CN110682280A - Precision lifting device for industrial SCARA robot - Google Patents
Precision lifting device for industrial SCARA robot Download PDFInfo
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- CN110682280A CN110682280A CN201911061693.4A CN201911061693A CN110682280A CN 110682280 A CN110682280 A CN 110682280A CN 201911061693 A CN201911061693 A CN 201911061693A CN 110682280 A CN110682280 A CN 110682280A
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- elastic sheet
- electromagnet
- rotating shaft
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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
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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
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- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention belongs to the technical field of industrial robots, and particularly relates to an industrial SCARA robot precision lifting device; the positioning device comprises a shell, an electromagnet, a positioning ring, an elastic sheet and a rotating shaft positioning ring, wherein the positioning ring is arranged in the shell, so that the outer side wall of the positioning ring is attached to the electromagnet; the elastic pieces are uniformly arranged on the inner side wall of the positioning ring and have magnetism repulsive to the electromagnet, so that the elastic pieces can be popped out through mutual repulsion force after the electromagnet is electrified; the rotating shaft is sleeved in the shell, and a bulge is arranged on the outer side wall of the rotating shaft close to the elastic sheet; the rotation travel required when the rotating shaft is lowered to be static from the working speed is reduced through the matching of the shell, the electromagnet, the locating ring, the elastic sheet and the rotating shaft, so that the deviation between the position of the manipulator after the manipulator is completely static and the position set by the operator is reduced, the position precision of the robot in work is enhanced, the working quality is improved, and the using effect of the robot is improved.
Description
Technical Field
The invention belongs to the technical field of industrial robots, and particularly relates to an industrial SCARA robot precision lifting device.
Background
Chinese translation name of SCARA: the selective compliance assembly robot arm is a special type of industrial robot of the cylindrical coordinate type. In 1984, the first direct-drive SCARA robot in the world was born in Adept. The direct drive means that the motor directly drives the arm, and a transmission mechanism such as a gear or a chain in the middle is omitted. The device has the advantages that the device does not have the defects of friction, backlash, low rigidity and the like caused by a transmission system, and improves the response speed and the precision; the SCARA robot has 3 revolute joints, whose axes are parallel to each other, and is positioned and oriented in a plane. The other joint is a prismatic joint for performing motion of the tip in a direction perpendicular to the plane. The position of the wrist reference point is determined by the angular displacements φ 1 and φ 2 of the two rotating joints, and the displacement z of the moving joint, i.e., p ═ f φ 1, φ 2, z. The robot has a light structure and quick response, and the motion speed of the Adept1 type SCARA robot can reach 10m/s, which is several times faster than that of a common articulated robot. It is most suitable for plane positioning and assembling in vertical direction.
However, the precision of the SCARA robot in the current market is low, a deceleration process is needed after the robot reaches a designated position, and the SCARA robot in the prior art has slow deceleration time and long deceleration stroke, so that the position precision of the robot in the working process is greatly influenced.
Disclosure of Invention
In order to make up for the defects of the prior art, the problem that the position accuracy of the SCARA robot in the prior art is greatly influenced due to the fact that the existing SCARA robot is low in accuracy, a deceleration process is needed after a robot hand reaches a designated position, and the deceleration time of the SCARA robot in the prior art is slow and the deceleration stroke is long is solved; the invention provides an industrial SCARA robot precision lifting device.
