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Three freedom serial-parallel mixed robot driven by ball spline

A ball spline and spline drive shaft technology, used in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of motion clearance, large inertia, and long mechanical setup time.

Inactive Publication Date: 2005-02-23
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, most of the existing equipment of this type, such as die bonders and wire bonders, adopt a series-type linear table (motor-screw-nut) mechanism, which has a movement gap and a large inertia , the mechanical settling time is also long and other shortcomings, which limit the further improvement of accuracy, speed and acceleration

Method used

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  • Three freedom serial-parallel mixed robot driven by ball spline
  • Three freedom serial-parallel mixed robot driven by ball spline

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specific Embodiment approach 1

[0005] Specific Embodiment 1: This embodiment includes a base 1, the base 1 includes an upper base 1-1 and a bottom base 1-2, and a movable Platform 2, between upper base 1-1 and bottom base 1-2, be provided with spline driving shaft 3, leading screw 4 and guide rail 5 that longitudinally pass through mobile platform 2, and the two ends of described guide rail 5 are respectively connected with The upper base 1-1 and the bottom base 1-2 are fixedly connected, the upper end of the screw 4 is connected with the servo motor 6, the upper end of the spline drive shaft 3 is connected with the direct drive motor 7, and the spline drive The outer ring 3-3 of the shaft 3 is connected with the mobile platform 2, and the inner ring 3-2 is connected with the rod 8. A right circular grating 9-1 and a left circular grating 9-2 are installed between the rod 8 and the splined outer ring. Linear grating 9-3 and planar grating 9-4 are also housed on mobile platform 2.

specific Embodiment approach 2

[0006] Specific implementation mode two: refer to figure 1 , Fig. 2, Fig. 3, Fig. 4, present embodiment guide rail 5 is two, and two guide rails 5 are all arranged vertically with mobile platform 2, and the two ends of every guide rail 5 are connected with upper base 1-1 and bottom base respectively 1-2 fixed connection; the servo motor 6 in this embodiment is an AC servo motor, the direct drive motor 7 is a voice coil servo motor, the upper end of the spline drive shaft 3 is connected to the voice coil servo motor 7, and the The spline drive shaft 3 includes a spline shaft 3-1, an inner ring 3-2, an outer ring 3-3 and a ball 3-4, and a ball 3-4 is arranged between the inner ring 3-2 and the outer ring 3-3. 4. The mobile platform 2 is fixedly connected to the outer ring 3-3 of the spline drive shaft 3. The aforementioned spline drive shafts 3 are two, and the two spline drive shafts 3 are connected to the mobile platform 2. There is a transverse through groove 2-1, and the ro...

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Abstract

A ball-spline driven 3-freedom robot with the serial connection and parallel connection combined structure is disclosed. The spline driving axle passing through moving platform longitudinally, the leading screw bolt whose top end is connected with AC servo motor, and the guide track whose both ends fixed to base are arranged between two bases. The raster is arranged on said moving platform.

Description

Technical field: [0001] The present invention relates to an industrial robot with a new structure. Background technique: [0002] At present, with the development of MEMS technology, in order to further improve the quality and production efficiency of MEMS manufacturing, higher requirements are put forward for the performance of MEMS processing equipment, which reflects the development trend of this type of operation equipment towards high speed and high precision. However, most of the existing equipment of this type, such as die bonders and wire bonders, adopt a series-type linear table (motor-screw-nut) mechanism, which has a movement gap and a large inertia , The mechanical settling time is also long and other shortcomings, which limit the further improvement of accuracy, speed and acceleration. Invention content: [0003] The object of the present invention is to provide a three-degree-of-freedom series-parallel hybrid robot driven by ball splines, which includes a ba...

Claims

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Application Information

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IPC IPC(8): B25J9/08B25J13/00
Inventor 孙立宁丁庆勇刘延杰祝宇虹刘新宇
Owner HARBIN INST OF TECH
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