CN211333265U - Direct-drive structure SCARA robot - Google Patents
Direct-drive structure SCARA robot Download PDFInfo
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- CN211333265U CN211333265U CN201920723126.XU CN201920723126U CN211333265U CN 211333265 U CN211333265 U CN 211333265U CN 201920723126 U CN201920723126 U CN 201920723126U CN 211333265 U CN211333265 U CN 211333265U
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Abstract
The utility model discloses a direct-drive structure SCARA robot, which is a joint robot consisting of a first rotary joint, a second rotary joint, a lifting joint and a third rotary joint, wherein the first rotary joint consists of a machine base, a first arm and a first direct-drive motor; the second rotary joint consists of a first arm, a second arm and a second direct drive motor; the lifting joint consists of a servo motor, a first synchronous belt pulley, a synchronous belt, a second synchronous belt pulley, a screw nut and a screw; the third rotary joint is composed of a third direct drive motor, a rotary spline nut and a spline shaft. The utility model discloses a directly drive the motion that the motor comes the corresponding joint of direct drive, do not need unnecessary speed reducer and corresponding drive mechanism, have the characteristics of high motion precision concurrently when effectively having saved the space.
Description
Technical Field
The utility model relates to an industrial robot, concretely relates to directly drive structure SCARA robot.
Background
At present, industrial robots are widely applied to the fields of automobile industry, die industry, biomedical industry, electronic information industry and the like, have irreplaceable effects on the aspects of reducing labor cost, improving working efficiency, improving the intelligent level of production and the like, and are beneficial to minimizing uncertain factors of manual work in production.
Disclosure of Invention
The utility model aims to solve the technical problem that a have high repetition accuracy, have more the structure SCARA robot that directly drives of practicality.
The utility model discloses a realize through following technical scheme: a directly drive structure SCARA robot which characterized in that: comprises a first rotary joint, a second rotary joint, a lifting joint and a third rotary joint; the first rotary joint consists of a base, a first arm and a first direct-drive motor; the first direct-drive motor is arranged on the base, the first arm is connected to the output end of the first direct-drive motor, and the first arm is driven by the first direct-drive motor;
the second rotary joint consists of a first arm, a second arm and a second direct drive motor; a bearing mounting hole is formed in the second direct drive, a bearing is mounted in the bearing mounting hole, the second direct drive motor is connected with the second arm through the bearing, and the first arm is connected with a rotor mounting ring on the second direct drive motor;
the lifting joint consists of a servo motor, a first synchronous belt pulley, a synchronous belt, a second synchronous belt pulley, a screw nut and a screw; the lead screw nut is connected with the spline shaft through the spline connecting plate, the first synchronous belt wheel is driven by a servo motor, the synchronous belt drives the second synchronous belt wheel to rotate, the second synchronous belt wheel is fixedly connected with the lead screw, and the lead screw rotates to drive the lead screw nut to do lifting motion;
the third rotary joint consists of a third direct drive motor, a rotary spline nut and a spline shaft; the rotary spline nut is connected with the output end of the third direct drive motor through a mounting flange on the rotary spline nut, the rotary spline nut is connected with the output end of the third direct drive motor through a flange, and the third direct drive motor drives the spline nut and the spline shaft to rotate.
According to the preferable technical scheme, the spline shaft is of a hollow structure, and a second absolute value encoder used for tracking the rotating position of the spline shaft is installed on the upper portion of the spline shaft.
As the preferred technical scheme, the spline shaft is connected with the screw nut through a spline connecting plate, and the connecting plate adopts a slide rail to restrict the up-and-down lifting motion.
Preferably, the servo motor is an absolute value encoder type servo motor.
As the preferred technical scheme, the spline connecting plate is fixedly connected to the second encoder mounting seat, and the upper end of the spline shaft is mounted in the second encoder mounting seat through a bearing.
As a preferred technical scheme, a first absolute value type encoder is installed at the tail part of the second direct drive motor, wherein the first absolute value type encoder is installed in the first encoder installation seat.
The utility model has the advantages that: the utility model discloses three rotary joint has reduced extra power transmission part by directly driving motor direct drive, and the modularization level is high, and repeatability is good.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a plan view of the joint structure of the present invention;
fig. 2 is a plan view of the joint structure of the present invention.
Detailed Description
All of the features disclosed in this specification, or all of the steps in any method or process so disclosed, may be combined in any combination, except combinations where mutually exclusive features or steps are mutually exclusive.
Any feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving equivalent or similar purposes, unless expressly stated otherwise. That is, unless expressly stated otherwise, each feature is only an example of a generic series of equivalent or similar features.
In the description of the present invention, it is to be understood that the terms "one end", "the other end", "the outside", "upper", "inside", "horizontal", "coaxial", "central", "end", "length", "outer end", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.
Furthermore, in the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
The use of terms herein such as "upper," "above," "lower," "below," and the like in describing relative spatial positions is for the purpose of facilitating description to describe one element or feature's relationship to another element or feature as illustrated in the figures. The spatially relative positional terms may be intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "below" can encompass both an orientation of above and below. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
In the present invention, unless otherwise explicitly specified or limited, the terms "set", "coupled", "connected", "penetrating", "plugging", and the like are to be understood in a broad sense, and may be, for example, fixedly connected, detachably connected, or integrated; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
As shown in fig. 1 and 2, a first rotary joint 101 of the present invention is composed of a first direct drive motor 14 and a first arm 13. Wherein the first arm 13 is installed at an output end of the first direct drive motor 14, and when an output shaft of the first direct drive motor 14 rotates, the first arm 13 is driven to rotate.
