High-rigidity ZR-axis manipulator

Abstract

The utility model discloses a high-rigidity ZR shaft manipulator which comprises a manipulator main body, a hollow spline shaft movably penetrating through the manipulator main body, a reciprocating driving mechanism and a rotary driving mechanism which are connected with the hollow spline shaft, and a first bearing guide sleeve arranged between the manipulator main body and the reciprocating driving mechanism, the second bearing guide sleeve is arranged between the manipulator main body and the rotary driving mechanism; the reciprocating driving mechanism and the rotary driving mechanism are arranged in parallel; the reciprocating driving mechanism comprises a lead screw nut assembly arranged on the periphery of the hollow spline shaft in a sleeving manner, and a reciprocating driving assembly in driving connection with the lead screw nut assembly; the rotary driving mechanism comprises a spline nut assembly arranged on the periphery of the hollow spline shaft in a sleeving mode and a rotary driving assembly in driving connection with the spline nut assembly. The lead screw nut assembly is rotationally connected with the first bearing guide sleeve, and the spline nut assembly is rotationally connected with the second bearing guide sleeve. The linear reciprocating motion function and the rotary motion function can be achieved at the same time, and the linear reciprocating motion function or the rotary motion function can be independently achieved.

Description

Technical Field

[0001] This utility model relates to the field of industrial automation equipment parts technology, and in particular to a high-rigidity ZR axis robot. Background Technology

[0002] With the continuous development of industrial automation and intelligent manufacturing, robotic arms have been widely used in many fields such as mold manufacturing, automated equipment, optical measuring instruments, 3C industry, and semiconductor industry. However, the functions of existing robotic arms are relatively simple, unable to integrate linear reciprocating motion and rotary motion, and they also suffer from insufficient rigidity, which limits their application scope in diverse application scenarios. Utility Model Content

[0003] The purpose of this invention is to provide a high-rigidity ZR-axis manipulator that can simultaneously perform linear reciprocating motion and rotary motion, or perform linear reciprocating motion or rotary motion independently. Furthermore, by setting a first bearing guide sleeve to rotate with the lead screw and nut assembly, and a second bearing guide sleeve to rotate with the splined nut assembly, the accuracy and rigidity of the movement direction of the lead screw and nut assembly and the splined nut assembly are ensured.

[0004] To achieve the above objectives, the following technical solution is adopted:

[0005] A high-rigidity ZR-axis robot includes a robot body, a hollow splined shaft that moves through the robot body, a reciprocating drive mechanism and a rotary drive mechanism connected to the hollow splined shaft, a first bearing guide sleeve disposed between the robot body and the reciprocating drive mechanism, and a second bearing guide sleeve disposed between the robot body and the rotary drive mechanism; the reciprocating drive mechanism and the rotary drive mechanism are arranged side by side; the reciprocating drive mechanism includes a lead screw and nut assembly sleeved on the outer circumference of the hollow splined shaft, and a reciprocating drive assembly drivenly connected to the lead screw and nut assembly; the rotary drive mechanism includes a splined nut assembly sleeved on the outer circumference of the hollow splined shaft, and a rotary drive assembly drivenly connected to the splined nut assembly; the lead screw and nut assembly is rotatably connected to the first bearing guide sleeve, and the splined nut assembly is rotatably connected to the second bearing guide sleeve.

[0006] Preferably, the main body of the robotic arm has a cavity that extends through both ends, and each end of the cavity has a cover plate; the lead screw nut assembly and the spline nut assembly are installed inside the cavity.

[0007] Preferably, a plurality of rolling steel balls are provided circumferentially between the lead screw nut assembly and the first bearing guide sleeve, and between the spline nut assembly and the second bearing guide sleeve.

[0008] Preferably, the reciprocating drive assembly includes a reciprocating drive motor, a first gear connected to the power output end of the reciprocating drive motor, a second gear connected to the lead screw and nut assembly, and a first rack and pinion belt connected between the first gear and the second gear.

[0009] Preferably, the rotary drive assembly includes a rotary drive motor, a third gear connected to the power output end of the rotary drive motor, a fourth gear connected to the spline nut assembly, and a second rack and pinion belt connected between the third gear and the fourth gear.

