CN205148326U - Joint structure of SCARA robot - Google Patents
Joint structure of SCARA robot Download PDFInfo
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- CN205148326U CN205148326U CN201520818208.4U CN201520818208U CN205148326U CN 205148326 U CN205148326 U CN 205148326U CN 201520818208 U CN201520818208 U CN 201520818208U CN 205148326 U CN205148326 U CN 205148326U
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- rotary joint
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Abstract
The utility model discloses a joint structure of SCARA robot, the direct perhaps indirect mounting of its connector have rotation driving device, and the direct perhaps indirect mounting of tongs is on rotation driving device's horizontal rotating shaft. When rotation driving device's horizontal rotating shaft rotates, can drive the tongs and rotate around the horizontal axis (corresponding X axle or Y axle) of its horizontal rotating shaft, thereby make the utility model discloses can realize the tongs the removal of X axle, Y axle, Z axle and around Z axle pivoted simultaneously, can also realize the rotation of tongs at X axle or Y axle to further satisfy the fitting work demand of spare part.
Description
Technical field
The utility model relates to SCARA robot, particularly a kind of articulation structure being applied to the SCARA robot of assembling work.
Background technology
In the industrial production, often the assembling work manually completing parts can be substituted, to enhance productivity by SCARA robot (selective compliance assembly robot arm).
Existing SCARA robot is generally four articulation structures, (can be a kind of SCARA robot disclosed in the patent application of 2013101554965 see application number), its handgrip is arranged on the adpting flange of vertical screw mandrel lower end, during work, by the first rotary joint by the first driven by servomotor, by the second driven by servomotor the second rotary joint and realize by realizing handgrip in X-axis by the linear joint B of the 4th driven by servomotor, Y-axis, the translational motion of Z axis (Z-direction is vertical direction), and realize the rotation of handgrip around the vertical axis (Z axis) of vertical screw mandrel by the 3rd rotary joint, thus realize the assembling work of parts.
But the SCARA robot of existing this four articulation structures, though the movement of handgrip at X-axis, Y-axis, Z axis and the rotation around Z axis can be realized, and the occasion of most of parts assembling work can be met, but along with the continuous expansion of the market demand, during the assembling of some parts, realize except needing handgrip moving at X-axis, Y-axis, Z axis and except the rotation of Z axis, also needing to realize handgrip and parts could be captured or assembling after X-axis or Y-axis rotate.Obviously, the SCARA robot of existing four articulation structures cannot realize above-mentioned purpose.
Summary of the invention
The purpose of this utility model is the articulation structure providing a kind of SCARA robot, and it can realize handgrip in the movement of X-axis, Y-axis, Z axis and while Z axis rotates, and can also realize the rotation of handgrip in X-axis or Y-axis.
The articulation structure of a kind of SCARA robot described in the utility model, comprise be arranged on SCARA robot support on and by the first motor-driven first rotary joint, be arranged on the first rotary joint front end and by the second motor-driven second rotary joint, and be arranged on the second rotary joint front end also respectively by the 3rd motor-driven linear joint with by the 4th motor-driven 3rd rotary joint, screw mandrel connects with the 3rd rotary joint and linear joint, there is connector the lower end of screw mandrel, it is levied and is: described connector directly or is indirectly provided with rotating driving device, handgrip directly or is indirectly arranged on the horizontal rotating shaft of rotating driving device.
SCARA robot described in the utility model, owing to being directly or indirectly provided with rotating driving device on the connector of screw mandrel lower end, and handgrip is directly or indirectly arranged on the horizontal rotating shaft of rotating driving device, when the horizontal rotating shaft of rotating driving device rotates, handgrip can be driven to rotate around the horizontal axis (corresponding X-axis or Y-axis) of its horizontal rotating shaft, thus make the utility model realize handgrip in X-axis, Y-axis, the movement of Z axis and while Z axis rotates, the rotation of handgrip in X-axis or Y-axis can also be realized, thus meet the assembly work demand of parts further.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model.
Fig. 2 is the enlarged detail of the part A of Fig. 1.
