301 results about "Ball spline" patented technology

A racking device performs a circuit breaker racking operation. The racking device includes a base with wheels and a brake to facilitate moving the racking device and positioning it with respect to a switchgear cabinet. An elongated tubular member extends substantially vertically from the base. A self-contained counter-balanced power module includes an enclosure having a pair of opposing openings for receiving the elongated tubular member, and a counterweight system for counter-balancing the power module. An actuator including a motor, a ball spline and a torque member moves a linkage assembly having an end effector with a negator spring that positively engages the circuit breaker. A switch module actuates the actuator from a remote location in order to move the linkage assembly and thus the circuit breaker to perform the racking operation from the remote location. Complicated field programming of the power module is not required.

A left drive shaft and a right drive shaft each include an inside constant velocity joint and an outside constant velocity joint with a ball spline mechanism provided between the inside constant velocity joint and the outside constant velocity joint for enabling the distance between the inside constant velocity joint and the outside constant velocity joint to be contracted and extended. The ball spline mechanism includes a spline shaft having an outer circumferential surface provided with a plurality of axial grooves extending in the axial direction, a tubular portion surrounding the periphery of the spline shaft and having an inner circumferential surface provided with a plurality of axial grooves extending in the axial direction and a plurality of balls capable of rolling while being fitted in the axial grooves and in the axial grooves. In addition, a left lower arm and a right lower arm are formed into an A-shape and are supported by a lower part of a rising portion and a lower end of the downwardly extending portion via a lower supporting shaft.

The invention discloses a Scara robot which comprises a first rotation joint, a second rotation joint, a rotation and movement compound motion joint and a spline lead screw. The first rotation joint is connected with the second rotation joint, the other end of the second rotation joint is connected with the rotation and movement compound motion joint, the rotation and movement compound motion joint comprises a rotation joint and a movement joint, the rotation joint is output through a third servo motor, decelerated through a third harmonic reducer and driven to a ball spline inner ring through a synchronous belt, and a deep groove ball bearing is added in the third harmonic reducer to be used as an auxiliary support. According to the Scara robot, the deep groove ball bearing is added in the third harmonic reducer in the rotation and movement compound motion joint, therefore, the operation rigidity of the robot is effectively improved, the structure is compact, and the accuracy is high.

The invention discloses a steel wire rope transmitting linear telescopic mechanism for a minimally-invasive surgery robot. The steel wire rope transmitting linear telescopic mechanism mainly comprises a driving system, a steel wire rope transmitting device and a tail end actuating mechanism. The driving system is composed of a rear servo motor, a speed reducer and a coupler, wherein the output shaft of the speed reducer is connected with a ball spline shaft through the coupler to transmit movement to the steel wire rope transmitting system. The steel wire rope transmitting system is composed of a steel wire rope, a ball spline, a spline screw barrel, a guide shaft and a guide wheel. The mutual conversion between the circumferential motion and the linear motion of the steel wire rope is achieved, and the self linear motion direction change of the steel wire rope is obtained. The tail end actuating mechanism is fixed to a telescopic supporting rod, a linear guide rail is arranged on the telescopic supporting rod, the tail end actuating mechanism is connected with the steel wire rope through a fixing screw device, and the linear motion of the steel wire rope can be transmitted to the tail end actuating mechanism. The steel wire rope is arranged in a closed loop mode. The linear telescopic mechanism has the advantages of being small in occupancy, simple in structure, accurate in control, free of hysteresis error and high in transmitting efficiency.

The invention discloses an automatic single-drive double-movement bolt tightening device. The device comprises a motor, a speed reducer, a torque sensor, a drive tooth-shaped belt wheel A, a transmission shaft, an electromagnetic clutch, a drive tooth-shaped belt wheel B, an electromagnetic brake, a frame, a tooth-shaped belt A, a ball screw rod spline shaft, a rotation type ball nut component, adriven tooth-shaped belt wheel A, a tooth-shaped belt B, a driven tooth-shaped belt wheel B, a rotation type ball spline sleeve component, a non-contact displacement sensor, a reflection plate, a flange-type ball spline sleeve, a limit ring, a connection component, a compression spring and a spanner component. The automatic single-drive double-movement bolt tightening device is single-drive, full-automatic, high in efficiency, compact in structure, and suitable for being used on an automatic production line. The automatic single-drive double-movement bolt tightening device has the coupling ability, has wide application range, and can be used for tightening bolts with different screw pitches. The invention further provides a bolt tightening method of the automatic single-drive double-movement bolt tightening device.