The technical scheme adopted by the invention for solving the technical problems is as follows: the invention relates to an industrial SCARA robot precision lifting device which comprises a shell, an electromagnet, a positioning ring, an elastic sheet and a rotating shaft, wherein the electromagnet is arranged on the shell; the electromagnet is adhered to the inner side wall of the shell, and the electrification condition of the electromagnet is controlled through the controller; the positioning ring is arranged in the shell, so that the outer side wall of the positioning ring is attached to the electromagnet; the elastic pieces are uniformly arranged on the inner side wall of the positioning ring and have magnetism repulsive to the electromagnet, so that the elastic pieces can be popped out through mutual repulsion force after the electromagnet is electrified; the rotating shaft is sleeved in the shell, and a bulge is arranged on the outer side wall of the rotating shaft close to the elastic sheet; the deceleration time of the robot in the rotation process is reduced through the matching of the shell, the electromagnet, the positioning ring, the elastic sheet and the rotating shaft, and the position precision of the robot is improved; during operation, when the staff has confirmed the working stroke of robot through the controller, after reaching the target position, controller control electro-magnet is electrified, produce the magnetism opposite with the shell fragment magnetism after the electro-magnet circular telegram, thereby make the shell fragment that is close to the electro-magnet pop out under the effect of mutual repulsion, the shell fragment pops out the back and produces the resistance through protruding counter shaft, thereby reduce the required time of pivot when falling to static from operating speed, reduce the pivot and fall to required rotation stroke when static from operating speed, thereby reduce the deviation between the position that the manipulator got off and the position that the staff set for at complete standstill, strengthen the position accuracy of robot in work, and the work quality is improved, and the use effect of robot is improved.
Preferably, a rubber ring is arranged between the elastic sheet and the rotating shaft, and the elastic sheet is prevented from being in direct contact with the rotating shaft through the matching of the rubber ring, so that the abrasion condition of the elastic sheet in the use process is reduced, and the service life of the robot is prolonged; the during operation, when the staff passes through the controller and confirms the working stroke of robot, after reaching the target position, controller control electro-magnet is electrified, produce the magnetism opposite with the shell fragment magnetism after the electro-magnet circular telegram, thereby make the shell fragment that is close to the electro-magnet pop out under the effect of mutual repulsion, the shell fragment pops out the back and produces the resistance through protruding counter shaft, because shell fragment and pivot are the rigidity part, can cause the wearing and tearing of shell fragment more serious if direct contact between shell fragment and the pivot, thereby reduce the life of robot, consequently be equipped with the rubber circle between shell fragment and pivot, make the shell fragment only produce the resistance through the rubber circle counter shaft, thereby reduce the loss of shell fragment self, strengthen the whole life of robot, reduce the replacement cost of robot in the use.
Preferably, an annular cavity is arranged in the rubber ring; a ball is arranged in the annular cavity; the side wall of the bulge opposite to the spring sheet ejecting direction is provided with an arc-shaped groove, and the size of the arc-shaped groove is larger than that of the ball; the elastic sheet, the rubber ring and the balls are matched, so that the balls can be pushed to be clamped into the arc-shaped groove when the elastic sheet is popped up, and the positioning precision of the robot is further improved; when the robot works, when a worker determines the working stroke of the robot through the controller, after the robot reaches a target position, the controller controls the electromagnet to be electrified, the electromagnet generates magnetism opposite to that of the elastic sheet after being electrified, so that the elastic sheet close to the electromagnet is popped out under the action of mutual repulsion force, the elastic sheet can generate ejection force to the rubber ring after being popped out, so that the rubber ring generates resistance to the rotating shaft after being popped out, the elastic sheet can extrude the rolling ball in the process of extruding the rubber ring by the elastic sheet, the deformation degree of the rubber ring is increased after the rolling ball is pressed, and the size of the arc-shaped groove is larger than that of the rolling ball, so that the part of the rubber ring close to the rolling ball is clamped into the arc-shaped groove under the action of the rolling ball, the resistance to the rotating shaft is further increased, the braking force borne by the rotating shaft when the rotating shaft reaches a specified position is, the working quality of the robot is improved.
