CN203282493U - Scara robot - Google Patents

Abstract

The utility model discloses a Scara robot, which comprises a first revolving joint, a second revolving joint, a revolving and moving compound motion joint and a spline screw, the first revolving joint is connected with the second revolving joint, and the other end of the second revolving joint is connected Rotating and moving compound motion joints, the rotating and moving compound motion joints are divided into two parts: rotating joints and moving joints, the rotating joints are output by the third servo motor, decelerated by the third harmonic reducer, and driven by the synchronous belt to the ball spline The third harmonic reducer adds deep groove ball bearings as an auxiliary support. The robot of the utility model effectively improves the operating rigidity of the robot by adding deep groove ball bearings in the harmonic reducer in the joints of the rotation and movement compound motion. , compact structure and high precision.

Description

A Scara robot

technical field

The utility model relates to a robot capable of grasping in a plane, in particular to a Scara robot.

Background technique

In the current industrial field, including the automobile industry, electronic and electrical industry, construction machinery industry, etc., a large number of industrial robot automation production lines have been used. Industrial robots are advanced manufacturing technologies integrating precision, flexibility, intelligence, and software application development. Resource consumption and environmental pollution are the highest manifestations of industrial automation.

The Scara robot belongs to a special type of industrial robot with cylindrical coordinates. It has three rotary joints whose axes are parallel to each other, and is positioned and oriented in a plane. Another articulated movement joint is used to complete the movement of the end piece in a perpendicular plane. This type of robot has a light structure and fast response, but it has the disadvantages of insufficient rigidity and insufficient overall structural layout.

In view of the defects of the above-mentioned existing Scara robot, the designer is actively researching and innovating in order to create a Scara robot with a new structure to make it more practical.

Utility model content

The main purpose of the utility model is to overcome the defects of the existing Scara robot, and provide a Scara robot with a new structure. The technical problem to be solved is to improve the rigidity of the robot, and at the same time, the overall layout is compact, so that it is more suitable for practical use. And has industrial utilization value.

The purpose of this utility model and its technical solution are to adopt the following technical solutions to achieve. A Scara robot proposed according to the utility model includes a first revolving joint, a second revolving joint, a rotating and moving compound kinematic joint and a spline screw, the first revolving joint is connected with the second revolving joint, and the second revolving joint is separately One end is connected to the rotating and moving compound motion joint. The rotating and moving compound motion joint is divided into two parts: the rotating joint and the moving joint. Key inner ring, the third harmonic reducer adds deep groove ball bearings as auxiliary support.

In the aforementioned Scara robot, the first rotary joint is driven by a servo motor, and the servo motor is connected to the steel wheel of the first harmonic reducer through the motor connecting flange, and the steel wheel of the first harmonic reducer It is fixed on the base of the first rotary joint and fixed with screws.

For the aforementioned Scara robot, the first harmonic reducer is equipped with a crossed roller bearing, and the two-section arm is fixed to the inner ring of the crossed roller bearing for output.

In the aforementioned Scara robot, the second rotary joint is driven by a two-section servo motor, and the two-section servo motor is fixed on the horizontal base surface of the three-section arm, and is connected to the second harmonic reducer through a motor adapter. The steel wheel of the harmonic reducer is fixed on the bottom surface of the three-section arm.

In the aforementioned Scara robot, the second harmonic reducer is equipped with cross roller bearings, and the cross roller bearings are fixed on the second-section arm so that the three-section arm rotates around the second-section arm for output.

In the aforementioned Scara robot, the moving joint is output by the fourth servo motor and transmitted to the inner ring of the screw nut through a synchronous belt, and converts the rotational motion of the inner ring of the screw nut into the movement of the spline screw shaft along the rotational axis.

In the aforementioned Scara robot, the fourth servo motor is inverted and fixed to the three-section arm through the motor connection seat, the end of the fourth servo motor shaft is the second synchronous pulley, and the first synchronous pulley matched with the second synchronous pulley The pulley is fixed on the inner ring of the screw nut, and the screw nut is inverted and fixed on the three-section arm.

In the aforementioned Scara robot, the ball spline mounting seat fixed to the three-section arm is used in the rotary joint so that the ball spline is coaxially mounted on the lead screw nut, and the second synchronous pulley is fixed in the ball spline The first synchronous pulley matched with the second synchronous pulley is fixed on the output end of the third harmonic reducer, and the third harmonic reducer supported by the third servo motor and deep groove ball bearing is installed on the connecting frame The upper part is integrally fixed on the side plane of the ball spline mounting seat as a cantilever structure.

In the aforementioned Scara robot, the shaft of the spline screw in the spline screw adopts a hollow structure.