The invention relates to a spraying robot mechanical arm driving device, comprising an intermediate rotating driving mechanism, a telescopic driving mechanism and a swinging driving mechanism at the front end, wherein the rotating driving mechanism drives a mechanical arm to rotate by virtue of a servo motor; the telescopic driving mechanism drives a lead screw to rotate by virtue of the servo motor, a ball spline shaft converts rotation motion of a ball lead screw nut into telescopic motion of the mechanical arm; and the swinging driving mechanism at the front end is connected with the front end of a telescopic shaft of the telescopic driving mechanism by virtue of a tensioning sleeve, and the swinging driving mechanism at the front end drives a swinging and rotating shaft to rotate by virtue of the servo motor and a reducer, thus a spray gun is driven to swing.

The rotary motion of a ball screw shaft is converted into the rectilinear motion by a ball spline nut provided integrally with displacement members by the aid of an attachment section. Involute splines are engraved on outer circumferential surfaces of spline pistons connected to the displacement members. The spline pistons are slidably meshed with a splined bore of the involute splines formed on an inner wall surface of a frame. The attachment section is displaceable in a longitudinal direction of the frame by the aid of the splined bore and the spline pistons.

The invention discloses a hydraulic pressure suspension polishing method and a device thereof. A servo motor and a synchronous pulley drive a shaft sleeve and a ball spline shaft so as to directly drive a polishing disk to rotate at high speed, and the processing efficiency is improved. A wedge groove is formed in the polishing disk pasted with a workpiece, and a wedging effect is formed at high speed and in small gap, so that the polishing disk drives the ball spline shaft to float upwards along the shaft sleeve, and uniform non-contact polishing is realized. A bottom container is lifted through an electric lifting platform to realize initial positioning. A force measuring sensor is mounted at the top and is used for positioning a cutter between the polishing disk and the container to ensure the reliability of positioning. The spline shaft is connected with a balance plate together through a supporting seat, and four groups of springs are arranged between the balance plate and a bottom plate and are used for overcoming the gravity of a polishing component. A laser displacement sensor mounted on the bottom plate is used for measuring the distance of floating up or down of the balance plate in the polishing process. An electrical vortex sensor and a pressure sensor are mounted at bottom container and are used for detecting the size of a polishing gap and hydraulic pressure.

The invention discloses a robotic planetary polishing unit for polishing of large-diameter aspheric surfaces. The robotic planetary polishing unit comprises a revolution drive mechanism, an autorotation drive mechanism, a polishing shaft component and a counterweight eccentric regulator. Two servo motors drive the robotic planetary polishing unit to autorotate and revolve respectively. The revolution drive mechanism allows horizontal revolution of planetary motion. The counterweight eccentric regulator is an eccentric regulation and synchronous center-of-mass balancing mechanism, allowing a counterweight to reversely synchronously change with an eccentric distance. The autorotation drive mechanism employs two-stage belt drive, allows an auto-rotating motor to be fixed and allows transmission of autorotation motion at the premise of not performing horizontal rotation. The polishing shaft component is in a hollow combination of a low-friction cylinder and a female rotary ball-and-spline shaft, allowing the cylinder and a piston not to perform autorotation motion. The hollow structure allows a dynamic and static polishing process. The pressure of a polishing disc is precisely controlled by a proportional valve through reduction in the friction.

