CN107457777A - A kind of horizontal articulated SCARA types cooperation robot - Google Patents
A kind of horizontal articulated SCARA types cooperation robot Download PDFInfo
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- CN107457777A CN107457777A CN201710032650.8A CN201710032650A CN107457777A CN 107457777 A CN107457777 A CN 107457777A CN 201710032650 A CN201710032650 A CN 201710032650A CN 107457777 A CN107457777 A CN 107457777A
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- 230000001360 synchronised effect Effects 0.000 claims description 4
- 230000008450 motivation Effects 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 16
- 230000006698 induction Effects 0.000 abstract description 2
- 238000009826 distribution Methods 0.000 description 12
- 238000010586 diagram Methods 0.000 description 7
- 230000005611 electricity Effects 0.000 description 7
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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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0021—All motors in base
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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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- 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
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- 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
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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Abstract
The present invention provides a kind of horizontal articulated SCARA types cooperation robot, including base, principal arm and the head being rotatably connected to each other, and the head driving shaft in principal arm motor and head motor and principal arm transmission mechanism and head transmission mechanism is set in base；Main shaft is set in head, spindle drive motor and corresponding transmission mechanism are set in head shell, the main shaft is connected by the transmission mechanism so that main shaft realizes the action for rotating and moving up and down；Base bearing arrangement is set between principal arm driven shaft and base housing, principal arm bearing arrangement is set between head drive shaft and principal arm housing.The present invention is moved on in base housing by will be arranged on the motor that drive head is moved in head shell originally, solve the problems, such as the bias that original robot motion's part mass is big, head is in cantilever structure and can not realize and improve speed and kinematic accuracy, robot head drive system mass balance, moving component lightweight, movement inertia reduces, and is advantageous to improve induction precision.
Description
Technical field
The invention belongs to robotic technology field, is provided in particular in a kind of horizontal articulated SCARA types cooperation robot.
Background technology
SCARA（Selective Compliance Assembly Robot Arm）Robot, 1980 are started from, purpose
Be to be able at a high speed, efficiently solve assembly process problem in automated production, by Yamanashi, Japan college professor at that time
Herd and researched and developed centered on wild ocean and industrialization.So SCARA robots are also the Typical Representative of people of putting together machines.
In high-volume industrial epoch, SCARA robots are succinct to act, at a high speed, it is inexpensive the features such as, with 3C electricity
Sub- industry（Computer, communication and consumer electronics）Centered on, achieve certain application achievements.The process of concrete application has part
Crawl and put（Insertion）, dispensing, screw, soldering etc. is locked, substitute artificial realize and repeat, the high work of quality requirement.
With the arrival of the industrial New Times based on customization, human needs intelligently turns to mark more with flexibility
High performance robot, in more extensive field, more neatly substitute manual working.That assembles humanoid robot applies model
Enclose, also from 3c industries to 3p（Food, medicine and cosmetics）Develop Deng general industry field.
Specifically, cooperation robot and intelligent robot are the developing direction of robot.
Cooperate robot, is exactly that can coordinate to carry out mixture operation, it is necessary to which safety, the performance such as convenient, is to pass flexibly with people
Streamline of uniting realizes an effective way of automation；
Intelligent robot, it is to be supported by Internet of Things and big data cloud computing, to a certain extent using the machine of artificial intelligence technology
Device people, it is the important foundation for realizing industry 4.0.
In the prior art there is some common bodies in cooperation robot and intelligent robot.
The structure of SCARA robots of the prior art is referring to Fig. 1 to Fig. 3, including base 01, principal arm 02 and head 03.
Wherein principal arm 02 is connected on base 01 by connecting shaft RI thereon, and thus principal arm 02 can be around connecting shaft R1 relative to base 01
Rotate；Connecting shaft R1 is connected with the reductor J1 on the principal arm motor M1 being placed in base 01.Set in head 03
Head motor M2, it connects reductor J2, the reductor J2 in connecting shaft R2 connections head, head 03 is set on principal arm 02
It can be rotated around connecting shaft R2 relative to principal arm 02.Main shaft 031 is set on head, motor M3, M4 are set in head 03, its
Connect the splined nut 05 and screw nut 06 on main shaft 031, spline spiral shell with reductor J3 by respective transmission mechanism respectively
Mother 05 coordinates with the spline structure on main shaft 031, in the presence of motor M3 and transmission mechanism, can drive main shaft 031
Axis R3 around main shaft 031 is rotated, and screw nut 06 coordinates with the screw thread on main shaft 031, in motor M4 and transmission mechanism
In the presence of, main shaft can be driven to be moved up and down along Z-direction, so that the action that the main shaft 031 is moved up and down and rotated,
Typically can be with installation action device, such as handgrip 031a on main shaft 031（Referring to Fig. 3）.Existing SCARA robots exist following
Defect：
1. the motor M2 that drive head 03 rotates relative to principal arm 02 is arranged in head 03 so that principal arm 02 and 03 two, head
The weight of moving component is very heavy, thus, hinders the lifting of robot motion speed.
