CN108161919A - A kind of method and device for the SCARA robots for improving load capacity - Google Patents
A kind of method and device for the SCARA robots for improving load capacity Download PDFInfo
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- CN108161919A CN108161919A CN201710735442.4A CN201710735442A CN108161919A CN 108161919 A CN108161919 A CN 108161919A CN 201710735442 A CN201710735442 A CN 201710735442A CN 108161919 A CN108161919 A CN 108161919A
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- transmission gear
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- fixedly connected
- forearm
- belt
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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
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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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Abstract
The invention discloses it is a kind of improve load capacity SCARA robots method and device, including：Pedestal, rotation large arm, rotation forearm, the first rotating device, the second rotating device, third rotary joint mechanism, the 4th rotating mechanism, grasping mechanism；It is characterized in that：The middle part setting third rotary joint mechanism and the 4th rotating mechanism of the rotation forearm, a fixed frame is also fixedly connected on the rotation forearm, guide fixing bracket is fixedly connected on the fixed frame, through-hole is also provided on the fixed frame, the left side setting reinforcing rib of the guide fixing bracket, right side set guide groove, slide are flexibly connected on the guide groove, connecting seat is fixedly connected on the right side of the slide, a dynamic balance connecting plate is fixedly connected on the right side of the connecting seat.The present invention not only can effectively improve the load capacity of SCARA robots, but also structure is more compact, volume smaller.
Description
Technical field
The present invention relates to a kind of SCARA robots, especially a kind of SCARA robots for improving load capacity and its realization
Method.
Background technology
SCARA robots are called and do selection compliance and put together machines arm, are a kind of specific types of circular cylindrical coordinate type
Industrial robot be also referred to as flapping articulation humanoid robot.The wrist part structure of current SCARA robots mainly uses ball
Leading screw spline shaft realizes the vertical lift of third axis and the horizontal rotation of the 4th axis, is limited to the work fallen behind domestic at present
Skill, the mode of supplly of ball-screw spline shaft is mainly import, and of high cost, delivery date is long, is unfavorable for the big of this kind of robot
Area promotes and applies.
To improve this present situation, numerous domestic scholar has also carried out Curve guide impeller to the wrist part structure of SCARA robots.
Leading screw, splined shaft, guide post are connected to by wrist part structure disclosed in CN203003891 and CN105500359 using triangular connecting plate
Below forearm, when the 3rd axis acts, mechanical interface is followed to lift jointly, needs to occupy a large amount of working space, reduces robot
Flexibility and versatility.And upper two schemes of wrist part structure disclosed in CN105619395A are reasonable, however the structure of forearm
It is unfavorable for the installation arrangement of robot other parts, for example, to install the parts such as cylinder control valve door on supporting rod.In addition without
It is ball-screw spline one axle construction or ball screw assembly, ball spline pair and guide post split by SCARA robot wrists
Connection structure, the not yet explicitly adaptability of loading condition and operating mode.In heavy load, the operating mode of quick compound movement, need
The now movable joint of current SCARA robots and wrist part structure are improved, to obtain enough rigidity and precision.
As shown in Figure 1, the SCARA robots of the prior art include：Engine base（5）, large arm（6）, forearm（7）With execution main shaft
（8）, large arm（6）, forearm（7）It is horizontally disposed, perform main shaft（8）It is arranged in vertical.In engine base（5）With large arm
（6）Between, large arm（6）With forearm（7）Between, forearm（7）With performing main shaft（8）Between respectively set the rotation of horizontal direction and close
Section, while also in forearm（7）With performing main shaft（8）Between the linear joint that moves of one vertical direction of setting.
Three rotary joints are respectively the first rotary joint mechanism, the second rotary joint mechanism, third rotary joint mechanism,
One linear joint is the 4th linear joint mechanism.
As shown in Fig. 2, the first rotary joint mechanism, is arranged on engine base（5）With large arm（6）Between, including rotary joint A,
Driving mechanism A, engine base（5）Top and large arm（6）Inner end passes through the rotary joint A connections with horizontal degree of freedom, driving machine
Structure A is mounted on engine base（5）It is interior, large arm（6）It is rotated in the horizontal direction around engine base by driving mechanism A drivings.
