Embedded single-shaft robot

Abstract

The utility model discloses an embedded single-shaft robot, which belongs to the technical field of robots and is characterized in that a ball screw pair is arranged on a base, a nut seat is arranged on a nut of the ball screw pair, a plurality of circulating roller mechanisms are arranged on the nut seat, and each circulating roller mechanism comprises a roller retainer, a plurality of pin rollers and a plurality of pin rollers, a plurality of pin roller grooves are formed in the nut seat, pin rollers are arranged in the pin roller grooves through the pin roller retainers and are fixed on the nut seat through a circulating end cover, a plurality of guide strips which are in contact fit with the pin rollers are arranged on the base, a working platform is arranged on the nut seat, and a sealing unit is arranged on the working platform. The embedded structure is adopted to achieve compact design, meanwhile, the installation convenience is improved through the external installation hole site, the dustproof performance is enhanced through flexible dynamic sealing, and the load and stability are enhanced through a roller guide system.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the field of robot technology, especially a kind of embedded single-shaft robot. BACKGROUND

[0002] In the modern industrial production and automation field, the demand for efficient, accurate and compact motion control solutions is growing. Single-shaft robot, as an innovative automation equipment, emerged as the times require in such a background, and gradually showed its unique advantages and broad application prospects. Traditional single-shaft robot is large in size, and needs to be disassembled during installation. The process is complicated. And because of the gap between the robot main body and the telescopic sheath in the single-shaft robot, dust will enter the robot main body, causing wear to the ball screw and linear guide.

[0003] Ordinary single-shaft robot usually needs independent external frame and installation space, resulting in large overall size, and the installation needs to disassemble the outer cover, the installation steps are complex. If the load is too large, it will affect the precision of the screw rod and guide. For dust prevention, the dustproof parts of ordinary single-shaft robot are mostly telescopic sheath, and there is a gap between the sheath and the robot main body, which will cause dust to enter the robot main body, and then cause wear to the screw rod and guide. SUMMARY

[0004] The utility model aims at providing an embedded single-shaft robot, comprising: a base, a ball screw pair is arranged on the base, a nut seat is arranged on the nut of the ball screw pair, a plurality of circulating roller mechanisms are arranged on the nut seat, the circulating roller mechanism comprises: a roller retainer, a plurality of roller grooves are arranged on the nut seat, the roller is placed in the roller groove through the roller retainer and fixed on the nut seat through a circulating end cover, a plurality of guide strips in contact with the roller are arranged on the base, a workbench is arranged on the nut seat, and a sealing unit is arranged on the workbench.

[0005] Further, a sealing cover is arranged on the base, and a movement groove for accommodating the workbench is arranged on the sealing cover along the movement direction of the workbench.

[0006] Further, the sealing unit comprises: a dustproof connecting sheet metal, dustproof connecting sheet metals are arranged on both sides of the workbench, dustproof rollers and vias are arranged at the end of the dustproof connecting sheet metal, flexible covers are connected to the sealing cover through two vias and two dustproof rollers and placed in the movement groove, and a first dustproof cover is arranged on the workbench.

[0007] Further, the first dustproof cover is provided with a mounting hole for connecting external components.

[0008] Further, a servo motor is arranged on the base for driving the ball screw pair.

[0009] Further, the servo motor is mounted on the base through a motor base.

[0010] Further, the servo motor is connected with the ball screw pair through a shaft coupling.

[0011] Further, four guide bars are arranged on the nut seat in a circumferential array, and the angle between the plane where the diagonally two guide bars are located and the end face of the base is 40-50 degrees.

[0012] Further, the motor base comprises a base body, and a detachable second dustproof cover is arranged on the base body.

[0013] Further, the shaft coupling is arranged in the base body. Beneficial effects

[0014] 1. Compact design realized by embedded structure

[0015] An embedded layout with high integration of the base and the ball screw pair is adopted, and a circulating roller mechanism and a guide bar are used to replace the traditional external guide rail. A multi-point guiding system is formed by the contact between the roller and the guide bar, which not only ensures the movement accuracy, but also greatly reduces the overall volume of the equipment. This design can adapt to narrow spaces or complex assembly scenes, and is especially suitable for fields such as semiconductor production lines and medical equipment that have strict requirements on space utilization.

[0016] 2. External mounting hole improves installation convenience

[0017] The mounting hole on the workbench is designed in a standardized and external manner, and is located on the outside of the equipment main body. Without the need to disassemble the sealing cover or the dust cover, the external actuator can be directly connected. Compared with traditional robots that need to be operated by opening the shell, the installation efficiency is improved, and the damage to the sealing structure caused by frequent disassembly and assembly is avoided. This design is especially suitable for the needs of multi-station rapid switching or flexible transformation of production lines.

