CN103612114A - SCARA robot special for screwing down and assembling screws - Google Patents
SCARA robot special for screwing down and assembling screws Download PDFInfo
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- CN103612114A CN103612114A CN201310540193.5A CN201310540193A CN103612114A CN 103612114 A CN103612114 A CN 103612114A CN 201310540193 A CN201310540193 A CN 201310540193A CN 103612114 A CN103612114 A CN 103612114A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
Abstract
The invention discloses an SCARA robot special for screwing down and assembling screws. The SCARA robot comprises a base, an X-axis arm and a Y-axis arm, wherein the X-axis arm and the Y-axis arm are sequentially connected to the base, and the X-axis arm and the Y-axis arm are positioned and adjusted in the X-direction and the Y-direction in the horizontal plane respectively. Particularly, a screw driver assembly is integrated on the SCARA robot based on a spline pair assembly of the Y-axis arm, a spline bearing of the spline pair and a Z-axis motor are fixedly connected to the Y-axis arm, a nut and a connecting plate are connected to a lead screw of the Z-axis motor in a sleeved mode, a spline sleeve of the spline pair and the connecting plate are connected integrally and connected into the spline bearing in a penetrating mode to slide in a damping mode in the Z-direction, the screw driver assembly at least comprises a screwing motor and a driver head, and the screwing motor and the driver head are integrally assembled and connected at the bottom inside the spline sleeve. After the scheme of the SCARA robot special for screwing down and assembling the screws is adopted, the structure of the robot is greatly simplified, R-axis accuracy of the tail end of the robot is ensured, meanwhile, rigidity is greatly improved, and the service life of the whole robot is prolonged.
Description
Technical field
The present invention relates to a kind of electronic assembly robot, relate in particular to the special-purpose SCARA of the electronic assembling robot that a kind of assembly precision and rigidity significantly improve, the robot life-span also promotes.
Background technology
SCARA robot (English full name: Selective Compliance Assembly Robot Arm, Chinese translation: select the compliance arm that puts together machines), because SCARA robot is at X, in Y-direction, there is biddability, and thering is good rigidity in Z-direction, this characteristic is particularly suitable for assembly work.
From SCARA basic theory structure: there are three rotary joints in SCARA robot, and its axis is parallel to each other, and planar carries out the locating and orienting of X axis and Y-axis.Another joint is linear joint, for completing end piece in the motion perpendicular to plane.As can be seen here, the professional SCARA robot that is applied to screw-driving assembling is the applied robot who utilizes the screwdriver of SCARA robot and screw-driving or add the feed mechanism that automatically send screw.
Conventionally adopt following two kinds of modes to complete the structural design of screw-driving assembly robot, be certainly also not limited to this, also may have other approximate embodiment based on these two kinds of modes.
As shown in Figure 1, tighten the screws cutter 5 setoff installations are in the R/Z of SCARA robot shaft end; Tighten the screws cutter and associated mechanisms are axially parallel with R/Z axle.
As shown in Figure 2, tighten the screws cutter 5 is installed in series in the R/Z of SCARA robot shaft end; Tighten the screws cutter and associated mechanisms are coaxial with R/Z axle.
From above two kinds of common modes, because tighten the screws cutter and associated mechanisms are connected with standard SCARA robot by comparatively simple connected mode, therefore in the process of screw-driving, shock loading is frequently caused in the weaker R axle joint of moment of reaction Hui Dui SCARA robot of tightening, along with this kind of screw-driving, assembling the service time of special-purpose SCARA robot accumulates, the joint loss of R axle, also in continuous accumulation, has limited the application of SCARA robot in screw-driving assembling greatly.
Summary of the invention
Defect in view of above-mentioned prior art existence, the object of the invention is to propose a kind of screw-driving and assemble special-purpose SCARA robot, thereby by the structural improvement of this type of SCARA robot of tradition being solved to the problem of the aspects such as assembly precision, rigidity intensity and robot life.
