CN213999472U

CN213999472U - SCARA type robot

Info

Publication number: CN213999472U
Application number: CN202022643165.4U
Authority: CN
Inventors: 何杰
Original assignee: Nanjing Estun Robotics Co Ltd
Current assignee: Nanjing Estun Robotics Co Ltd
Priority date: 2020-11-16
Filing date: 2020-11-16
Publication date: 2021-08-20
Anticipated expiration: 2030-11-16

Abstract

The utility model discloses a SCARA type robot, which is provided with a base, wherein a first arm is connected below the base, and a second arm is connected below the front end of the first arm; the base is internally provided with a J1 shaft, a first driving device for driving the J1 shaft to move up and down and a second driving device for driving the J1 shaft to rotate; the front end of the first arm is provided with a J2 shaft and a third driving device for driving the J2 shaft to rotate; the front end of the second arm is provided with a J3 shaft and a fourth driving device for driving the J3 shaft to rotate; the rear end of the first arm is fixed on a J1 shaft, and the first arm moves up and down or rotates horizontally around a J1 shaft under the drive of a J1 shaft; the rear end of the second arm is fixed on the J2 shaft, and the second arm rotates around the J2 shaft under the drive of the J2 shaft. The utility model discloses a SCARA type robot, load inertia is big, and the action beat is fast, and the motion range is wide, low in manufacturing cost.

Description

SCARA type robot

Technical Field

The utility model relates to an industrial robot technical field, concretely relates to SCARA type robot.

Background

When carrying plate parts in the existing PCB preparation industry, a vertical six-joint robot is mainly used and is arranged at the top of a production line to carry out retraction operation on plate-shaped parts. The operation of the PCB folding and unfolding stations is analyzed, the PCB is mainly carried in a horizontal plane, the PCB only needs to do 4-degree-of-freedom movement actually, the carrying freedom degree of the vertical six-joint robot is redundant, and the six-joint robot is high in manufacturing cost, complex in control and high in use cost.

The SCARA robot is a robot arm applied to assembly work, has 3 rotary joints and is most suitable for plane positioning. The use cost can be reduced by replacing a vertical six-joint robot with the SCARA robot arm to carry plate parts, the control is simple, but the existing SCARA robot has small motion range, low action speed and low load inertia, and is not suitable for the use of a PCB circuit board production line with fast production rhythm and the carrying of large-inertia parts.

SUMMERY OF THE UTILITY MODEL

For solving among the prior art SCARA robot motion range little, action speed is slow, the technical problem that load inertia is low, the utility model provides a SCARA type robot.

The utility model adopts the technical proposal that:

a SCARA type robot is provided with a base, wherein a first arm is connected below the base, and a second arm is connected below the front end of the first arm; the base is internally provided with a J1 shaft, a first driving device for driving the J1 shaft to move up and down and a second driving device for driving the J1 shaft to rotate; the front end of the first arm is provided with a J2 shaft and a third driving device for driving the J2 shaft to rotate; the front end of the second arm is provided with a J3 shaft and a fourth driving device for driving the J3 shaft to rotate; the J1 axis, the J2 axis and the J3 axis are parallel to each other; the rear end of the first arm is fixed on a J1 shaft, and the first arm moves up and down or rotates horizontally around a J1 shaft under the drive of a J1 shaft; the rear end of the second arm is fixed on the J2 shaft, and the second arm rotates around the J2 shaft under the drive of the J2 shaft.

Furthermore, a base is arranged in the base, and a first planetary reducer and a second driving device are arranged on the base; the output shaft of the first planetary reducer is a shaft J1, the lower end of the shaft J1 is coaxially and fixedly connected with a first arm cylinder, and the lower end of the first arm cylinder can movably extend out of the base to be connected with a first arm; the first driving device comprises a first motor, a first synchronous belt wheel, a second synchronous belt wheel, a first synchronous belt, a screw and a nut; the base is fixed on a nut, the nut is spirally sleeved on a screw rod, the shaft end of the screw rod is connected with a first synchronous belt wheel, the shaft end of a first motor is connected with a second synchronous belt wheel, and the second synchronous belt wheel is connected with the first synchronous belt wheel through a first synchronous belt; the second driving device comprises a second motor, a third synchronous belt wheel, a fourth synchronous belt wheel and a second synchronous belt; the third synchronous belt wheel is connected to the upper end of the input shaft of the first speed reducer, the fourth synchronous belt wheel is connected to the shaft end of the second motor, and the fourth synchronous belt wheel is connected with the third synchronous belt wheel through a second synchronous belt. The design can realize the up-and-down and second joint rotation actions of the first joint of the base. The action is different from a common SCARA robot and is suitable for being applied to the carrying working condition of a PCB.

