CN105619395A - Economical robot wrist structure for selective compliance assembly robot arm (SCARA) - Google Patents
Economical robot wrist structure for selective compliance assembly robot arm (SCARA) Download PDFInfo
- Publication number
- CN105619395A CN105619395A CN201610128511.0A CN201610128511A CN105619395A CN 105619395 A CN105619395 A CN 105619395A CN 201610128511 A CN201610128511 A CN 201610128511A CN 105619395 A CN105619395 A CN 105619395A
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- Prior art keywords
- ball
- screw
- scara
- web member
- economical
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Classifications
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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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
Abstract
The invention discloses an economical robot wrist structure for a selective compliance assembly robot arm (SCARA). The economical robot wrist structure for the SCARA mainly comprises a lifting mechanism I, a driving device II and a small arm III. The lifting mechanism I mainly comprises a ball screw pair, a ball spline pair, a guide column and a linear bearing. Rising and falling of the tail end are achieved through a lead screw, the pose of the tail end is adjusted through a ball spline, and the rigidity and precision of the tail end of a robot are guaranteed through the guide column. The driving device II is mainly composed of a synchronous belt wheel set and a servo motor. Compared with an existing SCARA robot with a ball screw and spline integrated shaft, the economical robot wrist structure is low in cost and short in delivery time. On the premise that the rigidity and precision of the wrist structure for the SCARA are guaranteed, the manufacturing cost of the SCARA is effectively reduced; meanwhile, the wrist structure is compact and low in weight, and the stability and dynamic response characteristic of the tail end are greatly improved.
Description
Technical field
The invention belongs to industrial robot field, more specifically relate to a kind of economical SCARA robot wrist bilge construction.
Background technology
SCARA robot is a kind of plane joint type robot, has excellent rigidity and kindliness, is thus widely used in industrial production field. SCARA robot is through long-run development and improvement, and its structure is substantially mature and stable, but its wrist part structure is bigger on its end movement stationarity, rapidity impact.
At present, SCARA robot wrist bilge construction mainly adopts the ball-screw spline shaft that THK produces, precision height, good rigidly, but ball-screw spline shaft cost height, delivery date are long, cannot meet the large scale application of SCARA robot. For improving this present situation, SCARA robot wrist bilge construction is also carried out Curve guide impeller by numerous domestic scholar. Such as, patent CN203003891U discloses a kind of economical SCARA robot, and for avoiding using ball-screw spline shaft, its wrist adopts ball-screw with ball spline and to carry out up-and-down movement with end, and end load is big, dynamic response is poor.
Summary of the invention
In order to solve the problems such as existing SCARA robot wrist crucial accessory delivery date length, cost height, it is good that the present invention provides a kind of SCARA robot wrist compact construction, precision height, dynamic response.
The technical scheme that the present invention solves the problem is: a kind of economical SCARA robot wrist bilge construction, comprises hoisting appliance, drive unit, forearm; Described hoisting appliance mainly comprises ball-screw, ball-screw nut, web member 1, ball spline nuts, ball spline, mounting flange, linear bearings, guide pillar, web member 2; Described ball-screw is arranged on described forearm, and can rotate around its axis; Described guide pillar and described forearm connect admittedly, and described ball spline nuts is connected with described forearm, and can rotate around its axis; Described mounting flange is fixed in described ball spline end, and described ball spline coordinates with described ball spline nuts, and its top is connected with described web member 1, and can rotate; Described ball-screw nut and described web member 1 connect admittedly, and described linear bearings is connected 1 admittedly connects with described, and is set on described guide pillar; Described ball-screw top is connected with described web member 2, and both can relatively rotate, and described web member 2 connects admittedly with described guide pillar top.
Described drive unit mainly comprises rotating servo motor, lift servo motor, motor mounting plate, motor mount and synchronous band wheels. Described lift servo motor connects admittedly through described motor mounting plate and described forearm, and described lift servo motor shaft end installs the synchronous belt wheel 2 of lifting, and the synchronous belt wheel of described lifting 1 is fixed in described ball-screw end; Described rotating servo motor is fixed on described forearm through described motor mount, and its axle head installs rotation synchronization belt wheel motion-work wheel, and described rotation synchronization belt wheel follow-up pulley is connected with described ball spline nuts.
SCARA robot wrist bilge construction provided by the invention, utilizes ball-screw to realize end up-and-down movement, utilizes ball spline adjustment terminal angle, utilizes guide pillar to guarantee robot in the vertical direction rigidity; Wrist part structure is compact, end weight is little, reduces cost cost, shortens delivery date, applies for it and provides convenience.
