CN204195774U - The SCARA manipulator of large arm/forearm fast changeable - Google Patents
The SCARA manipulator of large arm/forearm fast changeable Download PDFInfo
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- CN204195774U CN204195774U CN201420496226.0U CN201420496226U CN204195774U CN 204195774 U CN204195774 U CN 204195774U CN 201420496226 U CN201420496226 U CN 201420496226U CN 204195774 U CN204195774 U CN 204195774U
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- large arm
- forearm
- shaft coupling
- output shaft
- driving mechanism
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Abstract
The utility model relates to the SCARA manipulator of a kind of large arm/forearm fast changeable.The SCARA manipulator of large arm fast changeable, comprise base, large arm, forearm and wrist, also comprise the shaft coupling seat and shaft coupling that cooperatively interact, base is connected by large arm driving mechanism with large arm, shaft coupling seat is connected with large arm, and shaft coupling is connected with large arm output shaft.The SCARA manipulator of forearm fast changeable, comprise base, large arm, forearm and wrist, also comprise the shaft coupling seat and shaft coupling that cooperatively interact, large arm is connected by forearm driving mechanism with forearm, shaft coupling seat is connected with large arm, and shaft coupling is connected with forearm output shaft.The utility model adopts the shaft coupling seat and shaft coupling that cooperatively interact, make large arm/forearm installation and removal more simple and efficient, realize the quick-replaceable of SCARA manipulator arm, make between different bases and large arm, between large arm and forearm, to carry out variation to arrange in pairs or groups, enrich the kind of SCARA manipulator, improve the adaptability of SCARA manipulator.
Description
Technical field
The utility model relates to industry mechanical arm field, particularly relates to the SCARA manipulator of a kind of large arm/forearm fast changeable.
Background technology
Industry mechanical arm is mainly used in simply, repeat, hard work, and as feeding, discharge, carrying, assembling etc., and the place of work under bad environment, as sprayed paint, welding, sand removal and cleaning nuke rubbish etc.Industry mechanical arm can be divided into: cartesian co-ordinate type, circular cylindrical coordinate type, spherical coordinates type and joint type.Articulated robot is divided into again flapping articulation type and drag articulation type.The full name of SCARA is: Selective Compliance Assembly Robot Arm, namely selects compliance make-up machinery arm, so SCARA is also called assembly manipulator.Maximum manipulators applied by SCARA manipulator according to statistics, and market analysis forecast, the demand of assembly manipulator will increase gradually from now on.
By inquiry both at home and abroad different brands SCARA manipulator and consult pertinent literature and find, the arms length of designed SCARA manipulator is relatively fixing, and lack flexibility, adaptability is poor.With SCARA manipulator G3-350, G6-450 of EPSON for example: the brachium of G3-350 is for 350mm, and its size brachium is respectively 220mm, 130mm, the brachium of G6-450 is 450mm, and its size brachium is respectively 200mm, 250mm; If the arm of G3-350 and G6-450 can realize exchanging (namely large arm and large arm, forearm and forearm exchange), then the brachium after exchanging has: 330mm, 350mm, 450mm and 470mm.If therefore the arm of SCARA manipulator can realize exchanging, then brachium is abundanter, and selecting property of customer selectable is wider, also improves the competitiveness of product simultaneously.Realize the exchange of quick different SCARA manipulator arm if want, adopt general structure then dismantle and assemble trouble, length consuming time.
Utility model content
First object of the present utility model is the SCARA manipulator providing a kind of large arm fast changeable, lacks the problem such as flexibility, large arm dismounting assembling trouble to solve existing SCARA manipulator.
To achieve these goals, following technical scheme is adopted.A kind of SCARA manipulator of large arm fast changeable, comprise the base, large arm, forearm and the wrist that connect successively, also comprise the shaft coupling seat and shaft coupling that cooperatively interact, described base is connected by large arm driving mechanism with large arm, the large arm output shaft of described large arm driving mechanism is through large arm, shaft coupling seat and shaft coupling, described shaft coupling seat is connected with large arm, and described shaft coupling is connected with large arm output shaft.Large arm output shaft rotates, and successively through the transmission of shaft coupling, shaft coupling seat, makes large arm around base rotation.During replacing, only the connection of shaft coupling and large arm output shaft need be unclamped, take off shaft coupling, large arm and shaft coupling seat can be taken out in the lump, be loaded on another large arm with shaft coupling seat, shaft coupling is worked good shaft coupling seat carry out being connected with large arm output shaft.
