CN108544481A - A kind of SCARA industrial robots - Google Patents
A kind of SCARA industrial robots Download PDFInfo
- Publication number
- CN108544481A CN108544481A CN201810476083.XA CN201810476083A CN108544481A CN 108544481 A CN108544481 A CN 108544481A CN 201810476083 A CN201810476083 A CN 201810476083A CN 108544481 A CN108544481 A CN 108544481A
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- Prior art keywords
- connecting rod
- fixed
- bearing
- follower
- belt
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- 230000007246 mechanism Effects 0.000 claims abstract description 52
- 230000005540 biological transmission Effects 0.000 claims abstract description 13
- 210000000481 breast Anatomy 0.000 claims description 6
- 230000001737 promoting effect Effects 0.000 claims description 6
- 239000003638 chemical reducing agent Substances 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 13
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
Abstract
The invention discloses a kind of SCARA industrial robots, including planar five-bar mechanism, hand driving device and arm driving device, planar five-bar mechanism includes engine base, two swing rods and two connecting rods, and first connecting rod is hinged with second connecting rod；Hand driving device includes hoisting mechanism and rotating mechanism：Hoisting mechanism and rotating mechanism are mounted on first connecting rod.Apart from short, transmission process needs not move through the joint rotated between swing rod and connecting rod, improves the kinematic accuracy of hand for the transmission of hand lifter motion and rotary motion of the present invention.
Description
[technical field]
The present invention relates to robot more particularly to a kind of SCARA industrial robots.
[background technology]
SCARA (Selective Compliance Assembly Robot Arm, Chinese translation：Select compliance assembly
Robotic arm) it is a kind of industrial robot of the specific type of circular cylindrical coordinate type.
1984, the SCARA robots that First directly drives in the world were born in Adept.So-called straight drive is exactly that motor is direct
Arm is driven, the transmission mechanisms such as intermediate gear or chain are eliminated.Advantage is, without friction, tooth caused by transmission system
The weakness such as gap and Low rigidity, improve response speed and precision.Due to using concatenated two rod structure, required straight drive horse
It is also big up to torque, for direct-drive motor, the volume and weight of torque conference increase itself, thus it is high to cannot achieve high-precision
The requirement of speed.
The disclosure of the invention SCARA high speed parallel manipulators of a kind of partly decoupled that application publication number is CN107717959A
Hand, the pick-and-place pickup being applied in industry, belongs to parallel robot technical field.The main body of SCARA high-speed parallel manipulators is
Two movement branched chains, including the motor, rotary pair, drive connecting rod, the passive connecting rod that are hidden in fixed pedestal constitute five bar of plane
Mechanism；Determine that the movement branched chain that movement branched chain end is vertically moved and rotated around vertical direction includes being fixed on actively to connect
Motor on bar and the synchronous belt system being hidden in connecting rod.The manipulator is based on planar five-bar mechanism, simple in structure, reduces system
Cause this；In addition to the translation in plane, movement branched chain end can generate independent movement vertically and around vertical direction
Rotation, i.e., kinematical Part decouple, be conducive to control.
The manipulator of the disclosure of the invention, the lifter motion and rotary motion of hand will not only pass through relatively long distance two-stage skin
V belt translation will also pass through the joint of the manipulator of rotation between two-stage belt transmission, reduce transmission accuracy.
[invention content]
The technical problem to be solved in the present invention is to provide the SCARA of the high transmission accuracy of a kind of promotion of hand and rotation
Industrial robot.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is a kind of SCARA industrial robots, including
Planar five-bar mechanism, hand driving device and arm driving device, planar five-bar mechanism include engine base, two swing rods and two companies
Bar, first connecting rod are hinged with second connecting rod；Hand driving device includes hoisting mechanism and rotating mechanism；Hoisting mechanism and whirler
Structure is mounted on first connecting rod.
Above-described SCARA industrial robots, rotating mechanism include electric rotating machine, the first deceleration mechanism, splined shaft, flower
Key covers and spline housing bearing；Spline housing is mounted on by spline housing bearing in the bearing bore in the first joint of first connecting rod, and splined shaft is worn
The splined hole of spline housing is crossed, the two is slidably matched；Spline housing is driven by electric rotating machine by the first deceleration mechanism, and electric rotating machine is perpendicular
Directly it is fixed on the top of first connecting rod.
Above-described SCARA industrial robots, the first deceleration mechanism include the first belt drive unit and the second belt
Transmission device；First belt drive unit includes the first driving wheel, breast wheel, the first belt and first bearing seat, breast wheel packet
Include the first follower, the second driving wheel and jackshaft, the first follower and the second driving wheel are fixed on jackshaft, jackshaft by
Bearing bearing in first bearing seat, the first driving wheel drive the first follower by the first belt；Second belt drive unit
Including the second follower and the second belt, the second follower is fixed on spline housing, and the second driving wheel is driven by the second belt
Second follower.
