CN114905494B

CN114905494B - Tail end shaft, tail end movement assembly and SCARA manipulator

Info

Publication number: CN114905494B
Application number: CN202210828652.9A
Authority: CN
Inventors: 苏鑫; 寇慧; 詹宏; 宁南北; 代剑锋
Original assignee: Guangdong Longqi Robot Co ltd
Current assignee: Guangdong Longqi Robot Co ltd
Priority date: 2022-07-15
Filing date: 2022-07-15
Publication date: 2022-12-30
Anticipated expiration: 2042-07-15
Also published as: CN114905494A

Abstract

The invention provides a tail end shaft, a tail end motion assembly and an SCARA manipulator, and relates to the field of manipulators, wherein the tail end shaft is divided into a first half shaft and a second half shaft along a radial tangent plane, and the first half shaft and the second half shaft are kept to be tightly attached in the radial direction and relatively slide in the axial direction; the first half shaft is provided with a first lifting tooth and a first rotating tooth on the outer side surface; the outer side surface of the second half shaft is provided with a second lifting tooth and a second rotating tooth; the first rotating teeth and the second rotating teeth are arranged in a matched mode, and all the first rotating teeth and all the second rotating teeth are combined to form a gear structure. The tail end shaft is split into two half shafts which can slide relatively along the axial direction, and the corresponding structural improvement is combined, so that the external connection position of the tail end shaft has extra freedom of movement, and the application range of the SCARA manipulator can be expanded.

Description

Tail end shaft, tail end movement assembly and SCARA manipulator

Technical Field

The invention relates to the field of manipulators, in particular to a tail end shaft, a tail end motion assembly and an SCARA manipulator.

Background

The SCARA manipulator is a low-load high-speed motion manipulator, the driving tail end of the conventional SCARA manipulator in the prior art can translate along a horizontal plane and can do lifting motion and autorotation motion under the driving of a tail end shaft, but the orientation of the output tail end of the SCARA manipulator is fixed, and the SCARA manipulator has certain limitation in practical application.

Disclosure of Invention

In order to change the orientation of the output tail end of the SCARA manipulator, the invention provides the tail end shaft, the tail end motion assembly and the SCARA manipulator.

Accordingly, the present invention provides a terminal shaft, the side surface of the terminal shaft is a cylindrical surface, the terminal shaft is divided into a first half shaft and a second half shaft along a radial tangent plane, the outer side surface of the first half shaft is a semi-cylindrical surface, the outer side surface of the second half shaft is a semi-cylindrical surface, and the first half shaft and the second half shaft are kept close to each other in the radial direction of the terminal shaft and relatively slide in the axial direction of the terminal shaft;

the first half shaft is provided with a plurality of stages of first lifting teeth and a plurality of stages of first rotating teeth on the outer side surface, the plurality of stages of first lifting teeth are arranged at equal intervals in the vertical direction, and the plurality of stages of first rotating teeth are uniformly arranged in the circumferential direction;

the outer side surface of the second half shaft is provided with a plurality of stages of second lifting teeth and a plurality of stages of second rotating teeth, the plurality of stages of second lifting teeth are distributed at equal intervals in the vertical direction, and the plurality of stages of second rotating teeth are uniformly distributed in the circumferential direction;

the first rotating teeth and the second rotating teeth are matched and arranged, and all the first rotating teeth and all the second rotating teeth are combined to form a gear structure.

In an alternative embodiment, a plurality of protruding blocks are arranged on the outer side surface of the distal shaft, the plurality of protruding blocks are distributed on the outer side surface of the distal shaft in an array along the circumferential direction and along the vertical direction, and the plurality of protruding blocks are arranged in a plurality of circles and a plurality of columns on the outer side surface of the distal shaft;

each circle of the convex blocks forms a first lifting tooth and a second lifting tooth;

each row of the raised blocks on the first half shaft forms a stage of the first rotating teeth;

each row of said raised blocks on said second half-shaft forming a stage of said second rotary teeth.

