CN108942904A - A kind of four axis SCARA robot of no dead angle - Google Patents
A kind of four axis SCARA robot of no dead angle Download PDFInfo
- Publication number
- CN108942904A CN108942904A CN201811004386.8A CN201811004386A CN108942904A CN 108942904 A CN108942904 A CN 108942904A CN 201811004386 A CN201811004386 A CN 201811004386A CN 108942904 A CN108942904 A CN 108942904A
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- Prior art keywords
- speed reducer
- mechanical arm
- hollow type
- harmonic speed
- type motor
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- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 64
- 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 claims abstract description 20
- 238000009434 installation Methods 0.000 description 6
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000000725 suspension Substances 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of four axis SCARA robot of no dead angle, including pedestal, the first mechanical arm and the second mechanical arm, first mechanical arm is connected with pedestal by the first axial brake device, first axial brake device drives the angle of the first mechanical arm rotation to be greater than 360 °, first mechanical arm and the second mechanical arm are connected by the second axial brake device, and the connection line in pedestal and the second mechanical arm sequentially passes through the first axial brake device, the first mechanical arm and the second axial brake device.Present invention eliminates traditional spools, in such a way that wire and cable built-in channel crosses line, the motor and harmonic speed reducer that this product uses are hollow structure, pass through the structure of hollow shaft, wire and cable can be penetrated from the channel of hollow shaft, will not influence wire and cable when mechanical arm rotation, and the structure of this built-in wire and cable has broken the bottleneck of current four axis robots rotation angle, the rotation angle of four axis robots is set to be greater than 360 rotations, no dead angle is carried, assembled.
Description
Technical field
The present invention relates to production, assembly, processing mechanical apparatus, in particular to a kind of four axis SCARA robot of no dead angle.
Background technique
Currently, the rotation angle of existing four axis robot is less than 360 degree, because of the pedestal of four axis robots and second
The spool of the mechanical arm connection of axis blocks the rotation limitation of mechanical arm, and manipulator rotation is caused to can not achieve no dead angle
Converted products or carrying product, this product can solve the problem of spool stops mechanical arm rotation.
Summary of the invention
The purpose of the present invention is in view of the above drawbacks of the prior art, provide a kind of four axis SCARA robot of no dead angle.
For solve the prior art drawbacks described above, present invention provide the technical scheme that a kind of four axis SCARA machine of no dead angle
Device people, including pedestal, the first mechanical arm and the second mechanical arm, first mechanical arm and the pedestal pass through described the
The connection of one axial brake device, first axial brake device drive the angle of the first mechanical arm rotation to be greater than 360 °, and described the
One mechanical arm is connected with second mechanical arm by the second axial brake device, the pedestal and second mechanical arm
Interior connection line sequentially passes through first axial brake device, the first mechanical arm and the second axial brake device.
A kind of improvement as the present invention without four axis SCARA robot of dead angle, first axial brake device include first
Axis Integral hollow type motor harmonic speed reducer, the center of the first axle Integral hollow type motor harmonic speed reducer are equipped with the
The bottom of the first axle Integral hollow type motor harmonic speed reducer is protruded into one hollow shaft, the lower end of first hollow shaft,
The upper end of first hollow shaft is stretched out and is connected to from the upper end of the first axle Integral hollow type motor harmonic speed reducer
On first axle bed, first axle bed is equipped with cable hole, and the first axle Integral hollow type motor harmonic speed reducer drives
When first hollow shaft rotates, the first mechanical arm rotation.
A kind of improvement as the present invention without four axis SCARA robot of dead angle, second axial brake device include second
Axis Integral hollow type motor harmonic speed reducer, the center of the second axis Integral hollow type motor harmonic speed reducer are equipped with the
The bottom of the second axis Integral hollow type motor harmonic speed reducer is protruded into two hollow shafts, the upper end of second hollow shaft,
The upper end of second hollow shaft is stretched out and is connected to from the lower end of the second axis Integral hollow type motor harmonic speed reducer
On second axle bed, second axle bed is equipped with cable hole, and the second axis Integral hollow type motor harmonic speed reducer drives
When second hollow shaft rotates, the second mechanical arm rotation.
A kind of improvement as the present invention without four axis SCARA robot of dead angle, the other end of second mechanical arm are set
There is Z axis Integral hollow type motor, the middle part of the Z axis Integral hollow type motor is equipped with screw flange, the Z axis one
The center of body formula hollow type motor is equipped with through hole, is equipped with a spline screw rod in the through hole, the spline screw rod it is upper
End is pierced by from the upper end of the through hole, and the lower end of the spline screw rod is pierced by from the lower end of the through hole.