[0010] Preferably, the diameter of the first gear is smaller than the diameter of the second gear; and the diameter of the third gear is smaller than the diameter of the fourth gear.

[0011] Preferably, the lead screw and nut assembly includes a lead screw and nut and a plurality of first balls; the hollow spline shaft has a first helical groove on its outer circumference, and the inner wall of the lead screw and nut has a second helical groove that matches the first helical groove; the plurality of first balls are movably positioned between the first helical groove and the second helical groove.

[0012] Preferably, the spline nut assembly includes a spline nut and a plurality of second balls; the outer circumference of the hollow spline shaft is provided with at least one first straight spline groove along the axial direction, and the inner wall of the spline nut is provided with a second straight spline groove that matches the first straight spline groove; the plurality of second balls are movably positioned between the first straight spline groove and the second straight spline groove.

[0013] By adopting the above solution, the beneficial effects of this utility model are:

[0014] This invention provides a high-rigidity ZR-axis manipulator that can simultaneously perform linear reciprocating motion and rotary motion, or perform linear reciprocating motion or rotary motion independently. Its compact structure allows it to adapt to confined workspaces and meet the needs of various application scenarios. Furthermore, by setting a first bearing guide sleeve to rotate with the lead screw and nut assembly, and a second bearing guide sleeve to rotate with the splined nut assembly, the accuracy and rigidity of the movement direction of the lead screw and nut assembly and the splined nut assembly are ensured. In a preferred embodiment, the reciprocating drive assembly and the rotary drive assembly employ a gear and rack synchronous belt combination to achieve high-precision and stable transmission. Attached Figure Description

[0015] Figure 1 This is a perspective view of the present utility model;

[0016] Figure 2 This is a perspective view of the present invention omitting the main body of the robotic arm;

[0017] Figure 3 This is a cross-sectional view of the present invention;

[0018] The following are explanations of the labels in the attached diagram:

[0019] 1—Main body of the robotic arm; 2—Hollow splined shaft;

[0020] 3—Reciprocating drive mechanism, 4—Rotary drive mechanism,

[0021] 5—First bearing guide sleeve, 6—Second bearing guide sleeve,

[0022] 7—Cover plate, 31—Screw and nut assembly,

[0023] 32—Reciprocating drive motor; 33—First rack and pinion synchronous belt;

[0024] 41—Spline nut assembly; 42—Rotary drive motor;

[0025] 43—Second rack and pinion synchronous belt. Detailed Implementation

[0026] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, not the entire structure.

[0027] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0028] In the description of this embodiment, the terms "upper," "lower," "left," and "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0029] Reference Figures 1 to 3As shown, this utility model provides a high-rigidity ZR-axis robot, including a robot body 1, a hollow splined shaft 2 that moves through the robot body 1, a reciprocating drive mechanism 3 and a rotary drive mechanism 4 connected to the hollow splined shaft 2, a first bearing guide sleeve 5 disposed between the robot body 1 and the reciprocating drive mechanism 3, and a second bearing guide sleeve 6 disposed between the robot body 1 and the rotary drive mechanism 4; the reciprocating drive mechanism 3 and the rotary drive mechanism 4 are arranged side by side; the reciprocating drive mechanism 3 includes a lead screw and nut assembly 31 sleeved on the outer circumference of the hollow splined shaft 2, and a reciprocating drive assembly drivenly connected to the lead screw and nut assembly 31; the rotary drive mechanism 4 includes a splined nut assembly 41 sleeved on the outer circumference of the hollow splined shaft 2, and a rotary drive assembly drivenly connected to the splined nut assembly 41; the lead screw and nut assembly 31 is rotatably connected to the first bearing guide sleeve 5, and the splined nut assembly 41 is rotatably connected to the second bearing guide sleeve 6.

[0030] The robotic arm body 1 has a cavity extending through both ends, and each end of the cavity has a cover plate 7. The lead screw nut assembly 31 and the spline nut assembly 41 are installed inside the cavity. By providing the cover plate 7, external interference with the operation of the reciprocating drive mechanism 3 and the rotary drive mechanism 4 can be effectively prevented. Furthermore, the cover plate 7 is detachably connected to the ends of the robotic arm body 1, facilitating disassembly and maintenance. Further, the first bearing guide sleeve 5 and the second bearing guide sleeve 6 are arranged parallel to each other within the cavity of the robotic arm body 1, and are fixed to the inner wall of the cavity.

[0031] The lead screw nut assembly 31 and the first bearing guide sleeve 5, and the spline nut assembly 41 and the second bearing guide sleeve 6 are provided with several rolling steel balls in the circumferential direction, so that the rotation of the lead screw nut assembly 31 and the spline nut assembly 41 is smoother.

[0032] The reciprocating drive assembly includes a reciprocating drive motor 32, a first gear connected to the power output end of the reciprocating drive motor 32, a second gear connected to the lead screw and nut assembly 31, and a first rack and pinion synchronous belt 33 connecting the first gear and the second gear. Specifically, the reciprocating drive motor 32 is a servo motor. The rotary drive assembly includes a rotary drive motor 42, a third gear connected to the power output end of the rotary drive motor 42, a fourth gear connected to the spline nut assembly 41, and a second rack and pinion synchronous belt 43 connecting the third gear and the fourth gear. Specifically, the rotary drive motor 42 is a servo motor. The use of a gear and rack and pinion synchronous belt achieves high-precision and stable transmission.

[0033] The diameter of the first gear is smaller than that of the second gear; the diameter of the third gear is smaller than that of the fourth gear. By having the small gear drive the large gear, the effect of speed reduction and torque increase can be achieved, while reducing energy loss during transmission and improving transmission efficiency.

[0034] The first rack and pinion synchronous belt 33 and the second rack and pinion synchronous belt 43 are arranged in parallel, and the reciprocating drive motor 32 and the rotary drive motor 42 are arranged coaxially. Through the reasonable layout structure, the overall structure of the robot is compact, thereby saving installation space.

[0035] The lead screw and nut assembly 31 includes a lead screw and nut and a plurality of first balls; the hollow spline shaft 2 has a first helical groove on its outer circumference, and the inner wall of the lead screw and nut has a second helical groove that matches the first helical groove; the plurality of first balls are movably positioned between the first helical groove and the second helical groove.

[0036] The spline nut assembly 41 includes a spline nut and a plurality of second balls; the hollow spline shaft 2 has at least one first straight spline groove axially formed on its outer circumference, and the inner wall of the spline nut has a second straight spline groove that matches the first straight spline groove; the plurality of second balls are movably positioned between the first straight spline groove and the second straight spline groove. Specifically, there are four first straight spline grooves and four second straight spline grooves.

[0037] Please continue to refer to Figure 3 This utility model provides a high-rigidity ZR-axis manipulator. By creating a first helical groove on the outer circumference of a hollow splined shaft 2, the reciprocating drive assembly drives the lead screw and nut assembly 31 to achieve linear reciprocating motion of the hollow splined shaft 2 driving the load, thus realizing linear reciprocating motion of the Z-axis. By creating a first linear spline groove along the axial direction on the outer circumference of the hollow splined shaft 2, the rotary drive assembly drives the spline nut assembly 41 to achieve rotary motion, thus realizing R-axis motion. Under the coordinated action of the reciprocating drive mechanism 3 and the rotary drive mechanism 4, the linear reciprocating motion and the rotary motion can be performed simultaneously, or they can be performed separately.

[0038] Individual linear reciprocating motion: The reciprocating drive assembly drives the lead screw and nut assembly 31 to move, and the rotary drive motor 42 brakes to hold the hollow spline shaft 2 tightly, so that the hollow spline shaft 2 stops rotating, thereby making the hollow spline shaft 2 only able to perform linear reciprocating motion.

[0039] Independent rotary motion: The rotary drive assembly drives the spline nut assembly 41 to rotate together with the hollow spline shaft 2. By adjusting the control screw nut and the spline nut to have the same speed and opposite direction, the linear travel of the hollow spline shaft 2 can be completely canceled. From the outside, the hollow spline shaft 2 only performs a rotary motion that is consistent with the direction of the spline nut.