Above-mentioned purpose of the present invention, to be achieved by the following technical programs: screw-driving assembles special-purpose SCARA robot, comprise the X-axis arm and the Y-axis arm that on base and base, connect successively, and X-axis arm and the X of Y-axis arm in horizontal plane, in Y-direction, comply with location adjustable, it is characterized in that: described SCARA robot is based on the integrated screwdriver assembly that is provided with of Y-axis arm self spline pair, the spline bearing of wherein said spline pair and Z axis motor are fixed in Y-axis arm, the splined sleeve of spline pair is driven to be connected to Z-direction damping in spline bearing in Z axis motor and to slide, described screwdriver assembly at least comprises to tighten motor and screwdriver head and integrate and is secured to splined sleeve inside bottom.
Further, in described base, be provided with X-axis arm, Y-axis arm, Z axis motor and tighten the control bus of motor, the rotation start and stop that external controller drives respectively X-axis arm, Y-axis arm, Z axis motor and tightens motor.
Further, described screwdriver assembly is also provided with screw conveying connector automatically for nail at screwdriver head side.
Further, described Y-axis arm, Z axis motor and splined sleeve outside are provided with one-body molded shell, and only the bottom of described spline bearing and screwdriver head expose.
Technical solution of the present invention application implementation, this type of robot that compares to traditional sense possesses remarkable result: this scheme no longer produces shock loading repeatedly and moment is directly delivered to Y-axis arm R axle joint in rundown process, do not reducing on the basis of SCARA basic theory structure, realized the simplification of screw-driving being assembled to special-purpose SCARA robot architecture, on the basis that guarantees robot end R axle precision, also greatly improved the service life of rigidity and whole robot.
Accompanying drawing explanation
Fig. 1 is the SCARA robot architecture sketch of traditional setoff installation tighten the screws cutter.
Fig. 2 is the be installed in series SCARA robot architecture sketch of tighten the screws cutter of tradition.
Fig. 3 is total assembling structure and each axial schematic diagram thereof of the special-purpose SCARA of the present invention robot.
Fig. 4 is the structure explosive view after the special-purpose SCARA of the present invention robot decapsidate.
The specific embodiment
Below just accompanying drawing in conjunction with the embodiments, is described in further detail the specific embodiment of the present invention, so that technical solution of the present invention is easier to understand, grasp.
Before introducing in detail the special-purpose SCARA of the present invention robot, for avoiding ambiguity to be necessary that each kinematic axis of Xian Dui robot has gained some understanding.As shown in Figure 3, common SCARA robot has three rotary joints and a linear joint.Its primary structure feature comprises X-axis arm 2 and the Y-axis arm 3 connecting successively on base 1 and base 1.Wherein X-axis arm 2 is directly installed in base 1 top, and to take with the connecting axle of base be X rotating shaft; Y-axis arm 3 is further installed in the top of X-axis arm 2, and to take with the connecting axle of X-axis arm be Y rotating shaft; This X rotating shaft and Y rotating shaft are not the normal axis on ordinary meaning, just in order to meet SCARA robot arm end in location, the orientation of horizontal plane.Moreover, at the end of Y-axis arm 3, be formed with the Z axis linear joint perpendicular to horizontal plane motion, and form the 3rd rotary joint R axle based on this Z axis linear joint, therefore general and claim Z/R axle.Illustrate visible X rotating shaft, Y rotating shaft is parallel with R axle.
