CN206764782U - A kind of general SCARA robots - Google Patents
A kind of general SCARA robots Download PDFInfo
- Publication number
- CN206764782U CN206764782U CN201720216626.5U CN201720216626U CN206764782U CN 206764782 U CN206764782 U CN 206764782U CN 201720216626 U CN201720216626 U CN 201720216626U CN 206764782 U CN206764782 U CN 206764782U
- Authority
- CN
- China
- Prior art keywords
- swing arm
- motor
- base
- connecting hole
- control nut
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
Links
Abstract
The utility model discloses a kind of general SCARA robots, including base, the first swing arm is connected with base, the second swing arm is connected with first swing arm, base is provided with motor, first swing arm is provided with connecting hole, the connecting hole is vertically connected with symmetrical configuration, the middle part of connecting hole is provided with narrowed portion, harmonic speed reducer is provided with the connecting hole, harmonic speed reducer includes mounting ring and is located at the decelerator body of mounting ring side, the output end of motor is the connection of decelerator body, mounting ring can be connected so that base can be connected with the first swing arm from above or below with two outsides up and down of narrowed portion respectively.Two kinds of different mounting means of SCARA robots are so achieved that, to adapt to different requirements.The utility model is used for SCARA robots.
Description
Technical field
It the utility model is related to a kind of general SCARA robots.
Background technology
According to cable distribution, can be subdivided into built-in electric cable external with cable external, existing cable for SCARA robots
While formula has high-speed cruising, high performance-price ratio, its mounting means is also relatively single, and apply needs difference in different application occasion
When mounting means, it can not often be realized in the case where being changed without part.
Utility model content
The technical problems to be solved in the utility model is：There is provided a kind of application flexible general SCARA robots.
The solution that the utility model solves its technical problem is：
A kind of general SCARA robots, including base, the first swing arm is connected with base, is connected with the first swing arm
Two swing arms, base are provided with motor, and the first swing arm is provided with connecting hole, and the connecting hole is vertically connected with symmetrical configuration, connecting hole
Middle part be provided with narrowed portion, harmonic speed reducer is provided with the connecting hole, harmonic speed reducer includes mounting ring and is located at mounting ring
The decelerator body of side, the output end of motor is that decelerator body connects, two up and down that mounting ring can respectively with narrowed portion
Outside, which connects, causes base to be connected from above or below with the first swing arm.
As the further of above-mentioned technical proposal, base is provided with two orthogonal mounting planes, and each installation is flat
Several mounting holes are equipped with face.
As the further of above-mentioned technical proposal, the end of the second swing arm is provided with ball screw spline, the ball screw
Spline includes the two control nuts set one on the other, and described two control nuts are referred to as the first control nut and second
Nut is controlled, the second swing arm is provided with two driver elements, described two control nuts of driver element difference first and the second control
Nut processed connects one to one, and each driver element includes motor, the motor close to the first swing arm and the second swing arm,
Flexible connecting member passing power is used between motor and control nut.
As the further of above-mentioned technical proposal, the driver element being connected with the second control nut includes secondary transmission bar,
The secondary transmission bar is provided with small one and large one two coaxial breast wheels, and flexible connect is respectively equipped with described two breast wheels
Fitting, big breast wheel are connected by flexible connecting member with motor, and small breast wheel is controlled by flexible connecting member and second
Nut connects.
As the further of above-mentioned technical proposal, the breast wheel is gear or belt wheel or sprocket wheel, the flexible connecting member
For cingulum or belt or chain.
The beneficial effects of the utility model are：A kind of general SCARA robots, including base, first is connected with base
Swing arm, the second swing arm is connected with the first swing arm, base is provided with motor, and the first swing arm is provided with connecting hole, the connecting hole
Symmetrical configuration is vertically connected with, the middle part of connecting hole is provided with narrowed portion, harmonic speed reducer, harmonic speed reducer are provided with the connecting hole
Including mounting ring and the decelerator body for being located at mounting ring side, the output end of motor is the connection of decelerator body, and mounting ring can
It is connected respectively with two outsides up and down of narrowed portion so that base can be connected with the first swing arm from above or below.It is thus real
Two kinds of different mounting means of SCARA robots are showed, to adapt to different requirements.The utility model is used for SCARA machines
Device people.
Brief description of the drawings
, below will be to needed for embodiment description in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
The accompanying drawing to be used is briefly described.Obviously, described accompanying drawing is part of the embodiment of the present utility model, rather than entirely
Portion's embodiment, those skilled in the art on the premise of not paying creative work, can also obtain it according to these accompanying drawings
His design and accompanying drawing.
Fig. 1 is structural representation of the present utility model；
Fig. 2 is close-up schematic view of the present utility model；
Fig. 3 is base schematic perspective view of the present utility model；
Fig. 4 is schematic top plan view of the present utility model.
Embodiment
Design, concrete structure and caused technique effect of the present utility model are carried out below with reference to embodiment and accompanying drawing
Clearly and completely describe, to be completely understood by the purpose of this utility model, feature and effect.Obviously, described embodiment
It is part of the embodiment of the present utility model, rather than whole embodiments, based on embodiment of the present utility model, the skill of this area
The other embodiment that art personnel are obtained on the premise of not paying creative work, belong to the model of the utility model protection
Enclose.In addition, all connection/annexations being previously mentioned in text, not singly refer to component and directly connect, and refer to can be according to specific reality
Situation is applied, by adding or reducing couple auxiliary, to form more excellent draw bail.Each technology in the utility model is special
Sign, can be with combination of interactions on the premise of not conflicting conflict.
