Ball spline robot

Abstract

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

[0001] The invention relates to the technical field of robot arms, and in particular to a ball spline robot. Background Art

[0002] At present, in order to realize the XYZ axis movement of the robot arm, the existing motor needs to be installed along with each axis, and the motor cable needs to use a drag chain. The frequent back and forth movement of the motor cable may sometimes cause the motor cable to break, causing the entire equipment to be paralyzed. Summary of the invention

[0003] The object of the present invention is to overcome the deficiencies of the above-mentioned technology and provide a ball spline robot.

[0004] In order to achieve the above-mentioned purpose, the new type of the present invention adopts the following technical scheme: a ball spline robot, characterized in that it includes a first motor, a second motor, a third motor, a motor seat connecting plate, a Y-axis fixed plate, a first movable plate, a second movable 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 first motor is fixed to the upper part of the motor seat connecting plate, the second motor and the third motor are respectively fixed on both sides of the motor seat connecting plate, the output ends of the second motor and the third motor are respectively connected to the first straight groove ball spline shaft and the second straight groove ball spline shaft, the first straight groove ball spline shaft and the second straight groove ball spline shaft are connected to the first straight groove ball spline shaft and the second straight groove ball spline shaft. The two ends of the key shaft are respectively connected to the motor seat connecting plate and the Y-axis fixed plate through bearings, the output end of the first motor is connected to the first synchronous pulley through the first synchronous belt, the first synchronous pulley is fixed to the middle part of the rotating shaft, the two ends of the rotating shaft are connected to the top of the motor seat connecting plate through the bearing seat, the two ends of the rotating shaft are respectively fixed with the second synchronous pulley, the top two sides of the Y-axis fixed plate are respectively fixed with the third synchronous pulley, wherein a second synchronous belt is connected between a pair of the second synchronous pulleys and the third synchronous pulley, the second synchronous belt is fixedly connected to the upper part of the first movable plate, the lower part of the first movable plate is provided with a fourth synchronous pulley, the fourth synchronous pulley is fixed on the first straight groove ball spline nut, The first straight groove ball spline nut cooperates with the first straight groove ball spline shaft, and the first straight groove ball spline nut is connected to the first movable plate through a deep groove ball bearing; a third synchronous belt is connected between another pair of second synchronous pulleys and the third synchronous pulley, and the third synchronous belt is fixedly connected to the upper part of the second movable plate, and the first threaded gear is installed in the second movable plate, and the first threaded gear and the second threaded gear are meshed, and the second threaded gear is fixed on the second straight groove ball spline nut, and the second straight groove ball spline nut cooperates with the second straight groove ball spline shaft, and the fifth synchronous pulley is fixed on the outer ring of the deep groove ball bearing, and the inner ring of the deep groove ball bearing cooperates with the second straight groove ball spline nut, and the fourth synchronous pulley The fourth synchronous belt is connected to the slide table, one side of the slide table is slidably matched with the optical axis, and the two ends of the optical axis are respectively fixedly connected to the first movable plate and the second movable plate; a sixth synchronous pulley is installed in the slide table, the sixth synchronous pulley is fixed on the 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 to the slide table through a deep groove ball bearing, one end of the third straight groove ball spline shaft is connected to the first movable plate through a bearing, and the other end passes through the first threaded gear and is fixedly connected to it, and the other end of the third straight groove ball spline shaft is connected to the second movable plate through a bearing;A back plate is fixed to the side of the slide, and the seventh synchronous pulley is installed at the upper and lower ends of the back plate respectively, and the fifth synchronous belt is connected between the seventh synchronous pulley and the sixth synchronous pulley. A guide rail is fixed to one side of the back plate, and a slider is slidably matched on the guide rail. A slider connecting plate is fixed to one side of the slider, and the fifth synchronous belt is fixedly connected to the slider connecting plate. ;

[0005] Preferably, the first threaded gear and the second threaded gear are staggered axis helical gear structures.

