchronous wheel 19.Ball-screw 4, by synchronous rotary under the drive at rotation connecting rod 23, is realized rotatablely moving of ball-screw 4.Casing 20, optical axis 21, linear bearing 22, rotation connecting rod 23, rotating disc 14, pressing plate 15, for transmitting rotation torque, complete and rotatablely move.
The foregoing is only preferred embodiment of the present utility model; not in order to limit the utility model; all any modifications of doing within spirit of the present utility model and principle, be equal to and replace and improvement etc., within all should being included in protection domain of the present utility model.
Claims (10)
1. lifting and a whirligig, is characterized in that, comprises forearm (1), elevating mechanism (2), rotating mechanism (3), and described elevating mechanism (2) is arranged on the lower surface of forearm (1), and described rotating mechanism (3) is arranged on the upper surface of forearm (1);
Described lifting structure comprises ball-screw (4), be arranged on the feed screw nut (11) on ball-screw (4), nut sleeve (5), lifting synchronizing wheel (12), angular contact bearing (9), bearing case (10), locking device, described nut sleeve (5), lifting synchronizing wheel (12) is separately positioned on feed screw nut (11), described feed screw nut (11), nut sleeve (5), lifting synchronizing wheel (12) is fixedly connected with, described angular contact bearing (9) is arranged on the outer wall of nut sleeve (5), described bearing case (10), angular contact bearing (9), nut sleeve (5) links together by locking device, described bearing case (10) is fixedly connected with forearm (1),
Described rotating mechanism (3) comprises the rotating seat (18) being fixedly connected with forearm (1), deep groove ball bearing (16), end ring (13), the rotary synchronous wheel (19) matching with rotating seat (18), rotation connecting rod (23), the optical axis (21) being fixedly connected with rotary synchronous wheel (19), linear bearing (22), described rotating seat (18), end ring (13), deep groove ball bearing (16) forms the rotation platform of rotary synchronous wheel (19), described ball-screw (4) is through rotary synchronous wheel (19), one end of described ball-screw (4) is fixedly connected with rotation connecting rod (23), described linear bearing (22) is arranged on optical axis (21) above and linear bearing (22) is fixedly connected with rotation connecting rod (23), described linear bearing (22) can be along optical axis (21) relative motion, the axle center of described ball-screw (4) overlaps with the pivot of rotating mechanism (3).
2. lifting according to claim 1 and whirligig, it is characterized in that, also comprise bearing collar (17), described deep groove ball bearing (16) is one group, described bearing collar (17) is arranged between deep groove ball bearing (16), and described rotating seat (18), end ring (13), deep groove ball bearing (16), bearing collar (17) form the rotation platform of rotary synchronous wheel (19).
3. lifting according to claim 1 and whirligig, it is characterized in that, described locking device comprises the attaching nut (6) that is arranged on nut sleeve (5) outer wall, sealing ring (7), the Sealing shield ring (8) being connected with bearing case (10), and attaching nut (6) is connected with Sealing shield ring (8) by sealing ring (7).
4. lifting according to claim 3 and whirligig, is characterized in that, described sealing ring (7) is oil seal sealing ring.
5. lifting according to claim 1 and whirligig, is characterized in that, one end of described ball-screw (4) adopts flat key to be fixedly connected with rotation connecting rod (23).
6. according to lifting and whirligig described in claim 1-5 any one, it is characterized in that, also comprise the casing (20) being connected with rotary synchronous wheel (19).
7. lifting according to claim 6 and whirligig, is characterized in that, described casing (20) is tubulose.
8. lifting according to claim 7 and whirligig, it is characterized in that, the openend of described casing (20) is provided with rotating disc (14), is provided with pressing plate (15) on described rotating disc (14), and one end of described optical axis (21) is passed rotating disc (14) and is connected with pressing plate (15).
9. lifting according to claim 1 and whirligig, is characterized in that, described optical axis (21) is 2N, and N is positive integer.