Concrete structure is：Rotary joint A includes bearing sleeve（11）, bearing group（12）, driving mechanism A include servo motor
（13）, harmonic speed reducer（14）.Bearing sleeve（11）Pass through bearing group（12）Mounted on engine base（5）Top, bearing sleeve
（11）Upper end and large arm（6）Inner end connection is fixed；Servo motor（13）And harmonic speed reducer（14）Pass through connecting flange
（16）Mounted on the inside of engine base, servo motor（13）Output shaft and harmonic speed reducer（14）Wave producer connection input it is dynamic
Power, harmonic speed reducer（14）Flexbile gear pass through flexbile gear flange（15）With bearing sleeve（11）Lower end connection fix.Wherein, bearing
Group（12）The single-row tapered roller bearing used for double-row conical bearing or in pairs.
Second rotary joint mechanism（2）, as shown in figure 3, being arranged on large arm（6）With forearm（7）Between, including rotary joint
B, driving mechanism B, large arm（6）Outer end and forearm（7）Inner end pass through the rotary joint B connections with horizontal degree of freedom, drive
Motivation structure B is mounted on forearm（7）It is interior, forearm（7）And pass through transmission component B drivings in the horizontal direction around large arm（6）Rotation.
Concrete structure is that rotary joint B includes bearing sleeve（21）, bearing group（22）, driving mechanism B include servo motor
（23）, harmonic speed reducer（24）.Bearing sleeve（21）Pass through bearing group（22）Mounted on forearm（7）Bottom, bearing sleeve
（21）Lower end and large arm（6）Outer end connection is fixed；Servo motor（23）And harmonic speed reducer（24）It is fixed on forearm（7）It is interior
The top at end, servo motor（23）Output shaft and harmonic speed reducer（24）Wave producer connection input power, harmonic reduction
Device（24）Flexbile gear pass through flexbile gear flange（25）With bearing sleeve（21）Upper end connection fix.Wherein, bearing group（22）It is double
Row tapered roller bearing or the single-row tapered roller bearing used in pairs.
In order to smoothly realize to performing main shaft（8）Rotation driving and vertical lift, avoid rotation with vertical lift transport
Dynamic interferes, and performs main shaft（8）Using ball spline pair, the spline spiral shell including splined shaft and with splined shaft cooperation
It is female.
As shown in figure 4, third rotary joint mechanism, is arranged on forearm（7）On, including rotary joint, driving mechanism, perform
Main shaft（8）Splined nut by the rotary joint with horizontal degree of freedom be mounted on forearm outer end, driving mechanism be mounted on it is small
Arm（7）Middle part performs main shaft（8）It is driven by driving mechanism in 7 outer end rotation of forearm.
Concrete structure is that rotary joint includes spline flange（31）, bearing group（32）, driving mechanism include servo motor
（33）, planet-gear speed reducer（34）, active synchronization belt wheel（35）, driven synchronous pulley（36）And synchronous belt.Spline flange
（31）Pass through bearing group（32）It is built in forearm（7）Outer end performs main shaft（8）Splined nut and spline flange（31）Screw thread connects
It connects；Servo motor（33）And planet-gear speed reducer（34）It is fixed on forearm（7）Centre position, active synchronization belt wheel
（35）, driven synchronous pulley（36）Pass through synchronous band connection, active synchronization belt wheel（35）Mounted on planet-gear speed reducer（34）
Output shaft on, driven synchronous pulley（36）Pass through belt wheel flange（37）With spline flange（31）Connection is fixed.Wherein, bearing group
（32）For angular contact ball bearing group.
4th linear joint mechanism, is arranged on forearm（7）On, it is vertical driving mechanism, vertical driving mechanism is with performing master
Axis（8）Splined shaft pass through link block（9）The linkage of vertical direction is realized in connection.
Concrete structure is：Vertical driving mechanism includes ball screw（41）, screw flange（42）, servo motor（43）, it is main
Dynamic synchronous pulley（44）, driven synchronous pulley（45）And synchronous belt, ball screw（41）Nut and screw flange（42）Screw thread
Connection, screw flange（42）Pass through bearing group（49）Mounted on forearm（7）Middle part；Active synchronization belt wheel（44）, driven synchronous belt
Wheel（45）Pass through synchronous band connection, active synchronization belt wheel（44）Mounted on servo motor（43）Output shaft on, driven synchronous belt
Wheel（45）Pass through belt wheel flange（46）With screw flange（42）Connection is fixed.Vertical driving mechanism further includes guidance set, so as to
It improves and performs main shaft（8）Operation precision during work, and it is correspondingly improved the rigidity of mechanism.It includes guide post（47）, linear bearing
（48）, guide post（47）It is vertically arranged, guide post（47）Outer suit and forearm（7）The fixed linear bearing in middle part（48）, guide post（47）
Lower end with connecting ball screw（41）Screw rod and execution main shaft（8）The link block of splined shaft（9）It is fixed.Wherein, bearing group
（49）For angular contact ball bearing group.
