CN204382299U - SCARA robot shell structure and SCARA robot with same - Google Patents
SCARA robot shell structure and SCARA robot with same Download PDFInfo
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- CN204382299U CN204382299U CN201420838910.2U CN201420838910U CN204382299U CN 204382299 U CN204382299 U CN 204382299U CN 201420838910 U CN201420838910 U CN 201420838910U CN 204382299 U CN204382299 U CN 204382299U
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- scara robot
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- 210000000245 forearm Anatomy 0.000 claims description 5
- 239000006185 dispersion Substances 0.000 abstract description 4
- 238000005265 energy consumption Methods 0.000 abstract description 3
- 239000011248 coating agent Substances 0.000 abstract 5
- 238000000576 coating method Methods 0.000 abstract 5
- 230000001360 synchronised effect Effects 0.000 abstract 4
- 238000005253 cladding Methods 0.000 abstract 2
- 238000001816 cooling Methods 0.000 abstract 1
- 230000007423 decrease Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000017525 heat dissipation Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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Abstract
The utility model discloses a SCARA robot shell structure and a SCARA robot with the same, wherein the shell structure comprises a first coating mechanism and a second coating mechanism; the first coating mechanism is connected with the second coating mechanism; the first coating mechanism is arranged on a small arm of the SCARA robot and coats a synchronous belt of the SCARA robot and a large synchronous wheel and a small synchronous wheel which are respectively arranged at two ends of the synchronous belt; the second wrapping mechanism wraps the ball spline and the ball screw. It is through the shell that decomposes current SCARA robot into first cladding mechanism and second cladding mechanism, has reduced SCARA robot shell volume, and then reduces the resistance of the wind that SCARA robot received, has reduced the energy consumption. And it only covers lazytongs and motion of SCARA robot, and the motor part is then exposed outside for SCARA robot can the nature forced air cooling when moving, has strengthened SCARA robot's heat dispersion.
Description
Technical field
The utility model relates to electro-mechanical arts, particularly relates to a kind of SCARA robot shells structure and has its SCARA robot.
Background technology
SCARA (Selective Compliance Assembly Robot Arm selects compliance to put together machines arm) robot is that one is applicable to realize high accuracy, picks up the robot of blowing fast.Its speed of service is fast, and frequency is high, and therefore in SCARA robot running, the shell of SCARA robot can be subject to the resistance of wind, thus increases motor power consumption, finally causes caloric value to increase.Shell due to SCARA robot is closed state, and along with the increase of motor power consumption, the temperature of internal body also can constantly raise, and finally causes shorten the service life of SCARA robot, hydraulic performance decline.
Utility model content
Based on this, be necessary that temperature for the existing SCARA robot internal body too high SCARA robot that causes shortens service life, the problem of hydraulic performance decline, a kind of SCARA robot shells structure be provided and there is its SCARA robot.
For realizing a kind of SCARA robot shells structure that the utility model object provides, comprise the first coated mechanism and the second coated mechanism;
Described first coated mechanism is connected with described second coated mechanism; And,
Described first coated mechanism is arranged on the forearm of SCARA robot, the Timing Belt of coated described SCARA robot, and is arranged on the large synchronizing wheel at described Timing Belt two ends and little synchronizing wheel respectively;
The ball spline of described second coated described SCARA robot of coated mechanism and ball-screw.
Wherein in an embodiment, described first coated mechanism comprises the first cover plate and the second cover plate;
Described first cover plate and described second cover plate are interlocked, and form enclosure space;
Described Timing Belt, described large synchronizing wheel and described little synchronizing wheel are placed in described enclosure space.
Wherein in an embodiment, described first cover plate and described second cover plate are symmetrical structure.
Wherein in an embodiment, described second coated mechanism comprises the first bellows, the second bellows and bindiny mechanism;
Described first bellows-sheathed is located on the described ball spline of described SCARA robot, and one end is connected with described first coated mechanism, and the other end is connected with one end of described bindiny mechanism; And,
The splined shaft of described first bellows and described ball spline is coaxially arranged;
Described second bellows-sheathed is located on the described ball-screw of described SCARA robot, and one end is connected with the Z axis motor of described SCARA robot, and the other end is connected with the other end of described bindiny mechanism; And,
The lead screw shaft of described second bellows and described ball-screw is coaxially arranged.
Wherein in an embodiment, the two ends of described first bellows are provided with the first ring flange;
The connection of described first bellows and described first coated mechanism, and described first bellows is all fixedly connected with by described first ring flange with the connection of described syndeton;
The two ends of described second bellows are provided with the second ring flange;
The connection of described second bellows and described Z axis motor, and described second bellows is all fixedly connected with by described second ring flange with the connection of described bindiny mechanism.
