CN111633636A

CN111633636A - Four-axis SCARA mechanical arm without speed reducer

Info

Publication number: CN111633636A
Application number: CN202010616609.7A
Authority: CN
Inventors: 林子春; 潘林勇
Original assignee: Qixing Intelligent Technology Co Ltd
Current assignee: Qixing Intelligent Technology Co Ltd
Priority date: 2020-07-01
Filing date: 2020-07-01
Publication date: 2020-09-08
Also published as: WO2022001409A1

Abstract

The application provides a no reduction gear four-axis SCARA arm, concretely relates to arm makes technical field, this application is still including the supporting seat, supporting connection is fixed with the fixing base down, fixing base and square spout, R axle joint still has the pivot, R axle torque motor has R axle motor end cover, R axle motor lower end cover and R axle motor stator module, Z axle joint is including Z axle joint linear electric motor, linear grating and bearing frame, Z axle joint linear electric motor has linear electric motor stator and linear electric motor magnetic shoe, the linear electric motor stator is fixed on the supporting seat, linear electric motor magnetic shoe cover is established on the output shaft, the bearing frame has the axle sleeve, the read head, bearing and connecting axle, the bearing of bearing frame matches with the roll slide rail of square spout, the read head reads linear grating. The utility model provides an utilize linear electric motor as the Z axle power source of arm activity from top to bottom, X axle joint Y axle joint R axle joint adopts no reduction gear motor, the arm that directly drives with the motor moment of torsion.

Description

Four-axis SCARA mechanical arm without speed reducer

Technical Field

The application provides a no reduction gear four-axis SCARA arm, concretely relates to arm manufacturing technical field.

Background

The four-axis SCARA arm technique adopts little torque motor input shaft power to drive the reduction gear now mostly, then drive the output shaft by the reduction gear and realize the arm function, various reduction gears exist to make complicated assembly precision height now, the reduction gear is in case the ordinary producer that breaks down is difficult to get rid of, in addition, be provided with the lead screw that can realize the function from top to bottom on the Z axle of four-axis SCARA arm usually, the lead screw operation drives the arm subassembly operation of moving the connection on the lead screw, let reduction gear and motor operate in order to reach the operation height that the arm needs from top to bottom on the lead screw together.

A multi-joint mechanical arm national patent with publication number CN108312132A, comprising a base, the installation section of thick bamboo of vertical setting is installed at the top of base, the inner wall movable mounting of installation section of thick bamboo has the lead screw, threaded connection has the thread bush on the lead screw, one side of thread bush is fixed with the connecting block, the one end of connecting block extends to the outside of installation section of thick bamboo and is fixed with the mount pad, revolving cylinder is installed to the interior diapire of installation cavity, revolving cylinder's output shaft sets up down and extends to the below of mount pad, revolving cylinder's output shaft lower extreme is fixed with the first section digging arm that the level set up, the one end internally mounted that the mount pad was kept away from to first section digging arm has gear motor, gear motor's output shaft sets up down and is fixed with second section digging arm, the underrun bolt of second section digging arm has the electronic slip table of level setting, the regulation section of thick bamboo is installed to electronic slip end of slip. Above-mentioned arm adopts the height of lead screw adjusting connection piece, adopts the lead screw to have the function noise height, makes the complicated shortcoming of installation.

Disclosure of Invention

Aiming at the defects in the prior mechanical arm technology, the technical problem to be solved by the application is to provide a four-axis SCARA mechanical arm without a reducer, which comprises a base, an X-axis joint, a Y-axis joint, an R-axis joint, a Z-axis joint and an output shaft, wherein the R-axis joint comprises an R-axis torsion motor, it is characterized in that the utility model also comprises a supporting seat which is fixedly connected with an upper fixed seat, a lower fixed seat and a square chute, the supporting seat is fixed on a rear arm of the Y-axis joint, the lower fixing seat supports the output shaft, the output shaft penetrates through the upper fixed seat, the upper part of the output shaft is provided with a key groove, the R-axis joint and the Z-axis joint are arranged between the upper fixed seat and the lower fixed seat, the R-axis joint and the Z-axis joint are arranged on the output shaft, and the square sliding groove is provided with a rolling sliding rail which is vertically arranged.