Further, described large arm driving mechanism comprises servomotor, harmonic speed reducer and large arm output shaft, and described harmonic speed reducer comprises wave producer, flexbile gear and just taken turns, and described wave producer is connected with servomotor, described flexbile gear is connected with large arm output shaft, and described firm wheel is fixedly connected with base.
Further, the link of described large arm and forearm is also provided with the shaft coupling seat and shaft coupling that cooperatively interact, described large arm is connected by forearm driving mechanism with forearm, the forearm output shaft of described forearm driving mechanism is through forearm, large arm, shaft coupling seat and shaft coupling, described shaft coupling seat is connected with large arm, and described shaft coupling is connected with forearm output shaft.The connection of large arm and forearm also uses the shaft coupling seat and shaft coupling that cooperatively interact, makes the connection of large arm and forearm also can realize quick-replaceable.
Further, described shaft coupling is hydrocoupling.The compact siro spinning technology of hydrocoupling and large arm output shaft and shaft coupling seat can be realized by the screw tightened on hydrocoupling, otherwise can quick-detachment be realized, thus improve replacing efficiency.
Further, described servomotor is stepper motor or direct driving motor.
Second object of the present utility model is the SCARA manipulator providing a kind of forearm fast changeable, lacks the problem such as flexibility, forearm dismounting assembling trouble to solve existing SCARA manipulator.
To achieve these goals, following technical scheme is adopted.A kind of SCARA manipulator of forearm fast changeable, comprise the base, large arm, forearm and the wrist that connect successively, also comprise the shaft coupling seat and shaft coupling that cooperatively interact, described large arm is connected by forearm driving mechanism with forearm, the forearm output shaft of described forearm driving mechanism is through forearm, large arm, shaft coupling seat and shaft coupling, described shaft coupling seat is connected with large arm, and described shaft coupling is connected with forearm output shaft.Forearm output shaft rotates, and successively through the transmission of shaft coupling, shaft coupling seat, forearm is rotated around the link of large arm and forearm.During replacing, only the connection of shaft coupling and forearm output shaft need be unclamped, take off shaft coupling, forearm and forearm driving mechanism can be taken out in the lump, be loaded on another forearm with forearm driving mechanism, shaft coupling is worked good shaft coupling seat carry out being connected with forearm output shaft.
Further, described forearm driving mechanism comprises servomotor, harmonic speed reducer and forearm output shaft, and described harmonic speed reducer comprises wave producer, flexbile gear and just taken turns, and described wave producer is connected with servomotor, described firm wheel is connected with forearm output shaft, and described flexbile gear is fixedly connected with forearm.
Further, the link of described base and large arm is also provided with the shaft coupling seat and shaft coupling that cooperatively interact, described base is connected by large arm driving mechanism with large arm, the large arm output shaft of described large arm driving mechanism is through large arm, shaft coupling seat and shaft coupling, described shaft coupling seat is connected with large arm, and described shaft coupling is connected with large arm output shaft.The connection of base and large arm also uses the shaft coupling seat and shaft coupling that cooperatively interact, makes the connection of base and large arm also can realize quick-replaceable.
Further, described shaft coupling is hydrocoupling.The compact siro spinning technology of hydrocoupling and large arm output shaft and shaft coupling seat can be realized by the screw tightened on hydrocoupling, otherwise can quick-detachment be realized, thus improve replacing efficiency.
Further, described servomotor is stepper motor or direct driving motor.
Compared with prior art, the utility model adopts the shaft coupling seat and shaft coupling that cooperatively interact, make large arm/forearm installation and removal more simple and efficient, realize the quick-replaceable of SCARA manipulator arm, make between different bases and large arm, between large arm and forearm, to carry out variation to arrange in pairs or groups, enrich the kind of SCARA manipulator, improve the adaptability of SCARA manipulator.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model;
Fig. 2 is the syndeton schematic diagram of base and large arm;
Fig. 3 is the syndeton schematic diagram of large arm and forearm.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model will be further described.
