CN206140499U - SCARA robot - Google Patents

SCARA robot Download PDF

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Publication number
CN206140499U
CN206140499U CN201621053643.3U CN201621053643U CN206140499U CN 206140499 U CN206140499 U CN 206140499U CN 201621053643 U CN201621053643 U CN 201621053643U CN 206140499 U CN206140499 U CN 206140499U
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China
Prior art keywords
joint
rotary joint
servomotor
scara robots
rotary
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CN201621053643.3U
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Chinese (zh)
Inventor
刘延遂
管贻生
陈世钟
梁峰
林旭斌
陈新
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Foshan Bowen Robot And Automation Technology Co Ltd
Guangdong University of Technology
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Foshan Bowen Robot And Automation Technology Co Ltd
Guangdong University of Technology
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Application filed by Foshan Bowen Robot And Automation Technology Co Ltd, Guangdong University of Technology filed Critical Foshan Bowen Robot And Automation Technology Co Ltd
Priority to CN201621053643.3U priority Critical patent/CN206140499U/en
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Abstract

The utility model discloses a SCARA robot is by a rotary joint, the 2nd rotary joint with have compound movement joint rotatory and linear motion from top to bottom and form, wherein a rotary joint is taking the 2nd rotary joint and compound movement joint rotatory round a rotary joint's center of rotation in horizontal plane, realize first rotational degree of freedom, the 2nd rotary joint is taking the compound movement joint rotatory around the 2nd rotary joint's center of rotation in horizontal plane, realize a second rotational degree of freedom, the 3rd servo motor and fourth servo motor in the compound movement joint are taking ball spline shaft to realize rotation and the interior upper and lower linear motion of vertical plane in the horizontal plane, realize a third rotational degree of freedom and linear motion's the degree of freedom. The utility model discloses an overall layout is reasonable, simple structure is compact, small easy to assemble, the many convenient and practical of expansion function.