2. principal arm 02 and 03 two, head moving component are in cantilever support form relative to base 01, mass eccentricity, it is difficult to
The movement velocity and kinematic accuracy of hoisting machine people.
3. in order that the motor for obtaining head 03 connects electricity, the connect base 01 of outside wiring cable tube 04 and head 03 are set, outside
Portion's distribution cable causes the resistance of motion, also influences the lifting of robot speed.
4. the connecting shaft of the reductor J1 connections on principal arm motor M1 subjects the total weight on head, reductor J1
The bearing of interior customization is smaller, disclosure satisfy that the requirement for transmitting torque, but its Lack of support so that the structural rigidity is low, often
Cause the earlier period damage of robot.
The content of the invention
It is an object of the invention to improve the deficiencies in the prior art, there is provided a kind of moving component lightweight, overall mass are put down
Weighing apparatus, high speed, the horizontal articulated SCARA types of high-precision motion cooperation robot can be provided.
The object of the present invention is achieved like this：
A kind of horizontal articulated SCARA types cooperation robot, including base, principal arm and head,
The base has a base housing, and principal arm motor and head motor and master are set in the base housing
Head driving shaft in arm transmission mechanism and head transmission mechanism,
The principal arm driving shaft in the principal arm transmission mechanism is connected on the principal arm motor, the master in the principal arm transmission mechanism
Base housing is stretched out in one end of arm driven shaft；
The head motor connects the head driving shaft in the head transmission mechanism, and the head driving shaft stretches out institute
Base housing is stated, the head driving shaft is coaxially set up and down with the principal arm driven shaft；
The principal arm has a principal arm housing, and the end for stretching out the principal arm driven shaft of the base housing connects the principal arm
Housing, the head driving shaft stretches out the base housing and stretched into again in the principal arm housing, in the head transmission mechanism
Head driven shaft is arranged in the principal arm housing, and its one end simultaneously passes the principal arm housing；
The head has a head shell, and the end for stretching out the head driven shaft of the principal arm housing connects the head
Housing, main shaft is set on the head, spindle drive motor and corresponding transmission mechanism are set in the head shell, by this
Transmission mechanism connects the main shaft so that the main shaft realizes the action of setting.
The action of the setting is usually the rotation of main shaft and moved up and down.
Base bearing arrangement, the head drive shaft and the principal arm are set between the principal arm driven shaft and base housing
Principal arm bearing arrangement is set between housing.
The principal arm driven shaft for connecting the principal arm and the head driven shaft for connecting the head and two institutes
The bearing arrangement for stating driven axis connection is hollow-core construction, between the base housing and principal arm housing and principal arm housing and
Power connector line passage is formed between head shell so that the pneumatic connecting lines being connected with power source on the base pass through institute
State power connector line passage be introduced into the head and be in the head shell the spindle drive motor power supply and/or with master
The power set of the functional part connected on axle provide power, and the power can be electric power or air pressure or hydraulic power.
The base is in reverse C-shape, a depressed part is formed in the side of base, it is recessed that one end of the principal arm is arranged on this
In the portion of falling into, the principal arm driven shaft passes the connection principal arm housing upwards from the lower shell wall of the depressed part, and the head is actively
Axle passes downwards from the upper shell wall of the depressed part and penetrates principal arm housing.
The revolution of the rotation axis of the head motor and the rotation axis of main shaft to the head and the principal arm
The distance of axis is equal, forms symmetrical layout.
In the head shell, the main shaft be provided with cooperation main shaft upper spline structure splined nut and one
Coordinate the screw nut of helicitic texture on main shaft, screw nut is preferably placed at the top of splined nut, splined nut and screw thread spiral shell
Mother stock does not connect splined nut motor and screw nut motor, wherein splined nut motor by transmission mechanism
It is arranged on the close base side of the head drive shaft axis.
The splined nut motor drives the splined nut to cause the main axis, the screw nut driving
Motor drives the screw nut that the main shaft is moved up and down.
Transmission mechanism between the splined nut and the splined nut motor is two level tape handler.
Specifically, in the two level tape handler, driven shaft and second level V belt translation in first order tape handler
Driving shaft in mechanism is coaxial.
Transmission mechanism between the screw nut and the screw nut motor is one-level tape handler.
