CN208342839U - SCARA robot - Google Patents
SCARA robot Download PDFInfo
- Publication number
- CN208342839U CN208342839U CN201820808584.9U CN201820808584U CN208342839U CN 208342839 U CN208342839 U CN 208342839U CN 201820808584 U CN201820808584 U CN 201820808584U CN 208342839 U CN208342839 U CN 208342839U
- Authority
- CN
- China
- Prior art keywords
- driving assembly
- mould group
- armshaft
- armshafts
- modules
- 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.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a kind of SCARA robots, include: pedestal；One end of two armshaft modules, the two armshafts module is connected by the first rotary shaft with the pedestal, and the two armshafts module can rotate in the horizontal direction around the first rotary shaft；One end of three armshaft modules, the three armshafts module is connected by the second rotary shaft with the other end of two armshaft modules, and the three armshafts module can rotate in the horizontal direction around the second rotary shaft；Execution module, the execution module are mounted in the three armshafts module；Spool, the both ends of the spool are separately connected pedestal and three armshaft modules, are equipped with electric wire and signal wire in the spool.The utility model can real-time monitoring Motor torque, the screw-down torque of each screw can be made identical, and the screw of plurality of specifications can be twisted, occupied little space, work efficiency is high, at low cost.
Description
Technical field
The utility model relates to a kind of SCARA robot, in particular to a kind of SCARA robot of special stubborn screw.
Background technique
In 3C (Computer, Communication and Consumer Electronic, computer, communication and consumer
Electronics) industry flow production line on, many mechanical devices will a large amount of screws lock.Lock-screw generally use it is pneumatic or
Electronic screwing tool, these screwing tool structures are simple, cheap, need remain for manually carrying out hand-held, labor intensity
Greatly, production efficiency is low, demand personnel are more, and due to being manual operation, power used in screw-driving is all not necessarily identical, this
The service life that often will lead to mechanical device reduces.With the development of science and technology, the introducing of the automation equipments such as robot
Development trend as industry.(Selective Compliance Assembly RobotArm is used for assembling work to SCARA
Robot arm) robot is a kind of circular cylindrical coordinate type industrial robot.It is realized in X-Y plane by two rotary shafts
Quickly positioning does flexible and rotary motion by a linear joint and a rotary shaft in z-direction；It is that one kind is applied to
The robot arm of assembling work, tact of motion is fast, and repeatable accuracy is high, can high-speed cruising in a narrow space, it is very suitable
For needing high speed, high-precision occasion.Existing screw tightening device is arranged separately on robot tool flange, in this way
The payload of robot tool flange can be occupied, and is all to deviate the center of tool flange to install, it in this way can shadow significantly
Ring the working performance of robot；And the torque for twisting screw cannot be controlled accurately, and the depth for twisting screw cannot be accurately detected, can
Can will lead to screw twist partially, twist the problems such as screw-down torque disunity of not in place, same specification screw, increase the difficulty of operation
And uncertainty, reduce working efficiency and work quality.
Utility model content
According to the utility model embodiment, a kind of SCARA robot is provided, includes:
Pedestal；
One end of two armshaft modules, the two armshafts module is connected by the first rotary shaft with the pedestal, two axis
Arm module can rotate in the horizontal direction around the first rotary shaft；
Three armshaft modules, one end of the three armshafts module pass through the other end phase of the second rotary shaft and two armshaft modules
Even, the three armshafts module can rotate in the horizontal direction around the second rotary shaft；
Execution module, the execution module are mounted in the three armshafts module；
Spool, the both ends of the spool are separately connected pedestal and three armshaft modules, are equipped with electric wire and signal in the spool
Line.
Further, three armshaft modules include:
One end of three armshafts, three armshaft is connected by the second rotary shaft with two armshaft modules；
Shell, the shell are located on three armshaft and constitute a closed cavity.
Further, execution module includes:
First driving assembly, first driving assembly are arranged in the closed cavity that shell and three armshafts are constituted；
Second driving assembly, second driving assembly and the first driving assembly are connected, the first driving assembly driving
Second driving assembly pumps；
Executing agency, the executing agency are arranged in the lower section of three armshafts and by transmission shaft and the second driving assembly phases
Even, the second driving assembly driving executing agency rotation.
Further, the first driving assembly includes: third spindle motor and the displacement mould group of third spindle motor driving.
Further, displacement mould group is screw rod mould group, and the screw rod mould group passes through the drive of toothed belt transmission third spindle motor
Power.
Further, the second driving assembly includes:
Cylinder, the cylinder and the first driving assembly are connected, and the first driving assembly driving cylinder pumps；
Planetary reducer, the planetary reducer and the first driving assembly are connected, and first driving assembly drives planet
Speed reducer pumps；
4th spindle motor, the 4th spindle motor are connected with planetary reducer.
Further, the first driving assembly also includes:
Mould group connecting plate, the mould group connecting plate connection cylinder and displacement mould group, the displacement mould group driving mould group connection
Plate and cylinder pump；
Mounting base, the mounting base are fixedly connected with the guide rail of mould group connecting plate, and the mounting base and planetary reducer are solid
Fixed connection, the displacement mould group driving mould group connecting plate, mounting base and planetary reducer pump.
Further, the first driving assembly also includes: elastic component, elastic component setting mould group connecting plate and mounting base it
Between.
Further, the second driving assembly also includes displacement sensor, and institute's displacement sensors are arranged on mould group connecting plate,
The shift value of institute's displacement sensors detection cylinder.
Further, the second driving assembly also includes: encoder, and the encoder is connected with the 4th spindle motor.
According to the SCARA robot of the utility model embodiment, can real-time monitoring Motor torque, each screw can be made
Screw-down torque is all identical, and can twist the screw of plurality of specifications, occupies little space, work efficiency is high, at low cost.
It is to be understood that foregoing general description and following detailed description are both illustrative, and it is intended to
In the further explanation of the claimed technology of offer.
Detailed description of the invention
Fig. 1 is the axis surveys view of the utility model embodiment SCARA robot；
Fig. 2 is the transmission view of the utility model embodiment SCARA robot；
Component label instructions: 1- pedestal；Bis- armshaft module of 2-；Tri- armshaft module of 3-；4- shell；5- spool；6- executes machine
Structure；Tri- armshaft of 7-；8- third spindle motor；9- is displaced mould group；10- mould group connecting plate；11- displacement sensor；12- cylinder；13-
Four spindle motors；14- planetary reducer；15- mounting base；16- elastic component.
Specific embodiment
Below with reference to attached drawing, the preferred embodiment of the utility model is described in detail, the utility model is done and is further explained
It states.
Firstly, the description of Fig. 1~2 will be combined according to the SCARA robot of the utility model embodiment, it is exclusively used in twisting screw.
As shown in Figure 1, the SCARA robot of the utility model embodiment, includes: pedestal 1, two armshaft modules 2, three armshafts
Module 3, execution module, spool 5.
Specifically, as shown in Figure 1, 2, one end of two armshaft modules 2 is connected by the first rotary shaft 17 with the pedestal 1,
Two armshaft modules 2 can rotate in the horizontal direction around the first rotary shaft 17.In the present embodiment, two armshaft modules 2 pass through servo electricity
Machine and speed reducer and pedestal 1 constitute rotary motion in the horizontal direction.
Specifically, as shown in Figure 1, 2, one end of three armshaft modules 3 passes through the another of the second rotary shaft 18 and two armshaft modules 2
One end is connected, and three armshaft modules 3 can rotate in the horizontal direction around the second rotary shaft 18.In the present embodiment, three armshaft modules 3 are logical
It crosses servo motor and speed reducer and two armshaft modules 2 constitutes rotary motion.Two armshaft modules 2 and three armshaft modules 3 can
It rotates in the horizontal direction, substantially reduces the occupied area of equipment.
Specifically, as shown in Fig. 2, execution module is mounted in three armshaft modules 3.
Specifically, as shown in Figure 1, the both ends of spool 5 are separately connected pedestal 1 and three armshaft modules 3, electricity is equipped in spool 5
Line and signal wire.
Specifically, as shown in Figure 1, 2, three armshaft modules 3 include: three armshafts 7, shell 4, wherein one end of three armshafts 7 is logical
The second rotary shaft 18 is crossed to be connected with two armshaft modules 2；Shell 4 is located on three armshafts 7 and constitutes a closed cavity.
Specifically, as shown in Fig. 2, execution module includes: the first driving assembly, the second driving assembly and executing agency 6.
In the present embodiment, executing agency 6 is nut runner structure, and end, which is equipped with, inhales tool, and nut runner structure is integrated into robot,
Keep its function more targeted, greatly reduces cost.Wherein, the setting of the first driving assembly is constituted in shell 4 and three armshafts 7
Closed cavity in；Second driving assembly and the first driving assembly are connected, and the first driving assembly drives the second driving assembly or more
It moves back and forth；Executing agency 6 is arranged in the lower section of three armshafts 7 and is connected by transmission shaft with the second driving assembly, the second driving
Component driver executing agency 6 rotates.
More specifically, the first driving assembly includes: the displacement mould group 9 that third spindle motor 8 and third spindle motor 8 drive.
In the present embodiment, displacement mould group 9 is screw rod mould group, and screw rod mould group passes through the driving force of toothed belt transmission third spindle motor 8.