Detailed description of the invention
As Fig. 1, shown in Fig. 2, the articulation structure of described SCARA robot, comprise be arranged on SCARA robot support 1 on and by first motor (not shown) drive the first rotary joint 2, be arranged on the first rotary joint 2 front end and the second rotary joint 3 driven by the second motor (not shown), and be arranged on the second rotary joint 3 front end also respectively by the linear joint 4 of the 3rd motor (not shown) driving with by the 4th motor-driven 3rd rotary joint 5, screw mandrel connects with the 3rd rotary joint 5 and linear joint 4, the lower end of screw mandrel 6 has connector 61(can be adpting flange, or contiguous block etc.), described connector 61 directly or is indirectly provided with rotating driving device 7, rotating driving device 7 can be rotary cylinder or servomotor, handgrip 8 directly or is indirectly arranged on the horizontal rotating shaft of rotating driving device 7, described the first rotary joint 2, second rotary joint 3, the 3rd rotary joint 5 and linear joint 4, and the connecting mode of screw mandrel 6 and the 3rd rotary joint 5 and linear joint 4 is prior art, wherein, when first rotary joint 2, second rotary joint 3 and linear joint 4 coordinate, controlled throwing bar is in the movement of X-axis, Y-axis and Z axis, the controlled throwing bar of 3rd rotary joint 5, around the rotation of its vertical axis (Z axis), does not repeat its concrete structure, connecting mode and operation principle here.When the horizontal rotating shaft of rotating driving device 7 rotates, handgrip 8 can be driven to rotate around the horizontal axis (corresponding X-axis or Y-axis) of its horizontal rotating shaft, thus make the utility model realize handgrip 8 in the movement of X-axis, Y-axis, Z axis and while Z axis rotates, the rotation of handgrip in X-axis or Y-axis can also be realized, thus meet the assembly work demand of parts further.
The connector 61 of described screw mandrel 6 lower end is fixed with mount pad 10, described rotating driving device 7 is fixed on mount pad 10, thus make rotating driving device 7 indirectly be arranged on connector 61, the horizontal rotating shaft of rotating driving device 7 is connected with handgrip by the reductor 9 on mount pad 10, thus is indirectly connected with the horizontal rotating shaft of rotating driving device 7 by handgrip 8.
Claims (3)
1. the articulation structure of a SCARA robot, comprise be arranged on SCARA robot support on and by the first motor-driven first rotary joint, be arranged on the first rotary joint front end and by the second motor-driven second rotary joint, and be arranged on the second rotary joint front end also respectively by the 3rd motor-driven linear joint with by the 4th motor-driven 3rd rotary joint, screw mandrel connects with the 3rd rotary joint and linear joint, there is connector the lower end of screw mandrel, it is levied and is: described connector directly or is indirectly provided with rotating driving device, handgrip directly or is indirectly arranged on the horizontal rotating shaft of rotating driving device.
2. the articulation structure of SCARA robot according to claim 1, it is characterized in that: the connector of described screw mandrel lower end is fixed with mount pad, described rotating driving device is fixed on mount pad, and the horizontal rotating shaft of rotating driving device is connected with handgrip by the reductor on mount pad.
3. the articulation structure of SCARA robot according to claim 1, is characterized in that: rotating driving device is rotary cylinder or servomotor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520818208.4U CN205148326U (en) | 2015-10-22 | 2015-10-22 | Joint structure of SCARA robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520818208.4U CN205148326U (en) | 2015-10-22 | 2015-10-22 | Joint structure of SCARA robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205148326U true CN205148326U (en) | 2016-04-13 |
Family
ID=55684064
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520818208.4U Active CN205148326U (en) | 2015-10-22 | 2015-10-22 | Joint structure of SCARA robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205148326U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114289973A (en) * | 2021-12-23 | 2022-04-08 | 中铁七局集团有限公司 | Posture adjusting and positioning device |
-
2015
- 2015-10-22 CN CN201520818208.4U patent/CN205148326U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114289973A (en) * | 2021-12-23 | 2022-04-08 | 中铁七局集团有限公司 | Posture adjusting and positioning device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |