CN208084334U - A kind of SCARA robots - Google Patents
A kind of SCARA robots Download PDFInfo
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- CN208084334U CN208084334U CN201721465327.1U CN201721465327U CN208084334U CN 208084334 U CN208084334 U CN 208084334U CN 201721465327 U CN201721465327 U CN 201721465327U CN 208084334 U CN208084334 U CN 208084334U
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- arm
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- mounting base
- fixed
- transmission component
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Abstract
The utility model discloses a kind of SCARA robots, include pedestal, the first arm, the first arm driving device, the second arm, the second arm driving device, ball spline lead screw and service cable；First arm driving device, the first motor in the second arm driving device, the second motor are installed in the pedestal, and drive the first arm, the second arm to rotate by the first transmission component, the second transmission component respectively；The rotation and lifting of ball spline lead screw are driven by third motor by third transmission component.The utility model will be by that will drive the first, second motor of the first arm and the second arm to be arranged on pedestal, the rotation and lifting of third motor driven ball lead screw are only used simultaneously, it can make the weight carried on the second arm reduction, accessory cost can be not only reduced, and kinematic accuracy can be effectively improved and reduce operating cost.
Description
Technical field
The utility model is related to a kind of SCARA robots.
Background technology
SCARA robots have 3 rotary joints, axis to be mutually parallel, planar positioned and oriented.Another
Joint is linear joint, for completing end piece in the movement perpendicular to plane.Because its have action is fast, precision is high, component is few,
The features such as reliability is high is widely used in the fields such as efficient assembly, welding, sealing and carrying.
Existing SCARA robots in use, there is a problem in that：1, when each moving parts during exercise,
Since the influence of inertia and gravity can have an impact the positioning of SCARA robots and repetitive positioning accuracy.Motion parts weight
Bigger, the requirement to motor and electric energy is higher, and operating cost is higher.Weight is bigger simultaneously, and inertia when moving is bigger, right
The influence of SCARA robot motion's precision is also bigger.Heavy weight moving component is easier to aggravate the abrasion of parts simultaneously.For
The repetitive positioning accuracy of SCARA robots is improved, operation expense is reduced, is needed under the premise of keeping rigidity enough,
The weight of SCARA robot motions part is reduced as possible.2, SCARA robots during exercise, the electricity of electric power are provided for each motor
Cable also moves therewith, and electric wire is easy to damage because of bending repeatedly, reduces SCARA machine human reriabilities.
Invention content
The purpose of this utility model is to provide a kind of SCARA robots that moving component weight is small, can effectively reduce
The vertical deflection of SCARA robots improves homework precision.
To achieve the goals above, the technical solution adopted in the utility model is：A kind of SCARA robots, include base
Seat, the first arm, the first arm driving device, the second arm, the second arm driving device, ball spline lead screw and service cable；Its feature
It is：A mounting plate is fixed in the pedestal.
The first driving means include first motor and the first transmission component, first motor be fixed on mounting plate and
First driving gear is installed on first motor output shaft；First transmission component includes the first mounting base, lower end with first
First rotary cylinder of driven gear and the first terminal pad for being fixed on the first rotary cylinder upper end, the first mounting base are fixed on the base
Seat, the first rotary cylinder is movably arranged in the first mounting base and the first driven gear of lower end is meshed with the first driving gear；Even
Disk is connect to be fixedly connected with one end of first arm.
The second arm driving device includes the second motor and the second transmission component, and the second motor is fixed on mounting plate
And the second driving gear is installed on the second motor output shaft；Second transmission component includes that lower end carries the second driven gear
Third rotary cylinder with the second belt pulley of second rotary cylinder, the first belt pulley for being fixed on the second rotary cylinder upper end, lower end, the
Two terminal pads, the second mounting base and the first synchronous belt for connecting the first belt pulley and the second belt pulley, set on the mounting plate
There is a limited block, second rotary cylinder is sleeved in first rotating cylinder and lower part is by limited block spacing supporting, and makes the
Two driven gears are engaged with the second driving gear, and first belt pulley, the second belt pulley and the first synchronous belt are arranged described
In first arm；Second mounting base is fixed on the other end of first arm, and third rotary cylinder is movably arranged on the second peace
It fills on seat.
One end of second arm is fixedly connected in second terminal pad, and the other end is vertically-mounted to have the ball to spend
Key lead screw, is equipped with a third motor on the second arm, and the action of the ball spline lead screw passes through by third motor
Three transmission components drive.
Further, the third transmission component include be mounted on the third motor on two third driving gears,
Two third driven gears in second arm and two electricity being connected respectively with two third driven gears
Magnet clutch, two electromagnetic clutch are female with the feed screw nut on ball spline lead screw, spline respectively by third belt component
It is connected.