Description

A kind of SCARA robots
Technical field
The utility model is related to robotics, more particularly to it is a kind of can planar pick up put object structure it is tight Gather, the SCARA robots that volume is light and handy, dynamic property good, expansion is strong.
Background technology
In current industrial circle, industrial robot automatic production line is adopted by many industries, such as electronics 3C manufactures Industry, automobile industry, food and medicine industry etc., and many industrial trades are also just carrying forward vigorously " machine substitute human labor " strategy.Industry Robot is excellent with high degree of automation, production efficiency height, high precision, saving cost of labor etc. compared to manual work mode Point.
SCARA (Selective Compliance Assembly Robot Arm, Chinese translation:Select compliance assembling Robotic arm) robot is a kind of industrial robot of the Special Category of circular cylindrical coordinate type, also commonly referred to as flapping articulation type machine People.The robot has work tempo fast, control is simple, portable construction the advantages of, but while also there is poor dynamic, rigidity The defect such as not enough, layout is not compact.
Utility model content
The purpose of this utility model is to overcome the deficiencies in the prior art, there is provided a kind of rationally distributed, structure is more compact, Expansion is more preferable, the four-degree-of-freedom SCARA robots with good practicality.
The purpose of this utility model is achieved through the following technical solutions:
A kind of SCARA robots, mainly include the first rotary joint, the big portion of the second rotary joint and compound motion joint three Point.The second rotary joint is installed in the end of first rotary joint, and drives the second rotary joint to turn around the first rotary joint It is dynamic.Compound motion joint is installed in the end of second rotary joint, and drives compound motion joint to turn around the second rotary joint It is dynamic.
Specifically, the compound motion joint (rotate and move along a straight line up and down) includes the 3rd servomotor, the 4th servo Motor, ball screw, ball spline shaft and spline housing.One end of the ball spline shaft is arranged on ball screw, wherein, rolling Ballscrew is made up of screw rod, nut and ball, and ball spline shaft is arranged on connecting plate, meanwhile, nut is also mounted at connecting plate On, nut is moved on screw rod, and ball spline shaft moves up and down also with nut on ball screw;Ball spline shaft it is another End is provided with vacuum cup, is connected between the 4th servomotor and ball screw, drives ball spline shaft to move up and down.It is described Ball spline shaft is penetrated in spline housing, cooperatively forms with spline housing bonded, and the 3rd servomotor is connected with spline housing, is led to Crossing spline housing drives ball spline shaft to rotate.
Specifically, first rotary joint mainly include support and the first servomotor on support, the One speed reducer and the first joint arm.The input of first decelerator is connected with the output end of the first servomotor, and first subtracts The output end of fast device is fixed with the front end of the first joint arm, and the end for driving the first joint arm rotates around front end, that is, drive second Rotary joint rotates around the front end of the first joint arm.
Specifically, second rotary joint includes the second servomotor, the second decelerator and second joint arm.Described The input of two decelerators is connected with the output end of the second servomotor, before the output end and second joint arm of the second decelerator End is fixed, and the end for driving second joint arm rotates around front end, that is, drive compound motion joint to revolve around the front end of second joint arm Turn.
Used as preferred version of the present utility model, the compound motion joint also includes the 3rd servomotor of connection and spline 3rd synchronous belt wheel device of set.3rd synchronous belt wheel device includes the 3rd main synchronization being arranged on the 3rd servomotor Wheel, the on spline housing the 3rd from synchronizing wheel and the 3rd Timing Belt.3rd Timing Belt connects respectively the 3rd main synchronization Wheel and the 4th when the 3rd servomotor is rotated, drives the 3rd main synchronizing wheel, the 3rd main synchronizing wheel to lead to from synchronizing wheel by output shaft Crossing the 3rd Timing Belt drives the 3rd to rotate from synchronizing wheel, and then spline housing and ball spline shaft is rotated together.Due to Timing Belt Wheel has the advantages that transmission efficiency, stable drive, high precision, noise are little, it is possible to meeting robot high-speed, high precision Design requirement.
