CN111002297B - Ball spline robot - Google Patents
Ball spline robot Download PDFInfo
- Publication number
- CN111002297B CN111002297B CN201911319052.4A CN201911319052A CN111002297B CN 111002297 B CN111002297 B CN 111002297B CN 201911319052 A CN201911319052 A CN 201911319052A CN 111002297 B CN111002297 B CN 111002297B
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- groove ball
- ball spline
- straight groove
- motor
- synchronous
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- 230000001360 synchronised effect Effects 0.000 claims abstract description 86
- 230000003287 optical effect Effects 0.000 claims abstract description 10
- 230000033001 locomotion Effects 0.000 abstract description 9
- 230000005540 biological transmission Effects 0.000 abstract description 4
- 206010033799 Paralysis Diseases 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Transmission Devices (AREA)
Abstract
本发明涉及机器手技术领域，尤其涉及一种滚珠花键机器人，包括第一电机、第二电机、第三电机、电机座连接板、Y轴固定板、第一移动板、第二移动板、第一直槽滚珠花键轴、第二直槽滚珠花键轴、第三直槽滚珠花键轴、光轴、第一螺纹齿轮以及第二螺纹齿轮。本设备结构巧妙，通过滚珠花键和同步带传动，大大降低整体设备的运动惯量，比传统丝杆传动运行速度更快。
The present invention relates to the field of robot arm technology, and in particular to a ball spline robot, comprising a first motor, a second motor, a third motor, a motor seat 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 threaded gear, and a second threaded gear. The device has an ingenious structure, and through ball splines and synchronous belt transmission, the motion inertia of the overall device is greatly reduced, and the running speed is faster than that of traditional screw transmission.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a ball spline robot.
Background
At present, to realize the XYZ axis movement of a robot arm, the existing motor needs to be installed along each axis, a motor wire needs to travel a drag chain, and the motor wire can be broken sometimes due to frequent reciprocating movement of the motor wire, so that the whole equipment is paralyzed.
Disclosure of Invention
The invention aims to overcome the defects of the technology and provide a ball spline robot.
The invention adopts the following technical scheme to realize the purposes: a ball spline robot, characterized in that: 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 screw gear and a second screw 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 the 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, the two ends of the first straight groove ball spline shaft and the second straight groove ball spline shaft are respectively connected with the upper part of the first moving plate through bearings, the output end of the first motor is connected with a first synchronous pulley through a first synchronous belt, the first synchronous pulley is fixed on the middle part of a rotating shaft, the two ends of the rotating shaft are connected with the top of the motor base connecting plate through bearing blocks, the two ends of the rotating shaft are respectively fixed with a second synchronous pulley, the two sides of the top of the Y shaft fixing plate are respectively fixed with a third synchronous pulley, a second synchronous belt is connected between the first pair of second synchronous pulleys and the third synchronous pulleys, the second synchronous belt is fixedly connected with the upper part of the first moving plate through bearings, the lower part of the first moving plate is provided with a fourth synchronous pulley, the fourth synchronous pulley is fixedly connected with the first synchronous pulley, the first synchronous pulley is fixedly connected with the first straight groove ball spline, the second synchronous pulley is fixedly connected with the second synchronous pulley is in threaded connection with the first straight groove ball spline, the second synchronous pulley is fixedly connected with the second spline, the first ball spline is in threaded connection with the second spline nut is screwed down-nut, the first synchronous pulley is screwed down-nut, the second nut is screwed down-nut is screwed down, the sliding table is characterized in that a second straight groove ball spline nut is matched with the second straight groove ball spline shaft, a fifth synchronous pulley is fixed on an outer ring of a deep groove ball spline bearing, an inner ring of the deep groove ball spline bearing is matched with the second straight groove ball spline nut, the fourth synchronous pulley is connected with the fifth synchronous pulley through a fourth synchronous belt, the fourth synchronous belt is fixedly connected with a sliding table, one side of the sliding table is in sliding fit with an optical axis, two ends of the optical axis are respectively fixedly connected with a first moving plate and a second moving plate, a sixth synchronous pulley is installed in the sliding table and is fixedly connected with a third straight groove ball spline nut, the third straight groove ball spline nut is matched with the third straight groove ball spline shaft, the third straight groove ball spline nut is connected with the sliding table through the deep groove ball spline nut, 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 sliding table, the other end of the third straight groove ball spline shaft is connected with the second moving plate through a bearing, two ends of the sliding table are fixedly connected with a seventh side of the sliding table, a back plate is fixedly connected with a back plate, a seventh side of the sliding plate is fixedly connected with a sliding block, and the sliding block is fixedly connected with a seventh side of the sliding block.
Preferably, the first screw gear and the second screw gear are of a staggered helical gear structure.
Compared with the existing structure, the robot has the advantages that the robot does not need to be provided with a drag chain, space and cost are saved, motors are all placed together, motor wires are not needed to be placed in the drag chain, and the length of each motor wire is not needed to be calculated independently. The device has ingenious structure, and the motion inertia of the whole device is greatly reduced through the transmission of the ball spline and the synchronous belt, so that the device is faster than the traditional screw transmission operation 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 according to the present invention;
Fig. 3 is an enlarged view of a portion of the present invention.
