CN107243895B - Modularized SCARA robot - Google Patents
Modularized SCARA robot Download PDFInfo
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- CN107243895B CN107243895B CN201710481584.2A CN201710481584A CN107243895B CN 107243895 B CN107243895 B CN 107243895B CN 201710481584 A CN201710481584 A CN 201710481584A CN 107243895 B CN107243895 B CN 107243895B
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- joint module
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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
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Abstract
The invention discloses a modularized SCARA robot, which comprises a mounting base used for fixing, wherein the top end of the mounting base is connected with the bottom end of a rotary joint module, the top end of the rotary joint module is connected with one end of a right-angle connecting rod, the other end of the right-angle connecting rod is connected with one end of a swing joint module, and the other end of the swing joint module is connected with a double-degree-of-freedom cylindrical joint module; the rotary joint module is characterized in that the rotary joint module has only one degree of freedom, the joint rotating shaft and the central shaft of the self structure are mutually overlapped, the rotary joint module has only one degree of freedom, the joint rotating shaft and the central shaft of the self structure are mutually perpendicular, and a screw rod for axial movement or rotation around the central shaft of the self body or compound spiral movement of axial movement and rotation around the central shaft of the self body is vertically arranged in the double-degree-of-freedom cylindrical joint module. Compared with the prior art, the modularized SCARA robot has the advantages of good replaceability, convenience in control and use, reliability, compact structure and the like.
Description
Technical Field
The invention relates to the technical field of robot automation, in particular to a modularized SCARA robot.
Background
Nowadays, robotics have been greatly developed, since they have high flexibility and good elasticity and are widely used in various industries, but most of the robotics systems of the prior art are mainly directed to a specific environment and occasion, and thus lack corresponding function expandability and structural reconfigurability.
For a rapidly replaced product production line, various types of robot systems often need to be replaced to meet production requirements, so that serious waste of production resources is easily caused and popularization and application of robots are restricted.
Therefore, the multifunctional, easy-to-construct and low-cost robot new system development is an important goal, wherein the modularized robot is an effective solution, and the robot modularization can simplify the design, manufacture and maintenance cost, shorten the development period and reduce the development cost.
The modular SCARA robots at home and abroad are few, and are represented by a low-cost modular SCARA robot (patent number: 201510245266.7) developed by Zhejiang university, which solves the problem of SCARA robot reconstruction to a certain extent, but has the problems of complex structure, difficult assembly and the like, and each joint module is only used in a robot system of a SCARA robot configuration, but cannot be used for forming other robot systems of new configurations, so that the robot system lacks generality and generality.
Disclosure of Invention
The invention mainly aims to provide a modularized SCARA robot which has good replaceability, is convenient to control and use, is reliable in use and compact in structure, and aims to solve the technical problems of lack of universality and generality of the modularized SCARA robot.
In order to achieve the above purpose, the invention provides a modularized SCARA robot, which comprises a mounting base for fixing, wherein the top end of the mounting base is connected with the bottom end of a rotary joint module, the top end of the rotary joint module is connected with one end of a right-angle connecting rod, the other end of the right-angle connecting rod is connected with one end of a swing joint module, and the other end of the swing joint module is connected with a double-freedom-degree cylindrical joint module; the rotary joint module is characterized in that the rotary joint module has only one degree of freedom, the joint rotating shaft and the central shaft of the self structure are mutually overlapped, the rotary joint module has only one degree of freedom, the joint rotating shaft and the central shaft of the self structure are mutually perpendicular, and a screw rod for axial movement or rotation around the central shaft of the self body or compound spiral movement of axial movement and rotation around the central shaft of the self body is vertically arranged in the double-degree-of-freedom cylindrical joint module.