Preferably, the shape of the elastic sheet is smooth arc-shaped, so that the stability of the elastic sheet for jacking the ball is improved, and the effective guarantee of the precision is ensured; when the robot works, when a worker determines the working stroke of the robot through the controller, after the robot reaches a target position, the controller controls the electromagnet to be electrified, the electromagnet generates magnetism opposite to that of the elastic sheet after being electrified, so that the elastic sheet close to the electromagnet is popped out under the action of mutual repulsion force, the elastic sheet can generate ejection force to the rubber ring after being popped out, so that resistance is generated to the rotating shaft after the rubber ring is popped out, in the process that the elastic sheet squeezes the rubber ring, the elastic sheet squeezes the rolling balls, the deformation degree of the rubber ring is increased after the rolling balls are squeezed, the resistance to the rotating shaft is enhanced, but after the rubber ring is deformed, the positions of the rolling balls in the rubber ring are loosened, the rolling balls can slide under the action of the elastic sheet, so that the rolling balls cannot play a role, the shape of the elastic sheet is set to be smooth circular arc shape, so that, can provide even pressure for the ball, avoid rubber circle elastic deformation back ball to slide in the cavity that the space has increased, consequently guaranteed the normal use and the effect of ball, improve the holistic practicality of robot.
Preferably, the outer side of the ball is wrapped with an elastic ring, and the shape of the elastic ring is wave-shaped; after the balls are pressed through the matching of the elastic ring and the balls, the balls are clamped into the side wall of the elastic ring, so that the jacking force of the side wall of the elastic ring opposite to the balls on the rubber ring is increased, and the positioning effect on the rotating shaft is enhanced; the during operation, when the shell fragment pops out under the elastic action, can produce the extrusion to the rubber circle, thereby make the ball pressurized in the rubber circle drive the rubber circle and warp the back card and go into in the arc wall, realize reducing the speed in the twinkling of an eye of countershaft, after being equipped with the elastic ring in the ball outside, the working volume of ball can be increased to the elastic ring, and after the ball pressurized, the ball can be gone into in the lateral wall of elastic ring, thereby make the ball stronger to the apical force of rubber circle lateral wall, consequently, the deformation effect that leads to the rubber circle is stronger, thereby strengthen the rubber circle lateral wall to bellied resistance, strengthen the braking power to the countershaft, make the pivot can stop in shorter time and shorter turning distance, thereby reduce the error between the static position of pivot and the position that the staff set up, improve the accuracy of the whole work of robot.
Preferably, the inner side wall of the rubber ring is provided with a Y-shaped antenna; the suction force can be generated on the side wall of the bulge through the Y-shaped antenna, so that the rotation resistance between the bulge and the rubber ring is increased, and the positioning effect of the robot is enhanced; the during operation, Y shape feeler can produce the adsorption affinity to the countershaft lateral wall, thereby the required effort is rotated to the reinforcing pivot, consequently at pivot pivoted in-process, the adsorption affinity of Y shape feeler countershaft lateral wall can constantly be overcome in the pivot, make when stopping to exert power to the countershaft, Y shape feeler can produce great pulling force to the countershaft, thereby the reinforcing robot hand is accurate in the location of stopping the location in-process, the machining precision and the position precision of improvement robot, promote the processingquality of robot.
The invention has the following beneficial effects:
1. according to the industrial SCARA robot precision lifting device, the deceleration time of the robot in the rotation process is reduced through the matching of the shell, the electromagnet, the positioning ring, the elastic sheet and the rotating shaft, the position precision of the robot is improved, the deviation between the position of the manipulator after the manipulator is completely stopped and the position set by a worker is reduced, and the use effect of the robot is improved.
2. According to the industrial SCARA robot precision lifting device, the balls are clamped into the side wall of the elastic ring after being pressed through the matching of the elastic ring and the balls, so that the ejection force of the balls to the side wall of the rubber ring is stronger, the deformation effect of the rubber ring is stronger, the resistance of the side wall of the rubber ring to the bulge is enhanced, the braking force to the rotating shaft is enhanced, and the rotating shaft can be stopped in a shorter time and a shorter rotating distance.
Drawings
The invention will be further explained with reference to the drawings.
