CN211590110U

CN211590110U - Ball spline robot

Info

Publication number: CN211590110U
Application number: CN201922299506.8U
Authority: CN
Inventors: 王海; 龙凤祥; 后程文
Original assignee: Tianjin Longchuang Hengsheng Industrial Co ltd
Current assignee: Tianjin Longchuang Hengsheng Industrial Co ltd
Priority date: 2019-12-19
Filing date: 2019-12-19
Publication date: 2020-09-29
Anticipated expiration: 2029-12-19

Abstract

The utility model relates to a robot technical field especially relates to a ball spline robot, including first motor, second motor, third motor, motor cabinet connecting plate, Y axle fixed plate, first movable plate, second movable plate, first straight flute ball spline axle, second straight flute ball spline axle, third straight flute ball spline axle, optical axis, first screw gear and second screw gear. This equipment structure is ingenious, through ball spline and synchronous belt drive, and greatly reduced whole equipment's inertia of motion is faster than traditional screw drive functioning speed.

Description

Ball spline robot

Technical Field

The utility model relates to a machine hand technical field especially relates to a ball spline robot.

Background

At present, to realize the XYZ axle of robot hand and remove, current motor need follow each axle installation, and the tow chain needs to be walked to the motor line, and the motor line often round trip movement can lead to the motor line rupture sometimes, causes whole equipment paralysis.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to overcome the not enough of above-mentioned technique, and provide a ball spline robot.

The utility model discloses a realize above-mentioned purpose, adopt following technical scheme: a ball spline robot, its characterized in that: the gear transmission mechanism comprises a first motor, a second motor, a third motor, a motor base connecting plate, a Y-axis fixing plate, a first moving plate, a second moving plate, a first straight groove ball spline shaft, a second straight groove ball spline shaft, a third straight groove ball spline shaft, an optical axis, a first thread gear and a second thread gear; the first motor is fixed on the upper part of the motor base connecting plate, the second motor and the third motor are respectively fixed on two sides of the motor base connecting plate, the output ends of the second motor and the third motor are respectively connected with the first straight groove ball spline shaft and the second straight groove ball spline shaft, two ends of the first straight groove ball spline shaft and the second straight groove ball spline shaft are respectively connected with the motor base connecting plate and the Y-axis fixing plate through bearings, the output end of the first motor is connected with the first synchronous belt pulley through a first synchronous belt, the first synchronous belt pulley is fixed in the middle of the rotating shaft, two ends of the rotating shaft are connected with the top of the motor base connecting plate through bearing seats, the two ends of the rotating shaft are respectively fixed with the second synchronous belt pulley, two sides of the top of the Y-axis fixing plate are respectively fixed with the third synchronous belt pulley, wherein a second synchronous belt is connected between a pair of the second synchronous belt pulley and the third synchronous belt pulley, the second synchronous belt is fixedly connected with the upper part of the first moving plate, a fourth synchronous belt wheel is arranged on the lower part of the first moving plate and fixed on a first straight-groove ball spline nut, the first straight-groove ball spline nut is matched with the first straight-groove ball spline shaft, and the first straight-groove ball spline nut is connected with the first moving plate through a deep groove ball bearing; a third synchronous belt is connected between the other pair of second synchronous belt wheels and the third synchronous belt wheel, the third synchronous belt is fixedly connected with the upper part of the second moving plate, the first threaded gear is installed in the second moving plate and is meshed with the second threaded gear, the second threaded gear is fixed on a second straight groove ball spline nut, the second straight groove ball spline nut is matched with the second straight groove ball spline shaft, the fifth synchronous belt wheel is fixed on the outer ring of the deep groove ball bearing, the inner ring of the deep groove ball bearing is matched with the second straight groove ball spline nut, the fourth synchronous belt wheel and the fifth synchronous belt wheel are connected through a fourth synchronous belt, the fourth synchronous belt is fixedly connected with the sliding table, one side of the sliding table is in sliding fit with an optical axis, and two ends of the optical axis are fixedly connected with the first moving plate and the second moving plate respectively; a sixth synchronous belt pulley is installed in the sliding table and fixed on a third straight groove ball spline nut, the third straight groove ball spline nut is matched with a third straight groove ball spline shaft, the third straight groove ball spline nut is connected with the sliding table through a deep groove ball bearing, one end of the third straight groove ball spline shaft is connected with the first moving plate through a bearing, the other end of the third straight groove ball spline shaft penetrates through the first threaded gear and is fixedly connected with the first threaded gear, and the other end of the third straight groove ball spline shaft is connected with the second moving plate through a bearing; the novel sliding table is characterized in that a back plate is fixed to the side portion of the sliding table, seventh synchronous belt wheels are mounted at the upper end and the lower end of the back plate respectively, a fifth synchronous belt is connected between the seventh synchronous belt wheels and the sixth synchronous belt wheels, a guide rail is fixed to one side of the back plate, a sliding block is in sliding fit with the guide rail, a sliding block connecting plate is fixed to one side of the sliding block, and the fifth synchronous belt is fixedly connected with the sliding block connecting plate.