Preferably, the rotary joint module comprises a first upper shell and a first lower shell which are separated from each other, the bottom end of the first lower shell is connected with the top end of the mounting base, the top end of the first upper shell is connected with one end of the right-angle connecting rod, a first servo drive controller is arranged in the first lower shell and fixedly connected with a first partition plate at the upper part in the first lower shell, a first servo motor electrically connected with the first servo drive controller is further arranged in the first lower shell, the power output end of the first servo motor penetrates through the first partition plate and is connected with a first driving cylindrical gear, a first harmonic reducer is arranged above the first partition plate, the power input end of the first harmonic reducer is provided with a first driven cylindrical gear and is in meshed transmission with the first driving cylindrical gear, and the power output end of the first harmonic reducer is connected with the first upper shell.
Preferably, the swing joint module comprises a second rear shell and a second front shell which are separated from each other, one end of the second rear shell is connected with the other end of the right-angle connecting rod, a second servo drive controller is fixedly connected inside the second rear shell, a second servo motor electrically connected with the second servo drive controller is further installed inside the second rear shell, a power output end of the second servo motor penetrates through a second partition plate to be connected with a second driving bevel gear, a second harmonic reducer is installed inside the second front shell, a second driven bevel gear is coaxially connected with a power input end of the second harmonic reducer to be meshed with the second driving bevel gear for transmission, and a power output end of the second harmonic reducer is connected with the second front shell.
Preferably, the dual-freedom-degree cylindrical joint module comprises a shell with a cavity inside, a plurality of openings are formed in the surface of the shell, a third servo drive controller is installed on one side inside the shell, the end part of the third servo drive controller is connected with one end of the second front shell of the swing joint module through the opening on the side surface of the shell, a screw rod vertically penetrating through the vertically opposite openings of the shell and vertically moving and/or rotating is further arranged on the dual-freedom-degree cylindrical joint module, a transmission mechanism is installed inside the shell to cooperatively drive the screw rod, and the transmission mechanism is electrically connected with the third servo drive controller.
Preferably, the transmission mechanism comprises a third servo motor which is fixed on an upper flange plate in the shell and is electrically connected with the third servo drive controller, and the power output shaft end of the third servo motor passes through the upper flange plate and is connected with the first main synchronous wheel; the other side of the upper flange plate is connected with a screw nut fixing part, the screw nut rotating part is connected with a first slave synchronizing wheel, and the first master synchronizing wheel and the first slave synchronizing wheel are connected and driven by a synchronous belt; the transmission mechanism further comprises a fourth servo motor which is fixed on the lower flange plate in the shell and is electrically connected with the third servo driving controller, the power output end of the fourth servo motor penetrates through the lower flange plate to be connected with the second main synchronous wheel, the other side of the lower flange plate is connected with the spline nut fixing part, the spline nut rotating part is connected with the second auxiliary synchronous wheel, the second main synchronous wheel and the second auxiliary synchronous wheel are connected and transmitted through a synchronous belt, and the screw rod penetrates through the center of the screw rod nut rotating part and the center of the spline nut rotating part to vertically move up and down.
Preferably, the directions of the driving shaft ends of the third servo motor and the fourth servo motor are opposite.
Preferably, the third servo motor and the fourth servo motor are respectively connected with photoelectric encoders for detecting angular displacement and angular velocity, and the third servo motor and the fourth servo motor are respectively connected with a speed reducer for reducing and boosting.
Preferably, the mounting base is connected with the rotary joint module, the rotary joint module is connected with the right-angle connecting rod, the right-angle connecting rod is connected with the swing joint module, and the swing joint module is connected with the double-freedom-degree cylindrical joint module through clamping rings.
Preferably, the middle position of the right-angle connecting rod is a right angle.
Compared with the prior art, the technical scheme of the invention has the following advantages:
1) Good replaceability. In the technical scheme of the invention, the modularized SCARA robot comprises a mounting base, a rotary joint module, a right-angle connecting rod, a swing joint module and a double-degree-of-freedom cylindrical joint module which are sequentially connected. The components which are connected in sequence are fastened through clamping rings, when a certain component fails or the realized function needs to be newly added or changed, the corresponding replacement and expansion functions can be realized only by replacing the failed component or newly adding other working components or working modules to corresponding mounting positions and clamping the components through the clamping rings. Compared with the prior art, the modularized SCARA robot has good replaceability and expansibility, can meet the requirements of updating different production processes and product production lines, and simultaneously effectively reduces the production cost and improves the working efficiency.