Overall structure of the present utility model as shown in Figure 1, comprise the base 1, large arm 2, forearm 3 and the wrist 4 that connect successively, base 1 is fixed in the planes such as ground, desktop, workbench, base 1 is connected by large arm driving mechanism with large arm 2, large arm 2 can rotate around the link of large arm 2 with base 1, large arm 2 is connected by forearm driving mechanism with forearm 3; forearm 3 can rotate around the link of forearm 3 with large arm 2; other end of forearm 3 connects wrist 4; wrist 4 can rotate around the link of forearm 3 with wrist 4, also can move up and down.
The syndeton of embodiment one base and large arm and the quick-replaceable of large arm operate.
The syndeton of base 1 and large arm 2 as shown in Figure 2.Base 1 is connected by large arm driving mechanism with large arm 2, and large arm driving mechanism comprises large arm servomotor 51, large arm harmonic speed reducer and large arm output shaft 55.Large arm harmonic speed reducer comprises large arm wave producer 52, large arm flexbile gear 53 and large arm and just takes turns 54.Large arm servomotor 51 is fixed on installing plate, and installing plate and large arm have just been taken turns 54 and be fixed on datum axle bearing 11 by screw, and datum axle bearing 11 is fixed on base 1 by screw.Large arm wave producer 52 is connected with large arm servomotor 51, and large arm flexbile gear 53 is connected with large arm output shaft 55.Large arm output shaft 55 upwards passes base 1 in base 1, then through large arm 2, shaft coupling seat 71 is fixed on large arm 2 by screw, and large arm 2 lower surface matches with the shaft shoulder of large arm output shaft 55.Hydrocoupling 72 inserts along large arm output shaft 55, until fit like a glove with shaft coupling seat 71, by the screw-driving of hydrocoupling 72, namely hydrocoupling 72 is fixedly connected with large arm output shaft 55.
During work, large arm servomotor 51 drives large arm wave producer 52 to rotate, and just taken turns 54 due to large arm and fixed, therefore large arm flexbile gear 53 rotates and then drives large arm output shaft 55 to rotate.Because large arm output shaft 55 is connected as a single entity with large arm 2 by hydrocoupling 72 and shaft coupling seat 71, therefore when large arm output shaft 55 rotates, large arm 2 is also along with rotation.
When needing to change large arm 2, only the screw of hydrocoupling 72 need be unscrewed, hydrocoupling 72 also unclamps with the connection of large arm output shaft 55 thereupon, hydrocoupling 72 is taken out, large arm 2 and shaft coupling seat 71 are taken off in the lump, change the new large arm with shaft coupling seat 71 again, load onto hydrocoupling 72 and tighten screw, namely complete the replacing of large arm 2.When without the need to quick-replaceable, can hydrocoupling 72 be changed into expansion sleeve.
The syndeton of embodiment two large arm and forearm and the quick-replaceable of forearm operate.
The syndeton of large arm 2 and forearm 3 as shown in Figure 3.Large arm 2 is connected by forearm driving mechanism with forearm 3, and forearm driving mechanism comprises forearm servomotor 61, forearm harmonic speed reducer and forearm output shaft 65.Forearm harmonic speed reducer comprises forearm wave producer 64, forearm flexbile gear 62 and forearm and just takes turns 63.Forearm servomotor 61 is fixed on installing plate, and installing plate and forearm flexbile gear 62 are fixed on motor reducer seat 66 by screw, and motor reducer seat 66 is fixed on forearm 3 by screw.Forearm wave producer 64 is connected with forearm servomotor 61, and forearm has just been taken turns 63 and has been fixedly connected with by screw with forearm output shaft 65.Forearm output shaft 65 is from top to bottom through forearm 3, then through large arm 2, shaft coupling seat 71 is fixed on large arm 2 by screw, and large arm 2 upper surface matches with the shaft shoulder of forearm output shaft 65.Hydrocoupling 72 inserts along forearm output shaft 65, until fit like a glove with shaft coupling seat 71, by the screw-driving of hydrocoupling 72, namely hydrocoupling 72 is fixedly connected with forearm output shaft 65.
During work; forearm servomotor 61 drives forearm wave producer 64 to rotate; just taken turns 63 due to forearm and fixed with forearm output shaft 65; forearm output shaft 65 is connected as a single entity with large arm 2 by hydrocoupling 72 and shaft coupling seat 71 again, and therefore forearm flexbile gear 62 rotates and then drives forearm output shaft 65 to rotate by motor reducer seat 66.