Also include reductor, institute in transmission mechanism between that motor that the splined nut and the splined nut are gone
State the input axis connection one-level tape handler of reductor, the output axis connection two level tape handler of the reductor；Two-stage
Tape handler is separately positioned on the upper and lower ends of the reductor.
In the head, one of two motors of the main shaft are driven to be placed in the gyroaxis on the head and the principal arm
Behind line, i.e., the side close to the base；
More specifically, the splined nut motor is arranged on the close base side of the head drive shaft axis.
Anterior setting front end terminal plate in the head shell, sets corresponding perforation on the head shell,
Before pneumatic connecting lines for connecting the driving power device connected on main shaft on functional part are connected to this through the perforation
On terminated line plate, the front end terminal plate is connected with the pneumatic connecting lines penetrated by the lead channels in the head shell,
The pneumatic connecting lines connect corresponding power source.The power source can be power supply or source of the gas or hydraulic power source.
In addition, can set top terminal plate on the top of the head shell, the top terminal plate by described with being led
The pneumatic connecting lines connection that line passage is penetrated in the head shell.
Two manually operated knobs are set on the main shaft, two knobs respectively directly or indirectly with the main shaft
The screw nut and splined nut of upper connection are connected.
Setting spanner on the head can make the head turn relative to the principal arm so as to be able to hand and pull the spanner
It is dynamic.
Setting spanner on the principal arm can make the principal arm turn relative to the base so as to be able to hand and pull the spanner
It is dynamic.
The transmission mechanism is tape handler.The tape handler is preferably Synchronous Belt Drives mechanism.
Feeler can be set on the head.
The feeler is preferably provided on the outer wall of two sides of head shell.
Horizontal articulated SCARA types cooperation robot provided by the invention, by the way that original be arranged in head shell is driven
The motor of dynamic head movement is moved on in base housing, solves that original robot motion's part quality is big, head is in cantilevered knot
The bias of structure and can not realize and improve speed and the problem of kinematic accuracy, robot head drive system mass balance, motion
Part lightweight, movement inertia reduce, and are advantageous to improve induction precision；By the way that principal arm driven shaft and head drive shaft are made into sky
Core structure, base housing is connected with principal arm housing and principal arm housing with head shell and forms lead channels, in head shell
Motor wire the external cable tube of existing robot from internal cabling, can be eliminated；By in base and principal arm and master
Belt mechanism is used in transmission mechanism between arm and head, mass balance is on the one hand realized, is on the other hand also possible that
The fast ratio of robot can be conveniently adjusted by transmission mechanism；By setting front end terminal plate in head shell,
Cabling globality can be caused to improve, so as to provide reliable guarantee for robot；By setting contact to pass on head
Sensor, the sensitivity of robot, intelligent and reliability can be improved.
The structure and superiority of the present invention are described in detail below by drawings and examples.
Brief description of the drawings
Fig. 1 is traditional SCARA robots outline structural diagram in the prior art.
Fig. 2 is the organigram of traditional SCARA robots.
Fig. 3 is traditional SCARA robots distribution schematic diagram.
Fig. 4 is horizontal articulated SCARA types cooperation robot outline structural diagram provided by the invention.
Fig. 5 is the organigram of horizontal articulated SCARA types cooperation robot provided by the invention.
Fig. 6 is the distribution schematic diagram of horizontal articulated SCARA types cooperation robot provided by the invention.
Fig. 7 is the structural representation of head and principal arm in horizontal articulated SCARA types cooperation robot provided by the invention.
Fig. 8 is horizontal articulated SCARA types cooperation robot center base provided by the invention and main arm structure schematic diagram.
Fig. 9 is the knot of Synchronous Belt Drives mechanism in horizontal articulated SCARA types cooperation robot provided by the invention
Structure schematic diagram.
Figure 10 is manual teaching system schematic diagram in horizontal articulated SCARA types cooperation robot provided by the invention.
Embodiment
As shown in Figure 4 and Figure 5, a kind of horizontal articulated SCARA types cooperation robot provided by the invention, including base 1,
Principal arm 2 and head 3 and the main shaft 4 being arranged on head,
As shown in Fig. 5, Fig. 7 and Fig. 8, base 1 has a base housing 11, and machine is set in the bottom surface of the base housing 11
Seat.Principal arm motor M1 and head motor M2 is set in the base housing 11.Base 1 is in reverse C-shape, in base 1
Side forms a depressed part 12（See Fig. 4）, one end of principal arm 2 is arranged in the depressed part 12.