Above-described SCARA industrial robots, hoisting mechanism include promoted motor, second bearing seat, 3rd bearing seat,
Second deceleration mechanism and feed screw nut pair, second bearing seat are fixed on the top of first connecting rod, promote motor and are vertically fixed on
The top of first connecting rod；3rd bearing seat is fixed on the lower end of feed screw nut pair lead screw, and the upper end of the splined shaft is fixed on
In the inner ring of three bearing block ball bearings；The nut of feed screw nut pair is supported by the bearing in second bearing seat, the nut
By the second deceleration mechanism by promoting motor driving.
Above-described SCARA industrial robots promote motor and are fixed in second bearing seat, promote motor shaft upward；
Second deceleration mechanism includes third belt drive unit, and third belt drive unit includes third driving wheel, third belt and
Three followers；Third driving wheel, which is fixed, to be promoted on motor shaft, and third follower is fixed on the nut, third follower by
Third driving wheel is driven by third belt.
Above-described SCARA industrial robots between swing rod and connecting rod, pass through friendship between first connecting rod and second connecting rod
It is hinged to pitch roller bearing.
Above-described SCARA industrial robots, arm driving device include two direct driving motors, and two direct driving motors are solid
It is scheduled on engine base, the connecting pin of two swing rods and engine base is separately fixed on the axis of two direct driving motors.
Apart from short, transmission process is not necessarily to for the transmission of the lifter motion of SCARA industrial machines human hand and rotary motion of the present invention
By the joint rotated between swing rod and connecting rod, the kinematic accuracy of hand is improved
[description of the drawings]
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
Fig. 1 is the stereogram of SCARA industrial robots of the embodiment of the present invention.
Fig. 2 is the vertical view of SCARA industrial robots of the embodiment of the present invention.
Fig. 3 is H in Fig. 2 to sectional view.
Fig. 4 is J in Fig. 2 to sectional view.
Fig. 5 is the schematic diagram of SCARA industrial robot planar five-bar mechanisms of the embodiment of the present invention.
[specific implementation mode]
The structure of SCARA industrial robots of the embodiment of the present invention is as shown in Figures 1 to 5, is driven by planar five-bar mechanism, hand
Dynamic device and arm driving device are constituted.
Planar five-bar mechanism includes 10, two swing rods 20 of engine base and two connecting rods 30, the first end and machine of two swing rods 20
Seat 10 is hinged, and the first end of second end two connecting rods 30 of difference of two swing rods 20 is hinged, between the second end of two connecting rods 30
It is hinged.
Hand driving device includes hoisting mechanism 40 and rotating mechanism 50.Hoisting mechanism 40 and the installation of rotating mechanism 50 are all
On first connecting rod 30A.
It is hinged between swing rod 20 and connecting rod 30, between first connecting rod 30A and second connecting rod 30B by crossed roller bearing.
Arm driving device includes two direct driving motors 11, and two direct driving motors 11 are fixed on engine base 10, two swing rods
20 one end is separately fixed on the output shaft of two direct driving motors 11.
Rotating mechanism 50 includes electric rotating machine 51, the first deceleration mechanism, splined shaft 52, spline housing 53 and spline housing bearing
54.Spline housing 53 is mounted on by spline housing bearing 54 in the bearing bore in the first joints first connecting rod 30A, and splined shaft 52 passes through spline
The splined hole of set 53, the two axial sliding fit, splined shaft 52 is driven by spline housing 53 to be rotated.Spline housing 53 is by electric rotating machine 51
It is driven by the first deceleration mechanism, electric rotating machine 51 is vertically fixed on the top of first connecting rod 30A.
First deceleration mechanism includes the first belt drive unit and the second belt drive unit.First belt drive unit packet
Driving wheel 56, breast wheel 57, toothed belt 58 and bearing block 59 are included, breast wheel 57 includes follower 57a, driving wheel 57b and centre
Axis 57c, follower 57a and driving wheel 57b are fixed on jackshaft 57c, and jackshaft 57c is supported by the bearing in bearing block 59,
Bearing block 59 is fixed on the top of first connecting rod 30A.Driving wheel 56 drives follower 57a by toothed belt 58.Second belt passes
Dynamic device includes follower 61 and toothed belt 62, and follower 61 is fixed on spline housing 53, and driving wheel 57b passes through toothed belt 62
Drive follower 61 and spline housing 53.
Hoisting mechanism 40 includes promoting motor 41, bearing block 42, bearing block 43, the second deceleration mechanism and feed screw nut pair.