The second rotary joint 102 as described above is composed of the second direct drive motor 12, the second arm 2, and the first arm 13; the second direct drive motor 12 is provided with a first absolute value encoder 9, the second arm 2 is connected with the casing of the second direct drive motor 12, the first arm 13 is connected with the output shaft of the second direct drive motor 12, and when the output shaft of the second direct drive motor 12 rotates, the casing of the second direct drive motor 12 and the second arm 2 connected with the casing can be driven to rotate.
The lifting joint 103 is composed of a servo motor 17, a first synchronous pulley 11, a synchronous belt 15, a second synchronous pulley 16, a lead screw 8 and a lead screw nut 4. The first synchronous belt wheel 11 is connected to an output shaft of the servo motor 17, and when the output shaft of the servo motor 17 drives the first synchronous belt wheel 11 to rotate, the second synchronous belt wheel 16 is driven to rotate through the synchronous belt 15; the second synchronous pulley 16 is connected to the lead screw 8, so that rotation of the second synchronous pulley 16 drives rotation of the lead screw 8, and finally the corresponding lead screw nut performs lifting motion.
The lead screw nut 4 is connected with the second encoder mounting seat 6 through the spline connecting plate 5, the upper end of the spline shaft 1 is connected with the second encoder mounting seat 6, and when the lead screw nut 4 moves up and down, the spline shaft 1 is driven to move up and down.
The third rotating joint 104 is composed of a second arm 13, a spline shaft 1 and a third direct drive motor 3, wherein a mounting flange of the spline shaft 1 is connected to an output shaft of the third direct drive motor 3, a casing of the third direct drive motor 3 is connected with the second arm 13, and when the output shaft of the third direct drive motor 3 rotates, the spline shaft 1 is driven to rotate.
The utility model adopts three direct drive motors to drive three corresponding rotary joints, and one servo motor drives a unique lifting joint; three direct drive motor to rotary joint's direct drive has saved account for the motion transmission device of space, influence motion precision, makes the utility model discloses a high repeatability precision and comparatively light assembly.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that are not thought of through the creative work should be covered within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope defined by the claims.
Claims (5)
1. A directly drive structure SCARA robot which characterized in that: comprises a first rotary joint, a second rotary joint, a lifting joint and a third rotary joint; the first rotary joint consists of a base, a first arm and a first direct-drive motor; the first direct-drive motor is arranged on a base, the first arm is connected to the output end of the first direct-drive motor, and the first arm is driven by the first direct-drive motor;
the second rotary joint consists of a first arm, a second arm and a second direct drive motor; the second direct drive motor is connected with a second arm through a bearing, and the first arm is connected with a rotor mounting ring on the second direct drive motor;
the lifting joint consists of a servo motor, a first synchronous belt pulley, a synchronous belt, a second synchronous belt pulley, a screw nut and a screw; the lead screw nut is connected with the spline shaft through the spline connecting plate, the first synchronous belt wheel is driven by a servo motor, the synchronous belt drives the second synchronous belt wheel to rotate, the second synchronous belt wheel is fixedly connected with the lead screw, and the lead screw rotates to drive the lead screw nut to do lifting motion;
the third rotary joint consists of a third direct drive motor, a rotary spline nut and a spline shaft; the rotary spline nut is connected with the output end of a third direct drive motor through a mounting flange on the rotary spline nut, and the third direct drive motor drives the spline nut and the spline shaft to do rotary motion;
the spline shaft is connected with the lead screw nut through a spline connecting plate, and the connecting plate adopts a slide rail pair to restrain the up-and-down lifting motion.
2. The direct drive configuration SCARA robot of claim 1, wherein: the spline shaft is of a hollow structure, and a second absolute value encoder used for tracking the rotating position of the spline shaft is installed at the upper part of the spline shaft.
3. The direct drive configuration SCARA robot of claim 1, wherein: the servo motor is an absolute value encoder type servo motor.
4. The direct drive configuration SCARA robot of claim 1, wherein: the spline connecting plate is fixedly connected to the second encoder mounting seat, and the upper end of the spline shaft is mounted in the second encoder mounting seat through a bearing.
5. The direct drive configuration SCARA robot of claim 1, wherein: the tail part of the second direct drive motor is provided with a first absolute value type encoder, wherein the first absolute value type encoder is arranged in a first encoder mounting seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920723126.XU CN211333265U (en) | 2019-05-20 | 2019-05-20 | Direct-drive structure SCARA robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920723126.XU CN211333265U (en) | 2019-05-20 | 2019-05-20 | Direct-drive structure SCARA robot |
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| CN211333265U true CN211333265U (en) | 2020-08-25 |
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| CN201920723126.XU Active CN211333265U (en) | 2019-05-20 | 2019-05-20 | Direct-drive structure SCARA robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110355749A (en) * | 2019-07-19 | 2019-10-22 | 深圳市领略数控设备有限公司 | A kind of direct-driving type numerical control processing machine people |
| CN112976047A (en) * | 2021-02-08 | 2021-06-18 | 佛山市华道超精科技有限公司 | Double-feedback flexible rotary joint mechanism and robot |
-
2019
- 2019-05-20 CN CN201920723126.XU patent/CN211333265U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110355749A (en) * | 2019-07-19 | 2019-10-22 | 深圳市领略数控设备有限公司 | A kind of direct-driving type numerical control processing machine people |
| CN112976047A (en) * | 2021-02-08 | 2021-06-18 | 佛山市华道超精科技有限公司 | Double-feedback flexible rotary joint mechanism and robot |
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