A kind of improvement as the present invention without four axis SCARA robot of dead angle, the first axle Integral hollow type motor
Harmonic speed reducer includes the first hollow type motor and the first hollow type harmonic speed reducer, and the first hollow type motor passes through inner ring
First hollow shaft is driven, first hollow shaft drives the first hollow type harmonic speed reducer rotation.
A kind of improvement as the present invention without four axis SCARA robot of dead angle, the second axis Integral hollow type motor
Harmonic speed reducer includes the second hollow type motor and the second hollow type harmonic speed reducer, and the second hollow type motor passes through inner ring
Second hollow shaft is driven, second hollow shaft drives the second hollow type harmonic speed reducer rotation.
A kind of improvement as the present invention without four axis SCARA robot of dead angle, the pedestal and second mechanical arm
Interior connection line is worn from the hollow passageway of first hollow shaft, is pierced by from the cable hole on first axle bed, then from
Cable hole on second axle bed is penetrated to the hollow passageway of the second hollow shaft.
Compared with prior art, the invention has the advantages that present invention eliminates traditional spools, using built in wire and cable
The mode of line is crossed in channel, and the motor and harmonic speed reducer that this product uses are hollow structure, passes through the structure of hollow shaft, electric wire
Cable can be penetrated from the channel of hollow shaft, will not influence wire and cable, this built-in electric wire electricity when mechanical arm rotation
The structure of cable has broken the bottleneck of current four axis robots rotation angle, and the rotation angle of four axis robots is made to be greater than 360 rotations,
Carrying, assembly without dead angle, converted products.
When gearing arm, by motor drive hollow shaft, hollow shaft drive harmonic speed reducer rotation, thus make with it is humorous
The mechanical arm of wave retarder rotates.The driving of Z axis is using the hollow type motor customized.Join directly through screw rod and screw flange
Connect fixation.Advantage: installation is simple, convenient, saves space.
Detailed description of the invention
Just the present invention and its beneficial technical effect are made with specific embodiment with reference to the accompanying drawings below further details of
Description, in which:
Fig. 1 is top view of the present invention.
Fig. 2 is cross-sectional view of the present invention.
Fig. 3 is the first axial brake device cross-sectional view of the invention.
Fig. 4 is the second axial brake device cross-sectional view of the invention.
Appended drawing reference title: 1, pedestal 2, the first mechanical arm 3, the second mechanical arm 4, the first axial brake device 5,
Second axial brake device 6, Z axis Integral hollow type motor 41, first axle Integral hollow type motor harmonic speed reducer 42,
First hollow shaft 43, the first axle bed 51, the second axis Integral hollow type motor harmonic speed reducer 52, the second hollow shaft 53,
Second axle bed 61, screw flange 62, through hole 63, spline screw rod 411, the first hollow type motor 412, the first hollow type
Harmonic speed reducer 413, harmonic speed reducer flange 511, the second hollow type motor 512, the second hollow type harmonic speed reducer.
Specific embodiment
Just the invention will be further described with specific embodiment with reference to the accompanying drawings below, but embodiments of the present invention not office
It is limited to this.
As shown in Figure 1 to 4, a kind of four axis SCARA robot of no dead angle, including pedestal 1, the first mechanical arm 2 and
Two mechanical arms 3, the first mechanical arm 2 and pedestal 1 are connected by the first axial brake device 4, and the first axial brake device 4 drives the
The angle of one mechanical arm 2 rotation is greater than 360 °, and the first mechanical arm and the second mechanical arm 3 pass through the second axial brake device 5
Connection, the connection line in pedestal 1 and the second mechanical arm 3 sequentially pass through the first axial brake device 4, the first mechanical arm 2 and
Second axial brake device 5.Connection line in pedestal 1 and the second mechanical arm 3 is built in inside manipulator.External connection is not needed
Pipe.
Preferably, the first axial brake device 4 includes first axle Integral hollow type motor harmonic speed reducer 41, first axle one
The center of body formula hollow type motor harmonic speed reducer 41 is equipped with the first hollow shaft 42, and first axle is protruded into the lower end of the first hollow shaft 42
The bottom of Integral hollow type motor harmonic speed reducer 41, the upper end of the first hollow shaft 42 is from first axle Integral hollow type motor
The upper end of harmonic speed reducer 41 is stretched out and is connected on the first axle bed 43, and the first axle bed 43 is equipped with cable hole 7, first axle one
When body formula hollow type motor harmonic speed reducer 41 drives the rotation of the first hollow shaft 42, the rotation of the first mechanical arm 2.
