CN102152316A - R shaft structure of silicon chip transmission robot - Google Patents
R shaft structure of silicon chip transmission robot Download PDFInfo
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- CN102152316A CN102152316A CN2011100627442A CN201110062744A CN102152316A CN 102152316 A CN102152316 A CN 102152316A CN 2011100627442 A CN2011100627442 A CN 2011100627442A CN 201110062744 A CN201110062744 A CN 201110062744A CN 102152316 A CN102152316 A CN 102152316A
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Abstract
The invention provides an R shaft structure of a silicon chip transmission robot. The R shaft structure of a silicon chip transmission robot has the advantages of high revolving accuracy, high connection rigidity, simple structure and space saving and is particularly suitable for narrow space structures. The R shaft structure comprises an R shaft large arm shell mechanism (1), an R shaft large arm synchronous belt and pre-tightening mechanism (2), a coaxial seal mechanism (3), a synchronous small belt wheel rotating mechanism (4), a synchronous big belt wheel rotating mechanism (5), a cross bearing (6), a transmission shaft mechanism (7), an R shaft forearm synchronous belt and pre-tightening mechanism (8), an R shaft forearm shell mechanism (9) and the like. The structure provided by the invention has the characteristics that the mechanism in the traditional structure, which consists of one series of parts, such as one pair of angular contact ball bearings, bearing spacer bushings, bearing glands, bearing lock nuts and the like, is replaced by one cross bearing (6), so that the length of the transmission shaft is effectively shortened, the height space of the large arm and the forearm of the R shaft is reduced, and one series of functions are accordingly improved.
Description
Technical field
The present invention relates in precision optical machinery manufacturing field, a kind of with the traditional R of chip transmission robot axle construction is compared, have higher rotating accuracy, joint stiffness, simple in structure, save the space, be specially adapted to the narrow R of the chip transmission robot axle construction of space structure.
Background technology
The R axle construction of traditional chip transmission robot generally comprises in the space that big and small arms connects: power transmission shaft, transmission small pulley mechanism, a pair of angular contact ball bearing, bearing spacer, bearing gland, locking nut, the big belt wheel of R through-drive mechanism etc.The major defect of this structure is: the one, and constitutional detail is more, and physical dimension is bigger; The 2nd, when carrying out the moment transmission, because the cooperation several times of process power transmission shaft, bearing inner ring, outer race, drive pulley mechanism, accumulated error is relatively large, and transmission accuracy is reduced.The 3rd, Installation and Debugging process more complicated.
Summary of the invention
Purpose of the present invention, be to provide a kind of rational in infrastructure, compare with the traditional R of chip transmission robot axle construction, have higher rotating accuracy, joint stiffness, simple in structure, save the space, be specially adapted to the narrow R of the chip transmission robot axle construction of space structure.
Goal of the invention of the present invention is achieved in that a kind of chip transmission R of robot axle construction, comprise: the big arm shell mechanism 1 of R axle, the big arm of R axle is band and pre-tightening mechanism 2 synchronously, co-axial seal mechanism 3, synchronous small pulley rotating mechanism 4, synchronously big belt wheel rotating mechanism 5, right-angled intersection bearing 6, power transmission shaft mechanism 7, R axle forearm is band and pre-tightening mechanism 8 synchronously, R axle forearm shell mechanisms 9 etc.: the described chip transmission R of robot axle construction is used 1 right-angled intersection bearing 6, described synchronous small pulley 4 is enclosed within on the outer shroud of right-angled intersection bearing 6 with " hot charge practice ", and note making screw on the counterbore synchronism small pulley 4 of right-angled intersection bearing 6 outer shrouds, compress put in place after, it is fastening to be screwed into trip bolt in the counterbore of right-angled intersection bearing 6; Synchronous small pulley 4 after the described assembling and right-angled intersection bearing 6 are inserted in the corresponding site of power transmission shaft 7 with " hot charge practice ", and note making the counterbore on the power transmission shaft 7 to aim at the screw that encircles in the right-angled intersection bearing 6, compress put in place after, it is fastening to be screwed into trip bolt at the counterbore of power transmission shaft 7; Described synchronously big belt wheel 5 is inserted in the corresponding site of power transmission shaft 7 with " hot charge practice ", and notes making the counterbore on the big belt wheels 5 of screw synchronism of ring in the right-angled intersection bearing 6, compress put in place after, it is fastening to be screwed into trip bolt in the counterbore of synchronously big belt wheel 5.
The characteristics of mechanism of the present invention, be to use 1 right-angled intersection bearing to replace the mechanism that a series of parts such as 1 diagonal angle contact ball bearing in the traditional structure, bearing spacer, bearing gland, bearing lock nut are formed, the length of power transmission shaft is effectively shortened, thereby reduced the height space of the big forearm of R axle.