The invention discloses a five degree-of-freedom combined robot platform. The five degree-of-freedom combined robot platform is characterized by comprising a two-dimensional workbench at the bottom and a three degree-of-freedom manipulator vertically installed at the top, the two-dimensional workbench comprises a displacement table moving in the X direction, and the displacement table is provided with a workbench body moving in the Y direction; the three degree-of-freedom manipulator comprises a ball screw spline shaft and a vertical rotary shaft penetrating through the ball screw spline shaft, the ball screw spline shaft moves linearly in the Z direction under the action of a ball screw bearing in the middle of the ball screw spline shaft and rotates around the vertical shaft under the action of a ball spline bearing, the lower end of the vertical rotary shaft drives a horizontal rotary shaft to rotate through two bevel gears, and the two ends of the horizontal rotary shaft are fixedly provided with a connection flange with a wrist. The five degree-of-freedom combined robot platform is reasonable in mechanical design, compact in structure, good in dynamic characteristic, capable of reducing the coupling effect between joints, and especially suitable for three-dimensional profile measurement of parts and automatic assembly tasks.

The invention discloses a six-DOF (Degree Of Freedom) planar joint robot, and belongs to the technical field of industrial robots. The six-DOF planar joint robot comprises a base, a first arm, a driving device of the first arm, a second arm, a driving device of the second arm, a three-DOF wrist and a driving device of the three-DOF wrist; the first arm is arranged on the base; the second arm is arranged at the tail end of the first arm; the three-DOF wrist is connected with three ball splines and is driven by the driving device which is arranged on the second arm through a synchronous belt wheel and the ball splines; the motion of the three-DOF wrist in the vertical direction is supplied by a ball screw. According to the six-DOF planar joint robot provided by the invention, the three-DOF wrist is additionally arranged on the basis of a three-DOF SCARA (Selective Compliance Assembly Robot Arm) robot, and three transverse moving DOFs along an X axis, a Y axis and a Z axis and three rotation DOFs along the X axis, the Y axis and the Z axis are obtained; the six-DOF planar joint robot is suitable for realizing complicated motion, and six-DOF motion of an operated target can be realized.

A precise electric cylinder comprises a driving motor, a cylinder barrel, a lead screw pair, a thrust bearing, a hollow barrel-shaped piston rod and a ball spline sleeve, wherein the lead screw pair is composed of a lead screw shaft and a lead screw nut. The lead screw shaft is arranged along the central axis of the cylinder barrel, the power input end of the lead screw shaft is in transmission connection with an output shaft of the driving motor, the lead screw shaft is axially positioned through the thrust bearing, an outer ring of the thrust bearing and the cylinder barrel are fixed coaxially, the lead screw nut and the barrel-shaped piston rod are coaxially and fixedly connected, and the other end, opposite to the power input end, of the lead screw shaft stretches into the hollow barrel-shaped piston rod. When the driving motor drives the lead screw shaft to rotate and the piston rod is driven to conduct reciprocating motion, rolling of balls replaces original sliding friction between the piston rod and a supporting component and between the piston rod and a guiding component, so that abrasion is reduce, and efficiency, control accuracy and reliability are improved.

The invention relates to a full-automatic overturn plate positioning mechanism which comprises an overturn power transmission mechanism, an overturn clamping mechanism, an overturn positioning mechanism, a belt power mechanism, a track width regulating mechanism and an overturn bottom plate, wherein the overturn power transmission mechanism comprises a motor, a ball spline, a synchronous belt and two synchronizing wheels; the overturn clamping mechanism comprises two overturn conveying positioning strips; the overturn positioning mechanism comprises an overturn limit sensor, an overturn positioning cylinder and an L-shaped positioning block; the belt power mechanism comprises a stepping motor, a double-shaft cylinder, a power wheel, a dynamical friction wheel and a belt idler; the track width regulating mechanism is provided with two linear sliding tracks and two ball screws. The full-automatic overturn plate positioning mechanism solves the difficulty in single-station double-faced plate processing by virtue of the structure, is small and compact in structure, and is accurate in overturn operation positioning and rapid in speed, the size of integrated equipment is greatly reduced and the production efficiency is improved.