[0040] Linear reciprocating motion and rotary motion occur simultaneously: the reciprocating drive assembly drives the lead screw and nut assembly 31 to move, and the rotary drive assembly drives the spline nut assembly 41 to move. From the outside, the hollow spline shaft 2 is simultaneously performing linear reciprocating motion and rotary motion. It should be noted that: 1) The conditions that the lead screw and nut and the spline nut have the same rotation speed and opposite direction cannot be met at the same time, so that the linear stroke of the hollow spline shaft 2 will not be completely canceled; 2) When the lead screw and nut assembly 31 drives the hollow spline shaft 2 to rotate in opposite directions as the spline nut assembly 41 drives the hollow spline shaft 2 to rotate, the two rotational strokes of the hollow spline shaft 2 should be prevented from canceling each other, that is, the rotational stroke of the hollow spline shaft 2 cannot be completely canceled.

[0041] The above are merely preferred embodiments of this utility model and are not intended to limit the scope of this utility model. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model. Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the utility model and are not intended to limit the implementation of this utility model. For those skilled in the art, various obvious changes, readjustments, and substitutions can be made without departing from the protection scope of this utility model. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A high-rigidity ZR-axis robotic arm, characterized in that, The device includes a robotic arm body, a hollow splined shaft that moves through the robotic arm body, a reciprocating drive mechanism and a rotary drive mechanism connected to the hollow splined shaft, a first bearing guide sleeve located between the robotic arm body and the reciprocating drive mechanism, and a second bearing guide sleeve located between the robotic arm body and the rotary drive mechanism. The reciprocating drive mechanism and the rotary drive mechanism are arranged side by side. The reciprocating drive mechanism includes a lead screw and nut assembly sleeved on the outer circumference of the hollow splined shaft, and a reciprocating drive assembly drivenly connected to the lead screw and nut assembly. The rotary drive mechanism includes a splined nut assembly sleeved on the outer circumference of the hollow splined shaft, and a rotary drive assembly drivenly connected to the splined nut assembly. The lead screw and nut assembly is rotatably connected to the first bearing guide sleeve, and the splined nut assembly is rotatably connected to the second bearing guide sleeve.

2. The high-rigidity ZR-axis robot according to claim 1, characterized in that, The main body of the robotic arm has a cavity that extends through both ends, and each end of the cavity has a cover plate; the lead screw nut assembly and the spline nut assembly are installed inside the cavity.

3. The high-rigidity ZR-axis manipulator according to claim 1, characterized in that, A number of rolling steel balls are provided circumferentially between the lead screw nut assembly and the first bearing guide sleeve, and between the spline nut assembly and the second bearing guide sleeve.

4. The high-rigidity ZR-axis manipulator according to claim 1, characterized in that, The reciprocating drive assembly includes a reciprocating drive motor, a first gear connected to the power output end of the reciprocating drive motor, a second gear connected to the lead screw and nut assembly, and a first rack and pinion belt connected between the first gear and the second gear.

5. The high-rigidity ZR-axis manipulator according to claim 4, characterized in that, The rotary drive assembly includes a rotary drive motor, a third gear connected to the power output end of the rotary drive motor, a fourth gear connected to the spline nut assembly, and a second rack and pinion belt connected between the third gear and the fourth gear.

6. The high-rigidity ZR-axis manipulator according to claim 5, characterized in that, The diameter of the first gear is smaller than the diameter of the second gear; the diameter of the third gear is smaller than the diameter of the fourth gear.

7. The high-rigidity ZR-axis robot according to claim 1, characterized in that, The lead screw and nut assembly includes a lead screw and nut and a plurality of first balls; the outer circumference of the hollow spline shaft is provided with a first helical groove, and the inner wall of the lead screw and nut is provided with a second helical groove that matches the first helical groove; the plurality of first balls are movably positioned between the first helical groove and the second helical groove.

8. The high-rigidity ZR-axis robot according to claim 1, characterized in that, The spline nut assembly includes a spline nut and a plurality of second balls; the outer circumference of the hollow spline shaft is provided with at least one first straight spline groove along the axial direction, and the inner wall of the spline nut is provided with a second straight spline groove that matches the first straight spline groove; the plurality of second balls are movably positioned between the first straight spline groove and the second straight spline groove.

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