10. lifting according to claim 8 and whirligig, is characterized in that, described optical axis (21) is 2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320768134.9U CN203622444U (en) | 2013-11-29 | 2013-11-29 | Lifting and rotating device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320768134.9U CN203622444U (en) | 2013-11-29 | 2013-11-29 | Lifting and rotating device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203622444U true CN203622444U (en) | 2014-06-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320768134.9U Expired - Lifetime CN203622444U (en) | 2013-11-29 | 2013-11-29 | Lifting and rotating device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203622444U (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104562929A (en) * | 2015-02-12 | 2015-04-29 | 楼天涯 | Bridge gap residue cleaning device with variable speed |
| CN104652324A (en) * | 2015-02-12 | 2015-05-27 | 汪蔚 | Movable bridge seam residue clearing device with replaceable executing head |
| CN104652325A (en) * | 2015-02-12 | 2015-05-27 | 包宇青 | Bridge gas residue removing device with dust collecting device and using method of device |
| CN105269560A (en) * | 2015-11-03 | 2016-01-27 | 深圳市福士工业科技有限公司 | Novel ZR shaft assembly of horizontal multi-joint manipulator |
| CN105500404A (en) * | 2015-12-29 | 2016-04-20 | 苏州卓德电子有限公司 | Mechanical arm with auxiliary heightening structure |
| CN106793748A (en) * | 2017-01-20 | 2017-05-31 | 山东日发纺织机械有限公司 | It is a kind of to position the compact hoistable platform of reliable structure |
| CN108645866A (en) * | 2018-05-11 | 2018-10-12 | 福建工程学院 | A kind of universal vision inspection apparatus |
| WO2019114206A1 (en) * | 2017-12-12 | 2019-06-20 | 慧灵科技（深圳）有限公司 | High performance horizontally articulated four-shaft robot |
| CN113855255A (en) * | 2021-10-27 | 2021-12-31 | 哈尔滨思哲睿智能医疗设备有限公司 | Lifting and rotating mechanism, mechanical arm and master-slave surgical robot |
| CN114905494A (en) * | 2022-07-15 | 2022-08-16 | 广东隆崎机器人有限公司 | Tail end shaft, tail end movement assembly and SCARA manipulator |
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2013
- 2013-11-29 CN CN201320768134.9U patent/CN203622444U/en not_active Expired - Lifetime
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104562929A (en) * | 2015-02-12 | 2015-04-29 | 楼天涯 | Bridge gap residue cleaning device with variable speed |
| CN104652324A (en) * | 2015-02-12 | 2015-05-27 | 汪蔚 | Movable bridge seam residue clearing device with replaceable executing head |
| CN104652325A (en) * | 2015-02-12 | 2015-05-27 | 包宇青 | Bridge gas residue removing device with dust collecting device and using method of device |
| CN105269560A (en) * | 2015-11-03 | 2016-01-27 | 深圳市福士工业科技有限公司 | Novel ZR shaft assembly of horizontal multi-joint manipulator |
| CN105500404B (en) * | 2015-12-29 | 2018-02-02 | 东莞市圣荣自动化科技有限公司 | A kind of mechanical arm of band auxiliary heightening structure |
| CN105500404A (en) * | 2015-12-29 | 2016-04-20 | 苏州卓德电子有限公司 | Mechanical arm with auxiliary heightening structure |
| CN106793748A (en) * | 2017-01-20 | 2017-05-31 | 山东日发纺织机械有限公司 | It is a kind of to position the compact hoistable platform of reliable structure |
| WO2019114206A1 (en) * | 2017-12-12 | 2019-06-20 | 慧灵科技（深圳）有限公司 | High performance horizontally articulated four-shaft robot |
| US11014228B2 (en) | 2017-12-12 | 2021-05-25 | Huiling-Tech Robotic Co., Ltd | High-performance four-axis robot with horizontal joint |
| CN108645866A (en) * | 2018-05-11 | 2018-10-12 | 福建工程学院 | A kind of universal vision inspection apparatus |
| CN113855255A (en) * | 2021-10-27 | 2021-12-31 | 哈尔滨思哲睿智能医疗设备有限公司 | Lifting and rotating mechanism, mechanical arm and master-slave surgical robot |
| CN113855255B (en) * | 2021-10-27 | 2023-03-07 | 哈尔滨思哲睿智能医疗设备股份有限公司 | Lifting and rotating mechanism, mechanical arm and master-slave surgical robot |
| CN114905494A (en) * | 2022-07-15 | 2022-08-16 | 广东隆崎机器人有限公司 | Tail end shaft, tail end movement assembly and SCARA manipulator |
| CN114905494B (en) * | 2022-07-15 | 2022-12-30 | 广东隆崎机器人有限公司 | Tail end shaft, tail end movement assembly and SCARA manipulator |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee | ||
| CP03 | Change of name, title or address |
Address after: 621000 Mianyang province Sichuan City Feiyun Road in the middle of 386 Patentee after: SICHUAN FUDE ROBOT Co.,Ltd. Address before: 621000, Sichuan, Mianyang hi tech Zone, industrial town, South Road, No., building No. 2, building 2 Patentee before: MIANYANG FUDE ROBOT Co.,Ltd. |
|
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20140604 |