In an alternative embodiment, the tip shaft is a smooth segment above and/or below the plurality of bumps, with reference to the axial direction of the tip shaft;

on the smooth section, the side surface of the tip shaft is smooth.

In alternative embodiments, the distal shaft is a solid structure or the distal shaft is a cylindrical structure.

Correspondingly, the invention also provides a tail end movement assembly, which comprises a limiting module, a lifting driving module, a rotating driving module, a damping module and the tail end shaft;

the limiting module is used for limiting the translational freedom degree of the tail end shaft in the radial direction of the tail end shaft;

the lifting driving module comprises a lifting motor, a differential mechanism, a first transmission mechanism and a second transmission mechanism; the differential having a differential input, a first differential output, and a second differential output; the output end of the lifting motor is connected with the differential input end, the first differential output end is connected with the input end of the first transmission mechanism, and the second differential output end is connected with the input end of the second transmission mechanism;

the output end of the first transmission mechanism is a first gear, the output end of the second transmission mechanism is a second gear, the first gear is meshed with the first lifting tooth and the second gear is meshed with the second lifting tooth, or the second gear is meshed with the first lifting tooth and the first gear is meshed with the second lifting tooth;

the linear speeds of the first gear and the second gear at a position close to one side of the tail end shaft are kept in the same direction;

the damping module is for controlling damping of motion of the first or second half-shaft in an axial direction of the tip shaft;

the rotation driving module comprises a rotating motor, and the rotating motor drives the tail end shaft to rotate around the axis of the tail end shaft by driving the first rotating teeth and/or the second rotating teeth.

In an alternative embodiment, the differential has a locked mode;

the differential is in a locked mode, and movement of the first differential output and movement of the second differential output remain synchronized.

In an alternative embodiment, the first and second gears are arranged symmetrically with respect to the radial direction of the tip axis.

In an alternative embodiment, the spacing module comprises a spacing ring;

the limiting ring is kept fixed, and when the tail end shaft is provided with a smooth section, the smooth section is matched on the inner wall of the limiting ring;

on the smooth section, the side surface of the tip shaft is smooth.

Correspondingly, the invention also provides the SCARA manipulator, which comprises a base, a first arm and a second arm, wherein the starting end of the first arm is hinged on the base, the first arm swings around a first vertical rotating shaft positioned on the base, the starting end of the second arm is hinged on the tail end of the first arm, the second arm swings around a second vertical rotating shaft positioned on the first arm, and the SCARA manipulator further comprises the tail end movement assembly;

the limiting module, the lifting driving module, the rotating driving module, the damping module and the tail end shaft are arranged on the second arm;

based on the limit of the limit module by taking the second arm as a reference, the tail end shaft rotates around a third vertical rotating shaft on the second arm, and the axis of the third vertical rotating shaft is collinear with that of the tail end shaft;

the first half shaft moves in a vertical direction and the second half shaft moves in a vertical direction.

In summary, the embodiment of the present invention provides a tail end shaft, a tail end motion assembly and an SCARA manipulator, which can provide an additional degree of freedom of motion for a device using the tail end shaft by splitting the structure of the tail end shaft so that two half shafts can move along an axial direction in a staggered manner; in the design process of the tail end motion assembly, the factors such as the stroke, the total weight and the like of the tail end shaft are considered, so that the tail end motion assembly can be better applied to a manipulator; the SCARA manipulator adopting the tail end movement assembly has an additional degree of freedom of driving movement, and has a wider application range compared with the SCARA manipulator in the prior art.

Drawings

FIG. 1 is a schematic three-dimensional structure of a distal shaft according to an embodiment of the present invention.

Fig. 2 is a partial enlarged structural diagram of the I position of the end shaft according to the embodiment of the present invention.

FIG. 3 is a top view of a bump according to an embodiment of the present invention.

FIG. 4 is a side view of a raised block of an embodiment of the present invention.

FIG. 5 is a schematic three-dimensional view of an end effector of an embodiment of the present invention.

FIG. 6 is an elevation view of an end motion assembly of an embodiment of the present invention.