The prior art is primarily present following technological deficiency：
1st, ball screw spline shaft is of high cost, delivery date is long, is unfavorable for the large scale application of SCARA robots；
2nd, screw, spline, guide post are connected to below forearm by the wrist mechanism of bottom using triangular connecting plate, the action of third axis
When, mechanical interface is followed to lift jointly, needs to occupy a large amount of working spaces, reduces the flexibility of robot and universal；
3rd, wrist part structure disclosed in CN105619395A is reasonable compared with above-mentioned two scheme, but the mechanism of its forearm is unfavorable for robot
The installation arrangement of other parts, than if desired for the parts such as installation cylinder control valve door on supporting rod；
4th, SCARA robot wrists be ball screw spline one axle construction or ball wire bar pair, ball spline pair and
The ability for loading 25KG is not known in guide post Split connection structure.In 25KG heavy loads, the operating mode of quick compound movement, need
The movable joint and wrist part structure of current SCARA robots are improved, to obtain enough rigidity and precision.
Invention content
The purpose of the present invention is to provide a kind of SCARA robots and its implementation for improving load capacity, not only may be used
Effectively to improve the load capacity of SCARA robots, and structure is more compact, volume smaller.
The present invention is achieved through the following technical solutions：
A kind of SCARA robots for improving load capacity, including：Pedestal, rotation large arm, rotation forearm, the first rotating device, the
Two rotating devices, third rotary joint mechanism, the 4th rotating mechanism, grasping mechanism；
The pedestal is arranged in vertical, and has the first RV speed reducers and the first rotating device in the pedestal, and described the
One RV speed reducers are connect with the first rotating device, one end of the first rotating device connection rotation large arm；The RV speed reducers
The load capacity, rigidity and running accuracy of pedestal can effectively be improved；
The rotation large arm is horizontally disposed, one end being connected to by the activity of the first rotating device of the rotation large arm
On pedestal, therefore the rotation large arm can be rotated around pedestal；
The top connection of the other end of the rotation large arm rotates the end of forearm, and second is set on the end of the rotation forearm
Rotating device, the second calculation rotary device are connect with the 2nd RV speed reducers.
The middle part setting third rotary joint mechanism and the 4th rotating mechanism of the rotation forearm, the third rotary joint
Mechanism includes：Third servo motor, planetary reducer, the first belt tightness adjustment mechanism, transmission gear A, transmission gear B；Institute
It states third servo motor, planetary reducer, belt tightness adjustment mechanism, transmission gear A and transmission gear B and is located at rotation forearm
Top, the lower section connection planetary reducer of the third servo motor, i.e., the power output shaft of described third servo motor pass through
Planetary reducer, power output end connects transmission gear A, the transmission gear A by belt connection transmission gear B, described
Planetary reducer is fixed on the first belt tightness adjustment mechanism.
First belt tightness adjustment mechanism includes：The support plate being vertically fixed on rotation forearm, the support plate
Upper installation position regulating mechanism is fixedly connected with fixed plate on the position adjusting mechanism, planet is fixedly connected in the fixed plate
Speed reducer.
Change the position of third servo motor, planetary reducer and transmission gear A by position adjusting mechanism, you can change
Spacing between transmission gear A and transmission gear B, so as to adjust the elastic of connection transmission gear A and the belt of transmission gear B.
4th rotating mechanism includes：4th servo motor, the second belt tightness adjustment mechanism, transmission gear C and biography
Moving gear D；4th servo motor is fixed on the second belt tightness adjustment mechanism, and the power of the 4th servo motor is defeated
Output terminal connection the transmission gear C, the transmission gear C of shaft connects transmission gear D by belt.
Second belt tightness adjustment mechanism is identical with the structure of the first belt tightness adjustment mechanism, the belt tension
Regulating mechanism includes：The support plate being fixed on rotation forearm, the position adjusting mechanism being arranged on above support plate, the position
The 4th servo motor is fixedly connected on regulating mechanism.
Likewise, change the position of the 4th servo motor, transmission gear C by position adjusting mechanism, you can change transmission
The distance between gear C and transmission gear D, so as to adjust the elastic of connection transmission gear C and the belt of transmission gear D.