2) Is convenient to control and reliable to use. In the technical scheme of the invention, each working module of the modularized SCARA robot is provided with the servo driving controller to control and drive the servo motor to work, the control work among each working module is relatively independent, and the independent control among each component ensures that the work among each working module is not influenced on the basis of good replaceability of the modularized SCARA robot, so the modularized SCARA robot has better control performance and use reliability.
3) The structure is compact. According to the technical scheme, the rotary joint module is arranged in an up-down mode to rotate, the swing joint module is arranged in a front-back mode to swing, the servo driving controller and the corresponding servo motor are integrally arranged in the double-freedom-degree cylindrical joint module, and the inner structure of the double-freedom-degree cylindrical joint module is more compact due to the staggered arrangement of the up-down structure. The modularized SCARA robot has smaller volume and lighter weight through compact structure arrangement among the plurality of working modules, so that the modularized SCARA robot has higher flexibility, and meanwhile, the plurality of working modules are matched, so that the modularized SCARA robot has a plurality of degrees of freedom and can be suitable for different application scenes.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of the external configuration of a modular SCARA robot of the present invention;
FIG. 2 is a schematic view of the internal structure of the swing joint module according to the present invention;
FIG. 3 is a schematic view showing the internal structure of the swing joint module according to the present invention;
fig. 4 is a schematic view of the internal structure of the dual-degree-of-freedom cylindrical joint module according to the present invention.
Reference numerals illustrate:
the achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that, if directional indications (such as up, down, left, right, front, and rear … …) are included in the embodiments of the present invention, the directional indications are merely used to explain the relative positional relationship, movement conditions, etc. between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are correspondingly changed.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.
The invention provides a modularized SCARA robot.
Referring to fig. 1 to 4, the modularized SCARA robot of the embodiment of the invention comprises a mounting base 1 for fixing the modularized SCARA robot, wherein the top end of the mounting base 1 is connected with the bottom end of a rotary joint module 2, the top end of the rotary joint module 2 is connected with one end of a right-angle connecting rod 3, the other end of the right-angle connecting rod 3 is connected with one end of a swing joint module 4, and the other end of the swing joint module 4 is connected with a double-freedom-degree cylindrical joint module 6. In this embodiment, the rotary joint module 2 has only one degree of freedom, the joint axis and the central axis of its own structure coincide with each other, the swing joint module 4 has only one degree of freedom, the joint rotation axis and the central axis of its own structure are mutually perpendicular, and the screw rod 601 for performing axial movement or rotation around its central axis or composite spiral movement of axial movement and rotation around its central axis is vertically disposed inside the dual-degree-of-freedom cylindrical joint module 6.
Referring to fig. 2, in the embodiment of the present invention, the rotary joint module 2 includes a first upper housing 21 and a first lower housing 22 that are separated from each other, the bottom end of the first lower housing 21 is tightly connected to the top end of the mounting base 1 through a snap ring 5, the first upper housing 21 is tightly connected to one end of the right angle link 3 through the snap ring 5, a first servo drive controller 27 is disposed in the first lower housing 22 and fixedly connected to a first partition 28 on the upper portion in the first lower housing 21, a first servo motor 26 electrically connected to the first servo drive controller 27 is further disposed in the first lower housing 22, a power output end of the first servo motor 26 is connected to a first driving cylindrical gear 25 through the first partition 28, a first harmonic reducer 23 is disposed above the first partition 28, a first driven cylindrical gear 24 is disposed at a power input end of the first harmonic reducer 23 and is in meshed transmission with the first driving cylindrical gear 25, and a power output end of the first harmonic reducer 23 is connected to the first upper housing 21.
