CN207359067U - A kind of anti-collision device applied to SCARA robots - Google Patents
A kind of anti-collision device applied to SCARA robots Download PDFInfo
- Publication number
- CN207359067U CN207359067U CN201721066585.2U CN201721066585U CN207359067U CN 207359067 U CN207359067 U CN 207359067U CN 201721066585 U CN201721066585 U CN 201721066585U CN 207359067 U CN207359067 U CN 207359067U
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- China
- Prior art keywords
- rotation
- large arm
- forearm
- pedestal
- rotating device
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- 210000000245 Forearm Anatomy 0.000 claims abstract description 36
- 210000000614 Ribs Anatomy 0.000 claims description 12
- 230000003014 reinforcing Effects 0.000 claims description 12
- 230000000694 effects Effects 0.000 claims description 9
- 239000003638 reducing agent Substances 0.000 claims description 6
- 238000004080 punching Methods 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 2
- 210000000707 Wrist Anatomy 0.000 description 7
- 238000010586 diagram Methods 0.000 description 3
- 206010022114 Injury Diseases 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Abstract
The utility model discloses a kind of anti-collision device applied to SCARA robots, including：Pedestal, rotation large arm, rotation forearm, the first rotating device, the second rotating device, the 3rd rotary joint mechanism, the 4th rotating mechanism, grasping mechanism；It is characterized in that, the pedestal is nearby setting the first countercheck rod from the first rotating device, large arm is rotated for stopping；The second countercheck rod is nearby set from the second rotating device in the rotation large arm, rotates forearm for stopping.The utility model has the advantage of, 1, by setting the first countercheck rod and the second countercheck rod, SCARA robots can be effectively prevented in the case of out of control, rotation large arm, the rotation and swing for rotating forearm full stroke.
Description
Technical field
A kind of SCARA robots are the utility model is related to, especially a kind of Anti-knocking applied to SCARA robots fills
Put.
Background technology
SCARA robots, are called and do selection compliance and put together machines arm, be a kind of specific type of circular cylindrical coordinate type
Industrial robot be also referred to as flapping articulation humanoid robot.The wrist part structure of current SCARA robots mainly uses ball
Leading screw spline shaft realizes the vertical lift of the 3rd axis and the horizontal rotation of the 4th axis, is limited to the work fallen behind domestic at present
Skill, the mode of supplly of ball-screw spline shaft is mainly import, of high cost, and delivery date length, is unfavorable for the big of this kind of robot
Area promotes and applies.
To improve this present situation, numerous domestic scholar has also carried out Curve guide impeller to the wrist part structure of SCARA robots.
Leading screw, splined shaft, guide post, are connected to by wrist part structure disclosed in CN203003891 and CN105500359 using triangular connecting plate
Below forearm, when the 3rd axis acts, follow mechanical mouth to lift jointly, it is necessary to take substantial amounts of working space, reduce robot
Flexibility and versatility.And upper two schemes of wrist part structure disclosed in CN105619395A are reasonable, but the structure of forearm is not
Installation beneficial to robot other parts is arranged, such as, the parts such as cylinder control valve door to be installed on supporting rod.In addition no matter
SCARA robot wrists are ball-screw spline one axle construction or ball screw assembly, ball spline pair and guide post split company
Binding structure, is not known the adaptability for loading 25Kg operating modes.In 25Kg heavy loads, the operating mode of quick compound movement, it is necessary to
Movable joint and wrist part structure to current SCARA robots improve, to obtain enough rigidity and precision.
The SCARA robots of the prior art include：Pedestal, rotation large arm, rotation forearm, the first rotating device, the second rotation
Rotary device, the 3rd rotating mechanism, the 4th rotating mechanism, grasping mechanism；The pedestal is arranged in vertical, in the pedestal
With gear reducer and the first rotating device, the gear reducer is connected with the first rotating device, the first rotating device connection rotation
Turn one end of large arm；
The rotation large arm is horizontally disposed, the company that described one end for rotating large arm passes through the activity of the first rotating device
It is connected on pedestal, therefore the rotation large arm can be rotated around pedestal；
The top connection of the other end of the rotation large arm rotates the end of forearm, is set on the end of the rotation forearm
Second rotating device.