Preferably, in the space between the belt between the transmission gear A, connection transmission gear A, B and transmission gear B
Accommodate transmission gear C, connection transmission gear C, D belt and transmission gear D so that transmission gear A, B, C, D are with connecting transmission
The belt of gear A, the belt of B and connection transmission gear C, D forms nested structure all in same level.
A fixed frame is also fixedly connected on the rotation forearm（568）, guide rail, which is fixedly connected with, on the fixed frame consolidates
Fixed rack, through-hole, the left side setting reinforcing rib of the guide rail are also provided on the fixed frame, which fixes branch with guide rail
Frame is integrally formed, setting guide groove on the right side of the guide fixing bracket, and slide, the slide edge are flexibly connected on the guide groove
Guide groove carries out vertical up and down motion, and connecting seat is fixedly connected on the right side of the slide, a power is fixedly connected on the right side of the connecting seat
Connecting plate is balanced, the dynamic balance connecting plate has screw position hole close to one end of slide, and one end far from slide has spline
Position hole.
The lower end setting nut in screw position hole, ball screw pass through the nut and across the through-holes on fixed frame,
Finally it is fixedly connected with transmission gear D.Rotate transmission gear D and drive ball screw rotation, nut can carry out accordingly upwards or
It moves downward, since the nut is fixed on dynamic balance connecting plate, so dynamic balance connecting plate can be transported upward or downward
It is dynamic.
The colored key position hole is fixedly connected with spline, and the dynamic balance connecting plate carries out movement upward or downward, the flower
Key can also carry out movement upward or downward with dynamic balance connecting plate.
The spline also extends through transmission gear B and rotation forearm, is set to below rotation forearm.
Preferably, cylinder valve seat, the stacking of this vertical direction are fixedly connected at the reinforcing rib of the guide rail upper left
Design can less parts horizontal duty amount, so as to compared with skinny device volume.
Preferably, the spline is hollow spline, and the tracheae drawn at cylinder valve seat passes through splined interior, reaches spline bottom
The grasping mechanism at end, this design can also reduce tracheae occupied space to a certain extent so that the hiding of path of tracheae arrangement.
A kind of method for the SCARA robots for improving load capacity,
The SCARA robots include：Pedestal, rotation large arm, rotation forearm, the first rotating device, the second rotating device, third
Rotary joint mechanism, the 4th rotating mechanism, grasping mechanism；The pedestal is arranged in vertical, and has RV in the pedestal
Speed reducer and the first rotating device, the RV speed reducers are connect with the first rotating device, the first rotating device connection rotation
One end of large arm；The rotation large arm is horizontally disposed, and one end of the rotation large arm passes through the activity of the first rotating device
Be connected on pedestal, therefore it is described rotation large arm can be rotated around pedestal；It is described rotation large arm the other end it is upper
Portion's connection rotates the end of forearm, and the second rotating device is set on the end of the rotation forearm.
It is characterized in that, by being fixedly connected with a fixed frame on the rotation forearm, fixed on the fixed frame
Guide rail is connected, through-hole is provided on the fixed frame, the left side setting reinforcing rib of the guide rail, right side sets guide groove, described to lead
Slide is flexibly connected on slot, the slide carries out vertical up and down motion along guide groove, connecting seat is fixedly connected on the right side of the slide,
A dynamic balance connecting plate is fixedly connected on the right side of the connecting seat, the dynamic balance connecting plate has screw position close to one end of slide
Hole, one end far from slide have flower key position hole.The lower end setting nut in screw position hole, ball screw pass through the nut simultaneously
Across the through-hole on fixed frame, finally it is fixedly connected with transmission gear D.It rotates transmission gear D and drives ball screw rotation, spiral shell
Mother can be moved upwardly or downwardly accordingly, since the nut is fixed on dynamic balance connecting plate, so dynamic balance connects
Plate can be moved upwardly or downwardly.The colored key position hole is fixedly connected with spline, the dynamic balance connecting plate carry out upwards or to
Under movement, the spline also can carry out movement upward or downward with dynamic balance connecting plate.
The dynamic balance connecting plate is fixedly connected on connecting seat, and the connecting seat is fixedly connected with slide, the slide card
Enter in sliding slot, the sliding slot is tightly fastened with guide fixing bracket to be connect, and the guide fixing bracket is in the side far from sliding slot
One reinforcing rib is set, and the reinforcing rib and guide fixing bracket are integral structures.That is, the load of grasping mechanism crawl is point
It is dispersed on planar sliding slot, and sliding slot and guide fixing bracket are integral structures, finally support this by guide fixing bracket
The gravity of load.