Specifically, in the present invention, the first driving assembly also includes: mould group connecting plate 10 and mounting base 15.Wherein,
Mould group connecting plate 10 is connected with displacement mould group, and mounting base 15 is connected with the guide rail in template connection group 10.
Further, the first driving assembly also includes: elastic component, and elastic component selects spring, spring setting in the present embodiment
Between mould group connecting plate 10 and mounting base 15, work as a buffer.
Specifically, the second driving assembly includes: cylinder 12, planetary reducer 14, the 4th spindle motor 13.Wherein, cylinder 12
It is connected with mould group connecting plate 10, displacement mould group 9 drives cylinder 12 to pump with dynamic model group connecting plate 10；Planetary reducer
14 are connected with mounting base 15, and mounting base 15 drives planetary reducer 14 to pump；4th spindle motor 13 and planetary reduction gear
Machine 14 connects.
In the present embodiment, the second driving assembly also includes displacement sensor 11, and displacement sensor setting connects in mould group
On fishplate bar 10, for detecting the shift value of cylinder 12.
In the present embodiment, the second driving assembly also includes: encoder, which is connected with the 4th spindle motor 13, uses
In the torque for monitoring the 4th spindle motor 13 in real time.
SCARA machine man-hour in the present embodiment, executing agency 6 connect gas source, adjust the first rotary shaft 17 and the
Two rotary shafts 18 adjust the first rotary shaft 17 and the second rotary shaft so that the suction tool of 6 end of executing agency is drawn onto screw again
18, so that 6 end of executing agency is moved to the surface vicinity of stubborn screw station, then by control third spindle motor 8, so that
Right above 6 coarse adjustment of executing agency to stubborn screw station, cylinder 12 is adjusted by gas source again at this time, can be moved downward, simultaneously
The rotation of the 4th spindle motor 13 is adjusted, the work for twisting screw is completed.The depth of the controllable stubborn screw of displacement sensor 11.Pass through coding
Device real-time monitoring and the torque for regulating and controlling the 4th spindle motor 13, can make the screw-down torque of each screw identical；Replace executing agency 6
The suction of end has, and can twist the screw of hexagon socket cap head screw, the flat cheese head screw of interior hexagonal and other specifications, greatly reduce into
This.When screw poor quality or screw damage, adjustable the 4th spindle motor 13 of reversion and control cylinder 12 rise, and have suction
Stubborn screw station is left with the screw of absorption, then underproof screw is rejected by the gas source of executing agency 6, substantially increases work
Make efficiency.
More than, the SCARA robot according to the utility model embodiment is described referring to Fig.1~2, it being capable of real-time monitoring electricity
Machine torque can make the screw-down torque of each screw identical, and can twist the screw of plurality of specifications, occupy little space, working efficiency
It is high, at low cost.
It should be noted that in the present specification, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
It is discussed in detail although the content of the utility model has passed through above preferred embodiment, but it should be appreciated that on
The description stated is not considered as limitations of the present invention.After those skilled in the art have read above content, for
A variety of modifications and substitutions of the utility model all will be apparent.Therefore, the protection scope of the utility model should be by appended
Claim limit.
Claims (10)
1. a kind of SCARA robot, characterized by comprising:
Pedestal；
One end of two armshaft modules, the two armshafts module is connected by the first rotary shaft with the pedestal, the two armshafts mould
Block can rotate in the horizontal direction around the first rotary shaft；
One end of three armshaft modules, the three armshafts module is connected by the second rotary shaft with the other end of two armshaft modules, institute
Stating three armshaft modules can rotate in the horizontal direction around the second rotary shaft；
Execution module, the execution module are mounted in the three armshafts module；
Spool, the both ends of the spool are separately connected pedestal and three armshaft modules, are equipped with electric wire and signal wire in the spool.
2. SCARA robot as described in claim 1, which is characterized in that the three armshafts module includes:
One end of three armshafts, three armshaft is connected by the second rotary shaft with two armshaft modules；
Shell, the shell are located on three armshaft and constitute a closed cavity.
3. SCARA robot as claimed in claim 2, which is characterized in that the execution module includes:
First driving assembly, first driving assembly are arranged in the closed cavity that shell and three armshafts are constituted；
Second driving assembly, second driving assembly and the first driving assembly are connected, the first driving assembly driving second
Driving assembly pumps；
Executing agency, the executing agency are arranged in the lower section of three armshafts and are connected by transmission shaft with the second driving assembly, institute
State the rotation of the second driving assembly driving executing agency.
4. SCARA robot as claimed in claim 3, which is characterized in that first driving assembly includes: third spindle motor
And the displacement mould group of third spindle motor driving.
5. SCARA robot as claimed in claim 4, which is characterized in that the displacement mould group is screw rod mould group, the silk
Bar mould group passes through the driving force of toothed belt transmission third spindle motor.