Referring to fig. 3, in the embodiment of the present invention, the swing joint module 4 includes a second rear housing 41 and a second front housing 42 that are separated from each other, one end of the second rear housing 41 is tightly connected to the other end of the right angle link 3 through a snap ring 5, one end of the second front housing 42 is tightly connected to the dual-degree-of-freedom cylindrical joint module 6 through the snap ring 5, a second servo drive controller 43 is fixedly connected to the inside of the second rear housing 41, a second servo motor 44 electrically connected to the second servo drive controller 43 is further installed inside the second rear housing 41, a power output end of the second servo motor 44 is connected to the second drive bevel gear 45 through a second partition 48, a second harmonic reducer 47 is installed inside the second front housing 42, a power input end of the second harmonic reducer 47 is coaxially connected to the second driven bevel gear 46 and is in meshed transmission with the second drive bevel gear 45, and a power output end of the second harmonic reducer 47 is connected to the second front housing 42.
Referring to fig. 4, in the embodiment of the present invention, the dual-degree-of-freedom cylindrical joint module 6 includes a housing 602 with a cavity therein, a plurality of openings are formed on the surface of the housing 602, a third servo drive controller 614 is installed on one side of the interior of the housing 602, an end portion of the third servo drive controller 614 is connected with one end of the second front housing 42 of the swing joint module 4 through a side opening of the housing 602, a screw 601 vertically penetrating through the vertically opposite openings of the housing 602 and vertically moving and/or rotating is further provided on the dual-degree-of-freedom cylindrical joint module 6, a transmission mechanism is installed inside the housing 602 and cooperates with the transmission screw 601, and the transmission mechanism is electrically connected with the third servo drive controller 614. In this embodiment, the transmission mechanism includes a third servo motor 615 fixed on an upper flange 605 inside the housing 602 and electrically connected to a third servo drive controller 614, and a power output shaft end of the third servo motor 615 passes through the upper flange 605 and is connected to a first main synchronizing wheel 616; the other side of the upper flange 605 is connected with a screw nut fixing part 604, a screw nut rotating part 606 is connected with a first slave synchronizing wheel 603, and the first master synchronizing wheel 616 and the first slave synchronizing wheel 603 are connected and driven by a synchronous belt 611; the transmission mechanism further comprises a fourth servo motor 613 which is fixed on a lower flange 609 inside the casing 602 and is electrically connected with a third servo drive controller 614, a power output end of the fourth servo motor 613 penetrates through the lower flange 609 to be connected with a second main synchronizing wheel 612, the other side of the lower flange 609 is connected with a spline nut fixing portion 608, a spline nut rotating portion 607 is connected with a second auxiliary synchronizing wheel 610, the second main synchronizing wheel 612 and the second auxiliary synchronizing wheel 610 are connected and transmitted through a synchronous belt 611, and a screw 601 penetrates through the center of the screw nut rotating portion 606 and the center of the spline nut rotating portion 607 to vertically move up and down.
In this embodiment, the directions of the drive shaft ends of the third servo motor 615 and the fourth servo motor 613 are opposite.
In this embodiment, the third servo motor 615 and the fourth servo motor 613 are respectively connected to photoelectric encoders for detecting angular displacement and angular velocity, and the third servo motor 615 and the fourth servo motor 613 are respectively connected to a decelerator for decelerating and boosting.
Referring to fig. 1 to 4, in the embodiment of the present invention, when the rotary joint module 2 of the modularized SCARA robot needs to rotate around its central axis, the first servo driving controller 27 controls the first servo motor 26 to output power outwards, the first servo motor 26 drives the first driving cylindrical gear 25 to rotate, the first driving cylindrical gear 25 is meshed with the first driven cylindrical gear 24, the first driven cylindrical gear 24 inputs power to the power input end of the first harmonic reducer 23, and the power output end of the first harmonic reducer 23 drives the first upper housing 21 to rotate, so that the first upper housing 21 rotates relative to the first lower housing 22 around the central axis of the rotary joint module 2, and the first upper housing 21 of the rotary joint module 2 rotates around the central axis of the rotary joint module 2 and outputs a rotary force to the right angle link 3.