Wherein in an embodiment, described bindiny mechanism is shaft-like, and main body is in " Z " font.
Wherein in an embodiment, also comprise tracheae box;
Described tracheae box is arranged on the left riser of described SCARA robot; And,
The magnetic valve of described SCARA robot, tracheae are installed in described tracheae box.
Wherein in an embodiment, also comprise electrical appliance kit;
Described electrical appliance kit is arranged on the right riser of described SCARA robot; And,
The cable of the R spindle motor of described SCARA robot, y-axis motor and described Z axis motor is connected in described electrical appliance kit.
Accordingly, the utility model additionally provides a kind of SCARA robot, comprises as above arbitrary described SCARA robot shells structure.
Above-mentioned SCARA robot shells structure and there is its beneficial effect of SCARA robot: wherein, by the shell of existing SCARA robot is decomposed into the first coated mechanism and the second coated mechanism.First coated mechanism is arranged on the forearm of SCARA robot, the Timing Belt of coated SCARA robot, and is arranged on the large synchronizing wheel at Timing Belt two ends and little synchronizing wheel respectively.The ball spline of the second coated SCARA robot of coated mechanism and ball-screw.Achieve and existing SCARA robot shells volume is reduced, and then the resistance of wind suffered by reducing, reduce energy consumption.And the only lazy-tongs (i.e. large synchronizing wheel, little synchronizing wheel and Timing Belt) of coated SCARA robot and motion (i.e. ball spline and ball-screw), the motor part (i.e. R spindle motor, y-axis motor and Z axis motor) of SCARA robot is then outside exposed, thus add the area of dissipation of SCARA robot, do not need to set up heat dissipation equipment in addition, just can make SCARA robot operationally can be natural air cooled, enhance the heat dispersion of SCARA robot.Finally ensure that the performance of SCARA robot, extend the service life of SCARA robot.
Accompanying drawing explanation
Fig. 1 is the front view of SCARA robot of the present utility model;
Fig. 2 is the top view of SCARA robot of the present utility model;
Fig. 3 is the left view of SCARA robot of the present utility model;
Fig. 4 is the overall structure schematic diagram of SCARA robot of the present utility model;
Fig. 5 is the front view of the first cover plate of SCARA robot shells structure one specific embodiment of the present utility model;
Fig. 6 is the front view of the second cover plate of SCARA robot shells structure one specific embodiment of the present utility model;
Fig. 7 is the front view of the first bellows of SCARA robot shells structure one specific embodiment of the present utility model;
Fig. 8 is the top view of the first bellows of SCARA robot shells structure one specific embodiment of the present utility model;
Fig. 9 is the front view of the second bellows of SCARA robot shells structure one specific embodiment of the present utility model;
Figure 10 is the top view of the second bellows of SCARA robot shells structure one specific embodiment of the present utility model.
Detailed description of the invention
For making technical solutions of the utility model clearly, below in conjunction with drawings and the specific embodiments, the utility model is described in further details.
See Fig. 1 to Fig. 4, be described with the artificial example of SCARA machine comprising SCARA robot shells structure of the present utility model.Wherein, as a specific embodiment of the SCARA robot shells structure that the utility model provides, it comprises the first coated mechanism 100 and the second coated mechanism 200.Further, the first coated mechanism 100 is connected with the second coated mechanism 200.On the forearm that first coated mechanism 100 is arranged on SCARA robot 310, the Timing Belt 410 of coated SCARA robot and be arranged on large synchronizing wheel 420 and the little synchronizing wheel 430 at Timing Belt 410 two ends respectively.The ball spline 510 of the second coated SCARA robot of coated mechanism 200 and ball-screw 520.
The SCARA robot shells structure that the utility model provides is by arranging the first coated mechanism 100 and the second coated mechanism 200, the lazy-tongs (i.e. Timing Belt 410, large synchronizing wheel 420 and little synchronizing wheel 430) of coated SCARA robot and the motion (i.e. ball spline 510 and ball-screw 520) of SCARA robot, make the motor part of SCARA robot (i.e. R spindle motor 620, Z axis motor 610 and y-axis motor 630) outside exposed respectively.Its shell relative to existing SCARA robot, by structure all completely coated to the motor part of SCARA robot, lazy-tongs and motion, effectively reduces the volume of SCARA robot shells.Simultaneously, by arranging the motor partial denudation of SCARA robot outside, not coated by shell institute, increase the area of dissipation of SCARA robot, do not need to set up heat dissipation equipment in addition, just can make SCARA robot operationally can be natural air cooled, thus enhance the heat dispersion of SCARA robot.Finally improve SCARA machine human reriability, ensure that the performance of SCARA robot, and extend the service life of SCARA robot.