The R-axis joint is also provided with a rotating shaft, the R-axis torsion motor is provided with an R-axis motor end cover, an R-axis motor lower end cover and an R-axis motor stator component, the upper part of the R-axis motor stator component is provided with the R-axis motor end cover, the lower part of the R-axis motor stator component is provided with the R-axis motor lower end cover, the R-axis motor lower end cover and the R-axis motor stator component are fixed on a supporting seat, the rotating shaft is fixedly arranged in the R-axis torsion motor in a penetrating way, the rotating shaft is provided with a through hole penetrating through an output shaft, the through hole of the rotating shaft is provided with a direction key, the direction key of the rotating shaft is arranged on a key groove at the upper part of the output shaft, an R-axis motor coded disc is arranged between the R-axis motor stator component and the R-axis motor,

the Z-axis joint comprises a Z-axis joint linear motor, a linear grating and a bearing seat, the Z-axis joint linear motor is provided with a linear motor stator and a linear motor magnetic shoe, the linear motor stator is fixed on a supporting seat, the linear motor magnetic shoe is sleeved on an output shaft, the bearing seat is provided with a shaft sleeve, a reading head, a bearing and a connecting shaft, the bearing seat is sleeved on the output shaft, the bearing and the connecting shaft of the bearing seat are used for fixing the operating position of the bearing seat, the bearing of the bearing seat is matched with a rolling slide rail of a square chute, the reading head reads the linear grating, the linear grating is vertically fixed on the supporting seat,

the linear velocity for the settings of the X-axis torque motor, the Y-axis torque motor, and the R-axis torque motor is 0.01 to 0.5M/S, and the angular velocity for the settings of the Z-axis joint is 1 to 500 RAD/S.

Furthermore, the forearm that X axle joint has is fixed on the base, X axle joint including X axle torque motor, the postbrachium that Y axle joint has is fixed on X axle joint's forearm, Y axle joint including Y axle torque motor.

The upper fixing seat is fixed on the upper portion of the supporting seat, the lower fixing seat is fixed on the lower portion of the rear arm, the output shaft penetrates through the upper fixing seat and the lower fixing seat, and the output shaft penetrates through the rear arm.

Above-mentioned X axle torque motor is for not having the reduction gear setting, there is the cross bearing support between base and the forearm, the articulated rotation power of Y axle be Y axle torque motor, Y axle torque motor is the reduction gear setting, the other end of forearm and the link of postbrachium are provided with the cross bearing, R axle torque motor be for not having the reduction gear setting.

The R-axis joint is arranged at the upper part of the output shaft, the Z-axis joint is arranged at the lower part of the output shaft, and the supporting seat is further made of metal.

Particularly, a bearing sleeve is arranged inside the shaft sleeve of the bearing seat. The square sliding groove is fixed on the supporting seat by screws.

Furthermore, the bearing of the bearing seat is also provided with a connecting shaft connected with the bearing, the connecting shaft connects the bearing seat and the connecting shaft into a whole, and the bearing of the bearing seat is provided with a plurality of bearings.

Compared with the prior art, the beneficial effects of this application are: the utility model provides an utilize linear electric motor as the Z axle power source of arm activity from top to bottom, effectively realized the terminal axle rotary motion of arm, X axle joint Y axle joint R axle joint adopts no reduction gear motor, directly uses the arm that motor torque drove, selects big moment, ultra-low rotational speed motor cooperation linear electric motor to run together. Compared with the traditional speed reducer mechanical arm, the mechanical arm has the advantages of simple structure, convenience in installation and maintenance, avoidance of faults caused by the speed reducer indirectly, novel concept, flexible design and higher development space.

