CN208117841U - A kind of tetra- shaft industrial robot of SCARA - Google Patents
A kind of tetra- shaft industrial robot of SCARA Download PDFInfo
- Publication number
- CN208117841U CN208117841U CN201820498590.9U CN201820498590U CN208117841U CN 208117841 U CN208117841 U CN 208117841U CN 201820498590 U CN201820498590 U CN 201820498590U CN 208117841 U CN208117841 U CN 208117841U
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- China
- Prior art keywords
- servo motor
- arm component
- fixedly connected
- camera
- cups
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Abstract
A kind of tetra- shaft industrial robot of SCARA,Control cabinet including having controller,Control cabinet upper surface is equipped with columns assemblies,Big arm component is installed in columns assemblies,The end of big arm component is installed by small arm component,The end of small arm component is equipped with end executive module and camera support,End executive module lower part is installed by sucker,Image zooming-out is directly carried out to target object by the camera support mounting industrial video camera of forearm end and feeds back to computer disposal,Obtain required position,The parameter feedbacks such as size are to control system,Control system controls four motor execution,It can ensure that robot carries out the precision of assembling work,The place that manipulator motion arrives,Camera can acquire complete image information,Effectively increase work accuracy and efficiency,It is accurately performed the online real-time identification positioning function of workpiece,With compact-sized,It is high-efficient,Feature with high accuracy.
Description
Technical field
The utility model relates to a kind of industrial robot, in particular to a kind of tetra- shaft industrial robot of SCARA.
Background technique
SCARA industrial robot is not only compact-sized, and working space is big, flexible operation, also has high repetitive positioning accuracy
With preferable cost performance, it is widely used in assembling work.Existing SCARA industrial robot mainly realizes intelligence in assembly line
The function with automatic assembling operation is moved to take, the function of the intrinsic rotational characteristic of the first and second main shaft, third and fourth main shaft can be according to work
Make its linear or rotational characteristic of Demand Design.
The workpiece image that industrial camera is shot is transmitted to computer system interface and carries out image journey by robot vision technology
Sequence processing, and centralized positioning and feature identification to object, are transmitted to computer for posture information, refer to eventually by control system
It leads robot and completes crawl and assembling work.But since structure blocks limitation so that similar one in robot working range
Occur industry camera blind area in a fan-shaped region, it is not high to will also result in positioning accuracy in application practice, and low efficiency etc. influences,
Be not suitable for the assembling work of high-volume, high-precision high-speed under normal circumstances.
Summary of the invention
In order to overcome the above-mentioned deficiencies of the prior art, the purpose of this utility model is that proposing a kind of tetra- axis of SCARA industry
Robot can be realized vision positioning, accurately identify target, have the characteristics that compact-sized, high-efficient, with high accuracy.
To achieve the goals above, the technical solution adopted in the utility model is：
A kind of tetra- shaft industrial robot of SCARA, the control cabinet 1 including having controller, 1 upper surface of control cabinet is equipped with vertical
Column assembly 2 is equipped with big arm component 3 in columns assemblies 2, and small arm component 4 is installed in the end of big arm component 3, small arm component 4
End is equipped with end executive module 5 and camera support 6, and sucker 7 is installed in executive module 5 lower part in end；
The control cabinet 1 includes cabinet body, is equipped with columns assemblies 2 on cabinet body, interior of the cabinet is equipped with controller and electromagnetism
Valve, controller connect and control first servo motor 3-1, the second servo motor 4-9, third servo motor 4-14, the 4th servo
Motor 5-5 and solenoid valve；
The columns assemblies 2 include pedestal upright post and watch window；
The big arm component 3 includes first servo motor 3-1, and the output of first servo motor 3-1 connects the first retarder
3-2, the first retarder 3-2 are keyed by the first pressing plate fixedly connected part 3-6 and the first main shaft 3-7, and centre passes through upper shield 3-
3, the first a set of cups 3-4, connector 3-5 are fixedly connected, and are fixed with large arm 3-8 on the first pressing plate fixedly connected part 3-6；
The small arm component 4 includes that the output of the second servo motor 4-9, the second servo motor 4-9 connects the second retarder
4-10, the second retarder 4-10 are keyed by the second pressing plate fixedly connected part 4-22 and the second main shaft 4-13, and the second pressing plate is solid
Determine to be fixed with forearm 4-19 on connector 4-22, a column 4-21 is fixedly installed with by L plate 4-23 on forearm 4-19, vertical