3rd rotary joint mechanism and the 4th linear joint mechanism, the 3rd rotary joint are set on the rotation forearm
Mechanism critical piece includes：3rd servomotor, the travelling gear A being connected with the 3rd servomotor, the transmission in spline connection
Gear B；The output terminal of the power output shaft of 3rd servomotor is placed in rotation forearm lower end through rotation forearm and connects
Travelling gear A, the travelling gear A positioned at rotation forearm lower end connect travelling gear B, the travelling gear B by belt
Spline is connected, control spline rotates, so as to control the wrist part structure of spline bottom to rotate；
The 4th linear joint mechanism includes：4th servomotor, down-feed screw, vertical guide post, travelling gear C and biography
Moving gear D, the vertical top for being arranged on rotation forearm of the 4th servo, the output terminal of its power output shaft also are located at rotating
Above forearm and connect travelling gear C, the travelling gear C travelling gear D is connected by belt, the travelling gear D is arranged
On vertical screw, therefore the up and down motion of the controllable screw of rotation of travelling gear D.The guide post is located at the side of screw
Screw, spline, guide post, are connected to and rotated below forearm by side by a triangular connecting plate.
The prior art is primarily present following technological deficiency：1st, in SCARA robots long-term operation, program occurs once in a while
Error, makes swing of the rotation large arm around pedestal full stroke, it is easy to operator is hurt, it is extremely dangerous；Likewise, rotation forearm
The swing of full stroke is easily carried out around rotation large arm, this not only be easy to cause personnel's injury, is also easily damaged SCARA robots.
The content of the invention
The purpose of this utility model is to provide a kind of anti-collision device applied to SCARA robots, can effectively hinder
Only SCARA robots are in the case of out of control, rotation large arm, the rotation and swing for rotating forearm full stroke.
The utility model is achieved through the following technical solutions：
A kind of anti-collision device applied to SCARA robots, including：Pedestal, rotation large arm, rotation forearm, the first rotation
Rotary device, the second rotating device, the 3rd rotary joint mechanism, the 4th rotating mechanism, grasping mechanism；
The pedestal is arranged in vertical, and has gear reducer and the first rotating device, the deceleration in the pedestal
Machine is connected with the first rotating device, one end of the first rotating device connection rotation large arm；
The rotation large arm is horizontally disposed, the company that described one end for rotating large arm passes through the activity of the first rotating device
It is connected on pedestal, therefore the rotation large arm can be rotated around pedestal；
The top connection of the other end of the rotation large arm rotates the end of forearm, is set on the end of the rotation forearm
Second rotating device.
It is characterized in that, the pedestal is nearby setting the first countercheck rod from the first rotating device, rotated for stopping
Large arm；
The second countercheck rod is nearby set from the second rotating device in the rotation large arm, rotates forearm for stopping；
Preferably, the bottom of first countercheck rod sets two opposite reinforcing ribs with pedestal junction, for improving
The stress-bearing capability of first countercheck rod.
Preferably, the bottom of second countercheck rod sets two opposite reinforcing ribs with rotation large arm junction, is used for
Improve the stress-bearing capability of the second countercheck rod.
Preferably, a fixed frame is fixedly connected with the rotation forearm, guide rail, institute is fixedly connected with the fixed frame
State and through hole is also provided with fixed frame, the left side of the guide rail sets reinforcing rib, and right side sets guide groove, and activity is even on the guide groove
Slide is connect, the slide carries out vertical up and down motion along guide groove, a dynamic balance connecting plate, institute are fixedly connected with the right side of the slide
State dynamic balance connecting plate has screw position hole close to one end of slide, and one end away from slide has flower key position hole.
The lower end in screw position hole sets nut, and ball screw is through the nut and passes through the through hole on fixed frame,
The ball screw sets soft cushion rubber with through hole junction, prevents guide fixing bracket punching press fixed frame in the case of out of control
The upper surface of frame, causes the damage of guide fixing bracket and fixed frame.
Preferably, soft cushion rubber outer layer is set at the top of first countercheck rod, when colliding from cushioning effect.
Preferably, soft cushion rubber outer layer is set at the top of second countercheck rod, when colliding from cushioning effect.