In base housing 11, one is being set in height corresponding with the upper shell wall of depressed part 12 behind corresponding depressed part 12
Layer dividing plate 111, one layer of dividing plate 112 is set in height corresponding with the lower shell wall of depressed part 12.Principal arm motor M1 is arranged on
On this layer of dividing plate 111, principal arm motor M1 connection reductor J1, reductor J1 output shaft, that is, principal arm driving shaft 101
Dividing plate 112 is passed down through, driving pulley is set in the lower end of principal arm driving shaft 101, perforation is set on the lower shell wall of depressed part 12,
Principal arm driven shaft 102 connects principal arm 2 by passing base housing 11 in the perforation, and principal arm driven shaft 102 is supported by bearing 102a
In the lower partition 112 of base housing 11, bearing 102a is fixed by screw.Reductor J1 output shaft is driven as principal arm
Cog belt is set on belt wheel each fixed on the principal arm driving shaft 101 of mechanism, principal arm driving shaft 101 and principal arm driven shaft 102
103.Tooth form tape handler is as shown in Figure 9.
Head motor M2 is set on the upper shell wall top of depressed part 12, reductor is connected on the motor M2 of head
J2, reductor J2 are supported and fixed on dividing plate 111, the head driving shaft of reductor J2 output shaft as head transmission mechanism
201 pass shell wall, then penetrate in principal arm housing 21, head driving shaft 201 and principal arm driven shaft about 102 coaxial line set
Put.Belt wheel is set on the head driving shaft 201 in principal arm housing 21.A perforation, head are separately set on principal arm housing 21
Thus driven shaft 202 passes principal arm housing 21 and connects head shell 31.Head driven shaft 202 is supported on by bearing 202a
On principal arm housing 31, bearing 202a is fixed by screw.Head driving shaft 201 and head driven shaft as head transmission mechanism
Belt wheel is set respectively on 202, cog belt 203 is set thereon.
The structure of tooth form tape handler can also be referring to Fig. 9.
As shown in Figure 5 and Figure 6, connect the principal arm driven shaft 102 of principal arm 2 and the head driven shaft 202 on connection head 3 is
Hollow shaft structure, wire is formed between base housing 11 and principal arm housing 21 and between principal arm housing 21 and head shell 31
Passage A, if threading axle, and fixed by line card so that the wire being connected with power patch panel D on base 1 is led to by wire
Road A is introduced into head 3 and is the spindle drive motor power supply in head shell 31.
As shown in figure 5 and figure 7, main shaft 4 is set on head 3, spindle drive motor M3 and M4 are set in head shell 31
And corresponding transmission mechanism, main shaft 4 is connected by the transmission mechanism so that main shaft 4 realizes the action for rotating and moving up and down.
Specifically,
Motor M3 is fixed on the dividing plate in head shell 31, one-level driving pulley is connected on motor M3 output shaft, in head
One reductor J3 is set in portion's housing 31, one-level driven pulley is set on reductor J3 input shaft, in one-level driving pulley and
One-level flat-toothed belt 310 is connected between one-level driven pulley.Two level driving pulley is set on reductor J3 output shaft, in master
Bottom on axle 4 sets splined nut 41, forms spline structure with main shaft 4, fixed two level driven pulley on splined nut 41
41a, two level flat-toothed belt 311 is connected between two level driving pulley and two level driven pulley 41a.
Motor M4 is fixed on the dividing plate in head shell 31, and a driving pulley is connected on motor M4 output shaft,
Top on main shaft 4 is threaded nut 42, forms helicitic texture with main shaft 4, a fixed driven pulley on screw nut 42
42a, cog belt 312 is connected between driving pulley and driven pulley 42a.
Start motor M3, by two-stage V belt translation and a reductor J3 can drive shaft 4 rotate, start motor M4, lead to
Cross one-level V belt translation can drive shaft move up and down.
Such motor transmission mechanism attachment structure of main shaft 4, compared with prior art, has great advantage.In the prior art, exist
Head motor M2 is set in head 03, also has the motor M3 and motor M4 being connected with main shaft 031, so, for spline spiral shell
Female transmission mechanism can only arrange next reductor and one-level tape handler.And in the present invention, motor M2 is moved on in base 1
Go, not only alleviate the weight on moving component head 3, but also can be on the premise of the volume of head shell 31 is not increased
Two-stage tape handler under being arranged again on the basis of a reductor J3, so, make the speed governing of the transmission mechanism of main axis
Than can be bigger, adaptability be more extensive.In the two level V belt translation of the transmission mechanism, up and down two in reductor J3 are designed to
End sets power transmission shaft, and two-stage V belt translation, wherein one-level be arranged on above reductor, and two-stage arrangement is below reductor, and the
The driving shaft in driven shaft and second level tape handler in one-level tape handler is coaxial, and stress is also rational.