Bearing block 42 is fixed on the top of first connecting rod 30, promotes the top that motor 41 is vertically fixed on first connecting rod 30.Bearing block
43 are fixed on the lower end of feed screw nut pair lead screw 44, and the upper end of splined shaft 52 is fixed in the inner ring of 43 ball bearing of bearing block.
The nut 45 of feed screw nut pair is supported by the bearing in bearing block 42, and nut 45 is by the second deceleration mechanism by promoting motor 41
Driving.
It promotes motor 41 to be fixed on bearing block 42, promotes the drive shaft of motor 41 upward.Second deceleration mechanism includes the
Three belt drive units, third belt drive unit include driving wheel 46, toothed belt 47 and follower 48.The fixation of driving wheel 46 carries
On the main shaft of lifting motor 41, follower 48 is fixed on nut 45, and follower 48 and nut 45 pass through toothed belt by actively 45 wheels
47 drivings.
When promoting the rotation of motor 41, passes through feed screw nut pair and bearing block 43 drives splined shaft 52 to move up and down, splined shaft
52 drive rotation by electric rotating machine 51 by the first deceleration mechanism and spline housing 53.
Coordinate position of the splined shaft 52 in plane coordinate system determine jointly by the pivot angle of two swing rods 20, splined shaft 52
Centre coordinate is correspondingly converted as the swing of any swing rod can be done, and has mapping relations one by one in certain region,
That is after the pivot angle of two swing rods 20 determines, the coordinate at 52 center of splined shaft is unique, therefore can be in the hope of by functional relation
The coordinate of decorrelation.
The hoisting mechanism of hand and rotating mechanism are all mounted on same by the SCARA industrial robots of above example of the present invention
On one connecting rod, apart from short, transmission process is needed not move through and is rotated between swing rod and connecting rod for the transmission of hand lifter motion and rotary motion
Joint, improve the kinematic accuracy of hand.
Claims (7)
1. a kind of SCARA industrial robots, including planar five-bar mechanism, hand driving device and arm driving device, plane five
Linkage includes engine base, two swing rods and two connecting rods, and first connecting rod is hinged with second connecting rod；Hand driving device includes being promoted
Mechanism and rotating mechanism；It is characterized in that, hoisting mechanism and rotating mechanism are mounted on first connecting rod.
2. SCARA industrial robots according to claim 1, which is characterized in that rotating mechanism includes electric rotating machine, first
Deceleration mechanism, splined shaft, spline housing and spline housing bearing；Spline housing is mounted on the first joint of first connecting rod by spline housing bearing
Bearing bore in, splined shaft passes through the splined hole of spline housing, and the two is slidably matched；Spline housing passes through the first speed reducer by electric rotating machine
Structure drives, and electric rotating machine is vertically fixed on the top of first connecting rod.
3. SCARA industrial robots according to claim 2, which is characterized in that the first deceleration mechanism includes the first belt
Transmission device and the second belt drive unit；First belt drive unit includes the first driving wheel, breast wheel, the first belt and the
One bearing block, breast wheel include the first follower, the second driving wheel and jackshaft, and the first follower and the second driving wheel are fixed on
On jackshaft, jackshaft is supported by the bearing in first bearing seat, and the first driving wheel drives the first follower by the first belt；
Second belt drive unit includes the second follower and the second belt, and the second follower is fixed on spline housing, the second driving wheel
The second follower is driven by the second belt.
4. SCARA industrial robots according to claim 2, which is characterized in that hoisting mechanism includes promoting motor, second
Bearing block, 3rd bearing seat, the second deceleration mechanism and feed screw nut pair, second bearing seat are fixed on the top of first connecting rod, carry
Lifting motor is vertically fixed on the top of first connecting rod；3rd bearing seat is fixed on the lower end of feed screw nut pair lead screw, the flower
The upper end of key axis is fixed in the inner ring of 3rd bearing seat ball bearing；The nut of feed screw nut pair is by the axis in second bearing seat
Bearing is held, the nut is by the second deceleration mechanism by promoting motor driving.
5. SCARA industrial robots according to claim 4, which is characterized in that promote motor and be fixed on second bearing seat
On, promote motor shaft upward；Second deceleration mechanism includes third belt drive unit, and third belt drive unit includes third master
Driving wheel, third belt and third follower；Third driving wheel, which is fixed, to be promoted on motor shaft, and third follower is fixed on the spiral shell
On mother, third follower is driven by third driving wheel by third belt.
6. SCARA industrial robots according to claim 2, which is characterized in that between swing rod and connecting rod, first connecting rod with
It is hinged by crossed roller bearing between second connecting rod.
