CN208215323U - The SCARA robot of multi-functional adaptive type - Google Patents

Abstract

This programme discloses a kind of SCARA robot of multi-functional adaptive type, including X-axis arm sequentially connected on pedestal and pedestal, Y-axis arm and Z axis arm, and X-axis arm, Y-axis arm positions adjustable in the horizontal plane, Z axis arm positions adjustable on the direction perpendicular to horizontal plane, the SCARA robot is based on Y-axis arm and is equipped with by R spindle motor, splined sleeve, the R axis adaptation unit of spline bearing and speed reducer composition, wherein R spindle motor connects fixation with splined sleeve, splined sleeve is connected fixed with the feed screw nut of Z axis arm by connecting plate and is driven synchronous shift, spline bearing is socketed on the bottom of splined sleeve, speed reducer is connected with the shaft of R spindle motor and is freely rotated based on spline bearing, speed reducer is external and is adapted with visitor with tool.After the robotic scenarios, such robot is improved in the extensive suitability of external all kinds of objective tools and also improves the service life of rigid and entire robot on the basis of guaranteeing robot end R axis precision.

Description

The SCARA robot of multi-functional adaptive type

Technical field

The utility model relates to a kind of robot of multi-functional adaptive type more particularly to a kind of assembly precision and rigidity substantially It improves, the robot service life is also promoted and can the adaptive various objective multi-purpose SCARA machines that different work demand is completed with tool of attaching Device people.

Background technique

(full name in English: Selective Compliance Assembly Robot Arm, Chinese are translated for SCARA robot Name: selection compliance puts together machines arm), since SCARA robot has biddability on X, Y-direction, and have in Z-direction There is good rigidity, this characteristic is particularly suitable for assembly work.

From the point of view of SCARA basic theory structure: there are three rotary joint, axis to be parallel to each other for SCARA robot, flat The positioning and orientation of X axis and Y-axis are carried out in face.Another joint is linear joint, for complete end piece perpendicular to The movement of plane.

The structure design of the existing such common robot in market substantially has the following two kinds: one, Z axis lead screw and R axis flower Key integration, passes through toothed belt transmission；Furthermore Z axis lead screw and R axis spline are seperated, and hollow motor drives hollow small speed reducer band Dynamic R axis small size spline, spline are connect with customer tools.Certainly it is also not necessarily limited to this, it is also possible to be based on both sides there are other The approximate embodiment of formula.

However, traditional SCARA robotic asssembly mode is only limitted to screwdriver, and the relevant motor of R axis, spline and subtract Fast machine collocation mode is unreasonable, greatly limits its application range.

Summary of the invention

In view of the problems of the above-mentioned prior art, the purpose of this utility model proposes a kind of multi-functional adaptive type SCARA robot is keeping assembly precision, rigid and use by the structural improvement to the such SCARA robot of tradition While service life extends, the multi-functional adaptation of robot is solved the problems, such as, simultaneously.

The above-mentioned purpose of the utility model, will be realized through the following technical scheme: the SCARA machine of multi-functional adaptive type Sequentially connected X-axis arm, Y-axis arm and Z axis arm on device people, including pedestal and pedestal, and X-axis arm, Y-axis arm are in water Positioning is adjustable in plane, and Z axis arm positions adjustable on the direction perpendicular to horizontal plane, it is characterised in that: the SCARA machine People is equipped with the R axis adaptation unit being made of R spindle motor, splined sleeve, spline bearing and speed reducer based on Y-axis arm, wherein R Spindle motor connects fixation with splined sleeve, and splined sleeve is connected fixed by connecting plate and is driven with the feed screw nut of Z axis arm Synchronous shift, spline bearing are socketed on the bottom of splined sleeve, and speed reducer connects with the shaft of R spindle motor and is based on spline bearing It is freely rotated, speed reducer is external and is adapted with visitor with tool.

Further, the control bus of X-axis arm, Y-axis arm, Z axis motor and R spindle motor, control are equipped in the pedestal Bus external controller processed respectively drives the rotation start and stop of X-axis arm, Y-axis arm, Z axis motor and R spindle motor.

Further, the speed reducer is equipped with the collet or threaded hole of outer prostitution recruitment tool in export-oriented end, and the visitor uses Tool is at least emery disc, screwdriver head, drill bit or casing.

Further, the internal diameter increase-volume of the splined sleeve to R spindle motor matched compatible, and R spindle motor position attaching In the top, bottom end or inside of splined sleeve.

Further, it is equipped on the outside of the Y-axis arm, Z axis arm and splined sleeve and is integrally formed shell, only the spline The bottom of bearing and speed reducer is exposed.

Further, the Z axis arm is made of Z axis motor, lead screw and feed screw nut, wherein the Z axis motor is affixed In Y-axis arm, lead screw is driven the output shaft rotation start and stop in Z axis motor, and feed screw nut is radially limited to connecting plate along lead screw liter Demotion is moved.