Preferably, the first and second threaded gears are of a staggered-axis helical gear structure.

Compared with the prior structure, the robot does not need to be provided with a drag chain, thereby saving space and cost; the motors are all placed together, the motor wires are not required to be placed in a drag chain, and the length of each motor wire is not required to be calculated independently. This equipment structure is ingenious, through ball spline and synchronous belt drive, and greatly reduced whole equipment's inertia of motion is faster than traditional screw drive functioning speed.

Drawings

Fig. 1 is a perspective view of the present invention;

FIG. 2 is a relative position diagram of three straight groove ball spline shafts in the present invention;

fig. 3 is a partial enlarged view of the present invention.

Detailed Description

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

As shown in fig. 1 and 2, a ball spline robot includes a first motor 1, a second motor 2, a third motor 3, a motor base connecting plate 4, a Y-axis fixing plate 5, a first moving plate 6, a second moving plate 7, a first straight groove ball spline shaft 8, a second straight groove ball spline shaft 9, a third straight groove ball spline shaft 10, an optical axis 11, a first screw gear 12, and a second screw gear 13.

The first motor 1 is fixed on the upper portion of the motor base connecting plate 4, the second motor 2 and the third motor 3 are respectively fixed on two sides of the motor base connecting plate 4, output ends of the second motor 2 and the third motor 3 are respectively connected with the first straight groove ball spline shaft 8 and the second straight groove ball spline shaft 9, two ends of the first straight groove ball spline shaft 8 and two ends of the second straight groove ball spline shaft 9 are respectively connected with the motor base connecting plate 4 and the Y-axis fixing plate 5 through bearings, and when the second motor 2 and the third motor 3 rotate respectively, the first straight groove ball spline shaft 8 and the second straight groove ball spline shaft 9 can be driven to rotate respectively. The first motor 1 is responsible for X-direction movement of the manipulator, the second motor is responsible for Y-axis direction movement of the manipulator, and the third motor is responsible for Z-axis direction movement of the manipulator.