In addition, in head shell 31, the spindle drive between main shaft 4 and spindle drive motor M3 is secondary transmission
Mechanism.By the transition axis of 1 group of bearings, 2 grades of belt transmissions, raising power is also can reach while reaching and improving speed reducing ratio
The purpose of square.This structure is very simple, and quality is small and space-consuming is few, transmission efficiency, is easily adjusted speed reducing ratio, such as become
The size of tape swapping wheel.This structure is applied to less than 10 times of high speed, underload requirement.
Threading axle can be worn in the hollow-core construction of principal arm driven shaft 102 and head driven shaft 202 respectively（Not shown in figure）,
The cable on motor M3 and motor M4 in head 3 is penetrated into head 3 by threading axle from base 1 and connects electricity.
Perforation is set on principal arm housing 21 and wears threading axle, shield can be set in perforation（Not shown in figure）.
Anterior setting front end terminal plate 3a in head shell 31, top terminal plate is set in the upper end of head shell 31
3b.The functional part set on main shaft 4, i.e. movement device, such as handgrip 031a, it which is provided with the 031a actions of driving handgrip
Drive device, can be motor, the wiring of the motor has two approach in the prior art, one is the hollow knot through main shaft 4
Structure, be then connected with the top terminal plate 3b of head shell 31, top terminal plate 3b again with the cable in outside wiring cable tube 04
Connection.Also an approach is the outside of complete robot walking, is connected with cable 04.So, no matter walking which approach, cable L
Will be around a very big circle, and make it that the cable outside robot is mixed and disorderly, as shown in Figure 3.And in the present invention, on head
The front end of housing 31 sets front end terminal plate 3a, as shown in fig. 6, main shaft 4 makes hollow-core construction in addition, so, the electricity on handgrip
The cable of machine can walk two such approach, and approach 1 is that cable 1A penetrates head shell 31, is connected on the terminal plate 3a of front end,
And front end terminal plate 3a connection cables then enter base housing 11 by connection path A, it is connected with power supply D；Approach 2 is line
Cable 1B from main shaft 4 it is hollow in pass through to the top of head shell, be then connected with top terminal plate 3b, top terminal plate 3b is again
It is connected to by cable on the cable in connection path A.Such connecting line construction causes do not have outside robot
External cable tube.
In summary, by said structure, the head that just SCARA robots in the prior art are located in head drives electricity
Machine has been moved to base housing and suffered.So that the Mass lost on head 3, space increase, principal arm 2 are also not subject to bear, made whole
The quality of individual moving component substantially reduces, and thus can just improve the movement velocity of robot motion's part.Head drive device
In motor M2 and motor M1 in reductor J2 and principal arm drive device and reductor J1 be all fixed on base, be not involved in
Any motion, it is also possible that distribution is simple and reliable.Balata belt synchronous cog belt, it can be ensured that the high accuracy of transmission.It is existing
There is the supporting way of SCARA robot heads structure and main arm structure, be all complete cantilevered fashion.Cantilevered fashion is typical
Mass eccentricity mode, compare and be difficult to realize at high speed, high-precision requirement.And robot provided by the invention, the driving on head
Head motor M2 is arranged in base 1 using mass balance as principle, symmetrical layout is formed with main shaft 4 by system, can be with
Solves the problems, such as mass eccentricity.Traditional SCARA robots, the supporting mechanism between head and principal arm, it is by reductor J2
Built-in bearing is realized；Equally, the supporting mechanism between principal arm 02 and base 01, it is Lai real by reductor J1 built-in bearing
Existing.Although this structure has the advantages of simple in construction, easy for installation, still, bearing can not be according to being actually needed unrestricted choice.
, thus can root using separate unit structure design and SCARA robots provided by the invention, bearing are separated from reductor
Free design is carried out to bearing according to being actually needed, meets rigid requirements to greatest extent.Meanwhile principal arm driven shaft 102 and head from
Moving axis 202 uses hollow structure, is easy to implement internal wiring mode（As shown in Figure 6）.Remove outer in the robot of prior art
If cable tube, the resistance of motion is reduced, reliable basis is provided for the speed of movement parts.
In head 3, one of two motors of the main shaft are driven to be placed in behind the axis of rotation of head and principal arm, i.e.,
Close to the base side, in such as Fig. 4 and Fig. 6 embodiment, by driving splined nut 41 motor M3 be placed in head from
Behind moving axis 202.Such structure can allow robot stress more balance and stability.