Fig. 7 is a schematic three-dimensional structure diagram of a first transmission mechanism according to an embodiment of the invention.

Fig. 8 is a schematic three-dimensional structure diagram of a SCARA robot according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Fig. 1 shows a three-dimensional structure diagram of the distal shaft 13 according to the embodiment of the present invention, and fig. 2 shows a partial enlarged structure diagram of the I position of the distal shaft according to the embodiment of the present invention. In fig. 1 and 2 of the drawings, the convex block 4 is marked in a cubic shape for the reason of computer rendering, and the specific outline of the convex block 4 is shown in fig. 2 and 3 of the drawings.

In particular, the embodiment of the present invention provides the end shaft 13, and conventionally, the side surface of the end shaft 13 is a cylindrical surface so as to be convenient for an external structure to limit the end shaft. The end shaft 13 of the embodiment of the present invention is mainly used as a final stage arm of a robot such as a SCARA robot.

Further, the end shaft 13 is divided into a first half shaft 1 and a second half shaft 3 along a radial tangent plane, and correspondingly, the outer side surface of the first half shaft is a semi-cylindrical surface, and the outer side surface of the second half shaft is a semi-cylindrical surface.

The first half shaft 1 and the second half shaft 3 are held in close contact in the radial direction of the end shaft 13 and slide relatively in the axial direction of the end shaft 13. Specifically, in the embodiment of the present invention, the distal shaft 13 is divided into the first half shaft 1 and the second half shaft 3 along a radial tangential plane, which is a longitudinal plane passing through the axis of the distal shaft 13, based on the division of the radial tangential plane, the distal shaft 13 is divided into two independent parts, namely the first half shaft 1 and the second half shaft 3, the first half shaft 1 and the second half shaft 3 are tightly attached in the radial direction of the distal shaft 13 when the first half shaft 1 and the second half shaft 3 are combined to form the distal shaft 13, and the first half shaft 1 and the second half shaft 3 are capable of sliding relatively in the axial direction of the distal shaft 13. Based on this functional definition, the above-described function can be achieved between the first half-shaft 1 and the second half-shaft 3 only by a change in the configuration without the introduction of external parts.

In particular, with reference to the structure shown in fig. 1 of the accompanying drawings, this function is achieved by the first half-shaft 1 and the second half-shaft 3 being arranged radially as a plane pair (plane contact) by means of cooperating structures 2 which are mutually engaged in the radial direction; in addition, because the end shaft 13 is generally limited by the limiting module on the cylindrical surface thereof in actual use, under the implementation condition, no additional matching structure 2 needs to be added between the first half shaft 1 and the second half shaft 3, the first half shaft 1 and the second half shaft 3 can be limited by the external limiting module in the radial direction, and in the axial direction, the relative sliding function can be realized only by the matching mode of the plane pair.

In particular, the improvement of the distal shaft 13 according to the embodiment of the present invention cannot give up the original function of the distal shaft 13, i.e., the motion characteristics of the axial translational motion and the rotational motion of the distal shaft 13.

Specifically, the outer side surface of the first half shaft 1 is provided with a plurality of stages of first lifting teeth and a plurality of stages of first rotating teeth, the plurality of stages of first lifting teeth are arranged at equal intervals in the vertical direction, and the plurality of stages of first rotating teeth are uniformly arranged in the circumferential direction;

the outer side surface of the second half shaft 3 is provided with a plurality of stages of second lifting teeth and a plurality of stages of second rotating teeth, the plurality of stages of second lifting teeth are arranged at equal intervals in the vertical direction, and the plurality of stages of second rotating teeth are uniformly arranged in the circumferential direction;

the first rotating teeth and the second rotating teeth are matched and arranged, and the first rotating teeth and the second rotating teeth are combined to form a gear structure.

Specifically, in the embodiment of the present invention, since the axial motions of the first half shaft 1 and the second half shaft 3 are relatively independent, the motions of the first half shaft 1 and the second half shaft 3 need to be independently controlled from the outside through the first lifting tooth and the second lifting tooth, respectively, and the axial motions of the first half shaft 1 and the second half shaft 3 are synchronized after being combined to form the end shaft 13, in practical operation, the rotational drive of the first rotating tooth or the second rotating tooth is converted into the rotational drive of the whole end shaft 13, and considering that the rotation of the end shaft 13 can be continuously rotated in a single direction, therefore, the first rotating tooth and the second rotating tooth which are designed to be matched with each other are arranged on the first half shaft 1 and the second half shaft 3, and the first rotating tooth and the second rotating tooth can be combined to form a full circle of rotating teeth, so that an external driving device can be continuously driven in a single direction. If the end shaft 13 has a limited rotation angle, the rotation teeth arranged on the circumference only need to satisfy the movement range.

The important improvement direction of the end shaft 13 provided by the embodiment of the invention is to split the end shaft 13 into two half shafts, and the two half shafts can slide relatively along the axial direction, which is equivalent to adding an additional degree of freedom to the end shaft 13; the degree of freedom is generated without depending on an additionally arranged structure, the weight of the tail end shaft 13 cannot be additionally increased, in practical application, the basic motion form of the tail end shaft 13 is not changed, when needed, the fixed angle of equipment such as a clamp and the like with the tail end fixed can be adjusted by utilizing the axial dislocation of the two half shafts, and the practicability is good.

It should be noted that, the lifting teeth are arranged in the longitudinal direction for the external gear to cooperate and drive, the external gear axis is arranged along the horizontal direction, and the linear velocity of the position close to one side of the lifting teeth is in the vertical direction; the rotary teeth are arranged to be driven by an external gear in the radial direction, the axis of the external gear is arranged in the vertical direction, and the linear velocity of the position of the external gear close to one side of the rotary teeth is in the horizontal direction.

Furthermore, for each half shaft, a lifting tooth and a rotating tooth are arranged on the half shaft, in practical use, since the external driving device is generally fixed and the half shaft can move axially, if a separate lifting tooth and rotating tooth structure is adopted, the movement stroke of the half shaft is shortened, and therefore, the embodiment of the invention provides a structure for compositely overlapping the lifting tooth and the rotating tooth.

Fig. 3 shows a top view of the bump 4 of the embodiment of the present invention (the view is the axial direction of the distal shaft, the bump root side is the outer side surface of the distal shaft, and the contour of the distal shaft at this view is a circle), and fig. 4 shows a side view of the bump 4 of the embodiment of the present invention (the view is the radial direction of the distal shaft, the bump root side is the outer side surface of the distal shaft, and the contour of the distal shaft at this view is a vertical line).

Theoretically, in order to meet the driving requirement, a lifting tooth is formed by the complete circle of the convex structure, and a rotating tooth is formed by the convex structure which extends for a certain length along the axial direction. In the embodiment of the present invention, specifically, a plurality of protruding blocks 4 are disposed on the side surface of the end shaft 13, the plurality of protruding blocks 4 are distributed on the side surface of the end shaft 13 in an array along the circumferential direction and along the vertical direction, and the plurality of protruding blocks 4 are arranged in several circles and several rows on the side surface of the end shaft 13; each circle of the convex blocks 4 forms a first lifting tooth and a second lifting tooth; each row of said projecting blocks 4 on said first half-shaft 1 forms a stage of said first rotary tooth; each row of said projecting blocks 4 on said second half-shaft 3 forms a stage of said second rotary tooth.

Specifically, the lifting tooth flank 31 and the rotating tooth flank 32 are non-conflicting with respect to the structural characteristics required for the lifting tooth and the rotating tooth, and therefore, the lifting tooth with a complete ring of convex structure and the rotating tooth with a convex structure extended in the axial direction can be found and converted into a plurality of convex blocks 4 in a disassembling manner.