Further, the service cable is entered by pedestal, extends through the first arm, the second arm, is first motor, second
Motor, third motor and electromagnetic clutch, power supply are set on cable there are two rotatable cable connector, two rotatable cable connectors,
It is co-axially mounted respectively with the second terminal pad with first terminal pad.
Further, described two rotatable cable connectors, structure are identical, are installed by the plug, the plug that are connected with cable
Seat, slot and slot mounting base are constituted；Plug and slot respectively by screw wear spring be fixed on mounting base, on, plug and insert
Can be relatively rotated after slot grafting, the plug is equipped with metal contact zone for connecting electric wire, each metal contact zone it
Between separated by insulating layer, be equipped with triangular hill in the plug metal contact zone, be equipped in the slot and triangle
The matched wedge block of protrusion.
The utility model has the beneficial effects that：By the way that the first, second motor of the first arm and the second arm will be driven to be arranged
On pedestal, while the rotation and lifting of third motor driven ball lead screw are only used, the weight carried on the second arm reduction can be made,
Accessory cost can be not only reduced, and kinematic accuracy can be effectively improved and reduce operating cost.
In addition, transmission component can be simplified due to the use of electromagnetic clutch, and control simple accurate.
And cable is fixed on motion parts using segmentation and is connected using rotatable cable connector, in this way, cable not random device
The rotation of robot arm and twisting leads to electric wire fatigue fracture, effectively extend cable service life, to improve SCARA machines
The reliability of people's power supply system.
Description of the drawings
The utility model is described in further detail below in conjunction with the accompanying drawings.
Fig. 1 is the structural schematic diagram of the utility model.
Fig. 2 is the structural schematic diagram of pedestal and the first arm junction in the utility model.
Fig. 3 is the structural schematic diagram of third transmission component in the utility model.
Fig. 4 is the structural schematic diagram of rotatable cable connector in the utility model.
Specific implementation mode
As shown in Figs 1-4, a kind of SCARA robots of the utility model include pedestal 1, the first arm 2, the driving of the first arm
Device, the second arm 3, the second arm driving device, ball spline lead screw 5 and service cable 16；A peace is fixed in the pedestal 1
Loading board 13.
The first driving means include first motor 11 and the first transmission component, and first motor 11 is fixed on mounting plate
The first driving gear is installed on 13 and on 11 output shaft of first motor；First transmission component include the first mounting base 12, under
The first terminal pad 23 end the first rotary cylinder with the first driven gear 231 and be fixed on the first rotary cylinder upper end, the first peace
Dress seat 12 is fixed on the pedestal 1, and the first rotary cylinder is movably arranged in the first mounting base 12 and the first driven gear of lower end 231
It is meshed with the first driving gear；Terminal pad 23 is fixedly connected with one end of first arm 2.
The second arm driving device includes the second motor 21 and the second transmission component, and the second motor 21 is fixed on installation
The second driving gear is installed on plate 13 and on 21 output shaft of the second motor；Second transmission component include lower end with second from
Second rotary cylinder of moving gear 241, the first belt pulley 24 for being fixed on the second rotary cylinder upper end, lower end carry the second belt pulley
331 third rotary cylinder, the second terminal pad 33, the second mounting base 22 and the first belt pulley 24 of connection and second belt pulley 331
First synchronous belt 28, is equipped with a limited block 131 on the mounting plate 13, and second rotary cylinder is sleeved on first rotating cylinder
Interior and lower part makes the second driven gear 241 be engaged with the second driving gear by 131 spacing supporting of limited block, and described first
Belt pulley 24, the second belt pulley 331 and the first synchronous belt 28 are arranged in first arm 2；Second mounting base 22 is fixed
On the other end of first arm 2, third rotary cylinder is movably arranged in the second mounting base 22.
One end of second arm 3 is fixedly connected in second terminal pad 33, and the other end is vertically-mounted the rolling
Spline lead screw 5 is equipped with a third motor 31 on second arm 3, and the action of the ball spline lead screw 5 is by third electricity
Machine 31 is driven by third transmission component.
Further, the third transmission component 41 includes two third driving tooths being mounted on the third motor 31
Two for taking turns 311,312, two third driven gears 411,413 and being connected respectively with two third driven gears 411,413
A electromagnetic clutch 412,414.Two third driven gears 411,413 are mounted on by holder 415 in second arm 3, and two
A electromagnetic clutch 412,414 by third belt component 421,422 respectively on ball spline lead screw 5 feed screw nut 51,
Spline mother 52 is connected.