Use hot charge practice, the boiling water that synchronous small pulley is put into 100 ℃ heats 5min, be enclosed within on the outer shroud of right-angled intersection bearing after the taking-up while hot rapidly, and note making screw on the counterbore synchronism small pulley of right-angled intersection outer race, compress put in place after, it is fastening to be screwed into trip bolt in the counterbore of right-angled intersection bearing.
Use hot charge practice, synchronous small pulley after the assembling and the right-angled intersection bearing machine oil of putting into 200 ℃ are heated 5min, be inserted in the corresponding site of power transmission shaft after the taking-up while hot rapidly, and attention makes the screw of the counterbore aligning right-angled intersection bearing inner ring on the power transmission shaft, compress put in place after, it is fastening to be screwed into trip bolt at the counterbore of power transmission shaft.
Use hot charge practice, the boiling water that synchronously big belt wheel is put into 100 ℃ heats 5min, be inserted in the corresponding site of power transmission shaft after the taking-up while hot rapidly, and note making counterbore on the big belt wheel of screw synchronism of right-angled intersection bearing inner ring, compress put in place after, it is fastening to be screwed into trip bolt in the counterbore of synchronous big belt wheel.
The assembly of finishing above-mentioned assembling is contained on the big arm shell, and fastening with trip bolt.
The forearm shell mechanism that the co-axial seal device is housed is installed on the assembly of finishing assembling.
A kind of high accuracy of the present invention, high rigidity, simple in structure, the R of the chip transmission robot axle construction of saving the space are compared with drive mechanism, have following advantage:
1, owing to uses 1 right-angled intersection bearing to replace the mechanism that a series of parts such as 1 diagonal angle contact ball bearing in the traditional structure, bearing spacer, bearing gland, bearing lock nut are formed, the length of power transmission shaft is effectively shortened, thereby reduced the height space of the big forearm of R axle, be specially adapted to the narrow especially occasion of working space.
When 2, carrying out the moment transmission, because synchronously big belt wheel and synchronous small pulley all are directly installed on the right-angled intersection bearing, therefore the cooperation route of transmission has had bigger simplifying than traditional approach, and driving error has only the error of bearing itself, thereby effectively raises transmission accuracy.
3, owing to saved the mechanism that forms by a series of parts such as angular contact ball bearing, bearing spacer, bearing gland, bearing lock nuts, effectively reduced the spatial altitude of big arm of R axle and R axle forearm, the weight of the cantilever beam structures of being made up of big arm of R axle and R axle forearm is effectively alleviated, thus relative raising the rigidity of total.
4,, therefore make the comparatively simple of assembling process change, and need not to carry out too much adjustment, the assembly technology of simplification because the right-angled intersection bearing has replaced a series of parts in the traditional structure.
Description of drawings
Fig. 1 be a kind of high accuracy of the present invention, high rigidity, simple in structure, save the schematic diagram of the R of the chip transmission robot axle construction in space.
In Fig. 1, concrete numeral: the big arm shell mechanism of 1-R axle, the synchronous band of the big arm of 2-R axle and pre-tightening mechanism, 3-co-axial seal mechanism, the synchronous small pulley rotating mechanism of 4-, the synchronously big belt wheel rotating mechanism of 5-, 6-right-angled intersection bearing, 7-power transmission shaft mechanism, the synchronous band of 8-R axle forearm and pre-tightening mechanism, 9-R axle forearm shell mechanism.
The specific embodiment
With reference to shown in Figure 1, a kind of rational in infrastructure, compare with the traditional R of chip transmission robot axle construction, have higher rotating accuracy, joint stiffness, simple in structure, save the space, be specially adapted to the narrow R of the chip transmission robot axle construction of space structure and comprise: the big arm shell mechanism 1 of R axle, the big arm of R axle be band and pre-tightening mechanism 2, co-axial seal mechanism 3, small pulley rotating mechanism 4, synchronously big belt wheel rotating mechanism 5, right-angled intersection bearing 6, power transmission shaft mechanism 7, R axle forearm band and pre-tightening mechanism 8, R axle forearm shell mechanism 9 etc. synchronously synchronously synchronously.The characteristics of mechanism of the present invention, be to use 1 right-angled intersection bearing 6 to replace the mechanism that a series of parts such as 1 diagonal angle contact ball bearing in the traditional structure, bearing spacer, bearing gland, bearing lock nut are formed, the length of power transmission shaft is effectively shortened, thereby reduced the height space of the big forearm of R axle.
1, synchronous small pulley 4 is enclosed within on the outer shroud of right-angled intersection bearing 6, and notes making screw on the counterbore synchronism small pulley 4 of right-angled intersection bearing 6 outer shrouds, compress put in place after, it is fastening to be screwed into trip bolt in the counterbore of right-angled intersection bearing 6.