Column 4-21 is equipped with a pair of isometric linear guide 4-20, a pair of of synchronizing wheel 4-16 far from the side of large arm 3-8 and is installed on backing plate
On, it is driven between synchronizing wheel by synchronous belt 4-15, ball-screw 4-17 is installed on forearm 4-19, and the upper end and synchronizing wheel connect
It connects, the top column 4-21 is equipped with motor rack by L plate 4-23, and third servo motor 4-14 and ball wire are equipped on motor rack
Thick stick support of bearing 4-18, and there are pre-tighten slot in the third installation place servo motor 4-14；
The end executive module 5 includes motor rack 5-7, and motor rack 5-7 is equipped with linear slider 4-6, linear slider 4-6
It is installed on linear guide 4-20, feed screw nut connector 5-8 is installed on motor rack 5-7, feed screw nut connector 5-8 is fixed to be connected
It connects on feed screw nut 5-9, the 4th servo motor 5-5 is fixedly connected with the second a set of cups 5-4, and the second a set of cups 5-4 is fixedly installed in
On motor rack 5-7, wherein being equipped with a pair of bearings pair, the 4th servo motor 5-5 and the 4th main shaft 5-3 inside the second a set of cups 5-4
Connection, the 4th end servo motor 5-5 are equipped with ring flange 5-2, sucker 5-1 and 5-11 and are arranged close on ring flange 5-2,
Wherein sucker 5-1 is connect by vacuum tube with vacuum generator 5-11, and vacuum generator 5-11 passes through control signal wire and electromagnetism
Valve connection；
The camera support 6 includes the camera board 6-1, camera board 6-1 and bracket 6-2 being fixedly mounted on the downside of forearm end
It is fixedly connected, a pair of of camera folder 6-3 is provided through on the left and right wall of bracket 6-2.
Industrial camera is installed on the camera support 6.
The second retarder 4-10 is equipped with third a set of cups 4-11, and the top and bottom of third a set of cups 4-11 are respectively equipped with
End cap 4-3 and transparent cover 4-12.
The driving method of the utility model mechanical drive department component selections motor and retarder, forearm drive in vertical direction
Ball-screw is selected, ensure that robot carries out the precision of assembling work, solving traditional is line tact fastly to speed
Demanding problem, while guaranteeing that product quality reaches higher precision.With the SCARA robot phase of traditional external camera
Than realizing zero blind area in machine vision, reaching the place that manipulator motion arrives, camera can acquire complete image
Information effectively increases work accuracy and efficiency, is accurately performed the online real-time identification positioning function of workpiece.Pass through ball
Being used cooperatively for screw pair and linear slider and guide rail, achievees the effect that four freedom degrees, substantially increases such operation
Accuracy, safety, rapidity and the degree of automation, have the characteristics that compact-sized, high-efficient, with high accuracy.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the SCARA industrial robot of the invention based on machine vision.
Fig. 2 is the structural schematic diagram of control cabinet 1 and columns assemblies 2 of the invention.
Fig. 3 is the structural schematic diagram of big arm component 3 of the invention.
Fig. 4 is the structural schematic diagram of small arm component 4 of the invention.
Fig. 5 is the attachment structure schematic diagram of big arm component 3 and small arm component 4 of the invention.
Fig. 6 is the structural schematic diagram of end executive module 5 of the invention.
Fig. 7 is the structural schematic diagram of camera support 6 of the invention.
Fig. 8 is the structural schematic diagram of large arm 3-8 of the invention.
Fig. 9 is the structural schematic diagram of forearm 4-19 of the invention.
Figure 10 is the structural scheme of mechanism of columns assemblies 2 of the invention.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawing.
Referring to Fig. 1, a kind of tetra- shaft industrial robot of SCARA, the control cabinet 1 including having controller, 1 upper surface of control cabinet
Columns assemblies 2 are installed, big arm component 3 are installed in columns assemblies 2, small arm component 4 is installed in the end of big arm component 3, small
The end of arm component 4 is equipped with end executive module 5 and camera support 6, and sucker 7 is installed in executive module 5 lower part in end.
Referring to fig. 2, the control cabinet 1 includes cabinet body, and plane is workbench on cabinet body, is equipped with columns assemblies on workbench
2, workbench has drawer, and drawer is equipped with controller and solenoid valve, and bottom of cabinet bulk quadrangle is equipped with four groups of deflecting rollers.
Controller connects and controls first servo motor 3-1, the second servo motor 4-9, third servo motor 4-14, the 4th servo motor
5-5 and solenoid valve, solenoid valve connect vacuum generator by control signal wire, complete electrical system and pneumatic system to servo electricity
The control of machine.
Referring to Figure 10, the columns assemblies 2 include pedestal upright post and watch window.