Robot provided by the invention, the wire of the motor in head 3 are entirely to pass through internal trace configurations：Head 3
Motor M3 and motor M4 distribution, by the principal arm driven shaft 102 of spring bearing and head driven shaft 202 it is hollow in
Hole, it is connected on base 1.
One anterior terminal plate 3a of anterior setting in head shell 31, is set on one on the top of head shell 31
Portion terminal plate 3b.As shown in fig. 6, the executing agency connected on main shaft 4 such as handgrip 031a distribution pipe arrangement has above-mentioned two
Path：
Path 1：By the centre bore of main shaft 4, top terminal plate 3b is connected to, into inside the cover of head shell 31, with electricity
Electric cable converges, and by the hollow endoporus of two groups of spring bearings, is connected on base 1；This mode is applied to distribution or air pressure
Or the few situation of pipe arrangement amount of hydraulic pressure；
Path 2：Distribution or pipe arrangement in executing agency are directly before the perforation on head shell bottom surface enters head shell 31
Portion, anterior terminal plate 3a is connected to, into inside the cover of head shell 31, converged with motor cable, pass through two groups of support shafts
The hollow endoporus held, is connected on base 1；This mode is suitable for the big situation of distribution or pipe arrangement amount.
As can be seen here, robot provided by the invention, it is the distribution or pipe arrangement of the executing agency on head, prepares 2 wiring
Plate, realize complete internal wiring mode；
1）Top terminal plate：The distribution of executing agency（Pipe arrangement）, by the centre bore of hollow spindle, top terminal plate is connected to,
2）Anterior terminal plate：The distribution of executing agency（Pipe arrangement）, anterior terminal plate is directly connected to, into inside cover, with electricity
Electric cable converges.
As shown in figure 4, feeler 33 can also be set on head 3.The feeler 33 connects control device,
The corresponding motor of control device control machine people.When feeler receives touching, immediately robot can be allowed to shut down.
Cooperated robot as one kind, in a common space, the coordinating operation together with operator, security is extremely important.Peace
Equipped with feeler, by design of hardware and software, robot can be gone out with quick detection and collides foreign matter, includes the body of operator
Feedback signal and stop motion immediately during part, are ensured personal safety.
Robot is mounted with feeler in the outside of the head base plate easily to collide, can be faster and better
Detect collision alarm；Feeler is quality of rubber materials simultaneously, itself just plays the role of to absorb energy, produces during reducing collisions
Raw injury and loss.
As shown in Figure 10, spanner 32 is set on head 3, and head can be made relative to 2 turns of principal arm by pulling this with hand and pulling 32
It is dynamic.Furthermore it is also possible to set spanner 22 on principal arm 2, pulling the spanner 22 with hand can make principal arm be rotated relative to base 1.
Further, fixed spline knob 41b on the belt wheel 41a connected on splined nut 41 on main shaft 4 on head 3,
Fixed screw knob 42b on the belt wheel 42a connected on screw nut 42.The setting of these spanners and knob, it can grasp manually
Make robot.The advantages of such design, is, can easily be debugged.In the prior art, it is necessary to for head or
Principal arm is debugged, it is necessary to switched on power, and starts corresponding motor, so debugs very inconvenient, and machine provided by the invention
People, by knob or and/or spanner, it is possible to easily and flexibly the various pieces of robot are debugged, compared in fine setting
Electrizer regulation is more handy.Knob and/or spanner also have an effect, can exactly be imparted knowledge to students, by the dynamic of setting
Make by manually pulling knob and/or Wrench demonstration, and recorded by computer or single-chip microcomputer etc., so that it may so that robot
Required action is automatically performed according to teaching demonstration.Knob, spanner are installed, can make it that demonstration operation is more convenient.
The main components of robot provided by the invention, it is head base plate 34 and main arm member 25（See Figure 10）；This 2
Main part is designed to same lateral dimension, accordingly, it is possible to using the aluminium alloy extrusions of same model, therefore, has and is easy to batch
Production, the advantages of processing capacity is seldom, appearance looks elegant, and cost is easily controlled.