FIG. 1 is a diagram of the operating state of the present invention;
FIG. 2 is a cross-sectional view B-B of the present invention;
FIG. 3 is a partial enlarged view of FIG. 2 at A;
in the figure: the device comprises a shell 1, an electromagnet 2, a locating ring 3, an elastic sheet 4, a rotating shaft 5, a protrusion 51, an arc-shaped groove 511, a rubber ring 6, an annular cavity 61, a ball 611, an elastic ring 612 and a Y-shaped antenna 62.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
As shown in fig. 1 to 3, the precision lifting device for industrial SCARA robot according to the present invention includes a housing 1, an electromagnet 2, a positioning ring 3, a spring plate 4 and a rotating shaft 5; the electromagnet 2 is adhered to the inner side wall of the shell 1, and the electrifying condition of the electromagnet 2 is controlled by a controller; the positioning ring 3 is arranged in the shell 1, so that the outer side wall of the positioning ring 3 is attached to the electromagnet 2; the elastic pieces 4 are uniformly arranged on the inner side wall of the positioning ring 3, and the elastic pieces 4 have magnetism repulsive to the electromagnet 2, so that the elastic pieces 4 can be popped out through mutual repulsion force after the electromagnet 2 is electrified; the rotating shaft 5 is sleeved in the shell 1, and a bulge 51 is arranged on the outer side wall of the rotating shaft 5 close to the elastic sheet 4; the deceleration time of the robot in the rotation process is reduced through the matching of the shell 1, the electromagnet 2, the locating ring 3, the elastic sheet 4 and the rotating shaft 5, and the position precision of the robot is improved; during operation, when the staff has confirmed the working stroke of robot through the controller, after reaching the target position, controller control electro-magnet 2 is electrified, produce the magnetism opposite with shell fragment 4 magnetism after electro-magnet 2 circular telegram, thereby make the shell fragment 4 that is close to electro-magnet 2 pop out under the effect of mutual repulsion, shell fragment 4 pops out the back and produces the resistance to pivot 5 through arch 51, thereby reduce pivot 5 and drop to required time when static from operating speed, reduce pivot 5 and drop to required rotation stroke when static from operating speed, thereby reduce the deviation between the position after the manipulator completely stops and the position that the staff set for, strengthen the position accuracy of robot in work, improve work quality, improve the result of use of robot.
As an embodiment of the invention, a rubber ring 6 is arranged between the elastic sheet 4 and the rotating shaft 5, and the elastic sheet 4 is prevented from being in direct contact with the rotating shaft 5 by the cooperation of the rubber ring 6, so that the abrasion of the elastic sheet 4 in the use process is reduced, and the service life of the robot is prolonged; when the robot works, when a worker determines the working stroke of the robot through the controller, after the robot reaches a target position, the controller controls the electromagnet 2 to be electrified, the electromagnet 2 generates magnetism opposite to that of the elastic sheet 4 after being electrified, so that the elastic sheet 4 close to the electromagnet 2 is popped up under the action of mutual repulsion, the elastic sheet 4 generates resistance to the rotating shaft 5 through the bulge 51 after being popped up, since the elastic sheet 4 and the rotating shaft 5 are rigid parts, if the elastic sheet 4 and the rotating shaft 5 are in direct contact, the abrasion of the elastic sheet 4 is serious, thereby reducing the service life of the robot, and the rubber ring 6 is arranged between the elastic sheet 4 and the rotating shaft 5, so that the elastic sheet 4 only generates resistance to the rotating shaft 5 through the rubber ring 6, thereby reduce the loss of shell fragment 4 self, strengthen the whole life of robot, reduce the replacement cost of robot in the use.