The utility model has the advantage of, 1, by setting the first countercheck rod and the second countercheck rod, can effectively it prevent
SCARA robots are in the case of out of control, rotation large arm, the rotation and swing for rotating forearm full stroke.
Brief description of the drawings
Fig. 1 is the first viewing angle constructions schematic diagram of the utility model embodiment；
Fig. 2 is the second viewing angle constructions schematic diagram of the utility model embodiment；
Fig. 3 is the rotation forearm part-structure schematic diagram of the utility model embodiment.
In figure：1st, pedestal；2nd, large arm is rotated；3rd, forearm is rotated；4th, the second rotating device；5th, the 3rd rotary joint mechanism；
6th, the 4th rotating mechanism；7th, grasping mechanism；8th, the first countercheck rod；9th, the second countercheck rod；10th, reinforcing rib；11st, reinforcing rib；12nd, it is solid
Determine frame；13rd, guide fixing bracket；14th, reinforcing rib；15th, dynamic balance connecting plate.
Embodiment
The technical solution of the utility model is described further below in conjunction with the accompanying drawings.
As shown in Figs. 1-3, a kind of anti-collision device applied to SCARA robots, including：Pedestal 1, rotation large arm 2, rotation
Turn forearm 3, the first rotating device, the second rotating device 4, the 3rd rotary joint mechanism 5, the 4th rotating mechanism 6, grasping mechanism 7；
The pedestal is arranged in vertical, and has gear reducer and the first rotating device, the deceleration in the pedestal
Machine is connected with the first rotating device, one end of the first rotating device connection rotation large arm；
The rotation large arm is horizontally disposed, the company that described one end for rotating large arm passes through the activity of the first rotating device
It is connected on pedestal, therefore the rotation large arm can be rotated around pedestal；
The top connection of the other end of the rotation large arm rotates the end of forearm, is set on the end of the rotation forearm
Second rotating device.
The pedestal is nearby setting the first countercheck rod 8 from the first rotating device, rotates large arm for stopping；
The second countercheck rod 9 is nearby set from the second rotating device in the rotation large arm, rotates forearm for stopping；
The bottom of first countercheck rod sets two opposite reinforcing ribs 10 with pedestal junction, for improving the first resistance
The stress-bearing capability of bar.
The bottom of second countercheck rod sets two opposite reinforcing ribs 11 with rotation large arm junction, for improving the
The stress-bearing capability of two countercheck rods.
A fixed frame 12 is fixedly connected with the rotation forearm, guide fixing bracket is fixedly connected with the fixed frame
13, through hole is also provided with the fixed frame, the left side of the guide fixing bracket 13 sets reinforcing rib 14, and right side sets and leads
Groove, is flexibly connected slide on the guide groove, and the slide carries out vertical up and down motion along guide groove, fixed on the right side of the slide to connect
A dynamic balance connecting plate 15 is connect, the dynamic balance connecting plate has screw position hole close to one end of slide, one end away from slide
With flower key position hole.
The lower end in screw position hole sets nut, and ball screw is through the nut and passes through the through hole on fixed frame,
The ball screw sets soft cushion rubber with through hole junction, prevents guide fixing bracket punching press fixed frame in the case of out of control
The upper surface of frame, causes the damage of guide fixing bracket and fixed frame.
Soft cushion rubber outer layer is set at the top of first countercheck rod, when colliding from cushioning effect.
Soft cushion rubber outer layer is set at the top of second countercheck rod, when colliding from cushioning effect.