Accompanying drawing explanation
Fig. 1 is SCARA robot architecture's schematic diagram of the present invention
Fig. 2 is SCARA robot wrist structural representation of the present invention
In figure: I, support (the first rotation joint); II, large arm; III, the 2nd rotation joint; IV, wrist part structure; 1, ball-screw; 2, ball screw nut; 3, web member (1); 4, rotation synchronization belt wheel (1); 5, ball spline nuts; 6, ball spline; 7, mounting flange; 8, the synchronous belt wheel (1) of lifting; 9, motor mount; 10, motor mounting plate; 11, the synchronous belt wheel (2) of lifting; 12, forearm; 13, lift servo motor; 14, rotating servo motor; 15, linear bearings; 16, guide pillar; 17, web member (2)
Embodiment
Referring to figs. 1 through Fig. 2, what the present invention relates to is a kind of economical SCARA robot wrist bilge construction, and it is preferably implemented mode and is:
SCARA mainly has support I, large arm II, the 2nd rotates joint III, wrist part structure IV; It is provided with servomotor+power outputting device of reductor in support I and can realize the rotation to large arm II; 2nd rotation joint III and support I has identical PTO, can realize the IV position adjustment of its wrist part structure in plane. The offer SCARA robot wrist bilge construction of the present invention mainly comprises hoisting appliance, drive unit, forearm 12; Hoisting appliance mainly comprises ball-screw 1, ball-screw nut 2, web member (1) 3, ball spline nuts 5, ball spline 6, mounting flange 7, linear bearings 15, guide pillar 16, web member (2) 17; Ball-screw 1 is arranged on 12 forearms, and can rotate around its axis; Guide pillar 16 and forearm 12 connect admittedly, and ball spline nuts 5 is connected with forearm 12, and can rotate around its axis; Mounting flange 7 is fixed in ball spline 6 end, and ball spline 6 coordinates with ball spline nuts 5, and its top is connected with web member (1) 3, and can rotate; Ball-screw nut 2 and described web member (1) 3 connect admittedly, and linear bearings 15 is fixed in connection (1) 3, and is set on guide pillar 16; Ball-screw 1 top is connected with web member (2) 17, and both can relatively rotate, and web member (2) and guide pillar 16 top connect admittedly. By rotation ball leading screw 1, it may be achieved web member (1) 3 up-and-down movement, and then achieving ball spline 6 up-and-down movement, rotation ball splined nut 5 can realize the pose adjustment to end mounting flange 7.
Drive unit mainly comprises rotating servo motor 14, lift servo motor 13, motor mounting plate 10, motor mount 9 and synchronous band wheels. Lift servo motor 13 connects admittedly through motor mounting plate 10 and forearm 12, lift servo motor 13 axle head installs the synchronous belt wheel (2) 11 of lifting, the synchronous belt wheel (1) 8 of lifting is fixed in ball-screw 1 end, by rotating ball-screw 1, it is achieved that the up-and-down movement of ball-screw nut 2; Rotating servo motor 14 is installed 9 through motor and is fixed on forearm 12, and its axle head is provided with the synchronous belt wheel (1) 4 of synchronous belt wheel driven rotary and rotates; Rotation synchronization belt wheel (1) is connected with ball spline nuts 5, realizes the lost motion of ball spline 6 with this.
The invention has the beneficial effects as follows have employed common ball-screw, ball spline instead of ball-screw spline shaft, ensureing under SCARA robot wrist structural rigidity and precision prerequisite, effectively lower SCARA robot cost cost, wrist part structure is compact simultaneously, weight light, substantially increases end running stability and dynamic response characteristic.