When needing to change forearm 3, only the screw of hydrocoupling 72 need be unscrewed, hydrocoupling 72 also unclamps with the connection of forearm output shaft 65 thereupon, hydrocoupling 72 is taken out, forearm 3 and forearm driving mechanism are taken off in the lump, change the new forearm with forearm driving mechanism again, load onto hydrocoupling 72 and tighten screw, namely complete the replacing of forearm 3.When without the need to quick-replaceable, can hydrocoupling 72 be changed into expansion sleeve.
Claims (10)
1. the SCARA manipulator of a large arm fast changeable, comprise the base, large arm, forearm and the wrist that connect successively, it is characterized in that, also comprise the shaft coupling seat and shaft coupling that cooperatively interact, described base is connected by large arm driving mechanism with large arm, the large arm output shaft of described large arm driving mechanism is through large arm, shaft coupling seat and shaft coupling, and described shaft coupling seat is connected with large arm, and described shaft coupling is connected with large arm output shaft.
2. SCARA manipulator according to claim 1, it is characterized in that, described large arm driving mechanism comprises servomotor, harmonic speed reducer and large arm output shaft, described harmonic speed reducer comprises wave producer, flexbile gear and has just taken turns, described wave producer is connected with servomotor, described flexbile gear is connected with large arm output shaft, and described firm wheel is fixedly connected with base.
3. SCARA manipulator according to claim 1, it is characterized in that, the link of described large arm and forearm is also provided with the shaft coupling seat and shaft coupling that cooperatively interact, described large arm is connected by forearm driving mechanism with forearm, the forearm output shaft of described forearm driving mechanism is through forearm, large arm, shaft coupling seat and shaft coupling, described shaft coupling seat is connected with large arm, and described shaft coupling is connected with forearm output shaft.
4. SCARA manipulator according to claim 1, is characterized in that, described shaft coupling is hydrocoupling.
5. SCARA manipulator according to claim 2, is characterized in that, described servomotor is stepper motor or direct driving motor.
6. the SCARA manipulator of a forearm fast changeable, comprise the base, large arm, forearm and the wrist that connect successively, it is characterized in that, also comprise the shaft coupling seat and shaft coupling that cooperatively interact, described large arm is connected by forearm driving mechanism with forearm, the forearm output shaft of described forearm driving mechanism is through forearm, large arm, shaft coupling seat and shaft coupling, and described shaft coupling seat is connected with large arm, and described shaft coupling is connected with forearm output shaft.
7. SCARA manipulator according to claim 6, it is characterized in that, described forearm driving mechanism comprises servomotor, harmonic speed reducer and forearm output shaft, described harmonic speed reducer comprises wave producer, flexbile gear and has just taken turns, described wave producer is connected with servomotor, described firm wheel is connected with forearm output shaft, and described flexbile gear is fixedly connected with forearm.
8. SCARA manipulator according to claim 6, it is characterized in that, the link of described base and large arm is also provided with the shaft coupling seat and shaft coupling that cooperatively interact, described base is connected by large arm driving mechanism with large arm, the large arm output shaft of described large arm driving mechanism is through large arm, shaft coupling seat and shaft coupling, described shaft coupling seat is connected with large arm, and described shaft coupling is connected with large arm output shaft.
9. SCARA manipulator according to claim 6, is characterized in that, described shaft coupling is hydrocoupling.
10. SCARA manipulator according to claim 7, is characterized in that, described servomotor is stepper motor or direct driving motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420496226.0U CN204195774U (en) | 2014-09-01 | 2014-09-01 | The SCARA manipulator of large arm/forearm fast changeable |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201420496226.0U CN204195774U (en) | 2014-09-01 | 2014-09-01 | The SCARA manipulator of large arm/forearm fast changeable |
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| CN204195774U true CN204195774U (en) | 2015-03-11 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104227732A (en) * | 2014-09-01 | 2014-12-24 | 汕头大学 | SCARA (Selective Compliance Assembly Robot Arm) with large arm/small arm capable of being replaced quickly |
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2014
- 2014-09-01 CN CN201420496226.0U patent/CN204195774U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104227732A (en) * | 2014-09-01 | 2014-12-24 | 汕头大学 | SCARA (Selective Compliance Assembly Robot Arm) with large arm/small arm capable of being replaced quickly |
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