Used as preferred version of the present utility model, the compound motion joint also includes the 4th servomotor of connection and ball 4th synchronous belt wheel device of screw mandrel.4th synchronous belt wheel device includes that the 4th master being arranged on the 4th servomotor is same Step wheel, the on ball screw the 4th from synchronizing wheel and the 4th Timing Belt.4th Timing Belt connects respectively the 4th master Synchronizing wheel and the 4th when the 4th servomotor is rotated, by output shaft the 4th main synchronizing wheel, the 4th main synchronization is driven from synchronizing wheel Wheel drives the 4th to rotate from synchronizing wheel by the 4th Timing Belt, and then rotates ball screw, and drives ball spline shaft upper and lower Motion.Because synchronous pulley has the advantages that transmission efficiency, stable drive, high precision, noise are little, it is possible to meeting machine The design requirement of people's high-speed, high precision.
Further, circuit is arranged for convenience or gas or liquid is passed through, and the ball spline shaft adopts hollow-core construction. One end of ball spline shaft is provided with the quick change gas-tpe fitting rotated for high speed and (can also keep during ball spline shaft high speed rotation Supply is stable, unimpeded), the other end is provided with for the internal thread of installing component (vacuum cup or other execution units).
Further, due to SCARA robots small volume, limited space, it is therefore desirable to install a kind of gearratio it is big, zero Part is few, dismount all convenient reducing gear, so, the first decelerator described in the utility model and the second decelerator are passed using harmonic wave Reduction device.Harmonic drive formula decelerator has that gearratio is big, the letter of high capacity, high transmission accuracy, transmission efficiency, structure Single, easy for installation, small volume, lightweight advantage.The harmonic speed reducer mainly includes wave producer, flexbile gear, steel wheel and intersection Roller bearing.The steel wheel is provided with internal tooth, and fixedly mounts.The flexbile gear is provided with external tooth and is enclosed within one end of wave producer, The crossed roller bearing is arranged on the other end of wave producer, and the wave producer is arranged in steel wheel, makes the external tooth of flexbile gear Engage with the inner toothed portion of steel wheel, realize transmission.
Further, first rotary joint also includes the first buffer stopper, and first buffer stopper is arranged on support, For limiting the rotational angle of the first joint arm, the spacing and buffering of two strokes is rotated and reverse as the first joint arm, from And avoid overtravel and damage part.Second rotary joint also includes the second buffer stopper, and second buffer stopper is arranged on On first joint arm, for limiting the rotational angle of second joint arm, as second joint arm two strokes are rotated and reverse Spacing and buffering, so as to avoid overtravel part is damaged.
Further, first rotary joint also includes the first power connection for connecting power line and for connecting First pneumatic joint of feeder.First power connection and the first pneumatic joint are arranged on support.
Further, second rotary joint is provided with shell, and second rotary joint and compound motion joint are pacified It is cased.The second source joint and the second pneumatic joint for expanding interface is additionally provided with the shell, is improve The expansion of SCARA robots, adapts to more application scenarios.
Further, the conventional flange in SCARA robots has 12 holes and octal via arrangements, in order to simplify portion Part species, improves the versatility of part, and the SCARA robots also include the connection method for connecting wave producer, decelerator It is blue.Ten two holes are blue and octal flange the via arrangements of the adpting flange are merged, and are designed to the cloth of 20 through holes Office, lead to the hole site is blue with ten two holes respectively and octal flange is corresponding.The adpting flange is arranged on wave producer, for by ripple Generator is fixed on pedestal;The adpting flange is also arranged on motor output shaft, for connection reducer.