By means of the above-mentioned technical scheme, the Scara robot of the present utility model has at least the following advantages:

The robot of the utility model effectively improves the operating rigidity of the robot by adding deep groove ball bearings in the harmonic reducer of the rotating and moving compound motion joints; the structure is compact, and the first and second rotating joints pass directly through the servo motor through high-precision harmonics. Driven by a wave reducer, it has high mechanical efficiency and good dynamic response capability, and can move in the working plane with high speed and high precision. Driven by a reducer, the servo motor of the mobile joint is driven by a synchronous belt, which can run at high speed within the load requirements of Scara, fully meeting the functional requirements and accuracy requirements of Scara.

The above description is only an overview of the technical solution of the utility model. In order to understand the technical means of the utility model more clearly and implement it according to the contents of the specification, the following is a detailed description of the preferred embodiment of the utility model with accompanying drawings. back.

Description of drawings

Fig. 1 is the structural representation of the utility model Scara robot;

Fig. 2 is the sectional view of the utility model Scara robot along the A-A direction;

Fig. 3 is the structural schematic diagram of the first rotary joint of the Scara robot of the present invention;

Fig. 4 is the structural schematic diagram of the second rotary joint of the Scara robot of the present invention;

Fig. 5 is a structural schematic diagram of the utility model Scara robot rotating and moving compound kinematic joints;

FIG. 6 is an enlarged view of part D in FIG. 5 .

In the figure: 1. The first revolving joint; 2. The second revolving joint; 3. Rotating and moving compound kinematic joint; 4. Spline screw; 5. End connection flange; 6. Base; 7. A servo motor ;8. First harmonic reducer; 9. Crossed roller bearing; 10. Two-section arm; 11. Motor connecting flange; 12. Two-section servo motor; 13. Motor adapter; 14. Second harmonic deceleration 15. Three-section arm; 16. Cross roller bearing; 17. Third harmonic reducer components; 18. Connecting frame; 19. First synchronous wheel; 20. Second synchronous wheel; 21. Ball spline; 22 , spline screw shaft; 23, ball spline mounting seat; 24, first synchronous pulley; 25, screw nut; 26, second synchronous pulley; 27, output shaft; 28, deep groove ball bearing; 30 . Harmonic reducer mounting seat; 31. Motor connecting frame; 32. The third servo motor; 33. The fourth servo motor; 34. Motor connecting seat.

Detailed ways

In order to further explain the technical means and effects of the utility model to achieve the intended purpose of the utility model, the specific implementation of the utility model will be described in detail below in conjunction with the accompanying drawings and preferred embodiments.

The Scara robot shown in Figures 1 to 6 adopts absolute encoder full servo drive. The main structure includes the first rotary joint 1, the second rotary joint 2, the rotary-moving compound motion joint 3, the spline screw 4 and the end working device.

The first rotary joint 1 is driven by a servo motor 7, and the servo motor 7 is connected to the steel wheel of the first harmonic reducer 8 through the motor connection flange 11, and the steel wheel of the first harmonic reducer 8 is fixed on the first rotary On the base 6 of the joint 1, it is fixed by a steel wheel, and the flexible spline output installation structure, the first harmonic reducer 8 is equipped with a cross roller bearing 9, and the two-section arm 10 and the inner ring of the cross roller bearing 9 are fixed for output.

The second rotary joint 2 is driven by a two-section servo motor 12, and the two-section servo motor 12 is fixed on the horizontal base surface of the three-section arm 15, and is connected to the second harmonic reducer 14 through the motor adapter 13, and the second harmonic reducer 14 is steel The wheel is fixed on the bottom of the three-section arm 15, the second harmonic reducer 14 has its own cross roller bearing 16, and the cross roller bearing 16 is fixed on the two-section arm 10, which is fixed by a flexible wheel. The steel wheel output structure makes the three-section arm 15 rotates output around the two-section boom 10.

The rotary-moving compound motion joint 3 is structurally composed of two parts, which are the rotary joint A and the mobile joint B. The rotary joint A is output through the third servo motor 32, decelerated by the third harmonic reducer 17, and driven by the synchronous belt to the ball spline 21. In the inner ring, the third harmonic reducer 17 adds a deep groove ball bearing 28 as an auxiliary support to improve its rigidity, and the screw spline shaft 22 rotates as the ball spline 21 rotates. The moving joint B is output by the fourth servo motor 33 and transmitted to the inner ring of the screw nut 25 through the synchronous belt, so as to transform the rotational motion of the inner ring of the screw nut 25 into the movement of the splined screw shaft 22 along the rotational axis. Structurally, the rotating joint A and the moving joint B are staggered and inverted. Wherein the fourth servo motor 33 of the mobile joint B is inverted and fixed on the three-section arm 15 through the motor connecting frame 34, the end of the shaft of the fourth servo motor 33 is the second synchronous pulley 26, and the first synchronous pulley 24 matched with it is fixed on the wire The inner ring of the bar nut 25 and the lead screw nut 25 are fixed on the three-section arm 15 upside down. In the rotary joint A, the ball spline mounting seat 23 fixed on the three-section arm 15 makes the ball spline 21 coaxially installed on the screw nut 25, and the second synchronous pulley 20 is fixed on the inner ring of the ball spline 21. The matching first synchronous pulley 19 is fixed at the output end of the third harmonic reducer 17 . The third servo motor 32 and the deep groove ball bearing 28 are installed on the connecting frame 18 as the auxiliary support of the third harmonic reducer 17 as a cantilever structure and fixed on the side plane of the ball spline mounting seat 23 as a whole. In order to make the overall layout compact, and realize the function of two degrees of freedom of rotation and movement.