Through this embodiment, the layout area of lifting teeth and rotating teeth obtains the overlapping complex, can reduce the influence of the position of arranging of lifting teeth and rotating teeth to the stroke of terminal axle 13, but this embodiment is because the influence in the clearance of protruding piece 4, in order to guarantee the drive of external gear to the axial motion and the rotation of protruding piece 4, external gear need just to the meshing just can produce effectual drive (dislocation meshing can lead to the condition that the motion is not smooth), can make terminal axle 13's rotation precision and axial motion precision receive the influence, in the actual implementation, can choose for use as required.

Further, based on the consideration of limiting the end shaft 13 by an external device, in an alternative embodiment, with reference to the axial direction of the end shaft 13, the end shaft 13 is a smooth section 5 above the plurality of bumps 4 and/or below the plurality of bumps 4; on the smooth section 5, the side surface of the tip shaft 13 is smooth.

In practical implementation, since the side surface of the end shaft 13 of the embodiment of the present invention is provided with the protruding blocks 4, the protruding blocks 4 are protruding structures on the side surface of the end shaft 13, and since the structures of each protruding block 4 are the same, the protruding blocks 4 are arranged along the circumferential direction, correspondingly, the distance between the farthest end of each protruding block 4 from the axis of the end shaft 13 and the axis of the end shaft 13 is the same, equivalently, the farthest ends of three or more protruding blocks 4 (not located on the same circumference) can also identify a cylindrical surface, and therefore, the external component that limits the end shaft 13 can also limit the cylindrical surface established by the farthest ends of the protruding blocks 4; with this embodiment, the influence of the provision of the projecting block 4 on the axial stroke of the distal shaft 13 can also be reduced.

Specifically, the modification of the end shaft 13 in the embodiment of the present invention mainly relates to the modification of the side surface structure thereof, and in practical implementation, the end shaft 13 is a solid structure, or the end shaft 13 is a cylindrical structure. When the end shaft 13 is a cylindrical structure, the through hole in the middle can be used to provide space for cables, air pipes and the like.

Fig. 5 shows a schematic three-dimensional structure of an end motion assembly of an embodiment of the present invention, and fig. 6 shows a front view of the end motion assembly of an embodiment of the present invention, with a portion of the structure hidden in the front view of the end motion assembly in order to show the internal structure of the end motion assembly).

In particular, since in the following description reference is made to a part of the structure that needs to be kept relatively fixed, in an embodiment of the invention, the application of the end effector assembly in a SCARA robot is combined, with the second arm 6 of the SCARA robot being used as a fixed reference, and the second arm 6 structure of the SCARA robot is shown in fig. 5 of the drawings.

Accordingly, on the basis of the end shaft 13, the embodiment of the present invention further provides an end motion assembly, which mainly refers to a composition structure including the end shaft 13 and the related structure for driving the end shaft 13.

Specifically, the end motion assembly comprises a limiting module, a lifting driving module, a rotating driving module 12, a damping module and the end shaft 13.

The limiting module is used for limiting the translational freedom degree of the tail end shaft 13 in the radial direction; correspondingly, the limiting module only limits the translational degree of freedom of the end shaft 13 in the radial direction, and the remaining degrees of freedom of the end shaft 13 also include the degree of freedom of rotation and the translational degree of freedom in the vertical direction.

The lifting driving module comprises a lifting motor 14, a differential mechanism 7, a first transmission mechanism 9 and a second transmission mechanism 10; the differential 7 has a differential input, a first differential output 15 and a second differential output; the output end of the lifting motor 14 is connected with the differential input end, the first differential output end 15 is connected with the input end of the first transmission mechanism 9, and the second differential output end is connected with the input end of the second transmission mechanism; in particular, the differential 7 allows the differential output of the first differential output 15 and of the second differential output in the event of traction anomalies, by virtue of which the first half-shaft 1 and the second half-shaft 3 can perform axial misalignment movements in the event of traction anomalies. Generally, the rotation axis of the first differential output end 15 and the rotation axis of the second differential output end are collinear, and the first transmission mechanism 9 and the second transmission mechanism 10 mainly play a role in adjusting the power direction, so that power can be transmitted to the first half shaft 1 and the second half shaft 3 respectively; in the present embodiment, the differential 7 functions to split the output power of one lift motor 14 into two power outputs and to make the relative movement between the two power outputs controllable.