Wherein, see Fig. 5 and Fig. 6, as a specific embodiment of SCARA robot shells structure of the present utility model, the first coated mechanism 100 comprises the first cover plate 110 and the second cover plate 120.It should be noted that, easy to process for making, reduce processing technology and save processing cost, the first cover plate 110 and the second cover plate 120 can be set to symmetrical structure, and namely the structure of the first cover plate 110 is identical with the structure of the second cover plate 120.First cover plate 110 and the second cover plate 120 are installed on the forearm 310 of SCARA robot, and after the first cover plate 110 and the second cover plate 120 be interlocked, form an enclosure space.The Timing Belt 410 of this enclosure space coated SCARA robot, large synchronizing wheel 420 and little synchronizing wheel 430, namely make the Timing Belt 410 of SCARA robot, large synchronizing wheel 420 and little synchronizing wheel 430 be placed in enclosure space.
That is, by arranging the first cover plate 110 and the second cover plate 120 is interlocked, form an enclosure space, this enclosure space is by Timing Belt 410, large synchronizing wheel 420 and little synchronizing wheel 430 cover completely and do not produce interference, Timing Belt 410 is damaged at the lazy-tongs preventing foreign matter from entering SCARA robot, while large synchronizing wheel 420 or little synchronizing wheel 430, also the motor part of SCARA robot can not be covered, make respectively can distribute in time to the heat that motor is operationally produced in the motor part of SCARA robot, ensure that SCARA machine human reriability.
Further, by means of only arranging two cover plates (i.e. the first cover plate 110 and the second cover plate 120), being interlocked just to realize the first coated mechanism 100, and structure is simple, is easy to realize.
In addition, as a specific embodiment of SCARA robot shells structure of the present utility model, the second coated mechanism 200 comprises the first bellows 210, second bellows 220 and bindiny mechanism 230.Wherein:
First bellows 210 is set on the ball spline 510 of SCARA robot, and one end is connected with the first coated mechanism 100, and the other end is connected with one end of bindiny mechanism 230.Further, the first bellows 210 is coaxially arranged with the splined shaft of ball spline 510.
In like manner, the second bellows 220 is set on the ball-screw 520 of SCARA robot, and one end is connected with the Z axis motor 610 of SCARA robot, and the other end is connected with the other end of bindiny mechanism 230.Further, the second bellows 220 is coaxially arranged with the lead screw shaft of ball-screw 520.
That is, respectively the ball spline 510 of SCARA robot and ball-screw 520 are entangled by two bellowss (i.e. the first bellows 210 and the second bellows 220), realize the coated of the motion (i.e. ball spline 510 and ball-screw 520) of second 200 pairs of SCARA robots of coated mechanism, with avoid SCARA robot operationally foreign matter enter the phenomenon damaging SCARA robot in ball spline 510 and ball-screw 520.
Meanwhile, coaxially arranging with the splined shaft of ball spline 510 by arranging the first bellows 210, making the first bellows 210 identical with movement locus with the direction of motion of ball spline 510, and then ensure that the normal operation of SCARA robot.
In like manner, second bellows 220 lead screw shaft that is same and ball-screw 520 is coaxially arranged, and one end of the second bellows 220 is also connected with the Z axis motor 610 of SCARA robot, when ball-screw 520 is run up and down along Z axis under the driving of Z axis motor 610, second bellows 220 can move with the motion of ball-screw 520 equally, ensures the normal operation of SCARA robot.
It should be noted that, the connection of the first bellows 210 and bindiny mechanism 230 and the first coated mechanism 100, and the second bellows 220 all realizes by ring flange with the connection of bindiny mechanism 230 and Z axis motor 610.
See Fig. 7 and Fig. 8, the two ends of the first bellows 210 are provided with the first ring flange 211.The connection of the first bellows 210 and the first coated mechanism 100 (i.e. the first cover plate 110 and the second cover plate 120), and the first bellows 210 is all fixedly connected with by the first ring flange 211 with the connection of syndeton 230.
Concrete:
First bellows 210 is coaxially arranged on outside ball spline 510, and because the first bellows 210 is sheathedly arranged on ball spline 510, therefore, the internal diameter of the first bellows 210 is greater than the diameter of the splined shaft of ball spline 510.Simultaneously, on first bellows 210, lower end (i.e. two ends) is provided with the first ring flange 211, the first ring flange 211 that upper end is arranged is fixed in bindiny mechanism 230 by screw, and the first ring flange 211 that lower end is arranged is fixed on the first coated mechanism 100 (i.e. the first cover plate 110 and the second cover plate 120) by screw equally.
