ZR-axis movement device

Abstract

The utility model relates to the technical field of automation equipment, in particular to a ZR-axis movement device which comprises a machine shell and other components, a supporting sleeve is installed in the machine shell, a straight rod is connected to the supporting sleeve in a sliding and rotating mode, the lower end of the straight rod penetrates through the machine shell, a suction nozzle is fixedly connected to the lower end of the straight rod, and the suction nozzle is fixedly connected to the machine shell. A first driving device and a second driving device are installed in the machine shell, the first driving device drives the straight rod to rotate through a first driving assembly, the second driving device drives the straight rod to slide up and down through a second driving assembly, and a linear module is installed in the machine shell. According to the utility model, the mounting block, the first synchronous belt, the second synchronous belt and other parts are arranged, and the first synchronous belt and the second synchronous belt are arranged in a crossed manner, so that space resources can be utilized more efficiently in equipment which needs to be applied in a compact or narrow space, and waste of redundant space in transmission design is avoided.

Description

TECHNICAL FIELD

[0001] The utility model relates to automatic equipment technical field especially relates to a ZR axis motion device. BACKGROUND

[0002] ZR axis motion device is belong to 4 axis SCARA mechanical arm among two axes, drive through step motor, Z axis is responsible for the vertical motion of mechanical arm end, R axis is responsible for the rotation motion of mechanical arm end. The prior art, such as the patent for utility model with the authorization announcement No. CN215548677U discloses ZR manipulator rotation axis high-precision big thrust structure, and it improves the structure of existing composite actuator, improves its rotation precision and pressure capacity through lifting drive mechanism and rotation drive mechanism etc. parts, but the lifting drive mechanism and rotation drive mechanism of the patent are arranged separately, resulting in larger space occupation, for the equipment that needs to be applied in narrow space, the structure is not compact enough, and the available space cannot be maximized. In view of this, the utility model provides a ZR axis motion device to solve the above technical problems. SUMMARY

[0003] In order to overcome the technical problems in the background art, the utility model provides a ZR axis motion device.

[0004] The technical scheme is as follows: a ZR axis motion device, comprising a machine shell, a support sleeve is installed in the machine shell, a straight rod is slidably and rotatably connected to the support sleeve, the lower end of the straight rod penetrates the machine shell, and a suction nozzle is fixedly connected to the lower end of the straight rod, a first driving device and a second driving device are installed in the machine shell, the first driving device drives the straight rod to rotate through a first driving assembly, the second driving device drives the straight rod to slide up and down through a second driving assembly, a linear module is installed in the machine shell, a fixed block is provided on the linear module, a bearing is installed in the fixed block, a fixed sleeve is fixedly connected to the inner ring of the bearing, the fixed sleeve is sleeved on the straight rod, and the first driving assembly and the second driving assembly are cross-connected.

[0005] As an improvement of the above scheme, the first driving assembly comprises a first secondary synchronous wheel, a first synchronous belt and a first primary synchronous wheel, a spline groove is provided on the straight rod, a first secondary synchronous wheel is installed at the lower end of the straight rod, a protrusion matched with the spline groove is provided on the first secondary synchronous wheel, a first primary synchronous wheel is fixedly connected to the output shaft of the first driving device, and the first primary synchronous wheel and the first secondary synchronous wheel are connected by a first synchronous belt.

[0006] As the improvement of the above-mentioned scheme, the second driving assembly comprises a mounting block, a second secondary synchronous wheel, a second synchronous belt and a second primary synchronous wheel, the mounting block is fixedly connected in the shell, the second secondary synchronous wheel is rotatably connected on the mounting block, the second primary synchronous wheel is fixedly connected on the output shaft of the second driving device, the second primary synchronous wheel and the second secondary synchronous wheel are connected through the second synchronous belt, and the fixing block is fixedly connected on the second synchronous belt.

[0007] As the improvement of the above-mentioned scheme, the diameter of the first secondary synchronous wheel is proportional to the diameter of the first primary synchronous wheel, the diameter of the second secondary synchronous wheel is equal to the diameter of the second primary synchronous wheel, and the mounting block is arranged between the first secondary synchronous wheel and the first primary synchronous wheel, so that the first synchronous belt and the second synchronous belt are arranged in a cross shape.

[0008] As the improvement of the above-mentioned scheme, the linear module comprises a guide rail and a sliding block, the guide rail is arranged in the shell and is parallel to the perpendicular line of the straight rod, and the sliding block is slidably connected on the guide rail and is fixedly connected with the fixing block.

[0009] As the improvement of the above-mentioned scheme, the first driving device and the second driving device are driving motors.

[0010] The mounting block, the first synchronous belt and the second synchronous belt are arranged, the first synchronous belt and the second synchronous belt are arranged in a cross shape, space resources can be more efficiently utilized in a device applied in a compact or narrow space, and redundant space waste in transmission design is avoided. BRIEF DESCRIPTION OF DRAWINGS

[0011] Figure 1 It is a three-dimensional structure schematic view of the utility model.