Referring to Fig. 3, the big arm component 3 includes first servo motor 3-1, the output connection the of first servo motor 3-1
One speed reducer 3-2, the first retarder 3-2 are keyed by the first pressing plate fixedly connected part 3-6 and the first main shaft 3-7, and centre is logical
Upper shield 3-3, the first a set of cups 3-4 are crossed, connector 3-5 is fixedly connected, and is fixed with large arm 3- on the first pressing plate fixedly connected part 3-6
8, referring to Fig. 8.
Referring to fig. 4, Fig. 5, the small arm component 4 include that the output of the second servo motor 4-9, the second servo motor 4-9 connects
The second retarder 4-10, the second retarder 4-10 is met to connect by the second pressing plate fixedly connected part 4-22 and the second main shaft 4-13 key
It connects, is fixed with forearm 4-19 on the second pressing plate fixedly connected part 4-22, referring to Fig. 9, fixed on forearm 4-19 by L plate 4-23
One column 4-21 is installed, a pair of isometric linear guide 4-20 is installed far from the side of large arm 3-8 in column 4-21, one
Synchronizing wheel 4-16 is installed on backing plate, is driven between synchronizing wheel by synchronous belt 4-15, ball-screw 4-17 is installed on forearm
On 4-19, the upper end is connect with synchronizing wheel, and the top column 4-21 is equipped with motor rack by L plate 4-23, is equipped on motor rack
Third servo motor 4-14 and ball-screw bearing bracket 4-18, and there are pre-tighten slot in the third installation place servo motor 4-14.
Referring to Fig. 6, the end executive module 5 includes motor rack 5-7, and motor rack 5-7 is equipped with linear slider 4-6, directly
Line sliding block 4-6 is installed on linear guide 4-20, and the two sides linear guide 4-20 are fastened by screw, and linear slider 4-6's is effective
Stroke is the stroke of vertical direction, installs feed screw nut connector 5-8 on motor rack 5-7, feed screw nut connector 5-8 is fixed
It is connected on feed screw nut 5-9, the 4th servo motor 5-5 is fixedly connected with the second a set of cups 5-4, and the second a set of cups 5-4 is fixedly mounted
In on motor rack 5-7, wherein being equipped with a pair of bearings pair, the 4th servo motor 5-5 and the 4th main shaft 5- inside the second a set of cups 5-4
3 connections, the 4th end servo motor 5-5 is equipped with ring flange 5-2, sucker 5-1 and 5-11 and is arranged close in ring flange 5-2
On, wherein sucker 5-1 is connect by vacuum tube with vacuum generator 5-11, and vacuum generator 5-11 passes through control signal wire and electricity
Magnet valve connection.
Referring to Fig. 7, the camera support 6 includes the camera board 6-1, camera board 6-1 being fixedly mounted on the downside of forearm end
It is fixedly connected with bracket 6-2, a pair of of camera folder 6-3 is provided through on the left and right wall of bracket 6-2, is pacified on the camera support 6
Equipped with industrial camera.
The second retarder 4-10 is equipped with third a set of cups 4-11, and the top and bottom of third a set of cups 4-11 are respectively equipped with
End cap 4-3 and transparent cover 4-12.
Important feature element in industrial robot selection selects 45 steel, has good comprehensive mechanical performance, comprehensive
It can also preferably.Outer cover and auxiliary element select aluminum profile.Aluminum profile density is small, corrosion-resistant, and ductility and its plasticity are good, as
Benign recyclable metal material, good environmental protection, intensity is big, and not oxidizable, the service life is long.
The working principle of the utility model is：
Using the workpiece of punching press assembly line as object, firstly, when in the visual field that workpiece reaches industrial camera, by camera support 6
The industrial camera of upper installation carries out collecting sample of taking pictures to workpiece；Secondly using industrial personal computer as host computer, under PC control
Position machine control system completes robot by the pneumatic system inside the control system connection end sucker 7 inside control cabinet 1
Motion-control module.Last big arm component 3, by servo motor transmission, realizes the X in the horizontal direction of robot with small arm component 4
The rotary motion of axis and Y-axis, end executive module 5 drive sucker in Z axis by linear guide and the movement of the relative engagement of sliding block
Vertical movement, final guidance machine people completes the positioning crawl of workpiece.