7. SCARA industrial robots according to claim 1, which is characterized in that arm driving device includes two straight drives
Motor, two direct driving motors are fixed on engine base, and the connecting pin of two swing rods and engine base is separately fixed at two direct driving motors
On axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810476083.XA CN108544481A (en) | 2018-05-17 | 2018-05-17 | A kind of SCARA industrial robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810476083.XA CN108544481A (en) | 2018-05-17 | 2018-05-17 | A kind of SCARA industrial robots |
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| Publication Number | Publication Date |
|---|---|
| CN108544481A true CN108544481A (en) | 2018-09-18 |
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ID=63495075
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810476083.XA Pending CN108544481A (en) | 2018-05-17 | 2018-05-17 | A kind of SCARA industrial robots |
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| Country | Link |
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| CN (1) | CN108544481A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022001409A1 (en) * | 2020-07-01 | 2022-01-06 | 琦星智能科技股份有限公司 | Reducer-free four-axis scara manipulator |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4712971A (en) * | 1985-02-13 | 1987-12-15 | The Charles Stark Draper Laboratory, Inc. | Control arm assembly |
| CN103481283A (en) * | 2013-09-17 | 2014-01-01 | 江南大学 | Three-axis five-bar parallel manipulator |
| CN203485202U (en) * | 2013-08-28 | 2014-03-19 | 东莞市瓦力智能科技有限公司 | Robot arm and four axis robot |
| US20140378994A1 (en) * | 2013-06-21 | 2014-12-25 | Hiwin Technologies Corp. | Spherical linkage type surgical robotic arm |
| CN105041993A (en) * | 2015-07-16 | 2015-11-11 | 南京埃斯顿机器人工程有限公司 | Reduction gear for SCARA industrial robot |
| CN105479449A (en) * | 2016-02-15 | 2016-04-13 | 苏州哈工海渡工业机器人有限公司 | Modularized five-bar parallel robot practical training table |
| CN105500338A (en) * | 2016-01-06 | 2016-04-20 | 上海大学 | Double-arm SCARA (selective compliance assembly robot arm) industrial robot |
| CN105619395A (en) * | 2016-03-07 | 2016-06-01 | 单家正 | Economical robot wrist structure for selective compliance assembly robot arm (SCARA) |
| CN107717959A (en) * | 2017-11-07 | 2018-02-23 | 大连理工大学 | A kind of SCARA high-speed parallel manipulators of partly decoupled |
| CN107756436A (en) * | 2017-10-16 | 2018-03-06 | 华南理工大学 | A kind of cylindrical pair joint drive and drive mechanism and its method for SCARA |
| CN208645330U (en) * | 2018-05-17 | 2019-03-26 | 深圳市领略数控设备有限公司 | A kind of SCARA industrial robot |
-
2018
- 2018-05-17 CN CN201810476083.XA patent/CN108544481A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4712971A (en) * | 1985-02-13 | 1987-12-15 | The Charles Stark Draper Laboratory, Inc. | Control arm assembly |
| US20140378994A1 (en) * | 2013-06-21 | 2014-12-25 | Hiwin Technologies Corp. | Spherical linkage type surgical robotic arm |
| CN203485202U (en) * | 2013-08-28 | 2014-03-19 | 东莞市瓦力智能科技有限公司 | Robot arm and four axis robot |
| CN103481283A (en) * | 2013-09-17 | 2014-01-01 | 江南大学 | Three-axis five-bar parallel manipulator |
| CN105041993A (en) * | 2015-07-16 | 2015-11-11 | 南京埃斯顿机器人工程有限公司 | Reduction gear for SCARA industrial robot |
| CN105500338A (en) * | 2016-01-06 | 2016-04-20 | 上海大学 | Double-arm SCARA (selective compliance assembly robot arm) industrial robot |
| CN105479449A (en) * | 2016-02-15 | 2016-04-13 | 苏州哈工海渡工业机器人有限公司 | Modularized five-bar parallel robot practical training table |
| CN105619395A (en) * | 2016-03-07 | 2016-06-01 | 单家正 | Economical robot wrist structure for selective compliance assembly robot arm (SCARA) |
| CN107756436A (en) * | 2017-10-16 | 2018-03-06 | 华南理工大学 | A kind of cylindrical pair joint drive and drive mechanism and its method for SCARA |
| CN107717959A (en) * | 2017-11-07 | 2018-02-23 | 大连理工大学 | A kind of SCARA high-speed parallel manipulators of partly decoupled |
| CN208645330U (en) * | 2018-05-17 | 2019-03-26 | 深圳市领略数控设备有限公司 | A kind of SCARA industrial robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022001409A1 (en) * | 2020-07-01 | 2022-01-06 | 琦星智能科技股份有限公司 | Reducer-free four-axis scara manipulator |
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