As aforementioned background art introduction, existing two kinds of tighten the screws cuttves are all simple connection based on Z/R axle and practical function.And the inventor recognizes these conventional machines people's deficiency in long-term production application process, below general introduction the present invention is directed to the innovation improvement of traditional SCARA robot.This novel SCARA robot comprises X-axis arm 2 and the Y-axis arm 3 connecting successively on base 1 and base 1 equally, and it is adjustable in X in horizontal plane of X-axis arm and Y-axis arm, Y-direction, to comply with location, be different from tradition, the Z/R axle that the parts such as the screwdriver of screw-driving, continuous nail feeding machanism (optionally) is built in to SCARA robot is inner, and utilizes the spline pair of R axle outside and the Y-axis arm of SCARA robot to carry the moment of reaction of screw-driving.Concrete structure as shown in Figure 4, this Y-axis arm 3 is based on the integrated screwdriver assembly that is provided with of self spline pair, wherein the spline bearing 41 of spline pair and Z axis motor 43 are fixed in Y-axis arm 3, on the leading screw 431 of Z axis motor 43, be socketed with nut 44 and connecting plate 45, the splined sleeve 42 of spline pair is connected with connecting plate 45 one and is connected to Z-direction damping in spline bearing 41 and slides.Under this structure, at the moving lower drive nut 44 of being turned of Z axis motor 43 and connecting plate 45, along leading screw 431, be subjected to displacement, and drive splined sleeve 42 to do the linear joint of the slip ，Ji robot of Z-axis direction.As the main application function of robot of the present invention, the required screwdriver assembly of screw-driving at least comprises tightens motor 51 and screwdriver head 52, and one is secured to splined sleeve bottom.Illustrate visible: tighten motor 51 and be inserted in splined sleeve 42 inner chambers, and be connected with screwdriver head 52 one in splined sleeve 42 bottoms.Robot vibration when this integrated morphology can make R axle rotational effectively be limited in splined sleeve and significantly reduce tightening operation, and can utilize the spline pair of R axle outside and the Y-axis arm of SCARA robot to carry the moment of reaction of screw-driving.
And in base, be provided with X-axis arm, Y-axis arm, Z axis motor and tighten the control bus of motor, the rotation start and stop that external controller drives respectively X-axis arm, Y-axis arm, Z axis motor and tightens motor.By external controller, programme and realize the controlled rotation of each rotating shaft, because this is the routine techniques in electrical control field,, as the emphasis of the present patent application protection, therefore omit, do not describe in detail, also in Fig. 4, specifically do not illustrate.
When SCARA of the present invention robot specifically implements: X-axis arm and Y-axis arm complete the horizontal movement ，Ke Jiang Z/R of robot axle and move to the position of getting the raw materials ready of screw, the screwed hole position on workpiece; Z axis motor moves up and down the built-in splined sleeve of tighten the screws cutter by leading screw and nut and connecting plate, makes it to leave or approach workpiece screwed hole position; The motor 51 of tightening of tighten the screws cutter rotarily drives screwdriver head and completes tightening or unscrewing screw.
As the further refinement of such scheme and optimization, the present invention also can do following expansion and implement.
One, tightens in design in screw automation, for raising operating efficiency adopts the unit of automatic nail feeding, is a kind of good technology perfect scheme.Particularly, at screwdriver assembly, at screwdriver head side, screw being set carries connector 53 automatically for nail.Can, when simplifying robot architecture, realize efficient, screw-driving assembling work in batches automatically like this.
Moreover especially with reference to shown in Fig. 3, this Y-axis arm, Z axis motor and splined sleeve outside can also be provided with one-body molded shell, only the bottom of spline bearing and screwdriver head are exposed.Can effectively completely cut off so extraneous dust to the impact in robot life-span and suppress noise.
The embodiment that to sum up screw-driving of the present invention is assembled to special-purpose SCARA robot architecture and operation describes visible: should scheme no longer R axle joint be produced shock loading repeatedly and moment is directly delivered to Y-axis arm in rundown process, do not reducing on the basis of SCARA basic theory structure, realized the simplification of screw-driving being assembled to special-purpose SCARA robot architecture, on the basis that guarantees robot end R axle precision, also greatly improved the service life of rigidity and whole robot.
In addition to the implementation, the present invention can also have other embodiment.All employings are equal to the technical scheme of replacement or equivalent transformation formation, within all dropping on the present invention's scope required for protection.
Claims (4)
1. screw-driving assembles special-purpose SCARA robot, comprise the X-axis arm and the Y-axis arm that on base and base, connect successively, and X-axis arm and the X of Y-axis arm in horizontal plane, in Y-direction, comply with location adjustable, it is characterized in that: described SCARA robot is based on the integrated screwdriver assembly that is provided with of Y-axis arm self spline pair, the spline bearing of wherein said spline pair and Z axis motor are fixed in Y-axis arm, the splined sleeve of spline pair is driven to be connected to Z-direction damping in spline bearing in Z axis motor and to slide, described screwdriver assembly at least comprises to tighten motor and screwdriver head and integrate and is secured to splined sleeve inside bottom.