The output end of the first transmission mechanism 9 is a first gear 8, the output end of the second transmission mechanism 10 is a second gear 11, the first gear 8 is meshed with the first lifting tooth and the second gear 11 is meshed with the second lifting tooth, or the second gear 11 is meshed with the first lifting tooth and the first gear 8 is meshed with the second lifting tooth.

It should be noted that although the two output ends of the differential rotate coaxially and in the same direction, in the embodiment of the present invention, since the two output ends of the differential are located on both sides of the end shaft, if the two transmission mechanisms that are mirror images of each other respectively output the power of the two output ends of the differential, so that the axes of the output ends of the differential are switched from the horizontal direction to the vertical direction, and the two output ends after switching need to maintain a symmetrical relationship, the power output of the two output ends is opposite on one side of the end shaft (i.e. the linear velocities of the first gear 8 and the second gear 11 on the side close to the end shaft 13 are opposite), so that in the arrangement of the transmission mechanisms, there is a certain difference between the first transmission mechanism and the second transmission mechanism, and one transmission mechanism needs to be provided with a plurality of stages of rotating transmission pairs to adjust the direction of the power output.

Fig. 7 is a schematic diagram showing a three-dimensional structure of a first transmission mechanism 9 according to an embodiment of the present invention, taking the first transmission mechanism 9 as an example, the first transmission mechanism 9 has a power input port 19 connected to a first differential output port 15, and a multi-stage reduction gear pair 20 is arranged inside the first transmission mechanism 9, after several stages of speed reduction, the force transmission direction is changed by a pair of orthogonally meshed bevel gears 21, and the rotation of a first gear 8 is driven by the orthogonally meshed bevel gears 21; in view of the support of the first gear wheel 8, a transverse support shaft 22 is mounted on the second arm for the first gear wheel 8, the first gear wheel 8 being rotatably fitted on said support shaft 22. The second transmission mechanism 10 may adopt a similar structure, and it should be noted that, since the embodiment of the present invention requires the mirror image arrangement of the first gear 8 and the second gear 11, and the output power steering of the first differential output 15 and the second differential output is generally the same, a step of direction-changing gear pair (two gears with equal size are engaged) needs to be added in the second transmission mechanism 10, so that the parity of the total number of gears participating in speed reduction is different from that of the first transmission mechanism 9, thereby satisfying the motion requirement limitation of the first gear 8 and the second gear 11.

The damping module is used for controlling the damping of the movement of the first half shaft 1 or the second half shaft 3 in the axial direction of the end shaft 13; specifically, the differential speed of the differential 7 is mainly generated by the difference of the traction force (motion resistance) applied to the first differential output 15 and the second differential output, so that the smooth operation of the differential 7 can be ensured only by controlling the traction force of one of the differential outputs. Furthermore, since the position of the damping module is theoretically relatively fixed and cannot rotate along with the tail end shaft 13, the damping module can only control the traction force of one half shaft at the same time; the half-axis on which the damping module acts may change as the end shaft 13 rotates.

The rotation driving module 12 includes a rotating motor, and the rotating motor drives the end shaft 13 to rotate around the axis of the end shaft 13 through the first rotating teeth and/or the second rotating teeth. Specifically, the rotation of the end shaft 13 also needs to be controlled by the independent rotation driving module 12.

Specifically, the differential 7 may be an open differential 7 for cost reasons.

The embodiment of the invention provides a tail end motion assembly, on the basis of a conventionally designed structure, aiming at a special structure of a tail end shaft 13, a differential 7 and a damping module are utilized to control the relative sliding motion of a first half shaft 1 and a second half shaft 3 in the axial direction, the function of relative dislocation motion of the first half shaft 1 and the second half shaft 3 in the axial direction can be realized under a relatively simplified structure, the influence of a complex structure on the weight of the tail end motion assembly is avoided as much as possible, and the tail end motion assembly has good applicability and implementation convenience.