Drawings

FIG. 1 is a block diagram of a four axis SCARA robot without a reducer according to the present application;

FIG. 2 is a schematic view of a four axis SCARA robot of the present application without a reducer;

FIG. 3 is a schematic view of the R-axis joint and Z-axis joint of a four-axis SCARA robot without a reducer according to the present application;

FIG. 4 is a schematic view of an R-axis joint of a four-axis SCARA robot without a reducer according to the present application;

FIG. 5 is an exploded view of a Z-axis joint of a four-axis SCARA robot without a reducer according to the present application;

fig. 6 is an exploded view of a bearing seat of a Z-axis joint of a four-axis SCARA robot arm without a reducer.

The following reference numerals are marked thereon in conjunction with the accompanying drawings: 1. a base; an X-axis joint; an X-axis torsion motor; 22. a forearm; a Y-axis joint; a Y-axis torque motor; 32. a rear arm; 5. a supporting seat; 51. an upper fixed seat; 52. a lower fixed seat; 53. a square chute; 54. rolling the slide rail; 6. an output shaft; 61. a keyway; an R-axis joint; 71.R shaft torsion motor; an R-axis motor end cover; 73.R shaft motor read head; 74. lower end cover of R-axis motor; an R-axis motor stator assembly; 76.R shaft motor code disc; 77. a rotating shaft; 78. a direction key; a Z-axis joint; a Z-axis joint linear motor; 82. a linear motor stator; 83. a linear motor magnetic shoe; 84. a linear grating; 9. a bearing seat; 91. a shaft sleeve; 92. a read head; 93. a bearing; 94. a connecting shaft; 95. bearing housing.

Detailed Description

Preferred embodiments of the present application will be described in detail below with reference to the accompanying drawings so that the advantages and features of the application can be more readily understood by those skilled in the art, and thus the scope of the application will be more clearly and clearly defined.

In fig. 1 and fig. 2, the invention is a four-axis SCARA mechanical arm without a reducer, comprising a base 1, an X-axis joint 2, a Y-axis joint 3, an R-axis joint 7 and a Z-axis joint 8, wherein the X-axis joint 2 is fixed on the base 1, the Y-axis joint 3 is fixed on the X-axis joint 2, the four-axis SCARA mechanical arm further comprises an X-axis torque motor 21, a Y-axis torque motor 31, an R-axis torque motor 71 and a Z-axis joint linear motor 81, the X-axis joint 2 comprises the X-axis torque motor 21, the Y-axis joint 3 comprises the Y-axis torque motor 31, the four-axis SCARA mechanical arm further comprises a support base 5, the support base 5 is connected with an upper fixed base 51, a lower fixed base 52 and a square chute 53, the support base 5 is fixed on a rear arm 32 of the Y-axis joint 3, the upper fixed base 51 is fixed on the upper portion of the support base, the upper fixing seat 51 and the lower fixing seat 52 are provided with an output shaft 6, the output shaft 6 penetrates through the upper fixing seat 51 and the lower fixing seat 52, the output shaft 6 penetrates through the rear arm 32, the lower fixing seat 52 supports the output shaft 6, the output shaft 6 penetrates through the upper fixing seat 51, the thinner end arranged at the lower part of the output shaft 6 penetrates through the lower fixing seat 52, the thicker part arranged on the output shaft 6 is supported by the lower fixing seat 52, and the upper part of the output shaft 6 is provided with a key groove 61. The R-axis joint 7 and the Z-axis joint 8 are arranged between the upper fixing seat 51 and the lower fixing seat 52, the R-axis joint 7 and the Z-axis joint 8 are arranged on the output shaft 6, the linear speeds of the X-axis torsion motor 21, the Y-axis torsion motor 31 and the R-axis torsion motor 71 are 0.01 to 0.5M/S, the angular speed of the Z-axis torsion motor 81 is 1 to 500RAD/S, and the motors of the mechanical arm can meet the requirement of mechanical transmission due to the ultra-low speed operation of the motors.

The rotation power of the X-axis joint 2 is a large-torsion X-axis torsion motor 21, the X-axis torsion motor 21 is arranged without a speed reducer, and a crossed bearing is arranged between the base 1 and the front arm 22 for supporting. The rotation power of the Y-axis joint 3 is a Y-axis torsion motor 31, the Y-axis torsion motor 31 is also not provided with a speed reducer, and a cross bearing is arranged at the connecting end of the other end of the front arm 22 and the rear arm 32.