Claims (9)
1. a kind of horizontal articulated SCARA types cooperation robot, including base（1）, principal arm（2）And head（3）, its feature exists
In：
The base（1）With a base housing（11）, the base housing（11）Interior setting principal arm motor（M1）And head
Head driving shaft (201) in portion's motor (M2) and principal arm transmission mechanism and head transmission mechanism,
The principal arm driving shaft in the principal arm transmission mechanism is connected on the principal arm motor (M1)（101）, principal arm transmission
Principal arm driven shaft in mechanism（102）One end stretch out base housing（11）；
The head motor（M2）Connect the head driving shaft in the head transmission mechanism（201）, head master
Moving axis（201）Stretch out the base housing（11）, the head driving shaft（201）With the principal arm driven shaft（102）It is coaxial up and down
Line is set；
The principal arm（2）With a principal arm housing（21）, stretch out the base housing（11）The principal arm driven shaft（102）'s
End connects the principal arm housing（21）, the head driving shaft（201）Stretch out the base housing and stretch into the principal arm shell again
Body（21）In, the head driven shaft in the head transmission mechanism（202）It is arranged on the principal arm housing（21）In, its one end is simultaneously
Pass the principal arm housing（21）；
The head（3）With a head shell（31）, stretch out the principal arm housing（21）The head driven shaft（202）'s
End connects the head shell（31）, on the head（3）Upper setting main shaft（4）, the head shell（31）It is middle that master is set
Axle motor and corresponding transmission mechanism, the main shaft is connected by the transmission mechanism（4）So that the main shaft（4）Realization is set
Fixed action.
2. horizontal articulated SCARA types cooperation robot according to claim 1, it is characterised in that：The principal arm is driven
Axle（102）With base housing（11）Between set base bearing arrangement, the head driven shaft（202）With the principal arm housing
（21）Between set principal arm bearing arrangement；And/or
Connect the principal arm driven shaft of the principal arm（102）With the connection head（3）The head driven shaft（202）With
And the bearing arrangement of two driven axis connections is hollow-core construction, in the base housing（11）With principal arm housing（21）It
Between and principal arm housing（21）And head shell（31）Between form pneumatic connecting lines lead channels（A）So that the base
（1）On and power source（D）The pneumatic connecting lines of connection introduce the head by the power connector line passage（3）And it is institute
State head shell（31）In the main shaft（4）Motor is powered and/or and main shaft（4）The power of the functional part of upper connection
Device provides power.
3. horizontal articulated SCARA types cooperation robot according to claim 1 or 2, it is characterised in that：The base
（1）In reverse C-shape, in base（1）Side formed a depressed part（12）, the principal arm（2）One end be arranged on the depression
Portion（12）In, the principal arm driven shaft（102）From the depressed part（12）Lower shell wall pass the connection principal arm housing upwards
（21）, the head driving shaft（201）From the depressed part（12）Upper shell wall pass downwards and penetrate principal arm housing（21）；With/
Or,
The head motor（M2）Rotation axis（R1）With main shaft（4）Rotation axis（R3）To the head（3）With
The principal arm（2）Axis of rotation（R2）Distance it is equal, form symmetrical layout；And/or
In the main shaft（4）Upper setting functional part（031a）, the functional part（031a）Upper setting power drive unit, this is dynamic
Force driving device is at least one of following power：Electric power, air pressure or hydraulic power；And/or
In the head shell（31）In, the main shaft（4）It is provided with the splined nut of a cooperation main shaft upper spline structure
（41）With the screw nut of helicitic texture on a cooperation main shaft（42）, splined nut and screw nut pass through transmission mechanism respectively
Connect splined nut motor（M3）With screw nut motor（M4）, the splined nut motor（M3）Driving institute
State splined nut（41）So that the main shaft（4）Rotate, the screw nut motor（M4）Drive the screw nut
（42）So that the main shaft（4）Move up and down.
4. horizontal articulated SCARA types cooperation robot according to claim 3, it is characterised in that：The screw nut
Positioned at the top of the splined nut；And/or
The splined nut（41）With the splined nut motor（M3）Between transmission mechanism include two level V belt translation machine
Structure；And/or
The screw nut（42）With the screw nut motor（M4）Between transmission mechanism be one-level tape handler；
And/or
The head（3）In, drive the main shaft（4）One of two motors be placed in the head（3）With the principal arm（2）
Axis of rotation（R2）Behind, i.e., close to the base（1）Side；And/or
In the head shell（31）Interior anterior setting front end terminal plate（3a）, in the head shell（31）It is upper to set accordingly
Perforation, for connecting main shaft（4）The pneumatic connecting lines of driving power device on upper connected functional part pass through the perforation
It is connected on the front end terminal plate, the front end terminal plate is with passing through lead channels（A）The power penetrated in the head shell connects
Wiring connects, and the pneumatic connecting lines connect corresponding power source；And/or
On the top of the head shell, top terminal plate is set（3b）, the top terminal plate is with passing through lead channels（A）Penetrate
Pneumatic connecting lines connection in the head shell.