The differential 7 has a locking mode; in the locked mode of the differential 7, the movement of the first differential output 15 and the movement of the second differential output remain synchronized. Basically, in the present embodiment, the synchronous movement of the first differential output 15 and the second differential output can be realized by ensuring the same traction force of the two differential outputs, while in the specific implementation, due to the diversity of the implementation, the force distribution of the clamp and the jig fixed at the tail end of the tail end shaft 13 (two half shafts) on the two half shafts is not uniform, which may cause the axial relative movement between the two half shafts to be uncontrolled, therefore, in the present embodiment, the synchronous movement function of the first differential output 15 and the second differential output can be realized by the differential 7 with the locking mode. Specifically, the differential 7 having the locked mode may be selected as a positive locking differential 7 based on cost and weight considerations.

It should be noted that in a robot arm seeking a moving speed, a plastic member may be used as a transmission mechanism in the differential 7 to reduce the weight thereof, depending on the speed requirement.

In particular, with regard to the arrangement structure of the damping module, the damping module is mainly used for actively and controllably damping the half axle to passively control the differential speed of the output end of the differential 7, and a basic implementation manner is provided for reference in the embodiment of the present invention.

Specifically, the damping module comprises an electromagnet 16, a swing rod 17 and a rubber wheel 18; one end of the swing link 17 is hinged at a fixed position, the rubber wheel 18 is arranged at the other end of the swing link 17, and the rubber wheel 18 presses on the side surface of the tail end shaft 13; the electromagnet 16 applies a driving force to the swing link 17 based on a magnetic attraction manner, and controls the pressure of the rubber wheel 18 against the side surface of the end shaft 13 based on the energization current of the electromagnet 16. Specifically, referring to the structure shown in the figure, the electromagnet 16 is positioned between the end shaft and the swing rod 17, when the electromagnet 16 is electrified, the swing rod 17 swings towards one side of the electromagnet 16, and the rubber wheel 18 on the swing rod 17 presses on the end shaft. The damping module mainly adopts the mode of the electromagnet 16 to realize the control of traction force under the premise of ensuring the light weight as much as possible. In practical implementation, a force feedback device can be added to obtain the pressure of the rubber wheel 18 on the half shaft, so as to more accurately control the damping of the damping module on the half shaft.

Specifically, in order to ensure that the lifting teeth on the two half shafts can be supported at the same time, and the self-rotation stroke of the tail end shaft needs to be considered, based on the relationship that the two half shafts are symmetrical along the axial tangent plane of the tail end shaft, the first gear 8 and the second gear 11 are symmetrically arranged in the radial direction of the tail end shaft 13. In practical implementation, based on this implementation, the two half-shafts can be driven by the first gear 8 and the second gear 11, respectively, at the same time, except at the joint of the first half-shaft 1 and the second half-shaft 3, and in this arrangement, the end shaft can obtain the maximum rotation stroke.

Further, regarding the structure of the limiting module, the limiting module comprises a limiting ring based on weight and implementation cost; the stop collar remains fixed, the smooth section 5 fitting on the inner wall of the stop collar when the end shaft 13 has a smooth section 5; on the smooth section 5, the side surface of the tip shaft 13 is smooth.

When the end shaft 13 has the bump 4, the limiting module can also limit the end shaft 13 by using the cylindrical surface established by the plurality of bumps 4.

Fig. 8 shows a three-dimensional structural diagram of a SCARA robot according to an embodiment of the present invention, and based on the above-mentioned end motion assembly, the embodiment of the present invention further provides a SCARA robot, which includes a base 40, a first arm 50 and a second arm 6, wherein a beginning of the first arm 50 is hinged to the base 40, the first arm 50 swings around a first vertical rotating shaft located on the base 40, a beginning of the second arm 6 is hinged to an end of the first arm 50, the second arm 6 swings around a second vertical rotating shaft located on the first arm 50, and the SCARA robot further includes the end motion assembly.

