CN104889988A - SCARA type robot and control system thereof - Google Patents
SCARA type robot and control system thereof Download PDFInfo
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- CN104889988A CN104889988A CN201510330070.8A CN201510330070A CN104889988A CN 104889988 A CN104889988 A CN 104889988A CN 201510330070 A CN201510330070 A CN 201510330070A CN 104889988 A CN104889988 A CN 104889988A
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- drive motors
- module
- motors module
- scara
- humanoid robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a structural scheme and an embodiment of an SCARA type robot in a modularized electric control mode. The robot electric control system is composed of four modularized driving motor modules; all the electric control system modules are controlled in a series connection manner by use of a four-wire system bus composed of two power wires and two CAN-BUS communication wires. Meanwhile, the CAN protocol is converted into such communication protocols as Ethernet and Bluetooth signals by use of a protocol conversion module so that a human-machine interaction control end can be connected in a wired or wireless manner. According to the SCARA type robot, the modularized driving motor module manner is adopted to take the place of the traditional manner of an AC/DC servo motor combined with a central motion control card, and an electrical control box is omitted; as a result, the mounting and maintenance of the SCARA type robot are simplified while the production cost of the SCARA type robot is reduced and the operability is improved.
Description
Technical field
The present invention relates to a kind of SCARA humanoid robot and control thereof, belong to intelligent machine apparatus field.
Background technology
SCARA (Selective Compliance Assembly Robot Arm, Chinese translation: select compliance to put together machines arm) is a kind of industrial robot of specific type of circular cylindrical coordinate type.There are 3 rotary joints in SCARA robot, and its axis is parallel to each other, and planar positions and orientation.Another joint is linear joint, for completing end piece in the motion perpendicular to plane.Portable construction, the response of this kind of robot are fast, and it is best suited for plane positioning, and vertical direction carries out the operation of assembling.
SCARA system is in X-axis, Y direction has biddability, and has good rigidity in Z-direction, this characteristic is particularly suitable for assembly work, such as a tylostyle is inserted a circular hole, therefore SCARA system is first a large amount of for assembling printed circuit board (PCB) and electronic component; Another feature of SCARA is two bar structures of its serial connection, and the arm of similar people, can put in operation in the confined space and then regain, be suitable for moving and picking and placeing object, as surface-mounted integrated circuit etc.Nowadays SCARA robot is also widely used in the fields such as plastics industry, auto industry, electronics industry, pharmaceutical industries and food industry.Its Major Function moves to take part and assembly work.Its first axle and second axle have rotational characteristic, and third and fourth axle according to the difference of requirements of one's work, manufacture corresponding multiple different form, and one can have rotation, another has linearly moving characteristic.Because it has specific shape, determine its working range and be similar to a sector region.
But, occur in the process that this robot promotes the use of on a large scale at present that wiring complexity, complicated operation, cost are high, require high bottleneck to technical staff.
Summary of the invention
Object of the present invention: aim to provide a kind of low cost, easy installation and maintenance, workable SCARA humanoid robot.
SCARA humanoid robot disclosed in this invention, comprise pedestal, be arranged on large arm, forearm and tool ends end that pedestal also connects successively, be arranged on the spline screw mandrel module of tool ends end, and modular drive motors module, it is characterized in that: be arranged on the first drive motors module in forearm, the second drive motors module and the 3rd drive motors module, and be arranged on the four-wheel drive motor module in pedestal; The spline screw mandrel that first drive motors module is used for control tool end moves vertically, second drive motors module rotates for the spline screw mandrel of control tool end, 3rd drive motors module is for controlling forearm with forearm and large arm connecting axle for the center of circle horizontally rotates, and four-wheel drive motor module is for controlling large arm with large arm and pedestal connecting axle for the center of circle horizontally rotates.
Described forearm is hollow structure, is provided with the cavity that can hold the first drive motors module, the second drive motors module, the 3rd drive motors module and associated actuator mechanism in it.
Described drive motors module is made up of reductor, stepper motor, encoder and high performance modular event driven and motion controller, and this kind of high performance modular event driven and motion controller can drive and control step motor reaches more than 3000rpm speed.Meanwhile, this stepper motor also can be substituted by the motor of other type, does not lose its versatility.