In the embodiment of the invention, when the second front housing 42 of the swing joint module 4 of the modularized SCARA robot needs to swing relative to the second rear housing 41, the second servo driving controller 43 controls the second servo motor 44 to output power outwards, the second servo motor 44 drives the second drive bevel gear 45 to rotate, the second drive bevel gear 45 is meshed with the second driven bevel gear 46 to rotate, the second driven bevel gear 46 transmits power to the second harmonic reducer 47, and the power output end of the second harmonic reducer 47 drives the second front housing 42 to rotate around the central axis of the second driven bevel gear 46, so that the second front housing 42 performs swing motion relative to the second rear housing 41.
The screw rod 601 of the dual-degree-of-freedom cylindrical joint module 6 according to the embodiment of the present invention operates in a manner including a composite spiral motion of rotating around its central axis, linearly moving along its central axis, rotating around its central axis and linearly moving along its central axis.
When the screw rod 601 of the embodiment of the present invention rotates around its central axis, the third servo driving controller 614 controls the third servo motor 615 to output power to drive the first master synchronizing wheel 616 to rotate, and the first master synchronizing wheel 616 drives the first slave synchronizing wheel 603 to rotate through the timing belt 611. Since the first slave synchronizing wheel 603 is connected to the screw nut rotating part 606, the first slave synchronizing wheel 603 drives the screw nut rotating part 606 to rotate. Similarly, as the third servo driving controller 614 controls the fourth servo motor 615 to output power to drive the second master synchronizing wheel 612 to rotate, the second master synchronizing wheel 612 drives the second slave synchronizing wheel 610 to rotate through the timing belt 611. Because the second slave synchronizing wheel 610 is connected to the spline nut rotating portion 607, the second slave synchronizing wheel 610 drives the spline nut rotating portion 607 to rotate. When the lead screw nut rotating part 606 and the spline nut rotating part 607 are rotated at the same magnitude and the same direction of rotation speed, the lead screw 601 is driven to rotate around its own center line. In addition, the third servo driving controller 614 controls the third servo motor 615 and the fourth servo motor 613 to simultaneously rotate in opposite directions, so that the screw 601 can rotate around its central axis in opposite directions.
When the screw rod 601 in the embodiment of the present invention needs to linearly move along its central axis, the third servo driving controller 614 controls the third servo motor 6015 to drive the first master synchronizing wheel 616 to rotate, and the first master synchronizing wheel 616 drives the first slave synchronizing wheel 603 to rotate through the synchronous belt 611, so that the first slave synchronizing wheel 603 drives the screw rod nut rotating portion 606 to rotate. Meanwhile, the third servo drive controller 614 controls the fourth servo motor 613 to be in a stationary state, and finally the spline nut rotating part 607 is also in a stationary state, so that the screw rod 601 only linearly moves along the central axis of the screw rod under the constraint of the spline nut rotating part 607. In addition, the third servo motor controller 614 controls the third servo motor 615 to reversely rotate, and the screw 601 can axially move along the central axis thereof in opposite directions through a corresponding transmission structure.
When the screw rod 601 in the embodiment of the present invention needs to perform a composite spiral motion of rotating around its central axis and linearly moving along its central axis, the third servo driving controller 614 controls the third servo motor 615 to drive the first main synchronizing wheel 616 to rotate, and the first main synchronizing wheel 616 drives the second auxiliary synchronizing wheel 610 to rotate through the synchronous belt 611, so that the second auxiliary synchronizing wheel 610 drives the screw rod nut rotating portion 606 to rotate, at the same time, the third servo driving controller 614 controls the fourth servo motor 613 to drive the second main synchronizing wheel 612 to rotate, and the second main synchronizing wheel 612 drives the second auxiliary synchronizing wheel 610 to rotate through the synchronous belt 611, so that the second auxiliary synchronizing wheel 610 drives the spline nut rotating portion 607 to rotate, but in order to achieve a spiral motion of the screw rod 601, the third servo driving controller 614 is required to control the third servo motor 615 and the fourth servo motor 613 to rotate at different rotational speeds but in the same rotational directions, so that the upper portion and the lower portion of the screw rod 601 receive different rotational driving forces, respectively, so that the screw rod 601 works in a composite spiral motion of rotating around its central axis and linearly moving along its central axis.