[0018] 3. Flexible dynamic sealing enhances dustproof performance

[0019] The dustproof unit realizes dynamic sealing through the cooperation of the flexible cover and the dustproof roller. The flexible cover passes through the through holes on both sides of the workbench, and stretches and contracts in the movement groove of the sealing cover with the movement of the platform, forming a continuous closed barrier. Compared with the telescopic sheath used in ordinary single-axis robots, this design can completely cover the exposed area of the ball screw pair and the guide bar, effectively preventing dust, oil mist and debris from entering, and prolonging the service life of the core transmission components.

[0020] 4. Roller guiding system enhances load and stability

[0021] The guide strip circumferential array arrangement forms a high-rigidity roller type support structure with the rollers of the circulating roller mechanism. The design upgrades the traditional line contact to surface contact, increases the guide surface contact area, improves the anti-lateral force moment capacity, and at the same time, the uniform distribution of the rollers significantly reduces the friction vibration, and positioning accuracy can still be maintained under high-speed or heavy-load working conditions. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 is a structural schematic diagram of the utility model;

[0023] Figure 2 is an explosion diagram of the utility model;

[0024] Figure 3 is a structural schematic diagram of the circulating roller mechanism of the utility model;

[0025] Figure 4 is a structural schematic diagram of the sealing unit of the utility model;

[0026] Figure 5 is an installation position schematic diagram of the dustproof roller of the utility model;

[0027] Figure 6 is an explosion diagram of the circulating roller mechanism of the utility model;

[0028] Figure 7 is an installation position schematic diagram of the flexible cover of the utility model. DETAILED DESCRIPTION

[0029] In the following description, a large number of specific details are given to provide a more thorough understanding of the utility model. However, it is obvious to those skilled in the art that the utility model can be implemented without one or more of these details. In other examples, some technical features known in the art are not described to avoid confusion with the utility model.

[0030] Embodiment: as Figures 1-7As shown, an embedded single-axis robot comprises a base 1, a ball screw pair 2 arranged on the base 1, a nut seat 3 arranged on the nut of the ball screw pair 2, a plurality of circulating roller mechanisms 4 arranged on the nut seat 3, the circulating roller mechanism 4 comprising a roller holder 41, a plurality of roller grooves 42 arranged on the nut seat 3, a roller 43 placed in the roller groove 42 through the roller holder 41 and fixed on the nut seat 3 through a circulating end cover 44, a plurality of guide strips 45 arranged on the base 1 and in contact with the roller 43, a workbench 11 arranged on the nut seat 3, and a sealing unit 5 arranged on the workbench 11. The base 1 is provided with a sealing cover 6, and a movement groove 7 for accommodating the workbench 11 is arranged on the sealing cover 6 along the movement direction of the workbench 11. The sealing unit 5 comprises a dustproof connecting sheet metal 51, the workbench 11 is provided with a dustproof connecting sheet metal 51 on both sides, the dustproof connecting sheet metal 51 is provided with a dustproof roller 52 and a via hole 53 at the end, a flexible cover 54 passes through two via holes 53 and two dustproof rollers 52 respectively at both ends and is connected with the sealing cover 6 and placed in the movement groove 7, and the workbench 11 is provided with a first dustproof cover 55. The first dustproof cover 55 is provided with a mounting hole 56 for connecting external components. The base 1 is provided with a servo motor 8 for driving the ball screw pair 2. The servo motor 8 is installed on the base 1 through a motor seat 9. The servo motor 8 is connected with the ball screw pair 2 through a shaft coupling 10. Four guide strips 45 are arranged in a circumferential array on the nut seat 3, and the planes where the diagonally opposite two guide strips 45 are located form an angle of 40-50 degrees with the end face of the base 1. The motor seat 9 comprises a motor seat body 91, and a second dustproof cover 92 is arranged on the motor seat body 91. The shaft coupling 10 is placed in the motor seat body 91.