2. screw-driving assembles special-purpose SCARA robot according to claim 1, it is characterized in that: in described base, be provided with X-axis arm, Y-axis arm, Z axis motor and tighten the control bus of motor, the rotation start and stop that external controller drives respectively X-axis arm, Y-axis arm, Z axis motor and tightens motor.
3. screw-driving assembles special-purpose SCARA robot according to claim 1, it is characterized in that: described screwdriver assembly is also provided with screw at screwdriver head side and carries connector automatically for nail.
4. screw-driving assembles special-purpose SCARA robot according to claim 1, it is characterized in that: described Y-axis arm, Z axis motor and splined sleeve outside are provided with one-body molded shell, and only the bottom of described spline bearing and screwdriver head expose.
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| CN104070517A (en) * | 2014-06-25 | 2014-10-01 | 周开雄 | Finger-imitating mechanical arm |
| CN104384912A (en) * | 2014-11-17 | 2015-03-04 | 东莞市本润机器人开发科技有限公司 | High-efficiency screw assembly device |
| CN104625700A (en) * | 2015-01-22 | 2015-05-20 | 哈尔滨工业大学 | Four-shaft linkage assembly device of full automatic assembly system of cabinet regulating feet |
| CN104625709A (en) * | 2014-12-31 | 2015-05-20 | 大连运明自动化技术有限公司 | Fastening-disassembling robot capable of automatically taking and placing work piece |
| CN104842103A (en) * | 2015-05-22 | 2015-08-19 | 湖北三江航天红阳机电有限公司 | Welding robot |
| CN104858647A (en) * | 2015-06-10 | 2015-08-26 | 深圳博美德机器人有限公司 | SCARA screw hitting manipulator and SCARA robot |
| CN104924061A (en) * | 2015-06-16 | 2015-09-23 | 东莞市米勒机器人有限公司 | Horizontal joint screw locking mechanical arm and full-automatic production line with mechanical arm |
| CN105058040A (en) * | 2015-09-06 | 2015-11-18 | 滁州市洪武报废汽车回收拆解利用有限公司 | Automatic mechanical-arm-nut disassembling device used for scrapped cars |
| CN105081757A (en) * | 2015-08-25 | 2015-11-25 | 苏州博思特装配自动化科技有限公司 | Novel intelligent universal high-speed screwing assembly robot |
| CN105252545A (en) * | 2014-07-04 | 2016-01-20 | 上银科技股份有限公司 | Horizontal joint mechanical arm |
| CN105269560A (en) * | 2015-11-03 | 2016-01-27 | 深圳市福士工业科技有限公司 | Novel ZR shaft assembly of horizontal multi-joint manipulator |
| CN105590494A (en) * | 2016-02-15 | 2016-05-18 | 苏州哈工海渡工业机器人有限公司 | Modularized Scara horizontal joint robot practical training platform |
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| CN105983854A (en) * | 2015-03-06 | 2016-10-05 | 上海电气自动化设计研究所有限公司 | Screwdriver and method for inserting and pulling server cabinet board |
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| CN104070517A (en) * | 2014-06-25 | 2014-10-01 | 周开雄 | Finger-imitating mechanical arm |
| CN105252545A (en) * | 2014-07-04 | 2016-01-20 | 上银科技股份有限公司 | Horizontal joint mechanical arm |
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| CN104842103A (en) * | 2015-05-22 | 2015-08-19 | 湖北三江航天红阳机电有限公司 | Welding robot |
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| CN104924061A (en) * | 2015-06-16 | 2015-09-23 | 东莞市米勒机器人有限公司 | Horizontal joint screw locking mechanical arm and full-automatic production line with mechanical arm |
| CN104924061B (en) * | 2015-06-16 | 2018-11-09 | 东莞市米勒机器人有限公司 | Flapping articulation screw locking machine tool hand and the automatic production line for using the manipulator |
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| CN105081757B (en) * | 2015-08-25 | 2017-06-20 | 苏州博思特装配自动化科技有限公司 | Novel intelligent general-using type tightens the people that puts together machines at a high speed |