Referring to fig. 1 to 4, in an embodiment of the present invention, a modularized SCARA robot includes a mounting base 1, a swing joint module 2, a right angle link 3, a swing joint module 4, and a dual-degree-of-freedom cylindrical joint module 6, which are sequentially connected. The components which are connected in sequence are fastened by clamping the clamping ring 5, and when one component fails or the realized function needs to be newly added or changed, the corresponding replacement and expansion functions can be realized by only replacing the failed module or newly adding other working components or working modules to the corresponding installation positions and clamping the working components or working modules by the clamping ring 5. Therefore, compared with the prior art, the modularized SCARA robot provided by the embodiment of the invention has good replaceability and expansibility, can meet the requirements of updating different production processes and product production lines, and simultaneously effectively reduces the production cost and improves the working efficiency.
In the embodiment of the invention, each working module of the modularized SCARA robot is provided with the servo driving controller to control and drive the servo motor to work, the control work among each working module is relatively independent, and the independent control among each component ensures that the work among each working module is not influenced on the basis of good replaceability of the modularized SCARA robot, so the modularized SCARA robot has better control performance and use reliability.
In the embodiment of the invention, the rotary joint module 2 is arranged in an up-down mode to rotate, the swing joint module 4 is arranged in a front-back mode to swing, a servo drive controller and a corresponding servo motor are integrated in the double-freedom-degree cylindrical joint module 6, and the internal structure of the double-freedom-degree cylindrical joint module 6 is more compact due to staggered up-down structure. The modularized SCARA robot has smaller volume and lighter weight through the compact structure arrangement among the plurality of working modules, so that the modularized SCARA robot has higher flexibility, and meanwhile, the plurality of working modules are matched, so that the modularized SCARA robot in the embodiment of the invention has a plurality of degrees of freedom and can be suitable for different application scenes.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structural changes made by the specification and drawings of the present invention or direct/indirect application in other related technical fields are included in the scope of the present invention.
Claims (6)
1. The modularized SCARA robot is characterized by comprising a mounting base used for fixing, wherein the top end of the mounting base is connected with the bottom end of a rotary joint module, the top end of the rotary joint module is connected with one end of a right-angle connecting rod, the other end of the right-angle connecting rod is connected with one end of a swing joint module, and the other end of the swing joint module is connected with a double-degree-of-freedom cylindrical joint module; the rotary joint module has only one degree of freedom, the joint rotating shaft and the self-structure central shaft are mutually overlapped, the rotary joint module has only one degree of freedom, the joint rotating shaft and the self-structure central shaft are mutually perpendicular, and a screw rod for axial movement or rotation around the self central shaft or composite spiral movement of axial movement and rotation around the self central shaft is vertically arranged in the double-degree-of-freedom cylindrical joint module;
the rotary joint module comprises a first upper shell and a first lower shell which are mutually separated, wherein the bottom end of the first lower shell is connected with the top end of the mounting base, the top end of the first upper shell is connected with one end of the right-angle connecting rod, a first servo drive controller is arranged in the first lower shell and fixedly connected with a first partition plate at the upper part in the first lower shell, a first servo motor electrically connected with the first servo drive controller is further arranged in the first lower shell, the power output end of the first servo motor penetrates through the first partition plate and is connected with a first driving cylindrical gear, a first harmonic reducer is arranged above the first partition plate, a first driven cylindrical gear is arranged at the power input end of the first harmonic reducer and is in meshed transmission with the first driving cylindrical gear, and the power output end of the first harmonic reducer is connected with the first upper shell;
