Novel ZR shaft assembly of horizontal multi-joint manipulator

Abstract

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.

Description

technical field [0001] The invention relates to the field of industrial robots, in particular to a novel ZR-axis assembly of a horizontal multi-joint manipulator. Background technique [0002] The horizontal multi-joint manipulator is one of the necessary equipment for precise operation in the industrial industry. The use of the horizontal multi-joint manipulator to achieve precise horizontal and vertical grabbing and transfer is especially suitable for production line operations. However, the design of the ZR axis assembly of the horizontal multi-joint manipulator of the present invention is that the ball screw and the ball spline are assembled in parallel, and the spline is driven by the screw to move vertically, and the spline rotates horizontally. So, there are following deficiencies: [0003] First, parallel assembly is adopted, the structure is relatively complex, the drive matching requirements of the screw rod and the spline are high, and the machining accuracy of t...

AI Technical Summary

Problems solved by technology

[0003] First, parallel assembly is adopted, the structure is relatively complex, the drive matching requirements of the screw rod and the spline are high, and the machining accuracy of the related matching parts is also high;

[0004] The second is that the screw and spline are arranged in parallel, so that the volume of the component is large and the weight of the component is also large. The rotating arm supporting the ZR axis component bears a large gravity, which affects the operation of the manipulator and shortens the service life;

[0005] The third is that there are many components and parts, which increases the assembly and manufacturing costs

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