Working process and principle of the present utility model are:The utility model is mainly closed by the first rotary joint, the second rotation Save and with rotation and the compound motion joint for moving along a straight line up and down composition;Wherein the first rotary joint is with the second rotary joint Rotate around the center of rotation of the first rotary joint in horizontal plane with compound motion joint, realize first rotation freely Degree, the second rotary joint rotates in horizontal plane with compound motion joint around the center of rotation of the second rotary joint, realizes Second rotary freedom, IA 3rd servomotor of compound motion and the 4th servomotor are realized with ball spline shaft Linear motion up and down in rotation and vertical plane in horizontal plane, realize the 3rd rotary freedom and linear motion from By spending.Integral layout of the present utility model is reasonable, simple and compact for structure, small volume is conveniently installed, how convenient and practical expanding function is.
Compared with prior art, the utility model has further the advantage that:
(1) overall volume of the present utility model is little, stand structure is compact, it is adaptable to the narrow occasion of installation site.
(2) support flange of the present utility model has the through hole of two kinds of distribution patterns, improves universal, facilitates user to pacify Dress.
(3) second joint arm of the present utility model is integrally formed, compact conformation, and quality is light and handy, reduces movement inertia, has Help improve its dynamic response, second and third, four servomotors be directly installed on second joint arm, without other connectors, carry High reliability.
(4) shell of the utility model second joint arm is provided with supply socket and pneumatic joint, is available for various outsides Fixture is used, in addition, there is internal thread ball spline end, can install different fixtures according to field condition, and aforementioned two kinds extend mouth, SCARA robots expansion is improve, more Production requirements can be met.
(5) one end of ball spline shaft of the present utility model is provided with the quick change gas-tpe fitting for high speed rotation, makes rolling Spline axle can also keep supply stable, unimpeded when rotating at a high speed, improve the integrally-built compactedness of robot.
Description of the drawings
Fig. 1 is the stereogram of SCARA robots provided by the utility model.
Fig. 2 is the sectional view of SCARA robots provided by the utility model.
Fig. 3 is the structural representation of the first rotary joint provided by the utility model.
Fig. 4 is the structural representation of the second rotary joint provided by the utility model.
Fig. 5 is the structural representation in compound motion joint provided by the utility model.
Fig. 6 is the blue structural representation of conventional ten two holes.
Fig. 7 is the structural representation of conventional octal flange.
Fig. 8 is the structural representation of adpting flange provided by the utility model.
Label declaration in above-mentioned accompanying drawing:
A the first rotary joint the second rotary joints of B
The C supports of composite joint 1 in rotary moving
The joint speed reducer support base of 2 one joint servo motor 3 one
The joint arm of 4 one joint harmonic speed reducer 5 one
The joint buffer stopper of 6 one joint wave producer adpting flange 7 one
The wire socket of 8 one joint harmonic speed reducer adpting flange 9
The joint wave producer adpting flange of 10 support pneumatic joint 11 2
The joint servo motor of 12 2 joint harmonic speed reducer 13 2
The joint buffer stopper of 14 2 joint arm 15 2
The joint servo motor of 16 4 joint servo motor 17 3
The joint motor synchronous pulley of 18 3 joint motor synchronous pulley 19 4
The vacuum cup of 20 ball-screw synchronous pulley 21
The joint arm lower casing of 22 ball spline shaft 23 2
The spline synchronous pulley of 24 spline housing 25
26 connecting plate 27 rotates at a high speed gas-tpe fitting
Shell on the joint arm of 28 ball-screw nut 29 2
30 ball-screw 31 expands supply socket
32 expand gas-tpe fitting.
Specific embodiment
To make the purpose of this utility model, technical scheme and advantage clearer, clear and definite, develop simultaneously referring to the drawings enforcement The utility model is described in further detail for example.
Embodiment 1:
As shown in Figure 1, Figure 2, the four-degree-of-freedom plane SCARA robot shown in Fig. 3, Fig. 4 and Fig. 5, using absolute encoder formula Full servo-drive, agent structure include the first rotary joint A, the second rotary joint B, rotation and mobile compound motion joint C, two The pneumatic power supply of shell expands interface and interface is expanded in end on joint arm.