5. horizontal articulated SCARA types cooperation robot according to claim 4, it is characterised in that：The two level band passes
In motivation structure, the driving shaft in driven shaft and second level tape handler in first order tape handler is coaxial；And/or
The splined nut（41）With the splined nut motor（M3）Between transmission mechanism in also include reductor
（J3）, the input axis connection one-level tape handler of the reductor, the output axis connection two level V belt translation machine of the reductor
Structure；Two-stage tape handler is separately positioned on the upper and lower ends of the reductor；And/or
The splined nut motor（M3）It is arranged on the head drive shaft axis（R2）The close base（1）One
Side.
6. the horizontal articulated SCARA types cooperation robot according to one of Claims 1-4, it is characterised in that：Described
Main shaft（4）Two manually operated knobs of upper setting, the spiral shell that two knobs are directly or indirectly connected with the main shaft respectively
Line nut（42）And splined nut（41）It is connected；And/or
The head（3）Upper setting spanner（32）The head can be made relative to the principal arm so as to be able to hand and pull the spanner
Rotate；And/or
The principal arm（2）Upper setting spanner（22）The principal arm can be made relative to the base so as to be able to hand and pull the spanner
Rotate；And/or
The transmission mechanism is tape handler.
7. horizontal articulated SCARA types cooperation robot according to claim 6, it is characterised in that：The V belt translation machine
Structure is Synchronous Belt Drives mechanism.
8. the horizontal articulated SCARA types cooperation robot according to one of claim 1 to 7, it is characterised in that：Described
Head（3）Upper setting feeler（33）.
9. horizontal articulated SCARA types cooperation robot according to claim 8, it is characterised in that：The sensing contact
Device（33）It is arranged on the head shell（31）On the outer wall of two sides.
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| CN201710032650.8A CN107457777A (en) | 2017-01-16 | 2017-01-16 | A kind of horizontal articulated SCARA types cooperation robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710032650.8A CN107457777A (en) | 2017-01-16 | 2017-01-16 | A kind of horizontal articulated SCARA types cooperation robot |
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| CN107457777A true CN107457777A (en) | 2017-12-12 |
Family
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| CN201710032650.8A Pending CN107457777A (en) | 2017-01-16 | 2017-01-16 | A kind of horizontal articulated SCARA types cooperation robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108058168A (en) * | 2018-01-24 | 2018-05-22 | 柳州幻智科技有限公司 | A kind of flapping articulation formula dynamic teaching robot |
| CN108144775A (en) * | 2018-02-23 | 2018-06-12 | 广西科技大学 | A kind of automatic adhesive spray device of roof of the vehicle sponge block |
| CN108858284A (en) * | 2018-07-16 | 2018-11-23 | 中科新松有限公司 | Cooperate robot and its rolling bearing rolling resistance test device |
| JP2019130609A (en) * | 2018-01-31 | 2019-08-08 | セイコーエプソン株式会社 | Horizontal multi-joint robot |
| CN111482947A (en) * | 2019-01-29 | 2020-08-04 | 精工爱普生株式会社 | Horizontal multi-joint robot |
| CN111745633A (en) * | 2019-03-29 | 2020-10-09 | 精工爱普生株式会社 | Horizontal multi-joint robot and robot system |
| CN111745683A (en) * | 2019-03-29 | 2020-10-09 | 精工爱普生株式会社 | Horizontal multi-joint robot |
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| CN114310993A (en) * | 2021-12-09 | 2022-04-12 | 湖北文理学院 | Robot tongs and robot |
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| CN111745633B (en) * | 2019-03-29 | 2024-03-22 | 精工爱普生株式会社 | Horizontal multi-joint robot and robot system |
| CN111745683B (en) * | 2019-03-29 | 2024-03-26 | 精工爱普生株式会社 | Horizontal multi-joint robot |
| CN111745633A (en) * | 2019-03-29 | 2020-10-09 | 精工爱普生株式会社 | Horizontal multi-joint robot and robot system |
| US20220241960A1 (en) * | 2021-01-29 | 2022-08-04 | Seiko Epson Corporation | Driving Mechanism And Robot |
| CN114800461A (en) * | 2021-01-29 | 2022-07-29 | 精工爱普生株式会社 | Drive mechanism and robot |
| CN114800461B (en) * | 2021-01-29 | 2024-02-09 | 精工爱普生株式会社 | Driving mechanism and robot |
| CN114131495A (en) * | 2021-12-03 | 2022-03-04 | 深圳市德龙智能高科技有限公司 | Bent pipe polishing device and polishing method thereof |
| CN114310993A (en) * | 2021-12-09 | 2022-04-12 | 湖北文理学院 | Robot tongs and robot |
| WO2023117324A1 (en) * | 2021-12-20 | 2023-06-29 | Festo Se & Co. Kg | Handling system |
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Application publication date: 20171212 |