Referring to figs. 1 to Fig. 4, this is embodiment of the present utility model, specifically：
A kind of general SCARA robots, including base 1, the first swing arm 2 is connected with base 1, is connected in the first swing arm 2
There is the second swing arm 3, base 1 is provided with motor, and the first swing arm 2 is provided with connecting hole, and the connecting hole is vertically connected with symmetrical configuration,
The middle part of connecting hole is provided with narrowed portion 11, and harmonic speed reducer is provided with the connecting hole, and harmonic speed reducer includes mounting ring 6 and set
Decelerator body in the side of mounting ring 6, the output end of motor are the connections of decelerator body, mounting ring 6 can respectively with narrowed portion
11 two outside connections up and down cause base to be connected from above or below with the first swing arm 2.So it is achieved that SCARA
Two kinds of different mounting means of robot, to adapt to different requirements.And so cleverly design, it is possible to reduce connection
Part, assembly and disassembly are very convenient.
In order to be applicable different usage scenarios, make use of the present utility model more flexible, base 1 is provided with two mutually
Vertical mounting plane, several mounting holes 4 are equipped with each mounting plane.
The end of second swing arm 3 of the present embodiment is provided with ball screw spline, and the ball screw spline is included one on one
Two of lower setting control nuts, described two control nuts are referred to as the first control nut and the second control nut, and second
Swing arm 3 is provided with two driver elements, and described two control nuts of driver element difference first and second control nut 1 a pair
Should connect, each driver element includes motor, the motor 5 close to the first swing arm 2 and the second swing arm 3, motor with
Flexible connecting member passing power is used between control nut.Such setting can allow the dynamic inertia of the second swing arm to greatly reduce,
Dynamic inertia can greatly improve the flexible of robot greatly with bulky shortcoming caused by avoiding the gear connection of prior art
Property.
The driver element that the present embodiment is connected with the second control nut includes secondary transmission bar, is set on the secondary transmission bar
There are small one and large one two coaxial breast wheels, be respectively equipped with flexible connecting member on described two breast wheels, big breast wheel leads to
Cross flexible connecting member to be connected with motor, small breast wheel is connected by flexible connecting member with the second control nut.Use two level
Drive link can realize high transmission ratio in minimum space, to adapt to requirement, when the second control nut individually rotates
The screw mandrel of ball screw spline does rotation while linear motion up and down, and when the first control nut individually rotates, screw mandrel is only done
Linear motion up and down, and when the first control nut and the second control nut rotate simultaneously, screw mandrel does in situ rotation.
In order to ensure transmission accuracy, the breast wheel is gear or belt wheel or sprocket wheel, the flexible connecting member be cingulum or
Belt or chain, the cingulum include timing belt.
Better embodiment of the present utility model is illustrated above, but the utility model be not limited to it is described
Embodiment, those skilled in the art can also make a variety of equivalent changes on the premise of without prejudice to the utility model spirit
Type or replacement, these equivalent modifications or replacement are all contained in the application claim limited range.
Claims (5)
1. a kind of general SCARA robots, including base (1), the first swing arm (2), the first swing arm (2) are connected with base (1)
On be connected with the second swing arm (3), it is characterised in that：Base (1) is provided with motor, and the first swing arm (2) is provided with connecting hole, described
Connecting hole is vertically connected with symmetrical configuration, and the middle part of connecting hole is provided with narrowed portion (11), harmonic speed reducer is provided with the connecting hole,
Harmonic speed reducer includes mounting ring (6) and is located at the decelerator body of mounting ring (6) side, and the output end of motor is decelerator sheet
Body connect, mounting ring (6) can respectively with narrowed portion (11) up and down two outside be connected so that base (1) can from top or under
Side is connected with the first swing arm (2).
A kind of 2. general SCARA robots according to claim 1, it is characterised in that：Base (1) is provided with two mutually
Vertical mounting plane, several mounting holes (4) are equipped with each mounting plane.
A kind of 3. general SCARA robots according to claim 1, it is characterised in that：The end of second swing arm (3) is provided with
Ball screw spline, the ball screw spline include the two control nuts set one on the other, described two control nuts
The first control nut and the second control nut are referred to as, the second swing arm (3) is provided with two driver elements, described two drivings
The first control nut and the second control nut connect one to one unit respectively, and each driver element includes motor (5), institute
Motor (5) is stated to be passed with flexible connecting member between the first swing arm (2) and the second swing arm (3), motor (5) and control nut
Graduating power.
A kind of 4. general SCARA robots according to claim 3, it is characterised in that：It is connected with the second control nut
Driver element includes secondary transmission bar, and the secondary transmission bar is provided with small one and large one two coaxial breast wheels, and described two
Flexible connecting member is respectively equipped with individual breast wheel, big breast wheel is connected by flexible connecting member with motor (5), small centre
Wheel is connected by flexible connecting member with the second control nut.
A kind of 5. general SCARA robots according to claim 4, it is characterised in that：The breast wheel is gear or band
Wheel or sprocket wheel, the flexible connecting member are cingulum or belt or chain.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720216626.5U CN206764782U (en) | 2017-03-07 | 2017-03-07 | A kind of general SCARA robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720216626.5U CN206764782U (en) | 2017-03-07 | 2017-03-07 | A kind of general SCARA robots |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206764782U true CN206764782U (en) | 2017-12-19 |
Family
ID=60632291
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720216626.5U Withdrawn - After Issue CN206764782U (en) | 2017-03-07 | 2017-03-07 | A kind of general SCARA robots |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206764782U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106863272A (en) * | 2017-03-07 | 2017-06-20 | 佛山华数机器人有限公司 | A kind of general SCARA robots |
-
2017
- 2017-03-07 CN CN201720216626.5U patent/CN206764782U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106863272A (en) * | 2017-03-07 | 2017-06-20 | 佛山华数机器人有限公司 | A kind of general SCARA robots |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20171219 Effective date of abandoning: 20180807 |