Technical solutions of the utility model application implementation has remarkable result compared to such robot of traditional sense: should Scheme is improved such robot and is used in external all kinds of visitors by spline specification and speed reducer position in reconstruct R axis adaptation unit The extensive suitability of tool, and in all kinds of operation process, no longer to R axis joint generate shock loading repeatedly and by torque It is directly delivered to Y-axis arm, on the basis of not reducing SCARA basic theory structure, is realized to including surface polishing, handling The simplification of the dedicated SCARA robot architecture such as screw, positional punch is also big on the basis of guaranteeing robot end R axis precision The service life of rigid and entire robot is improved greatly.

Detailed description of the invention

Fig. 1 is the total assembling structure and its each axial schematic diagram of the utility model SCARA robot.

Fig. 2 is the Structure explosion diagram after the utility model SCARA robot decapsidate.

Specific embodiment

Just attached drawing in conjunction with the embodiments below, is described in further detail specific embodiment of the present utility model, so that this Utility model technical solution is more readily understood, grasps.

Before the dedicated SCARA robot of the utility model is discussed in detail, to avoid ambiguity, it is necessary to first to robot Each kinematic axis is had gained some understanding.As shown in Figure 1, there are three rotary joint and a linear joints for common SCARA robot tool.Its Key structural feature includes sequentially connected X-axis arm 2 and Y-axis arm 3 on pedestal 1 and pedestal 1.Wherein X-axis arm 2 directly fills Connect at the top of pedestal 1, and with the connecting shaft of pedestal for X shaft；Y-axis arm 3 is further installed in the top of X-axis arm 2, and With with the connecting shaft of X-axis arm be Y shaft；The X shaft and Y shaft are not the quadrature axis on ordinary meaning, are intended merely to meet SCARA robot arm end horizontal plane positioning, orientation.Furthermore it is formed in the end of Y-axis arm 3 perpendicular to level The Z axis arm of face movement, and another rotary joint R axis is formed based on the Z axis arm, thus it is general and claim Z/R axis.It illustrates visible X shaft, Y shaft are parallel with R axis.

It is now around Z axis lead screw and R axis spline point there are two types of the design of the structure of robot such as aforementioned background art introduction What body or integration were proposed, however existing such robot application is also only limitted to tighten on screwdriver.And the utility model Creator the limitations of these traditional robots, the utility model outlined below are recognized during long-term production application For the innovation improvement of traditional SCARA robot.As shown in Fig. 2, the SCARA robot equally includes including pedestal 1 and pedestal 1 Upper sequentially connected X-axis arm 2, Y-axis arm 3 and Z axis arm, and X-axis arm 2, Y-axis arm 3 position in the horizontal plane it is adjustable, Z axis arm positions adjustable on the direction perpendicular to horizontal plane.It is different from tradition, which is connect based on Y-axis arm and set By the R axis adaptation unit being made of R spindle motor 7, splined sleeve 9, spline bearing 10 and speed reducer 11, wherein R spindle motor 7 and flower Key casing 9 connects fixation, and splined sleeve 9, which is connected by connecting plate 8 with the feed screw nut 6 of Z axis arm, fixation and is driven sync bit It moves, spline bearing 10 is socketed on the bottom of splined sleeve 9, and speed reducer 11 connects with the shaft of R spindle motor 7 and is based on spline bearing 10 are freely rotated, and speed reducer 11 is external and is adapted with visitor with tool (not shown).And Z axis arm is by Z axis motor 4, lead screw 5 It is constituted with feed screw nut 6, wherein Z axis motor 4 is fixed in Y-axis arm 3, and lead screw 5 is driven the output shaft rotation in Z axis motor 4 and opens Stop, the radial connecting plate 8 that is limited to of feed screw nut 6 is displaced along the lifting of lead screw 5.Under the structure, Z axis motor 4 be driven rotation under Drive feed screw nut 6 and connecting plate 8 along lead screw 5 occur Z axis to displacement, and drive splined sleeve 9 do Z axis to sliding, i.e., The linear joint of robot.As the main application function of the utility model robot, can be applied to towards stereo product Omnidirectional polishing, also can be applied to towards product high accuracy positioning drilling or screw assembly, and under various operating conditions needed for Manipulation revolving speed be it is discrete, need to carry out appropriate adjusting.For this purpose, caliber of this creation by increase splined sleeve, built-in R axis Motor and end attaching spline bearing and speed reducer under R axial direction, it is possible thereby to be easily connected to each other with all kinds of visitors with tool.

When the integrated morphology can make the rotation of R axis that can effectively be limited in splined sleeve and be greatly reduced actual job Robot vibration, and screw-driving can be carried using the Y-axis arm of splined sleeve and SCARA robot outside R axis The moment of reaction.