As shown in figure 3, the first rotary joint A is driven by a joint servo motor 2, a joint servo motor 2 passes through screw Its motor flange is fixed under a joint speed reducer support base 3, a joint harmonic speed reducer adpting flange 8 is using mode connects for screw one The steel wheel of the joint harmonic speed reducer 4 of joint speed reducer support base 3 and, a joint servo motor 2 passes through a joint wave producer Adpting flange 6 connects the wave producer of a joint harmonic speed reducer 4, is fixed using steel wheel, flexbile gear output type mounting structure, and one closes Section decelerator support base 3 is fixed by screws on support 1, and a joint arm 5 is soft with a joint harmonic speed reducer 4 by screw The fixed output of wheel.
As shown in figure 4, the second rotary joint B is driven by two joint servo motors 13, two joint servo motors 13 pass through spiral shell Nail fixes that its motor flange is reverse mounted on two joint arms 14, and two joint harmonic speed reducers 12 are fixed by screws in two joints On arm 14, two joint servo motors 13 connect the wave producer of two joint harmonic speed reducers 12 by two joint wave producer 11, The steel wheel of two joint harmonic speed reducers 12 is fixed on a joint arm 5 by screw, is fixed using steel wheel, and flexbile gear output type is installed Structure so that two joint arms 14 can be with respect to the rotary motion of a joint arm 5.
As shown in figure 5, rotation and mobile compound motion joint C are respectively by the 3rd rotary joint and the 4th linear joint group Into the 3rd rotary joint is passed by three joint servo motors 17 by three joint motor synchronous pulleys 18 and spline synchronous pulley 25 Move to the inner ring of spline housing 24, ball spline shaft 22 rotates as spline housing 24 is rotated.4th linear joint is watched by four joints Take motor 16 and ball-screw 30, ball-screw are driven to by four joint motor synchronous pulleys 19 and ball-screw synchronous pulley 20 Nut 28 is moved up and down with the rotation of ball-screw 30.The flange of the spline housing 24 in the 3rd rotary joint is solid by screw On two joint arms 14, ball spline shaft 22 is concentric to be installed on spline housing 24, and the one end of ball spline shaft 22 adopts angular contact Device bearing Auxiliary support is fixed on connecting plate 26.Ball-screw nut 28 in 4th linear joint is installed on company by screw On fishplate bar 26, the rotation of ball-screw 30 drives moving up and down for ball-screw nut 28, so as to drive connecting plate 26 and connection The axle of ball spline shaft 22 thereon is moved up and down.So that integral layout is compact light and handy, and realize its rotation and movement two The function of the free degree.
Ball spline shaft 22 adopts hollow-core construction, and to facilitate wiring and vented liquid, upper end is provided with height in the present embodiment Fast rotary quick change gas-tpe fitting 27, end is provided with inner nut, and to facilitate vacuum cup 21 and its remaining fixture are installed.
Shell includes shell 29 on two joint arm lower casings 23 and two joint arms, wherein having on shell 29 on two joint arms Two are expanded attaching plug 31 and two pneumatic joints 32, to facilitate installation and the functional realiey of end equipment.
As shown in Fig. 6, Fig. 7 and Fig. 8, further, the conventional flange in SCARA robots has 12 holes and octal Via arrangements, in order to simplify variety of components, improve the versatility of part, facilitate staff to be installed, the SCARA machines People also includes the adpting flange for connecting wave producer, decelerator.The adpting flange is blue and octal flange by ten two holes Via arrangements are merged, and are designed to the layout of 20 through holes, and lead to the hole site is blue with ten two holes respectively and octal flange Correspondence.The adpting flange is arranged on wave producer, for wave producer to be fixed on into pedestal;The adpting flange is also arranged on On motor output shaft, for connection reducer.
Operation principle of the present utility model is:Between the joint arm 5 of support 1 and, a joint arm 5 and two joint arms 14 it Between rotary joint axis be parallel to each other and perpendicular to horizontal plane, driven using a joint servo motor 2, two joint servo motors 13 A dynamic joint arm 5, two joint arms 14 rotate around respective rotary joint axis, so as to realize the end of ball spline shaft 22 at certain Positioning on one horizontal plane.Can be carried out using rotation and mobile compound motion joint C ball spline shaft 22 end rotation with And in the orientation of vertical direction.
Above-described embodiment is the utility model preferably embodiment, but embodiment of the present utility model is not by above-mentioned The restriction of embodiment, it is other it is any without departing from the change made under Spirit Essence of the present utility model and principle, modify, replace Generation, combination, simplification, should be equivalent substitute mode, be included within protection domain of the present utility model.