The electric-control system of SCARA humanoid robot of the present invention, is characterized in that: described modular drive motors module is controlled by the bus series connection of four-wire system, comprises two power lines and two CAN-BUS communication signal lines.
The electric-control system of SCARA humanoid robot disclosed in this invention, is also provided with translation interface, CAN protocol can be converted to Ethernet, and WIFI or Bluetooth signal are connected in a wired or wireless fashion with control end.
The electric-control system framework of SCARA humanoid robot of the present invention have employed the mode of integrated stepping servo module, replaces the mode that traditional DC servo motor adds central controller; This kind of stepping servo module comprises all motion controls and drive motors precisely runs necessary hardware and software, can accept and stored user programming, eliminate regulator cubicle and the electric-control board of traditional SCARA robot, greatly reduce the production cost of SCARA humanoid robot of the present invention.
The four-wire system bus marco that SCARA humanoid robot of the present invention adopts, all modular event driven motors and control assembly all control with four wire series connection, greatly simplify traditional wired mode, also can via Ethernet by translation interface, WIFI or bluetooth approach are connected with human-computer interactive control end is wired or wireless, human-computer interactive control end is had manyly to select flexibly, except carrying out programming Control by traditional industrial computer, also as dull and stereotyped in individual by intelligent mobile terminal, mobile phones etc. carry out programming Control, achieve low cost, easy care, easily use.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is the structural representation of drive motors module of the present invention;
Fig. 3 is electrical control system structure schematic diagram of the present invention;
In figure: 1-spline screw mandrel 2-tool ends end 3-first drive motors module 4-second drive motors module 5-the 3rd drive motors module 6-forearm 7-large arm 8-four-wheel drive motor module 9-base 10-reductor 11-stepper motor 12-encoder 13-modular event driven and motion controller 14-translation interface 15-human-computer interactive control end.
Detailed description of the invention
Hereafter with concrete example, SCARA humanoid robot of the present invention and electric-control system thereof are described in further detail by reference to the accompanying drawings.
SCARA humanoid robot of the present invention, comprise pedestal 9, to be arranged on pedestal 9 and the large arm 7 connected successively, forearm 6 and be arranged on the spline screw mandrel module 1 of tool ends end 2, and drive motors module, it is characterized in that: described drive motors comprises and is arranged on the first drive motors module 3, second drive motors module 4 in forearm 6 and the 3rd drive motors module 5, and is arranged on the four-wheel drive motor module 8 in base 9; First drive motors module 3 moves back and forth vertically for the spline screw mandrel 1 controlling to be arranged on tool ends end 2, second drive motors module 4 rotates for the spline screw mandrel 1 of control tool end 2,3rd drive motors module 5 for control forearm 6 with forearm 6 with large arm 7 connecting axle for the center of circle horizontally rotates, four-wheel drive motor module 8 for control large arm 7 with large arm 7 with base 9 connecting axle for the center of circle horizontally rotates.
Described forearm 6 is hollow structure, is provided with the cavity that can hold the first drive motors module 3, second drive motors module 4, the 3rd drive motors module 5 and associated actuator mechanism in it.
Described drive motors module is made up of reductor 10, stepper motor 11, encoder 12 and modular event driven and motion controller 13.
This SCARA humanoid robot control system, is characterized in that: described drive motors module is controlled by the series connection of four-wire system bus, comprises two power lines and two CAN signal lines.
This SCARA humanoid robot control system, is also provided with translation interface 14, CAN can be converted to WIFI or Bluetooth signal is connected with human-computer interactive control end 15.
Claims (5)
1. a SCARA humanoid robot, comprise base 9, be arranged on large arm 7, forearm 6 and tool ends end 2 that base 9 also connects successively, be arranged on the screw mandrel 1 of tool ends end 2, and drive motors module, it is characterized in that: described drive motors comprises and is arranged on the first drive motors module 3, second drive motors module 4 in forearm 6 and the 3rd drive motors module 5, and is arranged on the four-wheel drive motor module 8 in base 9; First drive motors module 3 moves back and forth vertically for the spline screw mandrel 1 controlling to be arranged on tool ends end 2, second drive motors module 4 rotates for the spline screw mandrel of control tool end 2,3rd drive motors module 5 for control forearm 6 with forearm 6 with large arm 7 connecting axle for the center of circle horizontally rotates, four-wheel drive motor module 8 for control large arm 7 with large arm 7 with base 9 connecting axle for the center of circle horizontally rotates.