And the control bus of X-axis arm, Y-axis arm, Z axis arm and R spindle motor, external controller point are equipped in pedestal Not Qu Dong X-axis arm, Y-axis arm, Z axis arm and R spindle motor rotation start and stop.Each shaft is realized by external controller programming Controlled rotation, since this is the routine techniques of field of electrical control, not as the present utility model application protection emphasis, Gu Sheng It is slightly described in detail, is not also specifically illustrating in Fig. 2.When the SCARA robot is embodied: X-axis arm and Y-axis arm complete horizontal fortune It is dynamic, robot Z/R axis can be moved to position to be processed；Z axis motor makes spline by lead screw and feed screw nut and connecting plate Casing moves up and down, and makes it away from or can be implemented close to position to be processed, and by corresponding visitor with the rotation that tool relies on R axis Operation.

Further refining as above scheme can also implement with optimization, the utility model extended below.

One, the speed reducer are equipped with the collet or threaded hole of outer prostitution recruitment tool in export-oriented end, according to objective tool Practical connection type determines, and visitor is at least emery disc, screwdriver head, drill bit or casing with tool, is certainly not limited to this.

Furthermore the internal diameter increase-volume of the splined sleeve to R spindle motor matched compatible, and R spindle motor can be positioned and is secured to Top, bottom end or the inside of splined sleeve.

It is equipped on the outside of three, the Y-axis arm, Z axis arm and splined sleeve and is integrally formed shell (not shown), only the flower The bottom of key bearing and speed reducer is exposed, can effectively completely cut off influence of the extraneous dust to the robot service life in this way and inhibit noise.

It to sum up can to the embodiment description of the multi-functional adaptive type SCARA robot architecture of the utility model and operation See: should scheme by spline specification and speed reducer position in reconstruct R axis adaptation unit, improve such robot external each The extensive suitability of class visitor's tool, and in all kinds of operation process, shock loading repeatedly no longer generated to R axis joint and Torque is directly delivered to Y-axis arm, on the basis of not reducing SCARA basic theory structure, realizes and beats including surface The simplification of the dedicated SCARA robot architectures such as mill, handling screw, positional punch, on the basis for guaranteeing robot end R axis precision On also substantially increase the service life of rigid and entire robot.

In addition to the implementation, the utility model can also have other embodiment.It is all to use equivalent replacement or equivalent change Change the technical solution to be formed, all fall within the utility model it is claimed within the scope of.

Claims (6)

1. the SCARA robot of multi-functional adaptive type, including sequentially connected X-axis arm, Y-axis arm and Z on pedestal and pedestal Axis arm, and X-axis arm, Y-axis arm position adjustable in the horizontal plane, Z axis arm positions on the direction perpendicular to horizontal plane It is adjustable, it is characterised in that: the SCARA robot be based on Y-axis arm be equipped with by R spindle motor, splined sleeve, spline bearing and The R axis adaptation unit of speed reducer composition, wherein R spindle motor connects fixation with splined sleeve, and splined sleeve passes through connecting plate and Z axis The feed screw nut of arm connects fixed and is driven synchronous shift, and spline bearing is socketed on the bottom of splined sleeve, speed reducer and R axis The shaft of motor is connected and is freely rotated based on spline bearing, and speed reducer is external and is adapted with visitor with tool.

2. the SCARA robot of multi-functional adaptive type according to claim 1, it is characterised in that: be equipped with X-axis in the pedestal The control bus of arm, Y-axis arm, Z axis motor and R spindle motor, control bus external controller respectively drive X-axis arm, Y-axis The rotation start and stop of arm, Z axis motor and R spindle motor.

3. the SCARA robot of multi-functional adaptive type according to claim 1, it is characterised in that: the speed reducer is in extroversion End is equipped with the collet or threaded hole of outer prostitution recruitment tool, and the visitor is at least emery disc, screwdriver head, drill bit or casing with tool.

4. the SCARA robot of multi-functional adaptive type according to claim 1, it is characterised in that: the splined sleeve it is interior Diameter increase-volume to R spindle motor matched compatible, and the positioning of R spindle motor is secured to the top, bottom end or inside of splined sleeve.

5. the SCARA robot of multi-functional adaptive type according to claim 1, it is characterised in that: the Y-axis arm, Z axis hand It is equipped on the outside of arm and splined sleeve and is integrally formed shell, only the bottom of the spline bearing and speed reducer is exposed.

6. the SCARA robot of multi-functional adaptive type according to claim 1, it is characterised in that: the Z axis arm is by Z axis Motor, lead screw and feed screw nut are constituted, wherein the Z axis motor is fixed in Y-axis arm, lead screw is driven in the output of Z axis motor Axis rotates start and stop, and feed screw nut is radially limited to connecting plate and goes up and down displacement along lead screw.