The invention relates to a multi-connecting-rod rectilinear movement hanger bracket adopting a ball spline pair. The multi-connecting-rod rectilinear movement hanger bracket comprises a spring shock absorber, wheels, a vehicle body, a steering knuckle, an upper-side first hanger bracket branched chain, an upper-sided second hanger bracket branched chain, a lower-side first hanger bracket branched chain and a lower-side second hanger bracket branched chain, wherein the spring shock absorber is hinged with the steering knuckle and the vehicle body respectively, the steering knuckle is matched with the wheels by wheel hub units, and the two ends of each hanger bracket branched chain are respectively hinged with the steering knuckle and the vehicle body. The multi-connecting-rod rectilinear movement hanger bracket has the advantages that the positional parameters such as the camber angle, the kingpin inclination angle and the caster angle of the wheels, the toe-in (toe-out) of the front wheel, the distance between the left wheel and the right wheel, and the distance between a front shaft and a rear shaft can be kept constant during the process that the wheels jump up and down, so that the abrasion of the tires is lowered greatly, and the operation stability, the driving smoothness and the riding comfort of the vehicle can be improved effectively; the hanger bracket branched chains are simple in structure, the ball spline pair can be changed after being abraded, and the service lives of the hanger bracket branched chains are prolonged.

The invention relates to a tyre building machine combined roller and a method thereof, aiming to solve the fitting problem caused in the process of rolling a tyre shoulder externally circular conical surface by adopting a movable finned roller and improve the flexibility in the process of automatically adjusting the press roll initial interval in an on-line manner. The combined roller is provided with a rack installed on a base; a first roller device, a second roller device, a third roller device and a fourth roller device are respectively connected on the rack by a respective bracket; the second roller device has two groups of rollers 2 and roller cylinders 2, and two groups of roller ball splines 2 and driving devices for driving the roller 2 to do transversely horizontal displacement which are all arranged at the front end of the roller device 2; the roller 2 comprises at least two rollers which are in fastened connected with each other and are sheathed on an intermediate shaft via bearing sleeves; adjacent rollers are made of different materials and are in gapless section contact; and the intermediate shaft is connected with the robber bracket arranged on the driving device.

The invention discloses a force-controlled flange for the polishing operation of an industrial robot and a polishing method. The force-controlled flange comprises an upper base, a lower base, an air spring and a proportional valve. The upper base and the lower base are arranged in a spaced mode up and down. The air spring is arranged between the upper base and the lower base. The proportional valve can adjust the pressure in the air spring. A displacement sensor is arranged between the upper base and the lower base. The proportional valve comprises a pressure sensor for monitoring the pressure in the air spring. According to the force-controlled flange for the polishing operation of the industrial robot and the polishing method, the adjustment of the contact force can be achieved; the requirement for position precision of the industrial robot in the polishing process is lowered; the production cost is reduced, and the quality of products can be improved. The force-controlled flange is simple in structure, convenient to control and easy to popularize in a grinding production line. A ball spline is selected for replacing a guiding rail and a rectilinear motion ball bearing, and the rotational degree of freedom is restrained, accordingly, the influence of the radial force (relative to the guiding rail) can be better eliminated.

An electric actuator comprises a gear mechanism which transmits the rotary driving force of a rotary driving source, and a ball spline mechanism which includes a ball spline shaft provided movably back and forth from a connecting block to the outside and which converts a rotary motion transmitted by the gear mechanism into a rectilinear motion. The electric actuator has a ball spline nut which is externally fitted to the ball spline shaft to be meshed with the gear mechanism and which is integrally formed with a gear section having a plurality of teeth arranged circumferentially about the gear section.

The invention discloses a ball spline supporting Stirling refrigerator, which comprises a compressor system, a cold head system and a motor crankshaft driving system, wherein the compressor system is composed of a cylinder and a piston assembly; the piston assembly is composed of a piston and a piston ball spline; the cold head system is composed of a cooling cylinder, an ejector, a regenerator and an ejector ball spline; the regenerator is positioned in the ejector; the motor crank driving system is composed of a motor, a piston connecting rod, a crankshaft and an ejector connecting rod; and the cylinder, the cooling cylinder and the motor are installed on a crankcase. The ball spline supporting Stirling refrigerator has the advantages of stable thermal performance and high reliability, and the service life of the refrigerator is prolonged.