Preferably, the second axial brake device 5 includes the second axis Integral hollow type motor harmonic speed reducer 51, the second axis one
The center of body formula hollow type motor harmonic speed reducer 51 is equipped with the second hollow shaft 52, and the second axis is protruded into the upper end of the second hollow shaft 52
The bottom of Integral hollow type motor harmonic speed reducer 51, the upper end of the second hollow shaft 52 is from the second axis Integral hollow type motor
The lower end of harmonic speed reducer 51 is stretched out and is connected on the second axle bed 53, and the second axle bed 53 is equipped with cable hole 7, the second axis one
When body formula hollow type motor harmonic speed reducer 51 drives the rotation of the second hollow shaft 52, the rotation of the second mechanical arm 3.
Preferably, the other end of the second mechanical arm 3 is equipped with Z axis Integral hollow type motor 6, Z axis Integral hollow type
The middle part of motor 6 is equipped with screw flange 61, and the center of Z axis Integral hollow type motor 6 is equipped with through hole 62, through hole 62
One spline screw rod 63 is inside installed, the upper end of spline screw rod 63 is pierced by from the upper end of through hole 62, the lower end of spline screw rod 63 from
The lower end of through hole 62 is pierced by.
Preferably, first axle Integral hollow type motor harmonic speed reducer 41 includes the first hollow type motor 411 and first
Hollow type harmonic speed reducer 412, the first hollow type motor 411 and the first hollow type harmonic speed reducer 412 pass through harmonic speed reducer
Flange 413 connects, and the first hollow type motor 411 drives the first hollow shaft 42 by inner ring, and the first hollow shaft 42 drives in first
Casement harmonic speed reducer 412 rotates.
Preferably, the second axis Integral hollow type motor harmonic speed reducer 51 includes the second hollow type motor 511 and second
Hollow type harmonic speed reducer 512, the first hollow type motor 511 and the first hollow type harmonic speed reducer 512 pass through harmonic speed reducer
Flanged joint, the second hollow type motor 511 drive the second hollow shaft 52 by inner ring, and the second hollow shaft 52 drives the second hollow type
Harmonic speed reducer 512 rotates.
Preferably, pedestal 1 is worn with the connection line in the second mechanical arm 3 from the hollow passageway of the first hollow shaft 52,
It is pierced by from the cable hole on the first axle bed 43, then penetrates from the cable hole on the second axle bed 53 to the hollow of the second hollow shaft 52 and lead to
In road.
There are two types of mounting means for this product:
(1) the normal Table top type Plane Installation of.Pedestal installation on the table can normal use.
(2) can be installed in such a way that hang upside down lifts.Pedestal suspension lifting also can be used normally.Two kinds of installation sides
Formula is all simple and convenient, can be according to the place election of installation.
Present invention eliminates traditional spools, in such a way that wire and cable built-in channel crosses line, horse that this product uses
Up to being hollow structure with harmonic speed reducer, by the structure of hollow shaft, wire and cable can be penetrated from the channel of hollow shaft,
Mechanical arm will not influence wire and cable when rotation, the structure of this built-in wire and cable has broken current four axis robots rotation
The bottleneck of gyration makes the rotation angle of four axis robots be greater than 360 rotations, the carrying at no dead angle, assembly, converted products.
When gearing arm, by motor drive hollow shaft, hollow shaft drive harmonic speed reducer rotation, thus make with it is humorous
The mechanical arm of wave retarder rotates.The driving of Z axis is using the hollow type motor customized.Join directly through screw rod and screw flange
Connect fixation.Advantage: installation is simple, convenient, saves space.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out in the case where not departing from the principle of the present invention and structure to these embodiments by understanding
And modification, the scope of the present invention are defined by the appended claims and their equivalents.
Claims (7)
1. a kind of four axis SCARA robot of no dead angle, including pedestal, the first mechanical arm and the second mechanical arm, feature exist
In first mechanical arm is connected with the pedestal by first axial brake device, the first axial brake device band
The angle of dynamic first mechanical arm rotation is greater than 360 °, and first mechanical arm and second mechanical arm pass through the second axis
Driving device connection, the pedestal sequentially pass through the first axle driving with the connection line in second mechanical arm and fill
It sets, the first mechanical arm and the second axial brake device.