[0031] The base 1 is used as the basic support structure of the embedded single-axis robot, carries and fixes all other core components, and integrates the ball screw pair 2 inside to ensure the rigidity and stability of the overall structure through high-precision machining, providing a reliable motion reference for the robot. The ball screw pair 2 is used as the core transmission component, which converts the rotary motion input by the servo motor 8 into the linear motion of the nut block 3. The high-precision ball circulation design significantly reduces the friction resistance, improves the transmission efficiency and positioning accuracy. The nut block 3 is used as the load bearing component of the ball screw pair 2, which cooperates with the guide bar 45 through the circulating roller mechanism 4 on it to realize the linear guiding function with high rigidity and low vibration, and connects the external executive mechanism through the workbench 11. The circulating roller mechanism 4 is composed of a roller retainer 41, a roller groove 42, a roller 43, and a circulating end cover 44. The roller retainer 41 accurately restricts the motion trajectory of the roller 43, the roller groove 42 provides a roller circulation channel, and the circulating end cover 44 closes the channel and maintains the continuity of the ball circulation, ensuring the uniform distribution of the ball under load and reducing local wear. The guide bar 45 is arranged symmetrically along the base 1 and directly contacts the roller 43 to form a multi-point guiding system. Through the diagonal layout of a specific angle of 40-50 degrees, the anti-lateral moment capacity is enhanced, and the motion stability is improved. The workbench 11 is used as the end execution interface, which is isolated from the external environment through the sealing unit 5. The first dust cover 55 covers the top opening, and the installation hole 56 is designed in a standardized manner to facilitate the adaptation of various external tools or clamps. The sealing cover 6 covers the top of the base 1, and the movement groove 7 provides a moving space for the workbench 11. The flexible cover 54 is dynamically sealed, and the dustproof connecting sheet metal 51 is fixed on both sides of the workbench 11. The dustproof roller 52 and the via hole 53 guide the flexible cover 54 to stretch and shrink with the platform movement, forming a fully enclosed dustproof barrier that effectively blocks dust and oil from invading the core transmission area. The servo motor 8 is used as the power source, which is directly connected with the ball screw pair 2 through the shaft coupling 10, ensuring that the power transmission has no backlash. The motor base 9 is made of high-strength material, and the detachable second dust cover 92 facilitates regular maintenance of the motor and shaft coupling 10. The built-in design of the shaft coupling 10 further reduces external interference and improves the sealing performance of the transmission system. The above-mentioned components work together. The rigidity of the base 1 and the guide bar 45 ensures the accuracy of the motion trajectory, the high response characteristics of the ball screw pair 2 and the servo motor 8 realize rapid positioning, the combined design of the circulating roller mechanism 4 and the sealing unit 5 takes into account high-efficiency transmission and long service life, the dynamic sealing structure of the sealing cover 6 and the flexible cover 54 adapts to high-speed reciprocating motion, the first dust cover 55 and the installation hole 56 expand the application scenarios of the robot in harsh environments, the detachable design of the motor base 9 simplifies the maintenance process, and the built-in layout of the shaft coupling 10 optimizes space utilization. The precise cooperation and functional complementation of each component make the embedded single-axis robot have high precision, high speed, high reliability, and environmental adaptability, which can be widely used in semiconductor manufacturing, precision assembly, automatic detection, and other fields.

[0032] Working process: The working process of the embedded single-axis robot starts with the start of the servo motor 8, which directly transmits power to the screw end of the ball screw pair 2 through the coupling 10, driving it to rotate at high speed. The rotational motion of the ball screw pair 2 is converted into the linear motion of the nut seat 3 along the axial direction through the precise meshing between the rollers 43 and the nut. The nut seat 3, as the core carrier of power output, its motion trajectory is strictly constrained by the guide bar 45 on the base 1, the guide bar 45 is in contact with the rollers 43 of the circulating roller mechanism 4 in the form of diagonal 40-50 degree layout, forming a multi-point guiding support system, which can not only offset the influence of lateral load on the motion accuracy, but also reduce the vibration caused by high-speed motion, ensuring the smoothness of the work platform 11 and the repeatability of the positioning accuracy. The work platform 11 is fixed on the top of the nut seat 3 and moves synchronously, the mounting hole 56 on the platform can quickly connect external actuators such as mechanical clamps, sensors or machining tools according to the needs, to complete tasks such as grabbing, positioning, detecting or assembling.

[0033] During the movement, the roller retainer 41 of the circulating roller mechanism 4 accurately guides the roller 43 to circulate along the roller groove 42, the circulating end cover 44 closes the roller channel and maintains the continuity of the roller circulation, avoiding local wear of the roller due to uneven load, thereby prolonging the service life of the ball screw pair 2. At the same time, the sealing unit 5 realizes dynamic sealing through the cooperation of the dustproof connecting sheet metal 51 and the flexible cover 54: the dustproof rollers 52 on both sides of the work platform 11 roll in the movement groove 7, the flexible cover 54 is fixed to the sealing cover 6 through the hole 53, and the other end expands and contracts with the movement of the work platform 11, forming a fully enclosed protective barrier, effectively preventing external dust, oil or debris from entering the key transmission area of the ball screw pair 2 and the guide bar 45. The sealing cover 6 covers the top of the base 1, the movement groove 7 provides space for the movement of the work platform 11, and the first dust cover 55 on the top further closes the platform opening, the double-sealing design ensures that the robot can still operate stably in a high-pollution or high-humidity environment.