Claims (3)
1. a kind of tetra- shaft industrial robot of SCARA, which is characterized in that the control cabinet (1) including having controller, control cabinet (1)
Upper surface is equipped with columns assemblies (2), is equipped on columns assemblies (2) big arm component (3), the end peace of big arm component (3)
It fills small arm component (4), the end of small arm component (4) is equipped with end executive module (5) and camera support (6), and end executes
Component (5) lower part is installed by sucker (7)；
The control cabinet (1) includes cabinet body, columns assemblies (2) is equipped on cabinet body, interior of the cabinet is equipped with controller and electromagnetism
Valve, controller connect and control first servo motor (3-1), the second servo motor (4-9), third servo motor (4-14),
Four servo motors (5-5) and solenoid valve；
The columns assemblies (2) include pedestal upright post and watch window；
The big arm component (3) includes first servo motor (3-1), and the output connection first of first servo motor (3-1) is slowed down
Device (3-2), the first retarder (3-2) are keyed by the first pressing plate fixedly connected part (3-6) and the first main shaft (3-7), intermediate
By upper shield (3-3), the first a set of cups (3-4), connector (3-5) is fixedly connected, fixed in the first pressing plate fixedly connected part (3-6)
There is large arm (3-8)；
The small arm component (4) includes the second servo motor (4-9), and the output connection second of the second servo motor (4-9) is slowed down
Device (4-10), the second retarder (4-10) are keyed by the second pressing plate fixedly connected part (4-22) and the second main shaft (4-13),
It is fixed with forearm (4-19) in second pressing plate fixedly connected part (4-22), is fixedly mounted on forearm (4-19) by L plate (4-23)
There is a column (4-21), a pair of isometric linear guide (4- is installed far from the side of large arm (3-8) at column (4-21)
20), a pair of of synchronizing wheel (4-16) is installed on backing plate, is driven between synchronizing wheel by synchronous belt (4-15), ball-screw (4-
17) it is installed on forearm (4-19), the upper end is connect with synchronizing wheel, and the column top (4-21) is equipped with electricity by L plate (4-23)
Rack is equipped with third servo motor (4-14) and ball-screw bearing bracket (4-18) on motor rack, and in third servo electricity
There are pre-tighten slot for the machine installation place (4-14)；
The end executive module (5) includes motor rack (5-7), and motor rack (5-7) is equipped with linear slider (4-6), and straight line is sliding
Block (4-6) is installed on linear guide (4-20), installs feed screw nut connector (5-8) on motor rack (5-7), and feed screw nut connects
Device (5-8) is connect to be fixedly connected on feed screw nut (5-9), the 4th servo motor (5-5) is fixedly connected with the second a set of cups (5-4),
Second a set of cups (5-4) is fixedly installed on motor rack (5-7), wherein a pair of bearings pair is installed inside the second a set of cups (5-4), the
Four servo motors (5-5) are connect with the 4th main shaft (5-3), and the 4th end servo motor (5-5) is equipped with ring flange (5-2), are inhaled
Disk (5-1) and (5-11) are arranged close on ring flange (5-2), and wherein sucker (5-1) passes through vacuum tube and vacuum generator
(5-11) connection, vacuum generator (5-11) are connect by control signal wire with solenoid valve；
The camera support (6) includes the camera board (6-1) being fixedly mounted on the downside of forearm end, camera board (6-1) and bracket
(6-2) is fixedly connected, and a pair of of camera folder (6-3) is provided through on the left and right wall of bracket (6-2).
2. tetra- shaft industrial robot of a kind of SCARA according to claim 1, which is characterized in that the second retarder (4-
10) it is equipped with third a set of cups (4-11), the top and bottom of third a set of cups (4-11) are respectively equipped with end cap (4-3) and transparent cover (4-
12)。
3. tetra- shaft industrial robot of a kind of SCARA according to claim 1, which is characterized in that on the camera support (6)
Industrial camera is installed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820498590.9U CN208117841U (en) | 2018-04-10 | 2018-04-10 | A kind of tetra- shaft industrial robot of SCARA |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820498590.9U CN208117841U (en) | 2018-04-10 | 2018-04-10 | A kind of tetra- shaft industrial robot of SCARA |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208117841U true CN208117841U (en) | 2018-11-20 |
Family
ID=64190079
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820498590.9U Expired - Fee Related CN208117841U (en) | 2018-04-10 | 2018-04-10 | A kind of tetra- shaft industrial robot of SCARA |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208117841U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109571008A (en) * | 2018-12-27 | 2019-04-05 | 武汉华中数控股份有限公司 | Accurate positioning intelligent assembly system |
-
2018
- 2018-04-10 CN CN201820498590.9U patent/CN208117841U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109571008A (en) * | 2018-12-27 | 2019-04-05 | 武汉华中数控股份有限公司 | Accurate positioning intelligent assembly system |
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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: 20181120 Termination date: 20210410 |
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| CF01 | Termination of patent right due to non-payment of annual fee |