Detailed Description
Spatially relative terms, such as "above," "upper" and "upper surface," "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 in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the process is carried out, the exemplary term "above" may be included. Upper and lower. Two orientations below. The device may also be positioned in other different ways (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 mount connection 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 respectively rotate, the first straight groove ball spline shaft 8 and the second straight groove ball spline shaft 9 can be driven to respectively rotate. The first motor 1 is responsible for the X-direction movement of the manipulator, the second motor is responsible for the Y-axis direction movement of the manipulator, and the third motor is responsible for the Z-axis direction movement of the manipulator.
The output end of the first motor 1 is connected with a first synchronous pulley 15 through a first synchronous belt 14, the first synchronous 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 a motor base connecting plate 4 through bearing blocks, two ends of the rotating shaft 16 are respectively fixed with a second synchronous pulley 17, two sides of the top of a Y-axis fixing plate 5 are respectively fixed with a third synchronous pulley 18, a second synchronous belt 19 is connected between a pair of the second synchronous pulleys 17 and the third synchronous pulley 18, the second synchronous belt 19 is fixedly connected with the upper part of a first moving plate 6, a fourth synchronous pulley 20 is arranged at the lower part of the first moving plate 6, the fourth synchronous pulley 20 is fixed on a first straight groove ball spline nut, the first straight groove ball spline nut is matched with a first straight groove ball spline shaft 8, an inner hole of the first straight groove ball spline nut is provided with a bulge and is matched with a groove on the straight groove ball spline shaft, so that the first moving plate 6 can slide on the straight groove spline shaft, and meanwhile, the fourth synchronous pulley 20 can rotate along with the straight groove spline shaft due to the fact that the bulge can rotate along with the first straight groove spline shaft. 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, an outer ring of the deep groove ball spline bearing 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 pulleys and the third synchronous pulley, the third synchronous belt is fixedly connected with the upper portion 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 second threaded gear 13, and the first threaded gear 12 and the second threaded gear 13 are of 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, a fifth synchronous pulley 22 is fixed on the outer ring of a 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 and the fifth synchronous pulley 22 are connected 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 is driven to rotate through the fourth synchronous belt 23, 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 realized.
The fourth synchronous belt 23 is fixedly connected with the sliding table 24, one side of the sliding table 24 is in sliding fit with the optical axis 11, two ends of the optical axis 11 are fixedly connected with the first moving plate 6 and the second moving plate 7 respectively, 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 10 passes through the first threaded gear and is fixedly connected with the first moving plate 7, 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 on the side of the sliding table 24, a seventh synchronous pulley 27 is installed on the upper end and the lower end of the back plate 26 respectively, a fifth synchronous belt 28 is connected between the seventh synchronous pulley 27 and the sixth synchronous pulley 25, a guide rail 29 is fixedly matched with one side of the back plate 26, a slider 31 is fixedly connected with one side of the fifth synchronous belt 28, a slider 31 is fixedly connected with one side of the slider 31, and the slider 31 is fixedly connected with the slider 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, and accordingly the sixth synchronous pulley 25 is driven to rotate, and the slide block connecting plate 31 and the slide block 30 are driven to move up and down on the guide rail 29 through the fifth synchronous belt 28, so that Z-axis movement of the manipulator is achieved. According to the invention, the slide block connecting plate 31 can be used for realizing work such as grabbing workpieces according to a manipulator or other clamps.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the scope of the present invention.
Claims (2)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911319052.4A CN111002297B (en) | 2019-12-19 | 2019-12-19 | Ball spline robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911319052.4A CN111002297B (en) | 2019-12-19 | 2019-12-19 | Ball spline robot |
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| CN111002297A CN111002297A (en) | 2020-04-14 |
| CN111002297B true CN111002297B (en) | 2025-01-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911319052.4A Active CN111002297B (en) | 2019-12-19 | 2019-12-19 | Ball spline robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112659110A (en) * | 2020-12-10 | 2021-04-16 | 浙江工业大学 | Four-degree-of-freedom rectangular coordinate robot |
| CN114955716B (en) * | 2022-08-01 | 2022-11-01 | 江苏高倍智能装备有限公司 | Winding machine capable of synchronously rotating and adjusting interval |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN211590110U (en) * | 2019-12-19 | 2020-09-29 | 天津龙创恒盛实业有限公司 | Ball spline robot |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3791042B2 (en) * | 1996-04-10 | 2006-06-28 | 日本精工株式会社 | Table drive device |
| CN103978399B (en) * | 2014-03-24 | 2016-08-17 | 西北工业大学 | A kind of 4-coordinate automatic loading/unloading machine people |
| CN204250922U (en) * | 2014-09-29 | 2015-04-08 | 格兰达技术（深圳）有限公司 | Realize the x-y platform die set of open-close type manipulator accurate pick-and-place rule material |
| CN104400782B (en) * | 2014-09-29 | 2016-05-25 | 格兰达技术（深圳）有限公司 | For the open-close type manipulator of the accurate pick-and-place of fritter rule material |
| CN106272365B (en) * | 2016-11-10 | 2018-11-02 | 慧灵科技（深圳）有限公司 | A kind of transmission mechanism of flapping articulation robot Z and R axis |
| JP3218129U (en) * | 2018-07-12 | 2018-09-20 | 上銀科技股▲分▼有限公司 | Ball spline long stroke linear module |
| 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 |
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| CN211590110U (en) * | 2019-12-19 | 2020-09-29 | 天津龙创恒盛实业有限公司 | Ball spline robot |
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