See Fig. 9 and Figure 10, the two ends of the second bellows 220 are provided with the second ring flange 221 equally.The connection of the second bellows 220 and Z axis motor 610, and the second bellows 220 is all fixedly connected with by the second ring flange 221 with the connection of bindiny mechanism 230.Concrete:
Second bellows 220 is coaxially arranged on outside ball-screw 520.In like manner, be arranged on ball-screw 520 because the second bellows 220 is sheathed, therefore, the internal diameter of the second bellows 220 is greater than the diameter of the lead screw shaft of ball-screw 520.Further, the upper lower end (i.e. two ends) of the second bellows 220 is provided with the second ring flange 221 equally.Wherein: the second ring flange 221 that upper end is arranged is fixed by screws in bindiny mechanism 230, the second ring flange 221 that lower end is arranged also is fixed by screws on the ring flange 611 of Z axis motor 610.
By as above arranging, when SCARA Robot Z axis can be made to move up and down, first bellows 210 and the second bellows 220 respectively can Free Compression and stretchings under the drive of ball spline 510 and ball-screw 520, do not affect the normal work of SCARA robot, avoid simultaneously SCARA robot operationally foreign matter enter ball spline 510 and ball-screw 520 and damage SCARA robot.And, avoid equally and divide coated situation by the motor section of SCARA robot, each heat to producing during machine operation of motor part can be distributed in time, and when preventing SCARA robot to run, heat constantly raises affects the service life of SCARA robot and the phenomenon of performance.
What deserves to be explained is, can be shaft-like for the bindiny mechanism 230 connecting the first bellows 210 and the second bellows 220, main body is in " Z " font.Structure is simple, is easy to realize, and with low cost.
Further, as a specific embodiment of the SCARA robot shells structure that the utility model provides, tracheae box 300 is also comprised.Tracheae box 300 is arranged on the left riser 710 of SCARA robot.Further, the auxiliary element such as magnetic valve, tracheae of SCARA robot is installed in tracheae box 300, to avoid the exposed phenomenon causing damaging outside of the auxiliary elements such as the magnetic valve of SCARA robot, tracheae.Ensure that SCARA machine human reriability equally, extend the service life of SCARA robot.
Further, the SCARA robot shells mechanism that the utility model provides also comprises electrical appliance kit 400.Electrical appliance kit 400 is arranged on the right riser 720 of SCARA robot.Further, the cable of the R spindle motor 620 of SCARA robot, y-axis motor 630 and Z axis motor 610 all can be connected in electrical appliance kit 400 through joint, then is drawn by bus.Avoid the exposed phenomenon of each cable to motor of the motor part of SCARA robot equally.Ensure that SCARA machine human reriability, extend the service life of SCARA robot.
By any one SCARA robot shells structure as above is applied in SCARA robot, in SCARA robot running, because SCARA robot shells structure obviously reduces compared to existing enclosure volume, the resistance of the wind thus suffered by SCARA robot reduces to some extent, and then reduces energy consumption.And, the motor part major part of SCARA robot is outside exposed, thus adds the area of dissipation of SCARA robot, can realize natural air cooled, the motor part of SCARA robot can be lowered the temperature in time, effectively improve the heat dispersion of SCARA robot.Finally ensure that SCARA machine human reriability, and extend the service life of SCARA robot.
The above embodiment only have expressed several embodiment of the present utility model, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the utility model the scope of the claims.It should be pointed out that for the person of ordinary skill of the art, without departing from the concept of the premise utility, can also make some distortion and improvement, these all belong to protection domain of the present utility model.Therefore, the protection domain of the utility model patent should be as the criterion with claims.
Claims (9)
1. a SCARA robot shells structure, is characterized in that, comprises the first coated mechanism (100) and the second coated mechanism (200);
Described first coated mechanism (100) is connected with described second coated mechanism (200); And,
Described first coated mechanism (100) is arranged on the forearm (310) of SCARA robot, the Timing Belt (410) of coated described SCARA robot and be arranged on large synchronizing wheel (420) and the little synchronizing wheel (430) at described Timing Belt (410) two ends respectively;
The ball spline (510) of described second coated described SCARA robot of coated mechanism (200) and ball-screw (520).
2. SCARA robot shells structure according to claim 1, is characterized in that, described first coated mechanism (100) comprises the first cover plate (110) and the second cover plate (120);
Described first cover plate (110) and described second cover plate (120) are interlocked, and form enclosure space;
Described Timing Belt (410), described large synchronizing wheel (420) and described little synchronizing wheel (430) are placed in described enclosure space.
