CN103612114B - Screw-driving assembles special SCARA robot - Google Patents

Screw-driving assembles special SCARA robot Download PDF

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Publication number
CN103612114B
CN103612114B CN201310540193.5A CN201310540193A CN103612114B CN 103612114 B CN103612114 B CN 103612114B CN 201310540193 A CN201310540193 A CN 201310540193A CN 103612114 B CN103612114 B CN 103612114B
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China
Prior art keywords
axis
axis arm
screw
motor
robot
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CN201310540193.5A
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Chinese (zh)
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CN103612114A (en
Inventor
邓毅
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苏州铂电自动化科技有限公司
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Publication of CN103612114A publication Critical patent/CN103612114A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00Machines 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
    • B23P19/04Machines 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
    • B23P19/06Screw or nut setting or loosening machines

Abstract

Present invention is disclosed a kind of screw-driving and assemble special SCARA robot, comprise X-axis arm and Y-axis arm that base and base connect successively, and X-axis arm and the X of Y-axis arm in horizontal plane, Y-direction to be complied with location adjustable.Especially, this SCARA robot is provided with screwdriver assembly based on self spline pair of Y-axis arm is integrated, wherein the spline bearing of spline pair and Z axis motor are fixed in Y-axis arm, the leading screw of Z axis motor is socketed with nut and connecting plate, the splined sleeve of spline pair is connected with connecting plate one and is connected to Z-direction damping in spline bearing and slides, and screwdriver assembly at least comprises to be tightened motor and screwdriver head and is integrally secured to splined sleeve inside bottom.Apply after screw-driving of the present invention assembles special SCARA robotic scenarios, achieve the significantly simplification of robot architecture, the basis ensureing robot end R axle precision also substantially increases the service life of rigidity and whole robot.