As an embodiment of the present invention, an annular cavity 61 is provided in the rubber ring 6; a ball 611 is arranged in the annular cavity 61; the side wall of the protrusion 51 opposite to the spring direction of the spring plate 4 is provided with an arc-shaped groove 511, and the size of the arc-shaped groove 511 is larger than that of the ball 611; the cooperation of the elastic sheet 4, the rubber ring 6 and the ball 611 ensures that the ball 611 can be pushed to be clamped into the arc-shaped groove 511 when the elastic sheet 4 is popped up, so that the positioning accuracy of the robot is further improved; when the robot works, when a worker determines the working stroke of the robot through the controller, after the robot reaches a target position, the controller controls the electromagnet 2 to be electrified, the electromagnet 2 generates magnetism opposite to that of the elastic sheet 4 after being electrified, so that the elastic sheet 4 close to the electromagnet 2 is popped up under the action of mutual repulsion, the elastic sheet 4 generates ejection force on the rubber ring 6 after being popped up, so that the rubber ring 6 is ejected out to generate resistance on the rotating shaft 5, in the process that the elastic sheet 4 extrudes the rubber ring 6, the elastic sheet 4 extrudes the balls 611, the deformation degree of the rubber ring 6 is increased after the balls 611 are pressed, and the size of the arc-shaped groove 511 is larger than that of the balls 611, so that the part of the rubber ring 6 close to the balls 611 is clamped into the arc-shaped groove 511 under the action of the balls 611, the resistance on the rotating shaft 5 is further increased, and the stopping force borne by the rotating shaft 5 when the rotating shaft, therefore, the position precision of the robot in the working process is enhanced, and the working quality of the robot is improved.
As an embodiment of the present invention, the shape of the elastic sheet 4 is a smooth arc, so as to improve the stability of the elastic sheet 4 for jacking up the ball 611 and ensure effective guarantee of accuracy; when the robot works, when a worker determines the working stroke of the robot through the controller, after the robot reaches a target position, the controller controls the electromagnet 2 to be electrified, the electromagnet 2 generates magnetism opposite to that of the elastic sheet 4 after being electrified, so that the elastic sheet 4 close to the electromagnet 2 is popped up under the action of mutual repulsion, the elastic sheet 4 generates ejection force on the rubber ring 6 after being popped up, so that the rubber ring 6 is ejected out to generate resistance on the rotating shaft 5, in the process that the elastic sheet 4 extrudes the rubber ring 6, the elastic sheet 4 extrudes the balls 611, the deformation degree of the rubber ring 6 is increased after the balls 611 are pressed, the resistance on the rotating shaft 5 is enhanced, however, after the rubber ring 6 is deformed, the positions of the balls 611 in the rubber ring 6 are loosened, the balls 611 slide under the action of the elastic sheet 4, so that the balls 611 cannot act, and the shape of the elastic sheet 4 is set to be smooth arc-shaped, thereby make shell fragment 4 when bounce, can provide even pressure for ball 611, avoid the rubber circle 6 elastic deformation back ball 611 to slide in the cavity that the space has increased, consequently guaranteed ball 611's normal use and effect, improve the holistic practicality of robot.
As an embodiment of the present invention, the balls 611 are wrapped by an elastic ring 612, and the shape of the elastic ring 612 is wave-shaped; after the balls 611 are pressed by the cooperation of the elastic ring 612 and the balls 611, the balls 611 are clamped in the side wall of the elastic ring 612, so that the jacking force of the side wall of the elastic ring 612 opposite to the balls 611 on the rubber ring 6 is increased, and the positioning effect on the rotating shaft 5 is enhanced; when the elastic sheet 4 is popped up under the elastic action during the operation, the rubber ring 6 is extruded, so that the balls 611 in the rubber ring 6 are pressed to drive the rubber ring 6 to deform and then clamp the rubber ring 6 in the arc-shaped groove 511, thereby realizing the instant deceleration of the rotating shaft 5, when the elastic ring 612 is disposed outside the balls 611, the elastic ring 612 increases the working volume of the balls 611, and, after the balls 611 are compressed, the balls 611 will snap into the side wall of the elastic ring 612, so that the urging force of the balls 611 against the side wall of the rubber ring 6 is stronger, thereby resulting in a stronger deforming effect of the rubber ring 6, thereby enhancing the resistance of the side wall of the rubber ring 6 to the protrusion 51 and enhancing the stopping force to the rotating shaft 5, so that the rotating shaft 5 can be stopped in a shorter time and a shorter rotating distance, thereby reducing the error between the static position of the rotating shaft 5 and the position set by the operator and improving the accuracy of the whole work of the robot.
As an embodiment of the invention, a Y-shaped antenna 62 is arranged on the inner side wall of the rubber ring 6; the Y-shaped antenna 62 can generate adsorption force on the side wall of the protrusion 51, so that the rotation resistance between the protrusion 51 and the rubber ring 6 is increased, and the positioning effect of the robot is enhanced; the during operation, Y shape feeler 62 can produce the adsorption affinity to 5 lateral walls of countershaft, thereby reinforcing 5 required effort of 5 rotations of pivot, consequently at 5 pivoted in-process of pivot, the adsorption affinity of Y shape feeler 62 to 5 lateral walls of countershaft can constantly be overcome in pivot 5, make when stopping counter shaft 5 and exert power, Y shape feeler 62 can produce great pulling force to 5 of countershaft, thereby reinforcing the location of robot hand in the stopping location in-process is accurate, the machining precision and the position precision of improvement robot, promote the processingquality of robot.
When the robot works, when a worker determines the working stroke of the robot through the controller, after the robot reaches a target position, the controller controls the electromagnet 2 to be electrified, the electromagnet 2 generates magnetism opposite to that of the elastic sheet 4 after being electrified, so that the elastic sheet 4 close to the electromagnet 2 is popped out under the action of mutual repulsion, and the elastic sheet 4 generates resistance on the rotating shaft 5 through the bulge 51 after being popped out, so that the time required by the rotating shaft 5 when the rotating shaft 5 is reduced from the working speed to the rest is reduced, the rotating stroke required by the rotating shaft 5 when the rotating shaft is reduced from the working speed to the rest is reduced, the deviation between the position of the manipulator after the manipulator is completely rest and the position set by the worker is reduced, the position precision of the robot in the working process is enhanced, the working quality is improved, and the using; when a worker determines the working stroke of the robot through the controller, after the robot reaches a target position, the controller controls the electromagnet 2 to be electrified, the electromagnet 2 is electrified to generate magnetism opposite to that of the elastic sheet 4, so that the elastic sheet 4 close to the electromagnet 2 is popped out under the action of mutual repulsion, the elastic sheet 4 generates resistance to the rotating shaft 5 through the protrusion 51 after being popped out, and as the elastic sheet 4 and the rotating shaft 5 are rigid parts, the elastic sheet 4 is seriously worn if the elastic sheet 4 is directly contacted with the rotating shaft 5, so that the service life of the robot is shortened, the rubber ring 6 is arranged between the elastic sheet 4 and the rotating shaft 5, so that the elastic sheet 4 only generates resistance to the rotating shaft 5 through the rubber ring 6, the loss of the elastic sheet 4 is reduced, the integral service life of the robot is prolonged, and the replacement cost of the robot in the use process is reduced; when a worker determines the working stroke of the robot through the controller, after the robot reaches a target position, the controller controls the electromagnet 2 to be electrified, the electromagnet 2 generates magnetism opposite to that of the elastic sheet 4 after being electrified, so that the elastic sheet 4 close to the electromagnet 2 is popped out under the action of mutual repulsion, the elastic sheet 4 generates ejection force on the rubber ring 6 after being popped out, so that the rubber ring 6 generates resistance on the rotating shaft 5 after being popped out, in the process that the elastic sheet 4 extrudes the rubber ring 6, the elastic sheet 4 extrudes the balls 611, the deformation degree of the rubber ring 6 is increased after the balls 611 are pressed, and the size of the arc-shaped groove 511 is larger than that of the balls 611, so that the part of the rubber ring 6 close to the balls 611 is clamped into the arc-shaped groove 511 under the action of the balls 611, the resistance on the rotating shaft 5 is further increased, and the stopping force borne by the rotating shaft 5 when the rotating shaft reaches, therefore, the position precision of the robot in the working process is enhanced, and the working quality of the robot is improved; when a worker determines the working stroke of the robot through the controller, after the robot reaches a target position, the controller controls the electromagnet 2 to be electrified, the electromagnet 2 generates magnetism opposite to that of the elastic sheet 4 after being electrified, so that the elastic sheet 4 close to the electromagnet 2 is popped out under the action of mutual repulsion, the elastic sheet 4 generates ejection force on the rubber ring 6 after being popped out, the rubber ring 6 is ejected out to generate resistance on the rotating shaft 5, in the process that the elastic sheet 4 extrudes the rubber ring 6, the elastic sheet 4 extrudes the balls 611, the deformation degree of the rubber ring 6 is increased after the balls 611 are pressed, the resistance on the rotating shaft 5 is enhanced, however, after the rubber ring 6 is deformed, the positions of the balls 611 in the rubber ring 6 are loosened, the balls 611 slide under the action of the elastic sheet 4, so that the balls 611 cannot act, and the shape of the elastic sheet 4 is set to be in a smooth arc shape, therefore, when the elastic sheet 4 bounces, uniform pressure can be provided for the ball 611, and the ball 611 is prevented from sliding in the cavity with the increased space after the rubber ring 6 is elastically deformed, so that the normal use and action effect of the ball 611 are ensured, and the overall practicability of the robot is improved; when the elastic sheet 4 is ejected out under the elastic action, the rubber ring 6 is extruded, so that the balls 611 in the rubber ring 6 are pressed to drive the rubber ring 6 to deform and then clamp the rubber ring 6 in the arc-shaped groove 511, thereby realizing the instant deceleration of the rotating shaft 5, when the elastic ring 612 is disposed outside the balls 611, the elastic ring 612 increases the working volume of the balls 611, and, after the balls 611 are compressed, the balls 611 will snap into the side wall of the elastic ring 612, so that the urging force of the balls 611 against the side wall of the rubber ring 6 is stronger, thereby resulting in a stronger deforming effect of the rubber ring 6, thereby enhancing the resistance of the side wall of the rubber ring 6 to the protrusion 51 and enhancing the stopping force to the rotating shaft 5, so that the rotating shaft 5 can be stopped in a shorter time and a shorter rotating distance, therefore, the error between the static position of the rotating shaft 5 and the position set by the operator is reduced, and the overall working accuracy of the robot is improved; y shape feeler 62 can produce the adsorption affinity to 5 lateral walls of countershaft, thereby reinforcing 5 required effort of rotation of pivot, consequently at 5 pivoted in-process of pivot, the adsorption affinity of Y shape feeler 62 to 5 lateral walls of countershaft can constantly be overcome in pivot 5, make when stopping counter shaft 5 and exert power, Y shape feeler 62 can produce great pulling force to 5 of countershaft, thereby reinforcing the location of robot hand in stopping the location process accurate, improve the machining precision and the position precision of robot, promote the processingquality of robot.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
1. The utility model provides an industry SCARA robot precision hoisting device which characterized in that: comprises a shell (1), an electromagnet (2), a positioning ring (3), an elastic sheet (4) and a rotating shaft (5); the electromagnet (2) is adhered to the inner side wall of the shell (1), and the electrification condition of the electromagnet (2) is controlled through the controller; the positioning ring (3) is arranged in the shell (1), so that the outer side wall of the positioning ring (3) is attached to the electromagnet (2); the elastic pieces (4) are uniformly arranged on the inner side wall of the positioning ring (3), and the elastic pieces (4) have magnetism repulsive to the electromagnet (2), so that the elastic pieces (4) can be popped up through mutual repulsion force after the electromagnet (2) is electrified; the rotating shaft (5) is sleeved in the shell (1), and a protrusion (51) is arranged on the outer side wall, close to the elastic sheet (4), of the rotating shaft (5); the deceleration time of the robot in the rotation process is shortened through the matching of the shell (1), the electromagnet (2), the locating ring (3), the elastic sheet (4) and the rotating shaft (5), and the position precision of the robot is improved.