3. SCARA robot shells structure according to claim 2, is characterized in that, described first cover plate (110) and described second cover plate (120) are symmetrical structure.
4. SCARA robot shells structure according to claim 1, it is characterized in that, described second coated mechanism (200) comprises the first bellows (210), the second bellows (220) and bindiny mechanism (230);
Described first bellows (210) is set on the described ball spline (510) of described SCARA robot, one end is connected with described first coated mechanism (100), and the other end is connected with the one end of described bindiny mechanism (230); And,
Described first bellows (210) is coaxially arranged with the splined shaft of described ball spline (510);
Described second bellows (220) is set on the described ball-screw (520) of described SCARA robot, one end is connected with the Z axis motor (610) of described SCARA robot, and the other end is connected with the other end of described bindiny mechanism (230); And,
Described second bellows (220) is coaxially arranged with the lead screw shaft of described ball-screw (520).
5. SCARA robot shells structure according to claim 4, is characterized in that, the two ends of described first bellows (210) are provided with the first ring flange (211);
The connection of described first bellows (210) and described first coated mechanism (100), and described first bellows (210) is all fixedly connected with by described first ring flange (211) with the connection of described syndeton (230);
The two ends of described second bellows (220) are provided with the second ring flange (221);
The connection of described second bellows (220) and described Z axis motor (610), and described second bellows (220) is all fixedly connected with by described second ring flange (221) with the connection of described bindiny mechanism (230).
6. SCARA robot shells structure according to claim 4, is characterized in that, described bindiny mechanism (230) is for shaft-like, and main body is in " Z " font.
7. the SCARA robot shells structure according to any one of claim 1 to 6, is characterized in that, also comprises tracheae box (300);
Described tracheae box (300) is arranged on the left riser (710) of described SCARA robot; And,
The magnetic valve of described SCARA robot, tracheae are installed in described tracheae box (300).
8. the SCARA robot shells structure according to any one of claim 1 to 6, is characterized in that, also comprises electrical appliance kit (400);
Described electrical appliance kit (400) is arranged on the right riser (720) of described SCARA robot; And,
The cable of the R spindle motor (620) of described SCARA robot, y-axis motor (630) and Z axis motor (610) is connected in described electrical appliance kit (400).
9. a SCARA robot, is characterized in that, comprises the SCARA robot shells structure described in any one of claim 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420838910.2U CN204382299U (en) | 2014-12-22 | 2014-12-22 | SCARA robot shell structure and SCARA robot with same |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420838910.2U CN204382299U (en) | 2014-12-22 | 2014-12-22 | SCARA robot shell structure and SCARA robot with same |
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| CN204382299U true CN204382299U (en) | 2015-06-10 |
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| CN201420838910.2U Active CN204382299U (en) | 2014-12-22 | 2014-12-22 | SCARA robot shell structure and SCARA robot with same |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105479484A (en) * | 2016-01-04 | 2016-04-13 | 珠海格力电器股份有限公司 | Robot joint assembly and robot with same |
| CN106737634A (en) * | 2017-02-17 | 2017-05-31 | 中国电子科技集团公司第二十研究所 | Modularization multiple degrees of freedom industrial robot |
| CN109571442A (en) * | 2019-01-11 | 2019-04-05 | 珠海格力电器股份有限公司 | Connecting device and have its drive mechanism and robot |
| CN112873281A (en) * | 2021-02-23 | 2021-06-01 | 昆山艾派科技有限公司 | Be applied to screw rod spline protective structure for robot arm of assembly operation |
-
2014
- 2014-12-22 CN CN201420838910.2U patent/CN204382299U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105479484A (en) * | 2016-01-04 | 2016-04-13 | 珠海格力电器股份有限公司 | Robot joint assembly and robot with same |
| CN106737634A (en) * | 2017-02-17 | 2017-05-31 | 中国电子科技集团公司第二十研究所 | Modularization multiple degrees of freedom industrial robot |
| CN106737634B (en) * | 2017-02-17 | 2019-03-08 | 中国电子科技集团公司第二十一研究所 | Modularization multiple degrees of freedom industrial robot |
| CN109571442A (en) * | 2019-01-11 | 2019-04-05 | 珠海格力电器股份有限公司 | Connecting device and have its drive mechanism and robot |
| CN112873281A (en) * | 2021-02-23 | 2021-06-01 | 昆山艾派科技有限公司 | Be applied to screw rod spline protective structure for robot arm of assembly operation |
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