Description

Screw-driving assembles special SCARA robot
Technical field
The present invention relates to a kind of electronic assembly robot, particularly relate to a kind of assembly precision and rigidity significantly improves, the robot life-span also promotes the special SCARA robot of electronic assembling.
Background technology
SCARA robot (English full name: SelectiveComplianceAssemblyRobotArm, Chinese translation: select compliance to put together machines arm), because SCARA robot is at X, Y-direction has biddability, and in Z-direction, there is good rigidity, 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 being applied to screw-driving assembling is the applied robot utilizing the screwdriver of SCARA robot and screw-driving or add the feed mechanism automatically sending screw.
Usual employing the following two kinds mode completes the structural design of screw-driving assembly robot, is certainly also not limited thereto, and also may there is other approximate embodiment based on these two kinds of modes.
As shown in Figure 1, tighten the screws cutter 5 setoff installation is in SCARA robot R/Z 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 SCARA robot R/Z shaft end; Tighten the screws cutter and associated mechanisms coaxial with R/Z axle.
From above two kinds of normal method, 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, the moment of reaction tightened can cause shock loading frequently to the R axle joint that SCARA robot is weaker, along with this kind of screw-driving assembles accumulation service time of special SCARA robot, the joint loss of R axle, also in continuous accumulation, greatly limit the application of SCARA robot in screw-driving assembling.
Summary of the invention
In view of the defect that above-mentioned prior art exists, the object of the invention is to propose a kind of screw-driving and assemble special SCARA robot, by solving the problem of the aspects such as assembly precision, rigid and robot life to the structural improvement of this type of SCARA robot of tradition.
Above-mentioned purpose of the present invention, to be achieved by the following technical programs: screw-driving assembles special SCARA robot, comprise X-axis arm and Y-axis arm that base and base connect successively, and X-axis arm and the X of Y-axis arm in horizontal plane, Y-direction is complied with location adjustable, it is characterized in that: described SCARA robot is provided with screwdriver assembly based on self spline pair of Y-axis arm is integrated, spline bearing and the Z axis motor of wherein said spline pair 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, be provided with X-axis arm, Y-axis arm, Z axis motor in described base and tighten the control bus of motor, external controller drives X-axis arm, Y-axis arm, Z axis motor respectively and tightens the rotation start and stop of motor.
Further, described screwdriver assembly is also provided with screw conveying connector automatically for nail at screwdriver head side.
Further, be provided with one-body molded shell outside described Y-axis arm, Z axis motor and splined sleeve, only the bottom of described spline bearing and screwdriver head expose.
Technical solution of the present invention application implementation, compare to this type of robot remarkable result of traditional sense: the program no longer produces shock loading repeatedly to R axle joint and moment is directly delivered to Y-axis arm in rundown process, on the basis not reducing SCARA basic theory structure, achieve the simplification of screw-driving being assembled to special SCARA robot architecture, the basis ensureing robot end R axle precision also substantially increases the service life of rigidity and whole robot.
Accompanying drawing explanation
Fig. 1 is the SCARA robot architecture sketch that conventional bias installs tighten the screws cutter.
Fig. 2 is the SCARA robot architecture sketch that conventional serial installs tighten the screws cutter.
Fig. 3 is total assembling structure of the present invention special SCARA robot and each axial schematic diagram thereof.
Fig. 4 is the structural blast figure after the present invention special SCARA robot decapsidate.
Detailed description of the invention
Below just accompanying drawing in conjunction with the embodiments, is described in further detail the specific embodiment of the present invention, is easier to understand, grasp to make technical solution of the present invention.
Before introducing the special SCARA robot of the present invention in detail, be necessary for avoiding ambiguity first to have gained some understanding to each kinematic axis of robot.As shown in Figure 3, common SCARA robot has three rotary joints and a linear joint.Its key structural feature comprises X-axis arm 2 and Y-axis arm 3 that base 1 and base 1 connect successively.Wherein X-axis arm 2 is directly installed in base 1 top, and with the connecting axle with base for X rotating shaft; Y-axis arm 3 is installed in the top of X-axis arm 2 further, and with the connecting axle with X-axis arm for 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 the location of horizontal plane, orientation.Moreover, be formed with the Z axis linear joint perpendicular to horizontal plane motion at the end of Y-axis arm 3, 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 present inventor recognizes the deficiency of these conventional machines people 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 Y-axis arm 3 that base 1 and base 1 connect successively equally, and X-axis arm and the X of Y-axis arm in horizontal plane, Y-direction to be complied with location adjustable, be different from tradition, the Z/R axle parts such as the screwdriver of screw-driving, continuous nail feeding machanism (optionally) being built in 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 provided with screwdriver assembly based on self spline pair is integrated, wherein the spline bearing 41 of spline pair and Z axis motor 43 are fixed in Y-axis arm 3, the leading screw 431 of Z axis motor 43 is 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, be subjected to displacement along leading screw 431 at dynamic nut 44 and the connecting plate 45 of driving down that turned of Z axis motor 43, and drive splined sleeve 42 to do the slip of Z-axis direction, be i.e. the linear joint of robot.As the main application function of robot of the present invention, the screwdriver assembly needed for screw-driving at least comprises tightens motor 51 and screwdriver head 52, and is integrally secured to bottom splined sleeve.Illustrate visible: tighten motor 51 and be inserted in splined sleeve 42 inner chamber, and be connected with screwdriver head 52 one bottom splined sleeve 42.This integrated morphology can make R axle rotational effectively be limited in splined sleeve robot vibration when significantly reducing tightening operation, and the spline pair of R axle outside and the Y-axis arm of SCARA robot can be utilized to carry the moment of reaction of screw-driving.
And be provided with X-axis arm, Y-axis arm, Z axis motor in base and tighten the control bus of motor, external controller drives X-axis arm, Y-axis arm, Z axis motor respectively and tightens the rotation start and stop of motor.By the controlled rotation of each rotating shaft of external controller programming realization, because this is the routine techniques of field of electrical control, not as the emphasis of the present patent application protection, therefore omit detailed description, also specifically do not illustrate in the diagram.
When SCARA robot of the present invention specifically implements: X-axis arm and Y-axis arm complete horizontal movement, robot Z/R axle can be moved to the screwed hole position on the position of getting the raw materials ready of screw, workpiece; Z axis motor makes the built-in splined sleeve of tighten the screws cutter move up and down by leading screw and nut and connecting plate, makes it to leave or close to 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 expand enforcement as follows.
One, tightens in design in screw automation, adopts the unit of automatic nail feeding to be a kind of good technical perfection scheme for improving operating efficiency.Particularly, at screwdriver head side, screw conveying connector 53 is set automatically for nail at screwdriver assembly.While simplification robot architecture, efficient, batch screw-driving assembling work automatically can be realized like this.
Moreover, special in shown in Fig. 3, one-body molded shell can also be provided with outside this Y-axis arm, Z axis motor and splined sleeve, only the bottom of spline bearing and screwdriver head be exposed.Effectively can completely cut off extraneous dust like this on the impact in robot life-span and restraint speckle.
To sum up describe visible to the embodiment that screw-driving of the present invention assembles special SCARA robot architecture and operation: scheme no longer moment should be directly delivered to Y-axis arm to R axle joint generation shock loading repeatedly in rundown process, on the basis not reducing SCARA basic theory structure, achieve the simplification of screw-driving being assembled to special SCARA robot architecture, the basis ensureing robot end R axle precision also substantially increases 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, all drop within the present invention's scope required for protection.

Claims (4)

1. screw-driving assembles special SCARA robot, comprise X-axis arm and Y-axis arm that base and base connect successively, and X-axis arm and the X of Y-axis arm in horizontal plane, Y-direction is complied with location adjustable, it is characterized in that: described SCARA robot is provided with screwdriver assembly based on self spline pair of Y-axis arm is integrated, spline bearing and the Z axis motor of wherein said spline pair 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 SCARA robot according to claim 1, it is characterized in that: be provided with X-axis arm, Y-axis arm, Z axis motor in described base and tighten the control bus of motor, external controller drives X-axis arm, Y-axis arm, Z axis motor respectively and tightens the rotation start and stop of motor.
3. screw-driving assembles special SCARA robot according to claim 1, it is characterized in that: described screwdriver assembly is also provided with screw conveying connector automatically for nail at screwdriver head side.
4. screw-driving assembles special SCARA robot according to claim 1, it is characterized in that: be provided with one-body molded shell outside described Y-axis arm, Z axis motor and splined sleeve, and only the bottom of described spline bearing and screwdriver head expose.
CN201310540193.5A 2013-11-05 2013-11-05 Screw-driving assembles special SCARA robot CN103612114B (en)

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