Based on the prior art, the SCARA manipulator comprises two stages of swing arms, and a lifting rotating shaft is arranged at the tail end of the second stage of swing arm.

And on the basis of the tail end motion assembly, the tail end motion assembly is installed on a swing arm of a second stage of the SCARA manipulator by combining the basic structural characteristics of the SCARA manipulator.

Correspondingly, the limiting module, the lifting driving module, the rotation driving module 12, the damping module and the tail end shaft 13 are arranged on the second arm 6; based on the limiting module limiting by taking the second arm 6 as a reference and the limiting module limiting by taking the second arm as a reference, the tail end shaft rotates around a third vertical rotating shaft on the second arm, and the axis of the third vertical rotating shaft is collinear with that of the tail end shaft; the first half shaft moves in a vertical direction and the second half shaft moves in a vertical direction.

The application significance of the end motion assembly to the SCARA manipulator comprises the following steps: the split of end axle 13 makes the drive end of SCARA manipulator have more degrees of freedom, and in practical application, the drive end of SCARA manipulator can articulate respectively on two semi-axles, and the axial dislocation of two semi-axles can make the drive end slope in the space to SCARA manipulator's range of application has been expanded.

In summary, the embodiment of the present invention provides an end shaft, an end motion assembly, and an SCARA manipulator, wherein the end shaft is structurally split, so that two half shafts can move in a staggered manner along an axial direction, and an additional degree of freedom of motion can be provided for a device using the end shaft; in the design process of the tail end motion assembly, factors such as stroke, total weight and the like of a tail end shaft are considered, so that the tail end motion assembly can be better applied to a manipulator; the SCARA manipulator adopting the tail end movement assembly has an additional degree of freedom of driving movement, and has a wider application range compared with the SCARA manipulator in the prior art.

The end shaft, the end motion assembly and the SCARA robot provided by the embodiment of the present invention are described in detail above, and the principle and the embodiment of the present invention are explained in the present document by applying specific examples, and the description of the above embodiments is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims

1. An end shaft, the side surface of which is a cylindrical surface, characterized in that the end shaft is divided into a first half-shaft and a second half-shaft along a radial tangent plane, the outer side surface of the first half-shaft is a semi-cylindrical surface, the outer side surface of the second half-shaft is a semi-cylindrical surface, and the first half-shaft and the second half-shaft are kept in close contact in the radial direction of the end shaft and relatively slide in the axial direction of the end shaft;

2. The distal shaft of claim 1, wherein a plurality of bumps are disposed on the outer lateral surface of the distal shaft, the plurality of bumps being arrayed circumferentially and vertically on the outer lateral surface of the distal shaft, the plurality of bumps being arrayed in a plurality of turns and in a plurality of columns on the outer lateral surface of the distal shaft;

3. The tip shaft according to claim 2, wherein the tip shaft is a smooth section above and/or below the plurality of the bumps, with reference to an axial direction of the tip shaft;

on the smooth section, the side surface of the tip shaft is smooth.

4. The distal shaft of claim 1, wherein the distal shaft is a solid structure or the distal shaft is a cylindrical structure.

5. An end motion assembly comprising a limit module, a lift drive module, a rotation drive module, a damping module and an end shaft according to any one of claims 1 to 4;

the damping module is used for controlling the motion damping of the first half shaft or the second half shaft in the axial direction of the tail end shaft;

6. The end motion assembly of claim 5, wherein the differential has a locked mode;

7. The tip motion assembly of claim 5, wherein the first gear and the second gear are disposed symmetrically about a radius of the tip shaft.

8. The end motion assembly of claim 5, wherein the spacing module comprises a spacing ring;

on the smooth section, the side surface of the tip shaft is smooth.

9. A SCARA robot comprising a base, a first arm, the beginning of which is hinged on the base, and a second arm, the first arm oscillating around a first vertical pivot on the base, the beginning of which is hinged on the end of the first arm, the second arm oscillating around a second vertical pivot on the first arm, characterized in that it further comprises an end motion assembly according to any of claims 5 to 8;