[0012] Figure 2 It is a sectional view of the shell, the straight rod and the supporting sleeve and other components of the utility model.

[0013] Figure 3 It is a sectional view of the first driving device, the second driving device and the suction nozzle and other components of the utility model.

[0014] Figure 4 It is an explosion view of the straight rod, the protrusion and the first secondary synchronous wheel and other components of the utility model.

[0015] The figure label name: 101, the shell, 102, support cover, 103, straight pole, 1031, spline groove, 104, suction nozzle, 105, first drive device, 106, second drive device, 107, fixed block, 108, bearing, 109, fixed cover, 201, first vice synchronous wheel, 2011, protrusion, 202, first synchronous belt, 203, first main synchronous wheel, 301, mounting block, 302, second vice synchronous wheel, 303, second synchronous belt, 304, second main synchronous wheel, 401, guide rail, 402, sliding block. DETAILED DESCRIPTION

[0016] The above solutions are further described below in conjunction with specific examples. It should be understood that these examples are used to illustrate the present application and are not intended to limit the scope of the present application. The implementation conditions used in the examples can be further adjusted according to the specific conditions of the manufacturer, and the implementation conditions not specified are usually the conditions in the conventional experiments.

[0017] A ZR shaft motion device, as shown in Figures 1-4 It includes a shell 101, a support cover 102 is installed in the shell 101, the support cover 102 is installed on the right side of the upper side of the shell 101, a straight pole 103 is slidably and rotatably connected to the support cover 102, the main function of the support cover 102 is to provide support and guidance, to ensure the stability of the relative motion of the straight pole 103, the lower end of the straight pole 103 penetrates the shell 101, and the lower end of the straight pole 103 is fixedly connected with a suction nozzle 104, the main function of the suction nozzle 104 is to carry, fix and operate the object by adsorbing the object, so as to complete the work tasks such as carrying, transferring and fixing the object in the ZR shaft motion device, a first drive device 105 and a second drive device 106 are installed in the shell 101, the first drive device 105 and the second drive device 106 are both drive motors, the first drive device 105 drives the straight pole 103 to rotate through a first drive assembly, the second drive device 106 drives the straight pole 103 to slide up and down through a second drive assembly, the first drive assembly and the second drive assembly are cross-connected, a linear module is installed in the shell 101, the linear module mainly provides stable linear motion guidance, a fixed block 107 is provided on the linear module, a bearing 108 is installed in the fixed block 107, a fixed cover 109 is fixedly connected to the inner ring of the bearing 108, the fixed cover 109 is sleeved on the straight pole 103, so that the straight pole 103 can not only move linearly up and down, but also can rotate by itself;

[0018] Specifically, the first driving assembly comprises a first secondary synchronous wheel 201, a first synchronous belt 202 and a first primary synchronous wheel 203, the straight rod 103 is provided with a spline groove 1031, the lower end of the straight rod 103 is provided with the first secondary synchronous wheel 201, the first secondary synchronous wheel 201 is provided with a protrusion 2011 matched with the spline groove 1031, so that the first secondary synchronous wheel 201 can drive the straight rod 103 to rotate without affecting the up-down movement of the straight rod 103 through the cooperation of the spline groove 1031 and the protrusion 2011, the output shaft of the first driving device 105 is fixedly connected with the first primary synchronous wheel 203, the first primary synchronous wheel 203 and the first secondary synchronous wheel 201 are connected through the first synchronous belt 202, the diameters of the first secondary synchronous wheel 201 and the first primary synchronous wheel 203 are proportionally arranged, that is, the diameter of the first primary synchronous wheel 203 is smaller, and the diameter of the first secondary synchronous wheel 201 is larger, so that the first secondary synchronous wheel 201 can provide higher torque transmission capacity, thereby improving the transmission efficiency, specifically, the second driving assembly comprises a mounting block 301, a second secondary synchronous wheel 302, a second synchronous belt 303 and a second primary synchronous wheel 304, the mounting block 301 is fixedly connected in the shell 101, the second secondary synchronous wheel 302 is rotatably connected to the mounting block 301, the output shaft of the second driving device 106 is fixedly connected with the second primary synchronous wheel 304, the second primary synchronous wheel 304 and the second secondary synchronous wheel 302 are connected through the second synchronous belt 303, the fixed block 107 is fixedly connected to the second synchronous belt 303, the diameters of the second secondary synchronous wheel 302 and the second primary synchronous wheel 304 are equal, the mounting block 301 is arranged between the first secondary synchronous wheel 201 and the first primary synchronous wheel 203, so that the first synchronous belt 202 and the second synchronous belt 303 are arranged in a "crossed" manner, so that in the equipment requiring compact or narrow space application, the crossed arrangement can more efficiently utilize the space resources, avoiding the waste of redundant space in the transmission design.