How it is by the upper and lower of the control ball spline lead screw of third transmission component 41 the following detailed description of third motor 31
It is mobile and rotation.In the present embodiment, electromagnetic clutch 412,414 uses normally closed electromagnetic clutch, in the case that cold,
Normally closed electromagnetic clutch 412,414 is to maintain the state of conjunction, and the action of third motor 31 drives 411,413 turns of third driven gear
It is dynamic, and then the rotation of ball spline lead screw and vertical shift are driven by third belt component 421,422.If only needing ball spline silk
5 vertical shift of bar or rotation need to only control corresponding normally closed electromagnetic clutch power-off.If not needing ball spline lead screw
Vertical shift and rotation then directly control the power-off of third motor 31.
Further, the service cable 16 is entered by pedestal 1, extends through the first arm 2, the second arm 3, is first motor
11, the second motor 21, third motor 31 and electromagnetic clutch 412,414 are powered, and are set on cable 16 and are connect there are two rotatable cable
First 27,37, two rotatable cable connectors 27,37 are co-axially mounted with first terminal pad 23 and the second terminal pad 33 respectively.
Further, described two rotatable cable connectors 27,37 structures are identical, by the plug 2711 being connected with cable,
Plug mounting base 25, slot 2712 and slot mounting base 26 are constituted；Plug 2711 and slot 2712 wear bullet by screw 276 respectively
Spring 277 is fixed in mounting base 25,26, can be relatively rotated after 2712 grafting of plug 2711 and slot, the plug is equipped with
Metal contact zone 271,272,273,274 for connecting electric wire is separated by insulating layer 275 between each metal contact zone,
The plug metal contact zone 271,272,273,274 is equipped with triangular hill, is equipped in the slot 2712 and triangle
Shape 279 matched wedge blocks 278 of protrusion.
As shown in figure 4, using the structure of above-mentioned rotatable cable connector, in use, plug mounting base and slot mounting base point
It is not fixed on two components of relative rotation, first arm 2 as described in being fixed on the plug mounting base 25 of rotatable cable connector 27
On, and slot mounting base 26 is then fixed on the mounting plate 13.In this way, when the first arm 1 rotates, cable 16 will not occur curved
Folding, only rotates between plug and slot.In addition, due to as a result of spring 277, when plug and slot contact zone are sent out
When raw abrasion loosens, the wedge block in triangular hill and slot on plug remains tight under the effect of 277 elastic force of spring
Contiguity is touched, and the stability, reliability and service life of connector are improved.
The above content is only to illustrate the technical solution of the utility model, and those skilled in the art are new to this practicality
The simple modification or equivalent replacement that the technical solution of type carries out, all without departing from the essence and model of technical solutions of the utility model
It encloses.
Claims (4)
1. a kind of SCARA robots, include pedestal（1）, the first arm（2）, the first arm driving device, the second arm（3）, the second arm
Driving device, ball spline lead screw（5）And service cable（16）；It is characterized in that：
The pedestal（1）Inside it is fixed with a mounting plate（13）；
The first arm driving device includes first motor（11）With the first transmission component, first motor（11）It is fixed on installation
Plate（13）Above and in first motor（11）First driving gear is installed on output shaft；First transmission component includes the first mounting base
（12）, lower end carry the first driven gear（231）The first rotary cylinder and be fixed on the first terminal pad of the first rotary cylinder upper end
（23）, the first mounting base（12）It is fixed on the pedestal（1）, the first rotary cylinder is movably arranged on the first mounting base（12）It is upper and under
Hold the first driven gear（231）It is meshed with the first driving gear；First terminal pad（23）With first arm（2）One end it is solid
Fixed connection；
The second arm driving device includes the second motor（21）With the second transmission component, the second motor（21）It is fixed on installation
Plate（13）Above and in the second motor（21）Second driving gear is installed on output shaft；Second transmission component includes lower end with the
Two driven gears（241）The second rotary cylinder, be fixed on the first belt pulley of the second rotary cylinder upper end（24）, lower end carry second
Belt pulley（331）Third rotary cylinder, the second terminal pad（33）, the second mounting base（22）With connect the first belt pulley（24）With
Two belt pulleys（331）The first synchronous belt（28）, in the mounting plate（13）It is equipped with a limited block（131）, described second turn
Dynamic jacket casing is in first rotating cylinder and lower part passes through limited block（131）Spacing supporting, and make the second driven gear（241）With
Second driving gear engages, first belt pulley（24）, the second belt pulley（331）With the first synchronous belt（28）It is arranged described
First arm（2）It is interior；Second mounting base（22）It is fixed on first arm（2）The other end on, third rotary cylinder activity peace
Mounted in the second mounting base（22）On；
Second arm（3）One end be fixedly connected on second terminal pad（33）On, the other end is vertically-mounted the rolling
Spline lead screw（5）, in second arm（3）On a third motor is installed（31）, the ball spline lead screw（5）Action
By third motor（31）It is driven by third transmission component.