It is an advantage of the current invention that 1, designed by dynamic balance, robot end's load-bearing capacity is greatly improved, through experiment
Verification can load the weight of more than 25KG；
2nd, compact-sized degree is improved, robot volume can be made smaller.
3rd, it reduces cost, shorten delivery date, provide convenience for its popularization and application.
Description of the drawings
Fig. 1 is the structure diagram of SCARA robots in the prior art；
Fig. 2 is the sectional view of the pedestal of SCARA robots and the first rotating mechanism in the prior art；
Fig. 3 is the partial cutaway view of the second rotating mechanism of SCARA robots in the prior art；
Fig. 4 is SCARA robots third rotary joint mechanism and the 4th linear joint mechanism partial cutaway view in the prior art；
Fig. 5 is the structural scheme of mechanism of the embodiment of the present invention；
Fig. 6 is the rotation forearm structure schematic diagram of the embodiment of the present invention；
Fig. 7 is the rotation forearm partial structural diagram of the embodiment of the present invention；
Fig. 8 is the guide rail of the embodiment of the present invention and the structure diagram of guide rails fixing support.
In Fig. 1：5th, pedestal；6th, large arm；7th, forearm；8th, main shaft is performed；
In Fig. 2：11st, bearing sleeve；12nd, bearing group；13rd, servo motor；14th, harmonic speed reducer；15th, flexbile gear flange；16th, method
It is blue；
In Fig. 3：21st, bearing sleeve；22nd, bearing group；23rd, servo motor；24th, harmonic speed reducer；25th, flexbile gear flange；
In Fig. 4：Link block；31st, spline flange；32nd, bearing group；33rd, servo motor；34th, planetary reducer；35th, active synchronization
Belt wheel；36th, driven synchronous pulley；37th, belt wheel flange；41st, ball screw；42nd, screw flange；43rd, servo motor；44th, actively
Synchronous pulley；45th, driven synchronous pulley；46th, belt wheel flange；47th, guide post；48th, linear bearing；49th, bearing group；
In Fig. 5：51st, pedestal；52nd, large arm is rotated；53rd, forearm is rotated；54th, the second rotating device；55th, third rotary joint machine
Structure；56th, the 4th rotating mechanism；57th, grasping mechanism；
In Fig. 6：551st, third servo motor；552nd, planetary reducer；553rd, the first belt tightness adjustment mechanism；554th, it supports
Plate；555th, fixed plate；556th, transmission gear A；557th, transmission gear B；558th, belt；559th, the 2nd RV speed reducers；561st, the 4th
Servo motor；562nd, the second belt tightness adjustment mechanism；563rd, support plate；564th, fixed plate；568th, fixed frame；
In Fig. 7：565th, transmission gear C；566th, transmission gear D；601st, guide rail；602nd, dynamic balance connecting plate；603rd, screw；604、
Spline；
In Fig. 8：6011st, guide fixing bracket；6012nd, reinforcing rib；6013rd, guide groove；6014th, slide；6015th, connecting seat.
Specific embodiment
Technical scheme of the present invention is described further below in conjunction with the accompanying drawings.
As viewed in figures 5-8, a kind of SCARA robots for improving load capacity, including：Pedestal 51, rotation large arm 52, rotation
Forearm 53, the first rotating device, the second rotating device 54, third rotary joint mechanism 55, the 4th rotating mechanism 56, grasping mechanism
57；
The pedestal 51 is arranged in vertical, and has speed reducer and the first rotating device, the speed reducer in the pedestal
It is connect with the first rotating device, one end of the first rotating device connection rotation large arm 52；
The rotation large arm is horizontally disposed, one end being connected to by the activity of the first rotating device of the rotation large arm
On pedestal, therefore the rotation large arm can be rotated around pedestal；
The end of the top connection rotation forearm 53 of the other end of the rotation large arm sets the on the end of the rotation forearm
Two rotating devices 54.