The invention provides a novel high-precision electrical electronic Brinell hardness tester, comprising a body, a test platform and a pressure head; wherein the test platform drives the tester to lift up and down through hand wheel and screw rod; the pressure head seat is connected with ball spline; the upper portion of the ball spline is connected with a pressure sensor; the upper portion of the pressure senor is orderly connected with a high hardness platform, a high rigidity lever driving the ball spline to do vertical linear motion; the other end of the lever is provided with a precision ball screw pair having an exact guiding device; the ball screw pair is driven by the servo-actuator; the invention is characterized in that: the ball spline is precise; precision of the ball screw pair is higher that 3 class; the lower portion of the test platform is mounted with a piezoelectric ceramic force value loading block composed by overlapping multiple piece of piezoelectric ceramics; the piezoelectric ceramic force value loading block is connecting with the driver. The invention is featured with electric closed-loop controlling the loading, fast, stable and reliable loading, high loading force value precision achieving to +/-0.1%.

The invention discloses an integrated type two-degree-freedom mechanical arm and a control system thereof. The mechanical arm comprises a ball screw, an outer cylinder rotation type ball spline, an upper hollow motor, a lower hollow motor, a screw-spline connecting piece and a fixing plate, wherein the ball screw is located in the Z-axis direction, the outer cylinder rotation type ball spline is capable of conducting rectilinear motion and rotational motion simultaneously, the upper hollow motor is arranged on the ball screw, the lower hollow motor is arranged on the ball spline, the screw-spline connecting piece connects the ball screw with the ball spline, and the upper hollow motor and the lower hollow motor are fixed on the fixing plate. According to the mechanism arm, through the two hollow motors, the ball screw and the ball spline are connected with a motor shaft directly without a synchronous belt, the cumulative errors are reduced, and the response speed and transmission accuracy of the mechanical arm are improved; the two motors, the ball screw and the ball spline are located on the same axis, the decoupling of rectilinear motion and rotational motion is achieved, the structure is simple, the size of the mechanism is further shrunk, and meanwhile the machining cost is lowered.

The invention discloses a novel ZR shaft assembly of a horizontal multi-joint manipulator. The novel ZR shaft assembly comprises a ball screw, wherein the upper end of the ball screw is connected with a first driving device through a first transmission assembly; a ball screw nut penetrates through the ball screw, the lower end of the ball screw nut is connected with a ball spline shaft, a hollow inner hole allowing the ball screw to sleeve in is formed in the ball spline shaft, and the ball screw and the ball spline shaft are always coaxially arranged; the ball screw nut is further connected with a linear guide rail; the first driving device drives the ball screw to revolve and rotate, the ball screw nut follows the ball screw to revolve and rotate, and the ball spline shaft is carried to move in a vertical direction; and a spline is arranged on the ball spline shaft in a sleeving manner, the ball spline shaft is further connected with a second driving device through a second transmission assembly, the second driving device drives the ball spline shaft to horizontally revolve, and the spline supports the movement and the revolving of the ball spline shaft. The ZR shaft assembly is simple in structure, is small in assembly size, is flexible, is convenient to assemble, and is low in manufacture cost.

A slip joint includes a slip shaft having a plurality of axially extending grooves, and a slip yoke having a plurality of axially extending grooves. The slip yoke is in telescoping engagement with the slip shaft, and the grooves formed in the slip shaft are circumferentially aligned with the grooves formed in the slip yoke. A plurality of torque transmitting balls is disposed in the grooves. A helically shaped cage is positioned radially between the slip shaft and the slip yoke. The cage secures the balls to maintain the balls spaced apart from one another and within the grooves.

A rotary assembly robot gripper comprises a frame, a left gripper arm, linear guide rails, a connecting plate, a right gripper arm, gripper bodies, a servo motor, cylinders, hinge pedestals, connecting rods, a synchronous rotation mechanism and a ball spline. The connecting plate is mounted on the frame. A pair of parallel linear guide rails is fixed on the frame. The left gripper arm and the right gripper arm are symmetrically mounted on the left and the right of the linear guide rails. Cylinder block ends of the two cylinders are fixed at the left end and the right end of the frame. Ends of the two connecting rods with the same length are respectively hinged to the hinge pedestals mounted on the left gripper arm and the right gripper arm. The other ends of the connecting rods are hinged to the synchronous rotation mechanism mounted on the frame. The rotary assembly robot gripper is compact in structure and integrates multiple functions, the operation precision is remarkably superior to the manual operation precision, the production cost is reduced, the production efficiency can be remarkably improved, and the labor intensity is reduced.