6. SCARA robot as described in claim 4 or 5, which is characterized in that second driving assembly includes:
Cylinder, the cylinder and the first driving assembly are connected, and the first driving assembly driving cylinder pumps；
Planetary reducer, the planetary reducer and the first driving assembly are connected, and first driving assembly drives planetary reduction gear
Machine pumps；
4th spindle motor, the 4th spindle motor are connected with planetary reducer.
7. SCARA robot as claimed in claim 6, which is characterized in that first driving assembly also includes:
Mould group connecting plate, mould group connecting plate connection cylinder and displacement mould group, the displacement mould group driving mould group connecting plate with
Cylinder pumps；
Mounting base, the mounting base are fixedly connected with the guide rail of mould group connecting plate, the mounting base and the fixed company of planetary reducer
It connects, the displacement mould group driving mould group connecting plate, mounting base and planetary reducer pump.
8. SCARA robot as claimed in claim 7, which is characterized in that first driving assembly also includes: elastic component,
The elastic component is arranged between mould group connecting plate and mounting base.
9. SCARA robot as claimed in claim 7, which is characterized in that second driving assembly also includes displacement sensing
Device, institute's displacement sensors are arranged on mould group connecting plate, and institute's displacement sensors detect the shift value of cylinder.
10. SCARA robot as claimed in claim 6, which is characterized in that second driving assembly also includes: encoder,
The encoder is connected with the 4th spindle motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820808584.9U CN208342839U (en) | 2018-05-29 | 2018-05-29 | SCARA robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820808584.9U CN208342839U (en) | 2018-05-29 | 2018-05-29 | SCARA robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208342839U true CN208342839U (en) | 2019-01-08 |
Family
ID=64890968
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820808584.9U Active CN208342839U (en) | 2018-05-29 | 2018-05-29 | SCARA robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208342839U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108544482A (en) * | 2018-05-29 | 2018-09-18 | 上海达野智能科技有限公司 | SCARA robots |
| CN109693252A (en) * | 2019-01-21 | 2019-04-30 | 昆山塔米机器人有限公司 | A kind of robot movement control device and motion control method |
-
2018
- 2018-05-29 CN CN201820808584.9U patent/CN208342839U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108544482A (en) * | 2018-05-29 | 2018-09-18 | 上海达野智能科技有限公司 | SCARA robots |
| CN109693252A (en) * | 2019-01-21 | 2019-04-30 | 昆山塔米机器人有限公司 | A kind of robot movement control device and motion control method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101745802B (en) | Torque-control multishaft bolt tightening machine | |
| CN108544482A (en) | SCARA robots | |
| CN208342839U (en) | SCARA robot | |
| KR100787186B1 (en) | Multiple hand-gripper device of module type | |
| CN207536754U (en) | Portal frame | |
| CN107097245A (en) | A kind of single motor for adapting to any handgrip position drives the mechanism of many handgrips | |
| CN107511844B (en) | A kind of modularization aero tyre grabbing device | |
| CN216505130U (en) | Novel be suitable for multiaxis servo manipulator | |
| CN202861305U (en) | Transfer robot used for high-temperature hot die forging workpiece clamping | |
| CN102914407B (en) | Rotary inertia device and power supply wiring structure of rotary work motor | |
| CN208592849U (en) | A kind of seven axis joint robots based on hollow driver | |
| CN104786211A (en) | Six-freedom-degree industrial robot with ball screw pairs | |
| CN105364910B (en) | It is a kind of to rotate the secondary parallel sorting machine people of four-degree-of-freedom for driving | |
| CN206140499U (en) | SCARA robot | |
| CN209289282U (en) | A kind of SCARA robot | |
| CN204893496U (en) | Fourth, five axle clamp utensils | |
| CN210024761U (en) | Efficient micro-removing device, terminal product and production and manufacturing system | |
| CN107520599A (en) | A kind of device that screw is tightened for any angle | |
| CN110615276A (en) | Two-finger translation gripper | |
| CN203293060U (en) | Universal precision numerical-control supporting pillar | |
| Supriyono et al. | Alternative control system for robot arm with data logger | |
| CN206967478U (en) | Large arm extension type robot | |
| CN210046141U (en) | Robot device for cutting carbon steel structural member | |
| CN211332579U (en) | Grinding mechanism based on series-parallel connection | |
| CN207415343U (en) | A kind of five axis robots |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20191104 Address after: 223300 south side of Qianjiang Road, Huaiyin District, Huai'an City, Jiangsu Province, east side of shizhenda steel pipe company Patentee after: Jiangsu Daye Intelligent System Co., Ltd Address before: 201807 No. 3555 Shengxin North Road, Jiading District, Shanghai Patentee before: Shanghai Da Ye Intelligent Technology Co., Ltd. |