The output end of the first motor 1 is connected with a first synchronous belt pulley 15 through a first synchronous belt 14, the first synchronous belt pulley 15 is fixed in the middle of a rotating shaft 16, two ends of the rotating shaft 16 are connected with the top of the motor base connecting plate 4 through bearing seats, two ends of the rotating shaft 16 are respectively fixed with a second synchronous belt pulley 17, two sides of the top of the Y-axis fixing plate 5 are respectively fixed with a third synchronous belt pulley 18, a second synchronous belt 19 is connected between a pair of the second synchronous belt pulleys 17 and the third synchronous belt pulley 18, the second synchronous belt 19 is fixedly connected with the upper part of the first moving plate 6, the lower part of the first moving plate 6 is provided with a fourth synchronous belt pulley 20, the fourth synchronous belt pulley 20 is fixed on a first straight groove ball spline nut, the first straight groove ball spline nut is matched with the first straight groove ball spline shaft 8, the inner hole of the straight groove ball spline nut in the utility model is provided with a bulge and is matched with a groove on the straight groove ball spline shaft, therefore, the first moving plate 6 can slide left and right on the straight groove ball spline shaft, meanwhile, due to the limitation of the convex grooves, the fourth synchronous pulley 20 can rotate along with the first straight groove ball spline shaft 8, and the matching principle between the following synchronous pulleys and the straight groove ball spline shaft is similar. The first straight groove ball spline nut is connected with the first moving plate through a deep groove ball bearing, the deep groove ball bearing can enable the straight groove ball spline shaft to rotate in the first moving plate, the main structure is that an inner ring of the deep groove ball bearing is fixedly matched with the first straight groove ball spline nut, and an outer ring is fixed in an inner hole of the first moving plate; a third synchronous belt 21 is connected between the other pair of second synchronous belt wheels and the third synchronous belt wheel, the third synchronous belt is fixedly connected with the upper part of the second moving plate 7, the first threaded gear 12 is installed in the second moving plate, the first threaded gear 12 is meshed with the first threaded gear 13, and the first threaded gear 12 and the second threaded gear 13 are in a staggered shaft helical gear structure. The second threaded gear is fixed on a second straight groove ball spline nut, the second straight groove ball spline nut is matched with the second straight groove ball spline shaft 9, the fifth synchronous pulley 22 is fixed on the outer ring of the deep groove ball bearing, the inner ring of the deep groove ball bearing is matched with the second straight groove ball spline nut, the fourth synchronous pulley 20 is connected with the fifth synchronous pulley 22 through a fourth synchronous belt 23, when the second motor rotates, the fourth synchronous pulley 20 is driven to rotate firstly, the fourth synchronous pulley 20 drives the fourth synchronous belt 23 to rotate, and the fifth synchronous pulley 22 rotates around the second straight groove ball spline shaft 9 through the deep groove ball bearing, so that Y-direction movement of the manipulator is achieved.

As shown in fig. 3, the fourth synchronous belt 23 is fixedly connected with a sliding table 24, one side of the sliding table 24 is in sliding fit with the optical axis 11, and two ends of the optical axis 11 are respectively fixedly connected with the first moving plate 6 and the second moving plate 7; a sixth synchronous pulley 25 is installed in the sliding table 24, the sixth synchronous pulley 25 is fixed on a third straight groove ball spline nut, the third straight groove ball spline nut is matched with the third straight groove ball spline shaft 10, the third straight groove ball spline nut is connected with the sliding table through a deep groove ball bearing, one end of the third straight groove ball spline shaft 10 is connected with the first moving plate 6 through a bearing, the other end of the third straight groove ball spline shaft penetrates through the first threaded gear and is fixedly connected with the first threaded gear, and the other end of the third straight groove ball spline shaft 10 is connected with the second moving plate 7 through a bearing; a back plate 26 is fixed to the side of the sliding table 24, seventh synchronous pulleys 27 are respectively installed at the upper end and the lower end of the back plate 26, a fifth synchronous belt 28 is connected between the seventh synchronous pulley 27 and the sixth synchronous pulley 25, a guide rail 29 is fixed to one side of the back plate 26, a sliding block 30 is in sliding fit on the guide rail, a sliding block connecting plate 31 is fixed to one side of the sliding block 30, and the fifth synchronous belt 28 is fixedly connected with the sliding block connecting plate 31. When the third motor 3 rotates, the second straight groove ball spline shaft 9 is driven to rotate, the second threaded gear 13 drives the first threaded gear 12 to rotate, the first threaded gear 12 drives the third straight groove ball spline shaft 10 to rotate, so that the sixth synchronous belt wheel 25 is driven to rotate, the fifth synchronous belt 28 drives the slider connecting plate 31 and the slider 30 to move up and down on the guide rail 29, and the Z-axis movement of the manipulator is realized. The utility model discloses well slider connecting plate 31 can realize work such as snatching of work piece according to manipulator or other anchor clamps.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims

1. A ball spline robot, its characterized in that: the gear transmission mechanism comprises a first motor, a second motor, a third motor, a motor base connecting plate, a Y-axis fixing plate, a first moving plate, a second moving plate, a first straight groove ball spline shaft, a second straight groove ball spline shaft, a third straight groove ball spline shaft, an optical axis, a first thread gear and a second thread gear; the first motor is fixed on the upper part of the motor base connecting plate, the second motor and the third motor are respectively fixed on two sides of the motor base connecting plate, the output ends of the second motor and the third motor are respectively connected with the first straight groove ball spline shaft and the second straight groove ball spline shaft, two ends of the first straight groove ball spline shaft and the second straight groove ball spline shaft are respectively connected with the motor base connecting plate and the Y-axis fixing plate through bearings, the output end of the first motor is connected with the first synchronous belt pulley through a first synchronous belt, the first synchronous belt pulley is fixed in the middle of the rotating shaft, two ends of the rotating shaft are connected with the top of the motor base connecting plate through bearing seats, the two ends of the rotating shaft are respectively fixed with the second synchronous belt pulley, two sides of the top of the Y-axis fixing plate are respectively fixed with the third synchronous belt pulley, wherein a second synchronous belt is connected between a pair of the second synchronous belt pulley and the third synchronous belt pulley, the second synchronous belt is fixedly connected with the upper part of the first moving plate, a fourth synchronous belt wheel is arranged on the lower part of the first moving plate and fixed on a first straight-groove ball spline nut, the first straight-groove ball spline nut is matched with the first straight-groove ball spline shaft, and the first straight-groove ball spline nut is connected with the first moving plate through a deep groove ball bearing; a third synchronous belt is connected between the other pair of second synchronous belt wheels and the third synchronous belt wheel, the third synchronous belt is fixedly connected with the upper part of the second moving plate, the first threaded gear is installed in the second moving plate and is meshed with the second threaded gear, the second threaded gear is fixed on a second straight groove ball spline nut, the second straight groove ball spline nut is matched with the second straight groove ball spline shaft, the fifth synchronous belt wheel is fixed on the outer ring of the deep groove ball bearing, the inner ring of the deep groove ball bearing is matched with the second straight groove ball spline nut, the fourth synchronous belt wheel and the fifth synchronous belt wheel are connected through a fourth synchronous belt, the fourth synchronous belt is fixedly connected with the sliding table, one side of the sliding table is in sliding fit with an optical axis, and two ends of the optical axis are fixedly connected with the first moving plate and the second moving plate respectively; a sixth synchronous belt pulley is installed in the sliding table and fixed on a third straight groove ball spline nut, the third straight groove ball spline nut is matched with a third straight groove ball spline shaft, the third straight groove ball spline nut is connected with the sliding table through a deep groove ball bearing, one end of the third straight groove ball spline shaft is connected with the first moving plate through a bearing, the other end of the third straight groove ball spline shaft penetrates through the first threaded gear and is fixedly connected with the first threaded gear, and the other end of the third straight groove ball spline shaft is connected with the second moving plate through a bearing; the novel sliding table is characterized in that a back plate is fixed to the side portion of the sliding table, seventh synchronous belt wheels are mounted at the upper end and the lower end of the back plate respectively, a fifth synchronous belt is connected between the seventh synchronous belt wheels and the sixth synchronous belt wheels, a guide rail is fixed to one side of the back plate, a sliding block is in sliding fit with the guide rail, a sliding block connecting plate is fixed to one side of the sliding block, and the fifth synchronous belt is fixedly connected with the sliding block connecting plate.

2. The ball spline robot of claim 1, wherein: the first threaded gear and the second threaded gear are of a staggered shaft helical gear structure.