2. four axis SCARA robot of no dead angle according to claim 1, which is characterized in that first axial brake device
Including first axle Integral hollow type motor harmonic speed reducer, in the first axle Integral hollow type motor harmonic speed reducer
The heart is equipped with the first hollow shaft, and the first axle Integral hollow type motor harmonic speed reducer is protruded into the lower end of first hollow shaft
Bottom, the upper end of first hollow shaft stretches out from the upper end of the first axle Integral hollow type motor harmonic speed reducer,
And be connected on the first axle bed, first axle bed is equipped with cable hole, and the first axle Integral hollow type motor harmonic wave subtracts
When fast device drives first hollow shaft rotation, the first mechanical arm rotation.
3. four axis SCARA robot of no dead angle according to claim 1, which is characterized in that second axial brake device
Including the second axis Integral hollow type motor harmonic speed reducer, in the second axis Integral hollow type motor harmonic speed reducer
The heart is equipped with the second hollow shaft, and the second axis Integral hollow type motor harmonic speed reducer is protruded into the upper end of second hollow shaft
Bottom, the upper end of second hollow shaft stretches out from the lower end of the second axis Integral hollow type motor harmonic speed reducer,
And be connected on the second axle bed, second axle bed is equipped with cable hole, and the second axis Integral hollow type motor harmonic wave subtracts
When fast device drives second hollow shaft rotation, the second mechanical arm rotation.
4. four axis SCARA robot of no dead angle according to claim 3, which is characterized in that second mechanical arm
The other end is equipped with Z axis Integral hollow type motor, and the middle part of the Z axis Integral hollow type motor is equipped with screw flange,
The center of the Z axis Integral hollow type motor is equipped with through hole, is equipped with a spline screw rod, the spline in the through hole
The upper end of screw rod is pierced by from the upper end of the through hole, and the lower end of the spline screw rod is pierced by from the lower end of the through hole.
5. four axis SCARA robot of no dead angle according to claim 2, which is characterized in that in the first axle integral type
Casement motor harmonic speed reducer includes the first hollow type motor and the first hollow type harmonic speed reducer, the first hollow type motor
With the first hollow type harmonic speed reducer by harmonic speed reducer flanged joint, the first hollow type motor drives institute by inner ring
The first hollow shaft is stated, first hollow shaft drives the first hollow type harmonic speed reducer rotation.
6. four axis SCARA robot of no dead angle according to claim 3, which is characterized in that in the second axis integral type
Casement motor harmonic speed reducer includes the second hollow type motor and the second hollow type harmonic speed reducer, the second hollow type motor
Pass through harmonic speed reducer flanged joint with the second hollow type harmonic speed reducer；The second hollow type motor drives institute by inner ring
The second hollow shaft is stated, second hollow shaft drives the second hollow type harmonic speed reducer rotation.
7. four axis SCARA robot of no dead angle according to claim 2, which is characterized in that the pedestal and described second
Connection line in mechanical arm is worn from the hollow passageway of first hollow shaft, is worn from the cable hole on first axle bed
Out, then from the cable hole on second axle bed it penetrates to the hollow passageway of the second hollow shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811004386.8A CN108942904A (en) | 2018-08-30 | 2018-08-30 | A kind of four axis SCARA robot of no dead angle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811004386.8A CN108942904A (en) | 2018-08-30 | 2018-08-30 | A kind of four axis SCARA robot of no dead angle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108942904A true CN108942904A (en) | 2018-12-07 |
Family
ID=64473565
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811004386.8A Pending CN108942904A (en) | 2018-08-30 | 2018-08-30 | A kind of four axis SCARA robot of no dead angle |
Country Status (1)
| Country | Link |
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| CN (1) | CN108942904A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110253180A (en) * | 2019-07-08 | 2019-09-20 | 山东耐垦智能装备有限公司 | The cable of groove cut-off apparatus, which is worn, puts structure |
| CN111409063A (en) * | 2020-03-26 | 2020-07-14 | 深圳市卓博机器人有限公司 | SCARA robot |
| CN111872925A (en) * | 2020-07-31 | 2020-11-03 | 珠海格力电器股份有限公司 | Robot |
| CN111906818A (en) * | 2020-08-04 | 2020-11-10 | 深圳超磁机器人科技有限公司 | Robot with anticorrosion function |
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| US20060201275A1 (en) * | 2004-12-16 | 2006-09-14 | Seiko Epson Corporation | Link drive mechanism and industrial robot using the same |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110253180A (en) * | 2019-07-08 | 2019-09-20 | 山东耐垦智能装备有限公司 | The cable of groove cut-off apparatus, which is worn, puts structure |
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