Referring again to shown in Fig. 5-8, the middle part of the rotation forearm sets third rotary joint mechanism and the 4th rotating machine
Structure, the third rotary joint mechanism include：Third servo motor 551, planetary reducer 552, the first belt tension adjust machine
Structure 553, transmission gear A554, transmission gear B；The third servo motor, planetary reducer, belt tightness adjustment mechanism, biography
Moving gear A and transmission gear B is located at the top of rotation forearm, and the lower section of the third servo motor connects planetary reducer, i.e.,
The power output shaft of the third servo motor passes through planetary reducer, power output end connection transmission gear A, the transmission
Gear A connects transmission gear B by belt, and the planetary reducer is fixed on the first belt tightness adjustment mechanism.
First belt tightness adjustment mechanism 553 includes：The support plate 554 being vertically fixed on rotation forearm, it is described
Installation position regulating mechanism in support plate sets fixed plate 555 on the regulating mechanism, is fixedly connected in the fixed plate 555
Planetary reducer 552.
Change the position of third servo motor, planetary reducer and transmission gear A by position adjusting mechanism, you can change
Spacing between transmission gear A and transmission gear B, so as to adjust the elastic of connection transmission gear A and the belt of transmission gear B.
4th rotating mechanism 56 includes：4th servo motor 561, the second belt tightness adjustment mechanism 562, driving cog
Take turns C565 and transmission gear D566；4th servo motor is fixed on the second belt tightness adjustment mechanism, and the described 4th watches
Output terminal connection the transmission gear C, the transmission gear C for taking the power output shaft of motor connects transmission gear D by belt.
Second belt tightness adjustment mechanism is identical with the structure of the first belt tightness adjustment mechanism, the belt tension
Regulating mechanism includes：The support plate 563 being fixed on rotation forearm, the position adjusting mechanism being arranged on above support plate, it is described
Fixed plate 564 on regulating mechanism is set, the 4th servo motor 561 is fixedly connected in the fixed plate 564.
Likewise, change the position of the 4th servo motor, transmission gear C by position adjusting mechanism, you can change transmission
The distance between gear C and transmission gear D, so as to adjust the elastic of connection transmission gear C and the belt of transmission gear D.
Preferably, in the space between the belt between the transmission gear A, connection transmission gear A, B and transmission gear B
Accommodate transmission gear C, connection transmission gear C, D belt and transmission gear D so that transmission gear A, B, C, D are with connecting transmission
The belt of gear A, the belt of B and connection transmission gear C, D forms nested structure all in same level.
A fixed frame 568 is also fixedly connected on the rotation forearm, being fixedly connected with guide rail on the fixed frame fixes
Stent 6011, through-hole is also provided on the fixed frame, and the left side setting reinforcing rib 6012 of the guide fixing bracket 6011 is right
Side sets guide groove 6013, and slide 6014 is flexibly connected on the guide groove, and the slide carries out vertical up and down motion, institute along guide groove
It states and connecting seat 6015 is fixedly connected on the right side of slide, one dynamic balance connecting plate 602 of connection, the dynamic balance connect on the right side of the connecting seat
Fishplate bar has 603 holes of screw close to one end of slide, and one end far from slide has 604 holes of spline.
The lower end setting nut in screw position hole, ball screw pass through the nut and across the through-holes on fixed frame,
Most transmission gear D is fixedly connected finally.Rotate transmission gear D and drive ball screw rotation, nut can carry out accordingly upwards or
It moves downward, since the nut is fixed on dynamic balance connecting plate, so dynamic balance connecting plate can be transported upward or downward
It is dynamic.
The colored key position hole is fixedly connected with spline 604, and the dynamic balance connecting plate carries out movement upward or downward, described
Spline can also carry out movement upward or downward with dynamic balance connecting plate.
The spline also extends through transmission gear B and rotation forearm, is set to below rotation forearm.
Preferably, cylinder valve seat, the heap of this vertical direction are fixedly connected at the reinforcing rib of 601 upper left of guide rail
Folded design can less parts horizontal duty amount, so as to compared with skinny device volume.
The spline is hollow spline, and the tracheae drawn at cylinder valve seat passes through splined interior, reaches grabbing for spline bottom end
Mechanism is taken, this design can also reduce tracheae occupied space to a certain extent so that the hiding of path of tracheae arrangement.
As Figure 7-8, when the load of SCARA robots carrying 25KG, the gravity value of the load acts directly on flower
On key, and spline conducts the force value to guide rail and dynamic balance connecting plate, at this point, dynamic balance connecting plate is stationarily connected to connect
On joint chair, the connecting seat is fixedly connected with slide, and the slide is caught in sliding slot, thus the active force be dispersed in it is planar
On sliding slot, and sliding slot and guide fixing bracket are integral structures, the final gravity that support the load by guide fixing bracket.