The spline screw shaft 22 in the spline screw 4 and the terminal working device adopts a hollow structure to facilitate wiring, and the terminal working device is a terminal connection flange 5 to facilitate the installation of various pneumatic devices and robots.

The above are only preferred embodiments of the present utility model, and do not limit the utility model in any form. Although the utility model has been disclosed as above with preferred embodiments, it is not intended to limit the utility model. Any Those who are familiar with this profession, without departing from the scope of the technical solutions of the present utility model, can use the technical content disclosed above to make some changes or modify equivalent embodiments with equivalent changes, but all without departing from the technical solutions of the present utility model The content of the scheme, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the utility model still belong to the scope of the technical solution of the utility model.

Claims (9)

1. Scara robot, comprise the first rotary joint (1), the second rotary joint (2), compound motion in rotary moving joint (3) and spline leading screw (4), the first rotary joint (1) is connected with the second rotary joint (2), the second rotary joint (2) other end connects compound motion in rotary moving joint (3), described compound motion in rotary moving joint (3) is divided into rotary joint (A) and linear joint (B) two parts, it is characterized in that: described rotary joint (A) slows down through third harmonic decelerator (17) by the 3rd servomotor (32) output, toothed belt transmission is to ball spline (21) inner ring, described third harmonic decelerator (17) increases deep groove ball bearing (28) as supplemental support.

2. Scara according to claim 1 robot, it is characterized in that: described the first rotary joint (1) adopts a joint servomotor (7) to drive, a described joint servomotor (7) is connected with first harmonic decelerator (8) steel wheel by motor adpting flange (11), and described first harmonic decelerator (8) steel wheel is fixed on the first rotary joint (1) pedestal (6).

3. Scara according to claim 2 robot, it is characterized in that: described first harmonic decelerator (8) carries crossed roller bearing (9), two joint arms (10) and the fixing output of described crossed roller bearing (9) inner ring.

4. Scara according to claim 1 robot, it is characterized in that: described the second rotary joint (2) adopts two joint servomotors (12) to drive, described two joint servomotors (12) are fixed in the three horizontal basal planes of joint arm (15), be connected with second harmonic decelerator (14) by motor adapter (13), described second harmonic decelerator (14) steel wheel is fixed in three joint arm (15) bottom surfaces.

5. Scara according to claim 4 robot, it is characterized in that: described second harmonic decelerator (14) carries crossed roller bearing (16), described crossed roller bearing (16) is fixed on two joint arms (10), makes described three joint arms (15) around described two joint arm (10) rotation outputs.

6. Scara according to claim 1 robot, it is characterized in that: described linear joint (B), to feed screw nut (25) inner ring, changes rotatablely moving of feed screw nut (25) inner ring the movement of spline lead screw shaft (22) along the axis that rotatablely moves into by the 4th servomotor (33) output process toothed belt transmission.

7. Scara according to claim 6 robot, it is characterized in that: described the 4th servomotor (33) is inverted by motor connecting base (34) and is fixed in three joint arms (15), described the 4th servomotor (33) shaft end is the second synchronous pulley (26), the first synchronous pulley (24) that is complementary with described the second synchronous pulley (26) is fixed in feed screw nut (25) inner ring, and described feed screw nut (25) is inverted and is fixed on three joint arms (15).

8. Scara according to claim 1 robot, it is characterized in that: in described rotary joint (A) by be fixed in described three the joint arms (15) ball spline mount pad (23), make ball spline (21) concentric be installed on feed screw nut (25), the second synchronous pulley (20) is fixed on ball spline (21) inner ring, the first synchronous pulley (19) that is complementary with described the second synchronous pulley (20) is fixed in third harmonic decelerator (17) output, the third harmonic decelerator (17) that the 3rd servomotor (32) and deep groove ball bearing (28) support is installed on link (18) and upward as cantilever design integral body, is fixed in ball spline mount pad (23) side plane.

9. Scara according to claim 1 robot, it is characterized in that: in described spline leading screw (4), spline lead screw shaft (22) adopts hollow-core construction.

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