[0034] The servo motor 8 is rigidly fixed to the base 1 through the motor base 9, and the built-in shaft coupling 10 is directly connected with the ball screw pair 2, so as to reduce the gap and energy loss in the transmission chain and improve the dynamic response speed. The detachable second dust cover 92 of the motor base 9 facilitates the regular inspection of the shaft coupling 10 or the replacement of lubricant, thereby reducing the maintenance cost. During the whole movement process, the control system accurately adjusts the rotating speed and direction through the real-time feedback of the encoder signal of the servo motor 8, so as to realize the acceleration, deceleration, fixed-point stopping or continuous reciprocating movement of the work platform 11. The diagonal layout of the guide strips 45 is combined with the high rigidity characteristics of the ball screw pair 2, so that the robot can still maintain the micron-level positioning accuracy when bearing a large load or a high-speed impact. Finally, the coordinated operation of various components enables the embedded single-axis robot to efficiently complete the precise linear motion task, and is widely used in electronic component assembly, optical device processing, automatic detection line and other industrial scenes with strict requirements on cleanliness and precision.

[0035] The preferred embodiments of the utility model are described in detail above in combination with the drawings, but the utility model is not limited to the specific details in the above embodiments, and various equivalent transformations can be made to the technical solutions of the utility model within the technical concept of the utility model, and these equivalent transformations all belong to the protection scope of the utility model.

Claims

1. An in-line uniaxial robot comprising: Base (1), the base (1) is provided with a ball screw pair (2), the nut of the ball screw pair (2) is provided with a nut seat (3), characterized in that a plurality of circulating roller mechanisms (4) are arranged on the nut seat (3), the circulating roller mechanism (4) comprises: a roller retainer (41), a plurality of roller grooves (42) are arranged on the nut seat (3), a roller (43) is placed in the roller groove (42) by the roller retainer (41) and is fixed on the nut seat (3) by a circulating end cover (44), a plurality of guide strips (45) are arranged on the base (1) and are in contact with the roller (43), a work platform (11) is arranged on the nut seat (3), and a sealing unit (5) is arranged on the work platform (11).

2. An inlaid uniaxial robot according to claim 1, characterized in that, A sealing cover (6) is arranged on the base (1), and a movement groove (7) for accommodating the work platform (11) is arranged on the sealing cover (6) along the movement direction of the work platform (11).

3. An inlaid uniaxial robot according to claim 2, characterized in that The sealing unit (5) comprises: a dustproof connecting sheet metal (51), dustproof connecting sheet metals (51) are arranged on both sides of the work platform (11), dustproof connecting sheet metals (51) are provided with dustproof rollers (52) and through holes (53) at the ends, flexible protective covers (54) pass through two through holes (53) and two dustproof rollers (52) respectively, and the flexible protective covers (54) are connected with the sealing cover (6) and placed in the movement groove (7).

4. An in-line uniaxial robot according to claim 3, characterized in that A mounting hole (56) for connecting external components is arranged on the first dustproof cover (55).

5. An in-line uniaxial robot according to claim 1, characterized in that, A servo motor (8) for driving the ball screw pair (2) is arranged on the base (1).

6. An in-line uniaxial robot according to claim 5, characterized in that The servo motor (8) is installed on the base (1) through a motor seat (9).

7. An in-line uniaxial robot according to claim 6, characterized in that The servo motor (8) is connected with the ball screw pair (2) through a shaft coupling (10).

8. An inlaid uniaxial robot according to claim 2, characterized in that, Four guide strips (45) are circumferentially arranged on the nut seat (3), and the planes where the diagonally opposite two guide strips (45) are located form an angle of 40-50 degrees with the end face of the base (1).

9. An in-line uniaxial robot according to claim 7, characterized in that The motor seat (9) comprises: a motor seat body (91), and a detachable second dustproof cover (92) is arranged on the motor seat body (91).

10. An in-line uniaxial robot according to claim 9, characterized in that The shaft coupling (10) is arranged in the motor seat body (91).

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