[0006] The beneficial effects of the present invention are: compared with the existing structure, the robot does not need to be equipped with a drag chain, saving space and cost; all motors are placed together, and the motor wires do not need to be placed in the drag chain, and there is no need to calculate the length of each motor wire separately. The structure of the device is ingenious, and the motion inertia of the overall device is greatly reduced through ball spline and synchronous belt transmission, and the running speed is faster than the traditional screw transmission. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Figure 1 is a stereogram of the present invention;

[0008] Figure 2 is a relative position diagram of three straight groove ball spline shafts in the present invention;

[0009] Figure 3 It is a partial enlarged view of the present invention. DETAILED DESCRIPTION

[0010] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0011] like Figure 1 and Figure 2As shown, a ball spline robot includes a first motor 1, a second motor 2, a third motor 3, a motor seat connecting plate 4, a Y-axis fixed plate 5, a first movable plate 6, a second movable 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 threaded gear 12 and a second threaded gear 13.

[0012] The first motor 1 is fixed on the upper part of the motor seat connecting plate 4, the second motor 2 and the third motor 3 are respectively fixed on both sides of the motor seat connecting plate 4, the output ends of the second motor 2 and the third motor 3 are respectively connected to the first straight groove ball spline shaft 8 and the second straight groove ball spline shaft 9, the two ends of the first straight groove ball spline shaft 8 and the second straight groove ball spline shaft 9 are respectively connected to the motor seat connecting plate 4 and the Y-axis fixed plate 5 through bearings, 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 the X-direction movement of the manipulator, the second motor is responsible for the Y-axis movement of the manipulator, and the third motor is responsible for the Z-axis movement of the manipulator.

[0013] The output end of the first motor 1 is connected to the first synchronous pulley 15 through the first synchronous belt 14, the first synchronous pulley 15 is fixed to the middle of the rotating shaft 16, the two ends of the rotating shaft 16 are connected to the top of the motor seat connecting plate 4 through the bearing seat, the two ends of the rotating shaft 16 are respectively fixed with the second synchronous pulley 17, the top two sides of the Y-axis fixed plate 5 are respectively fixed with the third synchronous pulley 18, wherein a second synchronous belt 19 is connected between a pair of second synchronous pulleys 17 and the third synchronous pulley 18, the second synchronous belt 19 is fixedly connected to the upper part of the first movable plate 6, the first movable plate 6 is fixedly connected to the upper part of the first movable plate 6, and the second synchronous belt 19 is fixedly connected to the upper part of the first movable plate 6. A fourth synchronous pulley 20 is provided at the lower part of the movable plate 6, and the fourth synchronous pulley 20 is fixed on the first straight groove ball spline nut, and the first straight groove ball spline nut cooperates with the first straight groove ball spline shaft 8. In the present invention, the inner hole of the straight groove ball spline nut has a protrusion and matches the groove on the straight groove ball spline shaft, so that the first movable plate 6 can slide left and right on the straight groove ball spline shaft. At the same time, due to the limiting position of the protruding groove, the fourth synchronous pulley 20 can also rotate with the first straight groove ball spline shaft 8. The cooperation principles between the following synchronous pulleys and the straight groove ball spline shaft are similar. The first straight groove ball spline nut is connected to the first movable plate through a deep groove ball bearing, and the deep groove ball bearing can make the straight groove ball spline shaft rotate in the first movable plate. The main structure is that the inner ring of the deep groove ball bearing is fixedly matched with the first straight groove ball spline nut, and the outer ring is fixed in the inner hole of the first movable plate; a third synchronous belt 21 is connected between another pair of second synchronous pulleys and the third synchronous pulley, and the third synchronous belt is fixedly connected to the upper part of the second movable plate 7, and the first threaded gear 12 is installed in the second movable plate, and the first threaded gear 12 and the second threaded gear 13 are meshed, and the first threaded gear 12 and the second threaded gear 13 are staggered axis helical gear structures. The second threaded gear is fixed on the second straight groove ball spline nut, the second straight groove ball spline nut cooperates 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 cooperates with the second straight groove ball spline nut, the fourth synchronous pulley 20 and the fifth synchronous pulley 22 are connected by the fourth synchronous belt 23, when the second motor rotates, it first drives the fourth synchronous pulley 20 to rotate, 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, thereby realizing the Y-direction movement of the manipulator.