And traditional SCARA robots are to support the gravity of load by columned supporting rod, the supporting rod is not only
It is relatively thin, and supporting rod is point and the contact put with corner block, is unfavorable for the dispersion of the gravity of load, therefore, supporting rod can not
It works long hours in the high load condition of more than 25KG.
And guide rail structure can sustain the force value well, therefore, guide rail structure long-time be in 25KG heavy loads when,
Work can be smoothed out, the service life of guide rail structure will not be influenced.
Claims (13)
1. a kind of SCARA robots for improving load capacity, including：Pedestal, rotation large arm, rotation forearm, the first rotating device,
Second rotating device, third rotary joint mechanism, the 4th rotating mechanism, grasping mechanism；The pedestal is arranged in vertical,
There is speed reducer and the first rotating device, the speed reducer is connect with the first rotating device, first rotation in the pedestal
One end of device connection rotation large arm；The rotation large arm is horizontally disposed, and one end of the rotation large arm passes through first
Rotating device activity is connected on pedestal, therefore the rotation large arm can be rotated around pedestal；The rotation large arm
The other end top connection rotation forearm end, it is described rotation forearm end on the second rotating device, feature are set
It is：The middle part setting third rotary joint mechanism and the 4th rotating mechanism of the rotation forearm, the third rotary joint machine
Structure includes：Third servo motor, planetary reducer, the first belt tightness adjustment mechanism, transmission gear A, transmission gear B；It is described
Third servo motor, planetary reducer, belt tightness adjustment mechanism, transmission gear A and transmission gear B are located at the upper of rotation forearm
Side, the lower section connection planetary reducer of the third servo motor, i.e., the power output shaft of described third servo motor pass through row
Star speed reducer, power output end connect transmission gear A, the transmission gear A and connect transmission gear B, the row by belt
Star speed reducer is fixed on the first belt tightness adjustment mechanism；
4th rotating mechanism includes：4th servo motor, the second belt tightness adjustment mechanism, transmission gear C and driving cog
Take turns D；4th servo motor is fixed on the second belt tightness adjustment mechanism, the power output shaft of the 4th servo motor
Output terminal connection transmission gear C, the transmission gear C pass through belt and connect transmission gear D；
A fixed frame is also fixedly connected on the rotation forearm, guide fixing bracket, institute are fixedly connected on the fixed frame
It states and through-hole is also provided on fixed frame, the left side setting reinforcing rib of the guide fixing bracket, right side setting guide groove, the guide groove
Upper flexible connection slide, the slide carry out vertical up and down motion along guide groove, are fixedly connected with connecting seat on the right side of the slide, institute
It states and a dynamic balance connecting plate is fixedly connected on the right side of connecting seat, the dynamic balance connecting plate has screw position close to one end of slide
Hole, one end far from slide have flower key position hole；The lower end setting nut in screw position hole, ball screw pass through the nut simultaneously
Across the through-hole on fixed frame, finally it is fixedly connected with transmission gear D.
2. rotating transmission gear D drives ball screw rotation, nut can be moved upwardly or downwardly accordingly, due to the spiral shell
Mother is fixed on dynamic balance connecting plate, so dynamic balance connecting plate can be moved upwardly or downwardly.
3. the SCARA robots according to claim 1 for improving load capacity, which is characterized in that the first belt pine
Tight regulating mechanism includes：The support plate rotated on forearm is vertically fixed on, sliding equipment, the slip are set in the support plate
Fixed plate is fixedly connected in mechanism, planetary reducer is fixedly connected in the fixed plate；Third servo is changed by sliding equipment
The position of motor, planetary reducer and transmission gear A, you can change the spacing between transmission gear A and transmission gear B, so as to
Adjustment connection transmission gear A is elastic with the belt of transmission gear B.
4. the SCARA robots according to claim 1 for improving load capacity, which is characterized in that the second belt pine
Tight regulating mechanism is identical with the structure of the first belt tightness adjustment mechanism, and the belt tightness adjustment mechanism includes：It is fixed on and turns
The support plate on forearm, the sliding equipment being arranged on above support plate are moved, fixed plate, the fixation are set on the sliding equipment
The 4th servo motor is fixedly connected on plate；Change the position of the 4th servo motor, transmission gear C by sliding equipment, you can change
Become the distance between transmission gear C and transmission gear D, so as to adjust the pine of the belt of connection transmission gear C and transmission gear D
Tightly.