Claims (3)
1. an economical SCARA robot wrist bilge construction, it is characterised in that comprise hoisting appliance, drive unit, forearm 12; Hoisting appliance mainly comprises ball-screw 1, ball-screw nut 2, web member (1) 3, ball spline nuts 5, ball spline 6, mounting flange 7, linear bearings 15, guide pillar 16, web member (2) 17; Ball-screw 1 is arranged on 12 forearms, and can rotate around its axis; Guide pillar 16 and forearm 12 connect admittedly, and ball spline nuts 5 is connected with forearm 12, and can rotate around its axis; Mounting flange 7 is fixed in ball spline 6 end, and ball spline 6 coordinates with ball spline nuts 5, and its top is connected with web member (1) 3, and can rotate; Ball-screw nut 2 and described web member (1) 3 connect admittedly, and linear bearings 15 is fixed in connection (1) 3, and is set on guide pillar 16; Ball-screw 1 top is connected with web member (2) 17, and both can relatively rotate, and web member (2) and guide pillar 16 top connect admittedly. By rotation ball leading screw 1, it may be achieved web member (1) 3 up-and-down movement, and then achieving ball spline 6 up-and-down movement, rotation ball splined nut 5 can realize the pose adjustment to end mounting flange 7. Drive unit mainly comprises rotating servo motor 14, lift servo motor 13, motor mounting plate 10, motor mount 9 and synchronous band wheels. Lift servo motor 13 connects admittedly through motor mounting plate 10 and forearm 12, lift servo motor 13 axle head installs the synchronous belt wheel (2) 11 of lifting, the synchronous belt wheel (1) 8 of lifting is fixed in ball-screw 1 end, by rotating ball-screw 1, it is achieved that the up-and-down movement of ball-screw nut 2; Rotating servo motor 14 is installed 9 through motor and is fixed on forearm 12, and its axle head is provided with the synchronous belt wheel (1) 4 of synchronous belt wheel driven rotary and rotates; Rotation synchronization belt wheel (1) is connected with ball spline nuts 5, realizes the lost motion of ball spline 6 with this.
2. the economical SCARA robot wrist bilge construction of one according to claim 1, is characterized in that ball-screw is arranged on forearm, utilizes synchronous wheel transmission rotation ball leading screw to realize SCARA robot end's up-and-down movement.
3. the economical SCARA robot wrist bilge construction of one according to claim 1, end is in the rigidity of vertical direction and end precision to it is characterized in that utilizing guide pillar and linear bearings to ensure, end structure is compact, load is little.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610128511.0A CN105619395A (en) | 2016-03-07 | 2016-03-07 | Economical robot wrist structure for selective compliance assembly robot arm (SCARA) |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610128511.0A CN105619395A (en) | 2016-03-07 | 2016-03-07 | Economical robot wrist structure for selective compliance assembly robot arm (SCARA) |
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| CN105619395A true CN105619395A (en) | 2016-06-01 |
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| CN201610128511.0A Pending CN105619395A (en) | 2016-03-07 | 2016-03-07 | Economical robot wrist structure for selective compliance assembly robot arm (SCARA) |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106335054A (en) * | 2016-08-30 | 2017-01-18 | 浙江琦星电子有限公司 | Mechanical hand |
| CN107322568A (en) * | 2017-07-31 | 2017-11-07 | 珠海格力节能环保制冷技术研究中心有限公司 | Ball-screw spline supporting construction and the robot with it |
| CN107336224A (en) * | 2017-01-18 | 2017-11-10 | 河北工业大学 | A kind of electric control element integrated form SCARA robots |
| CN107571251A (en) * | 2017-08-28 | 2018-01-12 | 珠海格力节能环保制冷技术研究中心有限公司 | Mechanical arm and there is its horizontal articulated robots of SCARA |
| CN107584485A (en) * | 2017-09-13 | 2018-01-16 | 深圳市卓博机器人有限公司 | Plane articulation end effector of robot and plane articulation robot |
| CN107639631A (en) * | 2017-11-07 | 2018-01-30 | 广东省智能制造研究所 | A kind of multistation SCARA industrial robots |