2, synchronous small pulley 4 after will assembling and right-angled intersection bearing 6 corresponding site that is inserted in power transmission shaft 7, and note making counterbore on the power transmission shaft 7 to aim at the screws of ring in the right-angled intersection bearing 6, compress put in place after, it is fastening to be screwed into trip bolt at the counterbore of power transmission shaft 7.
3, synchronously big belt wheel 5 is inserted in the corresponding site of power transmission shaft 7, and notes making the counterbore on the big belt wheels 5 of screw synchronism of ring in the right-angled intersection bearing 6, compress put in place after, it is fastening to be screwed into trip bolt in the counterbore of synchronously big belt wheel 5.
4, the assembly that will finish above-mentioned assembling is contained on the big arm shell 1, and fastening with trip bolt.
5, the forearm shell mechanism 9 that co-axial seal device 3 will be housed is installed on the assembly of finishing assembling.
Claims (1)
1. the R of a chip transmission robot axle construction comprises: the big arm shell mechanism of R axle (1), the synchronous band of the big arm of R axle and pre-tightening mechanism (2), co-axial seal mechanism (3), synchronous small pulley rotating mechanism (4), synchronously big belt wheel rotating mechanism (5), right-angled intersection bearing (6), power transmission shaft mechanism (7), the synchronous band of R axle forearm and pre-tightening mechanism (8), R axle forearm shell mechanism (9) etc.; It is characterized in that: the described chip transmission R of robot axle construction is used 1 right-angled intersection bearing (6), described synchronous small pulley (4) is enclosed within on the outer shroud of right-angled intersection bearing (6) with " hot charge practice ", and note making screw on the counterbore synchronism small pulley (4) of right-angled intersection bearing (6) outer shroud, compress put in place after, it is fastening to be screwed into trip bolt in the counterbore of right-angled intersection bearing (6); Synchronous small pulley (4) and right-angled intersection bearing (6) after the described assembling are inserted in the corresponding site of power transmission shaft (7) with " hot charge practice ", and note making the counterbore on the power transmission shaft (7) to aim at the screw that encircles in the right-angled intersection bearing (6), compress put in place after, it is fastening to be screwed into trip bolt at the counterbore of power transmission shaft (7); Described synchronously big belt wheel (5) is inserted in the corresponding site of power transmission shaft (7) with " hot charge practice ", and attention makes the counterbore on the big belt wheel of screw synchronism (5) that encircles in the right-angled intersection bearing (6), compress put in place after, it is fastening to be screwed into trip bolt in the counterbore of synchronous big belt wheel (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011100627442A CN102152316A (en) | 2011-03-16 | 2011-03-16 | R shaft structure of silicon chip transmission robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011100627442A CN102152316A (en) | 2011-03-16 | 2011-03-16 | R shaft structure of silicon chip transmission robot |
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| Publication Number | Publication Date |
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| CN102152316A true CN102152316A (en) | 2011-08-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011100627442A Pending CN102152316A (en) | 2011-03-16 | 2011-03-16 | R shaft structure of silicon chip transmission robot |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5513946A (en) * | 1991-08-27 | 1996-05-07 | Canon Kabushiki Kaisha | Clean robot |
| WO2000041855A1 (en) * | 1999-01-15 | 2000-07-20 | Asyst Technologies, Inc. | Workpiece handling robot |
| CN101209551A (en) * | 2007-12-25 | 2008-07-02 | 大连理工大学 | Glass substrate transferring robot |
| CN101693370A (en) * | 2009-09-30 | 2010-04-14 | 东莞宏威数码机械有限公司 | Novel multi-stage transferring robot |
| CN101908497A (en) * | 2010-07-14 | 2010-12-08 | 哈尔滨工业大学 | Double-arm transmission robot applied to high-cleanliness environment |
-
2011
- 2011-03-16 CN CN2011100627442A patent/CN102152316A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5513946A (en) * | 1991-08-27 | 1996-05-07 | Canon Kabushiki Kaisha | Clean robot |
| WO2000041855A1 (en) * | 1999-01-15 | 2000-07-20 | Asyst Technologies, Inc. | Workpiece handling robot |
| CN101209551A (en) * | 2007-12-25 | 2008-07-02 | 大连理工大学 | Glass substrate transferring robot |
| CN101693370A (en) * | 2009-09-30 | 2010-04-14 | 东莞宏威数码机械有限公司 | Novel multi-stage transferring robot |
| CN101908497A (en) * | 2010-07-14 | 2010-12-08 | 哈尔滨工业大学 | Double-arm transmission robot applied to high-cleanliness environment |
Non-Patent Citations (1)
| Title |
|---|
| 张士军: "硅片传输机器人的研制", 《中国优秀博硕士学位论文全文数据库（硕士），信息科技辑》 * |
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Application publication date: 20110817 |