5. the SCARA robots according to claim 1 for improving load capacity, which is characterized in that the transmission gear A,
The space content between belt and transmission gear B between connection transmission gear A, B, which is received, transmission gear C, connection transmission gear
C, D belts and transmission gear D so that transmission gear A, B, C, D with connect transmission gear A, B belt and connection transmission gear C,
The belt of D forms nested structure all in same level.
6. the SCARA robots according to claim 1 for improving load capacity, which is characterized in that left above the guide rail
Be fixedly connected with cylinder valve seat at the reinforcing rib of side, the stack design of this vertical direction can less parts horizontal duty amount, from
And compared with the volume of skinny device.
7. the SCARA robots according to claim 1 for improving load capacity, which is characterized in that the spline is hollow
Spline, the tracheae drawn at cylinder valve seat pass through splined interior, reach the grasping mechanism of spline bottom end, this design is so that tracheae
The hiding of path of arrangement can also reduce tracheae occupied space to a certain extent.
8. the SCARA robots according to claim 1 for improving load capacity, which is characterized in that the guide rail fixes branch
Frame is fixedly connected on connecting seat, and the connecting seat is fixedly connected with slide, and the slide is caught in sliding slot, the sliding slot and guide rail
Fixing bracket is integral structure, and the guide fixing bracket sets a reinforcing rib in the side far from sliding slot.
9. a kind of method for the SCARA robots for improving load capacity,
The SCARA robots include：Including：Pedestal, rotation large arm, rotation forearm, the first rotating device, the second rotating dress
It puts, third rotary joint mechanism, the 4th rotating mechanism, grasping mechanism；The pedestal is arranged in vertical, in the pedestal
With speed reducer and the first rotating device, the speed reducer is connect with the first rotating device, the first rotating device connection rotation
Turn one end of large arm；The rotation large arm is horizontally disposed, and one end of the rotation large arm is lived by the first rotating device
Dynamic is connected on pedestal, therefore the rotation large arm can be rotated around pedestal；The other end of the rotation large arm
Top connection rotates the end of forearm, and the second rotation assembling device is set on the end of the rotation forearm.
It is 10. fixed on the fixed frame to connect it is characterized in that, by being fixedly connected with a fixed frame on the rotation forearm
Guide rail is connect, through-hole, the left side setting reinforcing rib of the guide rail, right side setting guide groove, the guide groove are provided on the fixed frame
Upper flexible connection slide, the slide carry out vertical up and down motion along guide groove, and being fixedly connected with a guide rail on the right side of the slide consolidates
Fixed rack, the guide fixing bracket have screw position hole close to one end of slide, and one end far from slide has flower key position hole.
11. the lower end setting nut in screw position hole, ball screw passes through the nut and across the through-hole on fixed frame, most
It is fixedly connected eventually with transmission gear D.
12. rotating transmission gear D drives ball screw rotation, nut can be moved upwardly or downwardly accordingly, due to described
Nut is fixed on guide fixing bracket, so guide fixing bracket can be moved upwardly or downwardly.
13. the colored key position hole is fixedly connected with spline, the guide fixing bracket carries out movement upward or downward, the spline
Also movement upward or downward can be carried out with guide fixing bracket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710735442.4A CN108161919A (en) | 2017-08-24 | 2017-08-24 | A kind of method and device for the SCARA robots for improving load capacity |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710735442.4A CN108161919A (en) | 2017-08-24 | 2017-08-24 | A kind of method and device for the SCARA robots for improving load capacity |
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| CN108161919A true CN108161919A (en) | 2018-06-15 |
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| CN201710735442.4A Pending CN108161919A (en) | 2017-08-24 | 2017-08-24 | A kind of method and device for the SCARA robots for improving load capacity |
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| CN112660805A (en) * | 2020-12-30 | 2021-04-16 | 芜湖哈特机器人产业技术研究院有限公司 | Water pump blade SCARA robot feeding clamp and feeding process |
| CN113134476A (en) * | 2020-01-19 | 2021-07-20 | 广州市番禺致丰微电器有限公司 | Transformer reliability automatic check out system |
| WO2023077721A1 (en) * | 2021-11-04 | 2023-05-11 | 辰星（天津）自动化设备有限公司 | Speed increasing mechanism for scara robot, and scara robot having speed increasing mechanism |
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