2. a kind of SCARA humanoid robot as claimed in claim 1, is characterized in that: described forearm 6 is hollow structure, is provided with the cavity that can hold the first drive motors module 3, second drive motors module 4, the 3rd drive motors module 5 and transmission mechanism in it.
3. a kind of SCARA humanoid robot as claimed in claim 1, is characterized in that: described drive motors module is made up of reductor 10, stepper motor 11, encoder 12 and driving and motion controller 13.
4. a SCARA humanoid robot control system, is characterized in that: described drive motors is controlled by the series connection of four-wire system bus, comprises two power lines and two CAN signal lines.
5. a kind of SCARA humanoid robot control system as claimed in claim 4, is characterized in that: this SCARA humanoid robot control system, is also provided with translation interface 14, CAN can be converted to WIFI or Bluetooth signal is connected with human-computer interactive control end 15.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510330070.8A CN104889988A (en) | 2015-06-15 | 2015-06-15 | SCARA type robot and control system thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510330070.8A CN104889988A (en) | 2015-06-15 | 2015-06-15 | SCARA type robot and control system thereof |
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| Publication Number | Publication Date |
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| CN104889988A true CN104889988A (en) | 2015-09-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510330070.8A Pending CN104889988A (en) | 2015-06-15 | 2015-06-15 | SCARA type robot and control system thereof |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105922253A (en) * | 2016-06-30 | 2016-09-07 | 苏州塞默机械有限公司 | Efficient intelligent clamping manipulator |
| CN106695845A (en) * | 2015-11-13 | 2017-05-24 | 上海优爱宝机器人技术有限公司 | Control method for electronic control system of robot |
| CN106878127A (en) * | 2017-01-09 | 2017-06-20 | 浙江大学 | The wired control system of underwater robot with novel video monitoring |
| CN106881714A (en) * | 2015-12-15 | 2017-06-23 | 上海优爱宝机器人技术有限公司 | A kind of control system of SCARA robots and the robot of the system is installed |
| CN109129459A (en) * | 2017-06-28 | 2019-01-04 | 上海优爱宝智能机器人科技股份有限公司 | Tow-armed robot |
| WO2020061918A1 (en) * | 2018-09-27 | 2020-04-02 | 西门子（中国）有限公司 | Multi-axis robot communication method, device and system, and multi-axis robot |
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2015
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| CN1408514A (en) * | 2001-10-01 | 2003-04-09 | 日本伺服株式会社 | Multiple joint robot and its arm device |
| WO2009046952A1 (en) * | 2007-10-08 | 2009-04-16 | Dürr Systems GmbH | Robot comprising a cleaning device and associated operating method |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106695845A (en) * | 2015-11-13 | 2017-05-24 | 上海优爱宝机器人技术有限公司 | Control method for electronic control system of robot |
| CN106881714A (en) * | 2015-12-15 | 2017-06-23 | 上海优爱宝机器人技术有限公司 | A kind of control system of SCARA robots and the robot of the system is installed |
| CN105922253A (en) * | 2016-06-30 | 2016-09-07 | 苏州塞默机械有限公司 | Efficient intelligent clamping manipulator |
| CN106878127A (en) * | 2017-01-09 | 2017-06-20 | 浙江大学 | The wired control system of underwater robot with novel video monitoring |
| CN106878127B (en) * | 2017-01-09 | 2019-12-31 | 浙江大学 | Underwater robot wired control system with novel video monitoring function |
| CN109129459A (en) * | 2017-06-28 | 2019-01-04 | 上海优爱宝智能机器人科技股份有限公司 | Tow-armed robot |
| WO2020061918A1 (en) * | 2018-09-27 | 2020-04-02 | 西门子（中国）有限公司 | Multi-axis robot communication method, device and system, and multi-axis robot |
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Application publication date: 20150909 |
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