2. SCARA robots according to claim 1, it is characterised in that：The third transmission component（41）Including installation
In the third motor（31）On two third driving gears（311,312）, be mounted on second arm（3）Interior two
Three driven gears（411,413）Respectively with two third driven gears（411,413）Two electromagnetic clutch being connected
（412,414）, two electromagnetic clutch（412,414）Pass through third belt component（421,422）Respectively with ball spline lead screw
（5）On feed screw nut（51）, spline it is female（52）It is connected.
3. SCARA robots according to claim 1, it is characterised in that：The service cable（16）By pedestal（1）Into
Enter, extends through the first arm（2）, the second arm（3）, it is first motor（11）, the second motor（21）, third motor（31）And electromagnetism
Clutch（412,414）Power supply, in cable（16）On set there are two rotatable cable connector（27,37）, two rotatable cable connectors
（27,37）Respectively with first terminal pad（23）With the second terminal pad（33）It is co-axially mounted.
4. SCARA robots according to claim 3, it is characterised in that：Described two rotatable cable connectors（27,37）Knot
Structure is identical, by the plug being connected with cable（2711）, plug mounting base（25）, slot（2712）With slot mounting base（26）Structure
At；Plug（2711）And slot（2712）Pass through screw respectively（276）Wear spring（277）It is fixed on mounting base（25,26）On, it inserts
Head（2711）And slot（2712）It can be relatively rotated after grafting, the plug is equipped with the metal contact zone for connecting electric wire
（271,272,273,274）, by insulating layer between each metal contact zone（275）It separates, in the plug metal contact zone
（271,272,273,274）It is equipped with triangular hill（279）, in the slot（2712）It is inside equipped with and triangular hill
（279）Matched wedge block（278）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721465327.1U CN208084334U (en) | 2017-11-07 | 2017-11-07 | A kind of SCARA robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721465327.1U CN208084334U (en) | 2017-11-07 | 2017-11-07 | A kind of SCARA robots |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208084334U true CN208084334U (en) | 2018-11-13 |
Family
ID=64067486
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721465327.1U Active CN208084334U (en) | 2017-11-07 | 2017-11-07 | A kind of SCARA robots |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208084334U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108927824A (en) * | 2018-08-18 | 2018-12-04 | 卿茂荣 | A kind of articulated robot wrist Guo Xian mechanism |
| WO2021007821A1 (en) * | 2019-07-17 | 2021-01-21 | Abb Schweiz Ag | Robot arm link and robot |
| RU206072U1 (en) * | 2021-03-01 | 2021-08-18 | Общество с ограниченной ответственностью "Импрувити" | Two-handed manipulator |
| WO2022186722A1 (en) * | 2021-03-01 | 2022-09-09 | Общество с ограниченной ответственностью "Импрувити" | Two-armed manipulator |
-
2017
- 2017-11-07 CN CN201721465327.1U patent/CN208084334U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108927824A (en) * | 2018-08-18 | 2018-12-04 | 卿茂荣 | A kind of articulated robot wrist Guo Xian mechanism |
| WO2021007821A1 (en) * | 2019-07-17 | 2021-01-21 | Abb Schweiz Ag | Robot arm link and robot |
| CN113905852A (en) * | 2019-07-17 | 2022-01-07 | Abb瑞士股份有限公司 | Robot arm connecting rod and robot |
| CN113905852B (en) * | 2019-07-17 | 2023-08-25 | Abb瑞士股份有限公司 | Robot arm connecting rod and robot |
| RU206072U1 (en) * | 2021-03-01 | 2021-08-18 | Общество с ограниченной ответственностью "Импрувити" | Two-handed manipulator |
| WO2022186722A1 (en) * | 2021-03-01 | 2022-09-09 | Общество с ограниченной ответственностью "Импрувити" | Two-armed manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 510070 Building No. 15, compound 100, martyrs Road, Guangzhou, Guangdong Patentee after: Institute of intelligent manufacturing, Guangdong Academy of Sciences Address before: 510070 Building No. 15, compound 100, martyrs Road, Guangzhou, Guangdong Patentee before: GUANGDONG INSTITUTE OF INTELLIGENT MANUFACTURING |
|
| CP01 | Change in the name or title of a patent holder | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210316 Address after: No. 188, Ruixiang Road, Huangpu District, Guangzhou City, Guangdong Province, 510530 Patentee after: GUANGZHOU RUISONG INTELLIGENT TECHNOLOGY Co.,Ltd. Address before: 510070 Building No. 15, compound 100, martyrs Road, Guangzhou, Guangdong Patentee before: Institute of intelligent manufacturing, Guangdong Academy of Sciences |
|
| TR01 | Transfer of patent right |