The support seat 5 is a fixing base for an R-axis joint 7 and a Z-axis joint, the R-axis joint 7 and the Z-axis joint 8 are mounted between an upper fixing seat 51 and a lower fixing seat 52 of the support seat 5, the R-axis joint 7 is mounted on the upper portion of the output shaft 6, and the Z-axis joint 8 is mounted on the lower portion of the output shaft 6, so that the output shaft 6 is kept to move and rotate between the upper fixing seat 51 and the lower fixing seat 52.

In fig. 3 and 4, the R-axis joint 7 of the present application has an R-axis torsion motor 71 and a rotating shaft 77, the R-axis torsion motor 71 has an R-axis motor end cover 72, an R-axis motor lower end cover 74 and an R-axis motor stator assembly 75, the R-axis motor end cover 72 is disposed on the upper portion of the R-axis motor stator assembly 75, the R-axis motor lower end cover 74 is disposed on the lower portion of the R-axis motor stator assembly 75, the R-axis motor end cover 72, the R-axis motor lower end cover 74 and the R-axis motor stator assembly 75 are fixed on the supporting base 5, the rotating shaft 77 is fixedly inserted into the R-axis torsion motor 71, the rotating shaft 77 has a through hole penetrating through the output shaft 6, the output shaft 6 penetrates through the center of the rotating shaft 77 and has lubricity, the through hole of the rotating shaft 77 has a direction key 78, the direction key 78 of the rotating shaft 77 is disposed on the, the direction key 78 in turn drives the output shaft 6. Furthermore, an R-axis motor code wheel 76 is arranged between the R-axis motor stator assembly 75 and the R-axis motor end cover 72, the R-axis motor code wheel 76 is fixedly connected with the rotating shaft 77, an R-axis motor read head 73 is arranged in match with the R-axis motor code wheel 76, the R-axis motor read head 73 is fixed on the support base 5 (or fixed on the R-axis torsion motor 71), and the R-axis joint 7 realizes the axial operation of the mechanical arm.

When the output shaft 6 moves axially, the output shaft 6 slides up and down in the rotating shaft 77 without affecting the radial tracking of the R-axis motor code disc 76, and when the output shaft 6 rotates radially, the keyway 61 drives the rotating shaft 77 and the R-axis motor code disc 76 to rotate, so that the R-axis motor read head 73 tracks the scales of the R-axis motor code disc 76, and the accurate rotation action of the R axis is realized.

In fig. 3 and 5, the Z-axis joint 8 of the present application has a Z-axis joint linear motor 81, a linear grating 84 and a bearing seat 9, the Z-axis joint linear motor 81 has a linear motor stator 82 and a linear motor magnetic shoe 83, the linear motor stator 82 is fixed on the support seat 5, the linear motor magnetic shoe 83 is sleeved on the output shaft 6, the linear motor stator 82 is matched with the linear motor magnetic shoe 83, the linear motor magnetic shoe 83 runs on the linear motor stator 82, and the Z-axis joint linear motor 81 realizes the up-and-down operation of the mechanical arm.

In fig. 3, 5 and 6, when the Z-axis joint linear motor 81 of the Z-axis joint 8 of the present application operates, it needs to record operation data, and it needs to set up a data reading operation of up-down operation, the linear grating 84 has the linear grating 84 vertically arranged, the linear grating 84 is vertically fixed on the supporting seat 5 made of metal, the shaft sleeve 91 of the bearing seat 9 has the bearing sleeve 95 inside, and the bearing seat 9 is sleeved on the output shaft 6. The bearing block 9 is provided with a shaft sleeve 91, a reading head 92, a bearing 93 and a connecting shaft 94, the shaft sleeve 91 is used for sleeving the bearing block 9 on the output shaft 6, the reading head 92 is matched with the linear grating 84, the reading head 92 reads data of the linear grating 84 under the vertical operation of the Z-axis joint linear motor 81, and the linear grating 84 correspondingly feeds back vertical movement signals of the Z-axis joint linear motor 81 in real time. The bearing 93 and the connecting shaft 94 that the bearing frame 9 has are used for fixing the operating position of the bearing frame 9, the square chute has 53 rolling slide rails 54 that set up perpendicularly, the bearing 93 of the bearing frame 9 match with the square chute 53 rolling slide rails 54, the bearing 93 is limited in the square chute 53 and forms accurate linear motion and operates spacing from top to bottom, the square chute 53 is fixed on the supporting seat 5 with the screw, the bearing 93 of the above-mentioned bearing frame 9 is provided with the several, the bearing 93 still be provided with the connecting shaft 94 connected with bearing 93, the connecting shaft 94 link the bearing frame 9 and the connecting shaft 94 as an organic whole.