Claims (10)

1. a kind of SCARA robots, it is characterised in that including the first rotary joint, the second rotary joint and compound motion joint; The second rotary joint is installed in the end of first rotary joint, and drives the second rotary joint to rotate, the second rotary joint Compound motion joint is installed in end, and drives compound motion articulation;
The compound motion joint includes the 3rd servomotor, the 4th servomotor, ball screw, ball spline shaft and spline Set;One end of the ball spline shaft is arranged on ball screw, and the other end is provided with vacuum cup, the 4th servomotor and ball Screw rod transmission connects, and drives ball spline shaft to move up and down;The ball spline shaft is penetrated in spline housing, the 3rd servomotor with Spline housing is connected, and drives ball spline shaft to rotate.
2. SCARA robots according to claim 1, it is characterised in that first rotary joint include support and The first servomotor, the first decelerator and the first joint arm on support;The input of first decelerator and The output end connection of one servomotor, output end is fixed with the front end of the first joint arm, drives the end of the first joint arm around front End rotation.
3. SCARA robots according to claim 2, it is characterised in that second rotary joint includes the second servo Motor, the second decelerator and second joint arm;The input of second decelerator is connected with the output end of the second servomotor, Output end is fixed with the front end of second joint arm, and the end for driving second joint arm rotates around front end.
4. SCARA robots according to claim 3, it is characterised in that the compound motion joint also includes connection the 3rd synchronous belt wheel device of three servomotors and spline housing;3rd synchronous belt wheel device includes being arranged on the 3rd servo electricity The 3rd main synchronizing wheel on machine, the on spline housing the 3rd from synchronizing wheel and the 3rd Timing Belt;3rd Timing Belt point Not Lian Jie the 3rd main synchronizing wheel and the 4th from synchronizing wheel.
5. SCARA robots according to claim 4, it is characterised in that the compound motion joint also includes connection the 4th synchronous belt wheel device of four servomotors and ball screw;4th synchronous belt wheel device includes being arranged on the 4th servo The 4th main synchronizing wheel on motor, the on ball screw the 4th from synchronizing wheel and the 4th Timing Belt;Described 4th is synchronous Band connects respectively the 4th main synchronizing wheel and the 4th from synchronizing wheel.
6. SCARA robots according to claim 3, it is characterised in that the ball spline shaft adopts hollow-core construction, one End is provided with the quick change gas-tpe fitting for high speed rotation, and the other end is provided with the internal thread for installing component.
7. SCARA robots according to claim 3, it is characterised in that first decelerator and the second decelerator are adopted With harmonic drive formula decelerator;The harmonic speed reducer mainly includes wave producer, flexbile gear and steel wheel;The steel wheel is provided with internal tooth, Fixed installation;The flexbile gear is provided with external tooth and is enclosed within wave producer, and the wave producer is arranged in steel wheel, makes the outer of flexbile gear Tooth engages realization transmission with the inner toothed portion of steel wheel.
8. SCARA robots according to claim 3, it is characterised in that first rotary joint is also slow including first Block is rushed, first buffer stopper is arranged on support;Second rotary joint also includes the second buffer stopper, second buffering Block is arranged on the first joint arm.
9. SCARA robots according to any one of claim 1 to 8, it is characterised in that first rotary joint is also wrapped Include the first power connection and the first pneumatic joint;First power connection and the first pneumatic joint are arranged on support.
10. SCARA robots according to any one of claim 1 to 8, it is characterised in that on second rotary joint Shell is provided with, second rotary joint and compound motion joint are arranged on inside the shell;It is additionally provided with the shell for expanding The second source joint and the second pneumatic joint of interface.
CN201621053643.3U 2016-09-13 2016-09-13 SCARA robot Active CN206140499U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201621053643.3U CN206140499U (en) 2016-09-13 2016-09-13 SCARA robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201621053643.3U CN206140499U (en) 2016-09-13 2016-09-13 SCARA robot

Publications (1)

Publication Number Publication Date
CN206140499U true CN206140499U (en) 2017-05-03

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201621053643.3U Active CN206140499U (en) 2016-09-13 2016-09-13 SCARA robot

Country Status (1)

Country Link
CN (1) CN206140499U (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108544482A (en) * 2018-05-29 2018-09-18 上海达野智能科技有限公司 SCARA robots
CN111660293A (en) * 2019-03-08 2020-09-15 精工爱普生株式会社 Horizontal multi-joint robot
CN112809734A (en) * 2021-03-09 2021-05-18 上海捷勃特机器人有限公司 Robot joint structure

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108544482A (en) * 2018-05-29 2018-09-18 上海达野智能科技有限公司 SCARA robots
CN111660293A (en) * 2019-03-08 2020-09-15 精工爱普生株式会社 Horizontal multi-joint robot
CN111660293B (en) * 2019-03-08 2023-03-21 精工爱普生株式会社 Horizontal multi-joint robot
CN112809734A (en) * 2021-03-09 2021-05-18 上海捷勃特机器人有限公司 Robot joint structure

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