[0019] Specifically, the linear module comprises a guide rail 401 and a sliding block 402, the guide rail 401 is installed in the shell 101, the guide rail 401 is arranged in parallel with the perpendicular line of the straight rod 103, the sliding block 402 is slidably connected to the guide rail 401, and the sliding block 402 is fixedly connected to the fixed block 107, so that the straight rod 103 is effectively guided through the action of the guide rail 401 and the sliding block 402, so that the up-down movement of the straight rod 103 is more stable, and unnecessary vibration or error is reduced.

[0020] The utility model discloses a working principle: starting second drive arrangement 106, the output shaft of second drive arrangement 106 drives second main synchronous wheel 304 to rotate, and second main synchronous wheel 304 drives second auxiliary synchronous wheel 302 to rotate through second synchronous belt 303, and second synchronous belt 303 drives fixed block 107 to move up and down, and then fixed block 107 drives straight rod 103 to move up and down, and then through suction nozzle 104 can adsorb object to carry and fix etc. operation, and starting first drive arrangement 105, and the output shaft of first drive arrangement 105 drives first main synchronous wheel 203 to rotate, and first main synchronous wheel 203 drives first auxiliary synchronous wheel 201 to rotate through first synchronous belt 202, and first auxiliary synchronous wheel 201 rotates through the cooperation of protruding 2011 and spline groove 1031, and then drives straight rod 103 to rotate, and then drives suction nozzle 104 to rotate, and suction nozzle 104 can rotate object, and then completes the operation task of ZR axle motion device.

[0021] The above only is the preferred embodiment of the utility model, and does not use to limit the utility model, and any modification, equivalent replacement, improvement etc. that is made within the spirit and principle of the utility model should include in the protection scope of the utility model.

Claims

1. A ZR-axis motion device characterized by, The application relates to a suction nozzle, which comprises an organic shell (101), a supporting sleeve (102) installed in the shell (101), a straight rod (103) slidingly and rotatably connected to the supporting sleeve (102), the lower end of the straight rod (103) penetrating through the shell (101) and being fixedly connected with a suction nozzle (104), a first driving device (105) and a second driving device (106) installed in the shell (101), the first driving device (105) driving the straight rod (103) to rotate through a first driving assembly, the second driving device (106) driving the straight rod (103) to slide up and down through a second driving assembly, a linear module installed in the shell (101), a fixed block (107) arranged on the linear module, a bearing (108) installed in the fixed block (107), a fixed sleeve (109) fixedly connected to the inner ring of the bearing (108), the fixed sleeve (109) being sleeved on the straight rod (103), and the first driving assembly and the second driving assembly being cross arranged.

2. A ZR-axis motion device as claimed in claim 1, characterized in that The first driving assembly comprises a first secondary synchronous wheel (201), a first synchronous belt (202) and a first primary synchronous wheel (203), the straight rod (103) is provided with a spline groove (1031), the lower end of the straight rod (103) is provided with the first secondary synchronous wheel (201), the first secondary synchronous wheel (201) is provided with a protrusion (2011) matched with the spline groove (1031), the output shaft of the first driving device (105) is fixedly connected with the first primary synchronous wheel (203), and the first primary synchronous wheel (203) and the first secondary synchronous wheel (201) are connected through the first synchronous belt (202).

3. A ZR axis motion device as claimed in claim 2, characterized in that The second driving assembly comprises a mounting block (301), a second secondary synchronous wheel (302), a second synchronous belt (303) and a second primary synchronous wheel (304), the mounting block (301) is fixedly connected in the shell (101), the second secondary synchronous wheel (302) is rotatably connected to the mounting block (301), the output shaft of the second driving device (106) is fixedly connected with the second primary synchronous wheel (304), the second primary synchronous wheel (304) and the second secondary synchronous wheel (302) are connected through the second synchronous belt (303), and the fixed block (107) is fixedly connected to the second synchronous belt (303).

4. A ZR axis motion device as claimed in claim 3, characterized in that The diameters of the first secondary synchronous wheel (201) and the first primary synchronous wheel (203) are proportionally arranged, the diameters of the second secondary synchronous wheel (302) and the second primary synchronous wheel (304) are equal, the mounting block (301) is arranged between the first secondary synchronous wheel (201) and the first primary synchronous wheel (203), and the first synchronous belt (202) and the second synchronous belt (303) are cross arranged.

5. A ZR axis motion device as claimed in claim 4, characterized in that The linear module comprises a guide rail (401) and a sliding block (402), the guide rail (401) is mounted in the cabinet (101), the guide rail (401) is arranged in parallel with the perpendicular line of the straight rod (103), the sliding block (402) is slidably connected on the guide rail (401), and the sliding block (402) is fixedly connected with the fixed block (107).

6. A ZR-axis motion device as claimed in claim 5, characterized in that The first driving device (105) and the second driving device (106) are driving motors.

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