When the output shaft 6 only rotates, the detection reading head 92 of the Z-axis joint 8 and the linear grating 84 do not move, and a Z-axis signal is not generated; when the output shaft 6 moves axially, the detection reading head 92 is driven to read Z-axis data, and the linear grating 84 only performs axial tracking without rotating the reading head 92.

The above description is only a preferred embodiment of the present application, and not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application, or which are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.

Claims

1. A four-axis SCARA mechanical arm without a reducer comprises a base, an X-axis joint, a Y-axis joint, an R-axis joint, a Z-axis joint and an output shaft, wherein the R-axis joint comprises an R-axis torsion motor, and the four-axis SCARA mechanical arm is characterized by further comprising a supporting seat which is fixedly connected with an upper fixing seat, a lower fixing seat and a square chute, the supporting seat is fixed on a rear arm of the Y-axis joint, the lower fixing seat supports the output shaft, the output shaft penetrates out of the upper fixing seat, a key groove is formed in the upper portion of the output shaft, the R-axis joint and the Z-axis joint are arranged between the upper fixing seat and the lower fixing seat, the R-axis joint and the Z-axis joint are arranged on the output shaft, and the square chute is provided with a rolling,

the linear speed of the X-axis torsion motor, the Y-axis torsion motor and the R-axis torsion motor is 0.01 to 0.5M/S, and the angular speed of the Z-axis joint is 1 to 500 RAD/S.

2. The decelerator-free four-axis SCARA robot arm of claim 1, wherein the X-axis joint has a front arm fixed to the base, the X-axis joint comprises an X-axis torque motor, the Y-axis joint has a rear arm fixed to the front arm of the X-axis joint, and the Y-axis joint comprises a Y-axis torque motor.

3. The four-axis SCARA robot arm without a speed reducer of claim 1, wherein the upper fixing seat is fixed on the upper portion of the supporting seat, the lower fixing seat is fixed on the lower portion of the rear arm, the output shaft penetrates through the upper fixing seat and the lower fixing seat, and the output shaft penetrates through the rear arm.

4. The four-axis SCARA robot arm without a speed reducer of claim 1, wherein the X-axis torque motor is in a speed reducer-free configuration, the base is supported by a cross bearing between the front arm and the base, the rotational power of the Y-axis joint is a Y-axis torque motor, the Y-axis torque motor is in a speed reducer configuration, the cross bearing is disposed at the connection end of the other end of the front arm and the rear arm, and the R-axis torque motor is in a speed reducer-free configuration.

5. The decelerator-free four-axis SCARA robot arm according to claim 1, wherein the R-axis joint is installed at an upper portion of the output shaft, and the Z-axis joint is installed at a lower portion of the output shaft.

6. The four-axis SCARA robot arm without a speed reducer of claim 1, wherein the supporting seat is made of metal.

7. The decelerator-less four-axis SCARA robot arm according to claim 1, wherein the bearing housing has a bearing housing inside the bearing housing.

8. The four-axis SCARA robot without reducer of claim 1, wherein the square chute is fixed on the supporting base by screws.

9. The four-axis SCARA robot without a speed reducer as recited in claim 1, wherein the bearing of the bearing seat is further provided with a connecting shaft connected with the bearing, the connecting shaft connects the bearing seat and the connecting shaft into a whole, and the bearing of the bearing seat is provided with a plurality of bearings.