2. An industrial SCARA robot precision lifting device according to claim 1, characterized in that: be equipped with rubber circle (6) between shell fragment (4) and pivot (5), avoid the direct contact between shell fragment (4) and pivot (5) through the cooperation of rubber circle (6) to reduce the wearing and tearing condition of shell fragment (4) in the use, improve robot's life.
3. An industrial SCARA robot precision lifting device according to claim 2, characterized in that: an annular cavity (61) is arranged in the rubber ring (6); a ball (611) is arranged in the annular cavity (61); the side wall of the protrusion (51) opposite to the popping direction of the elastic sheet (4) is provided with an arc-shaped groove (511), and the size of the arc-shaped groove (511) is larger than that of the ball (611); the cooperation of the elastic sheet (4), the rubber ring (6) and the ball (611) enables the ball (611) to be pushed to be clamped into the arc-shaped groove (511) when the elastic sheet (4) is popped up, and therefore the positioning accuracy of the robot is further improved.
4. An industrial SCARA robot precision lifting device according to claim 3, characterized in that: the shape of the elastic sheet (4) is smooth arc-shaped, so that the stability of the elastic sheet (4) for jacking the ball (611) is improved, and the effective guarantee of the precision is ensured.
5. An industrial SCARA robot precision lifting device according to claim 3, characterized in that: an elastic ring (612) is wrapped outside the ball (611), and the shape of the elastic ring (612) is wave-shaped; after the balls (611) are pressed by the cooperation of the elastic ring (612) and the balls (611), the balls (611) are clamped into the side wall of the elastic ring (612), so that the jacking force of the side wall of the elastic ring (612) opposite to the balls (611) to the rubber ring (6) is increased, and the positioning effect on the rotating shaft (5) is enhanced.
6. An industrial SCARA robot precision lifting device according to claim 5, characterized in that: a Y-shaped antenna (62) is arranged on the inner side wall of the rubber ring (6); the Y-shaped antenna (62) can generate adsorption force on the side wall of the protrusion (51), so that the rotation resistance between the protrusion (51) and the rubber ring (6) is increased, and the positioning effect of the robot is enhanced.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911061693.4A CN110682280A (en) | 2019-11-01 | 2019-11-01 | Precision lifting device for industrial SCARA robot |
| CN202010106644.4A CN110948474B (en) | 2019-11-01 | 2020-02-21 | Precision lifting device for industrial SCARA robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911061693.4A CN110682280A (en) | 2019-11-01 | 2019-11-01 | Precision lifting device for industrial SCARA robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110682280A true CN110682280A (en) | 2020-01-14 |
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|---|---|---|---|
| CN201911061693.4A Withdrawn CN110682280A (en) | 2019-11-01 | 2019-11-01 | Precision lifting device for industrial SCARA robot |
| CN202010106644.4A Active CN110948474B (en) | 2019-11-01 | 2020-02-21 | Precision lifting device for industrial SCARA robot |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010106644.4A Active CN110948474B (en) | 2019-11-01 | 2020-02-21 | Precision lifting device for industrial SCARA robot |
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| CN104908059B (en) * | 2014-12-18 | 2017-01-04 | 遨博（北京）智能科技有限公司 | A kind of can the modular mechanical shoulder joint of variable freedom |
| CN104476561B (en) * | 2014-12-30 | 2016-08-24 | 浙江琦星电子有限公司 | A kind of joint of mechanical arm |
| CN105171777B (en) * | 2015-10-23 | 2017-04-12 | 哈尔滨工程大学 | Hydraulic-driven low-speed rotating shaft braking device |
| CN206757576U (en) * | 2017-06-12 | 2017-12-15 | 李修来 | A kind of hanging electronic whiteboard of liftable |
| CN109382815B (en) * | 2018-11-08 | 2023-09-22 | 河北工业大学 | Industrial intelligent modularized mechanical arm |
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| CN110948474A (en) | 2020-04-03 |
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