| CN107775631A (en) * | 2016-08-30 | 2018-03-09 | 浙江琦星电子有限公司 | Manipulator |
| CN107972020A (en) * | 2017-11-30 | 2018-05-01 | 珠海格力节能环保制冷技术研究中心有限公司 | Horizontal articulated industrial robot |
| CN108161919A (en) * | 2017-08-24 | 2018-06-15 | 深圳汉邦自动化设备有限公司 | A kind of method and device for the SCARA robots for improving load capacity |
| CN108544481A (en) * | 2018-05-17 | 2018-09-18 | 深圳市领略数控设备有限公司 | A kind of SCARA industrial robots |
| CN108750653A (en) * | 2018-07-17 | 2018-11-06 | 陕西科技大学 | A kind of multi-trace electric cam pick and place machine tool hand and its control method |
| CN111043271A (en) * | 2019-12-13 | 2020-04-21 | 苏州云雀机器人科技有限公司 | Miniature rotatory lift module |
| CN111673724A (en) * | 2020-07-20 | 2020-09-18 | 昀智科技（北京）有限责任公司 | Guide rail groove-based Z-axis structure of SCARA robot and operation method |
| CN111673723A (en) * | 2020-07-20 | 2020-09-18 | 昀智科技（北京）有限责任公司 | Double-guide-rail-based Z-axis structure of SCARA robot and operation method |
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| JP2010179382A (en) * | 2009-02-03 | 2010-08-19 | Seiko Epson Corp | Industrial robot |
| CN203003891U (en) * | 2012-10-30 | 2013-06-19 | 南通通用机械制造有限公司 | Economical selective compliance assembly robot arm (SCARA) robot |
| CN103624794A (en) * | 2013-04-27 | 2014-03-12 | 张家港诺信自动化设备有限公司 | Scara robot |
| CN104827488A (en) * | 2015-04-14 | 2015-08-12 | 马鞍山鼎泰稀土新材料股份有限公司 | Vertical position driving mechanism of four-freedom-degree high-speed conveying robot |
-
2016
- 2016-03-07 CN CN201610128511.0A patent/CN105619395A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010179382A (en) * | 2009-02-03 | 2010-08-19 | Seiko Epson Corp | Industrial robot |
| CN203003891U (en) * | 2012-10-30 | 2013-06-19 | 南通通用机械制造有限公司 | Economical selective compliance assembly robot arm (SCARA) robot |
| CN103624794A (en) * | 2013-04-27 | 2014-03-12 | 张家港诺信自动化设备有限公司 | Scara robot |
| CN104827488A (en) * | 2015-04-14 | 2015-08-12 | 马鞍山鼎泰稀土新材料股份有限公司 | Vertical position driving mechanism of four-freedom-degree high-speed conveying robot |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107775631A (en) * | 2016-08-30 | 2018-03-09 | 浙江琦星电子有限公司 | Manipulator |
| CN106335054A (en) * | 2016-08-30 | 2017-01-18 | 浙江琦星电子有限公司 | Mechanical hand |
| CN107336224A (en) * | 2017-01-18 | 2017-11-10 | 河北工业大学 | A kind of electric control element integrated form SCARA robots |
| CN107322568A (en) * | 2017-07-31 | 2017-11-07 | 珠海格力节能环保制冷技术研究中心有限公司 | Ball-screw spline supporting construction and the robot with it |
| CN108161919A (en) * | 2017-08-24 | 2018-06-15 | 深圳汉邦自动化设备有限公司 | A kind of method and device for the SCARA robots for improving load capacity |
| CN107571251A (en) * | 2017-08-28 | 2018-01-12 | 珠海格力节能环保制冷技术研究中心有限公司 | Mechanical arm and there is its horizontal articulated robots of SCARA |
| CN107584485A (en) * | 2017-09-13 | 2018-01-16 | 深圳市卓博机器人有限公司 | Plane articulation end effector of robot and plane articulation robot |
| CN107639631A (en) * | 2017-11-07 | 2018-01-30 | 广东省智能制造研究所 | A kind of multistation SCARA industrial robots |
| CN107639631B (en) * | 2017-11-07 | 2024-02-20 | 广东省智能制造研究所 | Multistation SCARA industrial robot |
| CN107972020A (en) * | 2017-11-30 | 2018-05-01 | 珠海格力节能环保制冷技术研究中心有限公司 | Horizontal articulated industrial robot |
| CN108544481A (en) * | 2018-05-17 | 2018-09-18 | 深圳市领略数控设备有限公司 | A kind of SCARA industrial robots |
| CN108750653A (en) * | 2018-07-17 | 2018-11-06 | 陕西科技大学 | A kind of multi-trace electric cam pick and place machine tool hand and its control method |
| CN108750653B (en) * | 2018-07-17 | 2024-02-27 | 陕西科技大学 | Control method of multi-track electronic cam picking and placing manipulator |
| CN111043271A (en) * | 2019-12-13 | 2020-04-21 | 苏州云雀机器人科技有限公司 | Miniature rotatory lift module |
| CN111673724A (en) * | 2020-07-20 | 2020-09-18 | 昀智科技（北京）有限责任公司 | Guide rail groove-based Z-axis structure of SCARA robot and operation method |
| CN111673723A (en) * | 2020-07-20 | 2020-09-18 | 昀智科技（北京）有限责任公司 | Double-guide-rail-based Z-axis structure of SCARA robot and operation method |
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Application publication date: 20160601 |