| CN105058040A (en) * | 2015-09-06 | 2015-11-18 | 滁州市洪武报废汽车回收拆解利用有限公司 | Automatic mechanical-arm-nut disassembling device used for scrapped cars |
| CN105269560A (en) * | 2015-11-03 | 2016-01-27 | 深圳市福士工业科技有限公司 | Novel ZR shaft assembly of horizontal multi-joint manipulator |
| CN105590494A (en) * | 2016-02-15 | 2016-05-18 | 苏州哈工海渡工业机器人有限公司 | Modularized Scara horizontal joint robot practical training platform |
| CN106003150A (en) * | 2016-06-30 | 2016-10-12 | 苏州塞默机械有限公司 | Mounting method of lightweight screw locking manipulator |
| CN106003087A (en) * | 2016-06-30 | 2016-10-12 | 江苏捷帝机器人股份有限公司 | Safe assembling manipulator with automatic alarming function |
| CN106002998A (en) * | 2016-06-30 | 2016-10-12 | 苏州塞默机械有限公司 | High-efficiency working method for automatic clamping manipulator |
| CN106078196A (en) * | 2016-06-30 | 2016-11-09 | 苏州塞默机械有限公司 | A kind of installation method riveting use articulated robot |
| CN106078625A (en) * | 2016-06-30 | 2016-11-09 | 苏州塞默机械有限公司 | A kind of method of work of articulated robot assemble mechanism |
| CN106141063A (en) * | 2016-06-30 | 2016-11-23 | 苏州塞默机械有限公司 | A kind of method of work of intelligent riveting machine hand |
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| CN106002949A (en) * | 2016-06-30 | 2016-10-12 | 江苏捷帝机器人股份有限公司 | Lightweight joint robot for assembling |
| CN106003086A (en) * | 2016-06-30 | 2016-10-12 | 苏州塞默机械有限公司 | Working method for joint robot for assembly |
| CN106142066A (en) * | 2016-07-26 | 2016-11-23 | 上海无线电设备研究所 | A kind of modular end of lightweight directly drives planar multiple-articulation robot system |
| CN106736474A (en) * | 2016-12-26 | 2017-05-31 | 东莞市精心自动化设备科技有限公司 | A kind of many adsorption head screw locking machines of robot |
| CN106514232A (en) * | 2016-12-26 | 2017-03-22 | 东莞市精心自动化设备科技有限公司 | Multifunctional multi-axis mechanical arm locking screw machine |
| CN106514233A (en) * | 2016-12-26 | 2017-03-22 | 东莞市精心自动化设备科技有限公司 | Screw locking machine of multi-axis mechanical arm |
| CN107351086A (en) * | 2017-08-22 | 2017-11-17 | 华南理工大学 | A kind of kalman estimate method of SCARA joint of robot torque |
| CN107584274A (en) * | 2017-08-30 | 2018-01-16 | 赵阳 | Single double methods moved automatic tightening bolt device and its tighten bolt of driving |
| CN107598839A (en) * | 2017-09-12 | 2018-01-19 | 江西洪都航空工业集团有限责任公司 | A kind of dismountable standard component of multi-angle gives instrument |
| EP4008494A4 (en) * | 2019-08-02 | 2023-08-02 | Estic Corporation | Screw fastening system and screw fastening device |
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|---|---|
| CN103612114B (en) | 2016-02-10 |
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Effective date of registration: 20220124 Address after: 215000 No. 6, Lane 1, Shengpu Wupu Road, Suzhou Industrial Park, Suzhou area, China (Jiangsu) pilot Free Trade Zone, Suzhou, Jiangsu Patentee after: Suzhou Baidian robot Co.,Ltd. Address before: 215127 No. 6, 1st lane, Wupu Road, Shengpu Town, Suzhou Industrial Park, Jiangsu Province Patentee before: SUZHOU PT AUTOMATION TECHNOLOGY CO.,LTD. |
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Address after: 213031 Building 6, No. 6, Information Avenue, Xinbei District, Changzhou City, Jiangsu Province Patentee after: Changzhou Platinum Electric Robot Co.,Ltd. Address before: 215000 No. 6, Lane 1, Shengpu Wupu Road, Suzhou Industrial Park, Suzhou area, China (Jiangsu) pilot Free Trade Zone, Suzhou, Jiangsu Patentee before: Suzhou Baidian robot Co.,Ltd. |