Claims (6)
1. a kind of anti-collision device applied to SCARA robots, including：Pedestal, rotation large arm, rotation forearm, the first rotation
Device, the second rotating device, the 3rd rotary joint mechanism, the 4th rotating mechanism, grasping mechanism；The pedestal is vertically set
To put, there is gear reducer and the first rotating device in the pedestal, the gear reducer is connected with the first rotating device, and described first
One end of rotating device connection rotation large arm；The rotation large arm is horizontally disposed, and one end of the rotation large arm passes through
The activity of first rotating device is connected on pedestal, therefore the rotation large arm can be rotated around pedestal；The rotation
The top connection of the other end of large arm rotates the end of forearm, and the second rotating device is set on the end of the rotation forearm, its
It is characterized in that：The middle part of the rotation forearm sets the 3rd rotary joint mechanism and the 4th rotating mechanism, and the 3rd rotation is closed
Section mechanism includes：3rd servomotor, planetary reducing motor, the first belt tightness adjustment mechanism, travelling gear A, travelling gear
B；3rd servomotor, planetary reducing motor, belt tightness adjustment mechanism, travelling gear A and the travelling gear B are positioned at rotation
The top of forearm, the lower section connection planetary reducing motor of the 3rd servomotor, i.e., the power of described 3rd servomotor are defeated
Shaft passes through planetary reducing motor, its power output end connects travelling gear A, the travelling gear A and connects transmission by belt
Gear B, the planetary reducing motor are fixed on the first belt tightness adjustment mechanism；
It is characterized in that, the pedestal is nearby setting the first countercheck rod from the first rotating device, large arm is rotated for stopping；
The second countercheck rod is nearby set from the second rotating device in the rotation large arm, rotates forearm for stopping.
2. the anti-collision device according to claim 1 applied to SCARA robots, it is characterised in that first resistance
The bottom of bar sets two opposite reinforcing ribs with pedestal junction, for improving the stress-bearing capability of the first countercheck rod.
3. the anti-collision device according to claim 1 applied to SCARA robots, it is characterised in that second resistance
The bottom of bar sets two opposite reinforcing ribs with rotation large arm junction, for improving the stress-bearing capability of the second countercheck rod.
4. the anti-collision device according to claim 1 applied to SCARA robots, it is characterised in that the rotation is small
A fixed frame is fixedly connected with arm, guide rail is fixedly connected with the fixed frame, through hole, institute are also provided with the fixed frame
The left side for stating guide rail sets reinforcing rib, and right side sets guide groove, is flexibly connected slide on the guide groove, the slide is carried out along guide groove
Vertical up and down motion, the slide right side are fixedly connected with a guide fixing bracket, and the guide fixing bracket is close to slide
One end has screw position hole, and one end away from slide has flower key position hole, and the lower end in screw position hole sets nut, ball wire
Bar sets soft cushion rubber with through hole junction, prevents through the nut and through the through hole on fixed frame, the ball screw
The upper surface of guide fixing bracket punching press fixed frame in the case of out of control, causes the damage of guide fixing bracket and fixed frame
It is bad.
5. the anti-collision device according to claim 1 applied to SCARA robots, it is characterised in that first resistance
Soft cushion rubber outer layer is set at the top of bar.
6. the anti-collision device according to claim 1 applied to SCARA robots, it is characterised in that second resistance
Soft cushion rubber outer layer is set at the top of bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721066585.2U CN207359067U (en) | 2017-08-24 | 2017-08-24 | A kind of anti-collision device applied to SCARA robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721066585.2U CN207359067U (en) | 2017-08-24 | 2017-08-24 | A kind of anti-collision device applied to SCARA robots |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207359067U true CN207359067U (en) | 2018-05-15 |
Family
ID=62422433
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721066585.2U Expired - Fee Related CN207359067U (en) | 2017-08-24 | 2017-08-24 | A kind of anti-collision device applied to SCARA robots |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207359067U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110786932A (en) * | 2019-11-19 | 2020-02-14 | 常州脉康仪医疗机器人有限公司 | Gathering and scattering type slave arm system of minimally invasive surgery robot |
| CN111157452A (en) * | 2020-01-03 | 2020-05-15 | 英业达科技有限公司 | Auxiliary mechanism |
-
2017
- 2017-08-24 CN CN201721066585.2U patent/CN207359067U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110786932A (en) * | 2019-11-19 | 2020-02-14 | 常州脉康仪医疗机器人有限公司 | Gathering and scattering type slave arm system of minimally invasive surgery robot |
| CN110786932B (en) * | 2019-11-19 | 2022-04-12 | 杭州唯精医疗机器人有限公司 | Gathering and scattering type slave arm system of minimally invasive surgery robot |
| CN111157452A (en) * | 2020-01-03 | 2020-05-15 | 英业达科技有限公司 | Auxiliary mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180515 Termination date: 20200824 |
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| CF01 | Termination of patent right due to non-payment of annual fee |