the swing joint module comprises a second rear shell and a second front shell which are mutually separated, one end of the second rear shell is connected with the other end of the right-angle connecting rod, a second servo drive controller is fixedly connected inside the second rear shell, a second servo motor electrically connected with the second servo drive controller is further installed inside the second rear shell, a power output end of the second servo motor penetrates through a second partition plate to be connected with a second drive bevel gear, a second harmonic reducer is installed inside the second front shell, a power input end of the second harmonic reducer is coaxially connected with a second driven bevel gear to be meshed with the second drive bevel gear for transmission, and a power output end of the second harmonic reducer is connected with the second front shell;
the mounting base is connected with the rotary joint module, the rotary joint module is connected with the right-angle connecting rod, the right-angle connecting rod is connected with the swing joint module, and the swing joint module is connected with the double-freedom-degree cylindrical joint module through clamping rings;
the first lower shell bottom is connected with the top end clamping of the mounting base through the clamping ring, the first upper shell is connected with one end clamping of the right-angle connecting rod through the clamping ring, one end of the second rear shell is connected with the other end of the right-angle connecting rod through the clamping ring, and one end of the second front shell is connected with the double-freedom-degree cylindrical joint module through the clamping ring.
2. A modular SCARA robot as claimed in claim 1, wherein the dual-degree-of-freedom cylindrical joint module comprises a housing with a cavity therein, a plurality of openings are formed in the surface of the housing, a third servo drive controller is mounted on one side of the interior of the housing, the end of the third servo drive controller is connected with one end of the second front housing of the swing joint module through the side opening of the housing, a screw rod vertically penetrating through the vertically opposite openings of the housing and vertically moving and/or rotating is further arranged in the dual-degree-of-freedom cylindrical joint module, a transmission mechanism is mounted in the housing to cooperatively transmit the screw rod, and the transmission mechanism is electrically connected with the third servo drive controller.
3. The modular SCARA robot of claim 2, wherein the transmission mechanism comprises a third servo motor fixed on an upper flange plate inside the shell and electrically connected with the third servo drive controller, and a power output shaft end of the third servo motor passes through the upper flange plate and is connected with a first main synchronous wheel; the other side of the upper flange plate is connected with a screw nut fixing part, the screw nut rotating part is connected with a first slave synchronizing wheel, and the first master synchronizing wheel and the first slave synchronizing wheel are connected and driven by a synchronous belt; the transmission mechanism further comprises a fourth servo motor which is fixed on the lower flange plate in the shell and is electrically connected with the third servo driving controller, the power output end of the fourth servo motor penetrates through the lower flange plate to be connected with the second main synchronizing wheel, the other side of the lower flange plate is connected with the spline nut fixing part, the spline nut rotating part is connected with the second auxiliary synchronizing wheel, the second main synchronizing wheel and the second auxiliary synchronizing wheel are connected and transmitted through a synchronous belt, and the screw rod penetrates through the center of the screw rod nut rotating part and the center of the spline nut rotating part to vertically move up and down.
4. A modular SCARA robot as claimed in claim 3, wherein the drive shaft ends of the third and fourth servomotors are in opposite directions.
5. A modular SCARA robot as claimed in claim 3, wherein said third and fourth servomotors are connected to respective photoelectric encoders for detecting angular displacement and angular velocity, said third and fourth servomotors being connected to respective decelerators for decelerating and boosting.
6. A modular SCARA robot as claimed in claim 1, wherein the right angle link is at right angles in a mid-position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710481584.2A CN107243895B (en) | 2017-06-22 | 2017-06-22 | Modularized SCARA robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710481584.2A CN107243895B (en) | 2017-06-22 | 2017-06-22 | Modularized SCARA robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107243895A CN107243895A (en) | 2017-10-13 |
| CN107243895B true CN107243895B (en) | 2023-10-03 |
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