[0014] like Figure 3As shown, the fourth synchronous belt 23 is fixedly connected to the slide 24, one side of the slide 24 is slidably matched with the optical axis 11, and the two ends of the optical axis 11 are respectively fixedly connected to the first movable plate 6 and the second movable plate 7; a sixth synchronous pulley 25 is installed in the slide 24, and the sixth synchronous pulley 25 is fixed on the 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 to the slide through a deep groove ball bearing, and one end of the third straight groove ball spline shaft 10 is connected to the first movable 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 thereto. The other end of the third straight groove ball spline shaft 10 is connected to the second movable plate 7 through a bearing. A back plate 26 is fixed to the side of the slide 24. The upper and lower ends of the back plate 26 are respectively installed with the seventh synchronous pulley 27. 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 slider 30 is slidably matched on the guide rail. A slider connecting plate 31 is fixed to one side of the slider 30. The fifth synchronous belt 28 is fixedly connected to the slider connecting plate 31. When the third motor 3 rotates, it drives the second straight groove ball spline shaft 9 to rotate, drives the second threaded gear 13 to rotate, the second threaded gear 13 drives the first threaded gear 12 to rotate, and the first threaded gear 12 drives the third straight groove ball spline shaft 10 to rotate, thereby driving the sixth synchronous pulley 25 to rotate. The slider connecting plate 31 and the slider 30 are driven to move up and down on the guide rail 29 through the fifth synchronous belt 28, so as to realize the Z-axis movement of the manipulator. In the present invention, the slider connecting plate 31 can be used as a manipulator or other clamps to achieve work such as grabbing a workpiece.

[0015] The above is only a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A ball spline robot, characterized in that: The invention comprises a first motor, a second motor, a third motor, a motor seat connecting plate, a Y-axis fixed plate, a first movable plate, a second movable 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 first motor is fixed to the upper part of the motor seat connecting plate, the second motor and the third motor are respectively fixed on both sides of the motor seat connecting plate, the output ends of the second motor and the third motor are respectively connected to the first straight groove ball spline shaft and the second straight groove ball spline shaft, and the two ends of the first straight groove ball spline shaft and the second straight groove ball spline shaft are respectively connected to the motor seat connecting plate and the Y-axis fixed plate through bearings The output end of the first motor is connected to the first synchronous pulley through the first synchronous belt, the first synchronous pulley is fixed to the middle part of the rotating shaft, the two ends of the rotating shaft are connected to the top of the motor seat connecting plate through the bearing seat, the two ends of the rotating shaft are respectively fixed with a second synchronous pulley, the top two sides of the Y-axis fixed plate are respectively fixed with a third synchronous pulley, wherein a second synchronous belt is connected between a pair of second synchronous pulleys and the third synchronous pulley, the second synchronous belt is fixedly connected to the upper part of the first movable plate, the lower part of the first movable plate is provided with a fourth synchronous pulley, the fourth synchronous pulley is fixed on the first straight groove ball spline nut, the first straight groove ball spline nut is connected to the first straight groove ball spline nut The first straight groove ball spline nut is matched with the first movable plate through a deep groove ball bearing; a third synchronous belt is connected between another pair of second synchronous pulleys and the third synchronous pulley, and the third synchronous belt is fixedly connected to the upper part of the second movable plate, and the first threaded gear is installed in the second movable plate, and the first threaded gear and the second threaded gear are meshed, and the second threaded gear is fixed on the second straight groove ball spline nut, and the second straight groove ball spline nut is matched with the second straight groove ball spline shaft, and the fifth synchronous pulley is fixed on the outer ring of the deep groove ball bearing, and the inner ring of the deep groove ball bearing is matched with the second straight groove ball spline nut, and the fourth synchronous pulley and the fifth synchronous pulley are connected. Connected by a fourth synchronous belt, the fourth synchronous belt is fixedly connected to the slide, one side of the slide is slidably matched with the optical axis, and the two ends of the optical axis are respectively fixedly connected to the first movable plate and the second movable plate; a sixth synchronous pulley is installed in the slide, the sixth synchronous pulley is fixed on the 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 to the slide through a deep groove ball bearing, one end of the third straight groove ball spline shaft is connected to the first movable plate through a bearing, and the other end passes through the first threaded gear and is fixedly connected thereto, and the other end of the third straight groove ball spline shaft is connected to the second movable plate through a bearing;A back plate is fixed to the side of the slide, and the seventh synchronous pulley is installed at the upper and lower ends of the back plate respectively, and the fifth synchronous belt is connected between the seventh synchronous pulley and the sixth synchronous pulley. A guide rail is fixed to one side of the back plate, and a slider is slidably matched on the guide rail. A slider connecting plate is fixed to one side of the slider, and the fifth synchronous belt is fixedly connected to the slider connecting plate. ; 2. The ball spline robot according to claim 1, characterized in that: The first threaded gear and the second threaded gear are staggered axis helical gear structures.

Images