Furthermore, two guide rails are symmetrically arranged in the base, the two guide rails are arranged on two sides of the screw rod, and a sliding block is connected to the guide rails in a sliding manner; the base is fixed on the two sliding blocks. The two guide rails mainly bear the weight and the overturning moment of the robot body, and the screw plays a role in improving the whole structure, so that the stress of the designed structure is relatively balanced, and the structure is compact.

Further, the outside of the base body is provided with a base housing, the first motor is arranged in the base housing, and the axis of the first motor is parallel to the axis of the screw rod. First motor and parallel folding arrangement of screw rod can effectively reduce robot base height, compact structure.

Furthermore, the first arm is provided with a first arm body of a hollow flat rectangular body structure, the third driving device and a J2 shaft are arranged in the first arm body, and a second hollow planetary reducer is adopted as a J2 shaft; the third driving device comprises a third motor, a fifth synchronous belt wheel, a sixth synchronous belt wheel and a third synchronous belt; and a sixth synchronous belt wheel is sleeved at the input shaft end of the second speed reducer, a fifth synchronous belt wheel is sleeved at the shaft end of the third motor, and the sixth synchronous belt wheel is connected with the fifth synchronous belt wheel through a third synchronous belt. The flat rectangular arm body can enable the height of the robot to be lower, and the robot arm can extend into a narrower space. Each driving motor and the speed reducer are arranged nearby, so that transmission chains can be effectively reduced, transmission precision is improved, and a transmission structure is simplified.

Furthermore, a second arm cylinder is sleeved at the end of the output shaft of the second speed reducer, and the lower end of the second arm cylinder can movably extend out of the first arm body to be connected with the second arm. The design can be the maximum rotation range of the second arm, and the flexibility of the robot is improved.

Furthermore, a first arm cover is arranged on the upper side of the front end of the first arm body and used for sealing the third motor. The closed housing can improve the appearance and the protection performance of the robot.

Furthermore, the second arm is provided with a second arm body of a hollow flat rectangular body structure, a fourth driving device and a J3 shaft are arranged in the first arm body, and a third planetary reducer is adopted by a J3 shaft; the fourth driving device comprises a fourth motor, a seventh synchronous belt wheel, an eighth synchronous belt wheel and a fourth synchronous belt, the seventh synchronous belt wheel is sleeved at the output shaft end of the fourth motor, the eighth synchronous belt wheel is sleeved at the input shaft end of the third speed reducer, and the seventh synchronous belt wheel is connected with the eighth synchronous belt wheel through the fourth synchronous belt. The structure can be simplified by arranging the motor close to the motor, and the hollow hole can facilitate wiring inside and outside.

Furthermore, a second arm cover is arranged on the upper side of the front end of the second arm body and used for sealing the fourth motor. The housing can improve the appearance and the protection performance of the robot.

The utility model has the advantages that:

1. the first arm and the second arm are flat structures, can extend into a narrower area, and have a wide range.

2. The first arm body and the second arm body are of hollow flat rectangular structures, and the connecting cable on the tail end clamp can be arranged inside the robot, so that the exposure of the cable is reduced.

3. The first arm and the second arm can rotate in 360 degrees at all angles, so that the movement range of the robot is circular, and no dead angle exists in the movement range.

4. The tail end of the second arm body is provided with a speed reducer, so that the second arm body can bear larger inertia load.

Drawings

Figure 1 is an axonometric view of the SCARA type robot of the present invention.

Fig. 2 is a longitudinal sectional view of fig. 1.

Fig. 3 is a transverse cross-sectional view of the base of fig. 1.

Fig. 4 is an outline view of the base of the SCARA robot of the present invention.

Fig. 5 is a schematic cross-sectional view of the first arm and the second arm of the SCARA robot of the present invention.

Reference numerals:

1. a robot;

2. a base; 21. a base body; 22. a base bottom plate; 23. a base housing; 211. a first motor; 212. a screw; 213. a guide rail; 214. a slider; 215. a first timing pulley; 217. a second timing pulley; 216. a first synchronization belt; 218. a nut;

a 221 base; 222. a second motor; 223. a first speed reducer; 224. a third synchronous pulley; 225. a fourth timing pulley; 226. a second synchronous belt; 227. a first arm cylinder;

3. a first arm; 31. a first arm body; 32. a third motor; 33. a fifth timing pulley; 34. a sixth timing pulley; 35. a third synchronous belt; 36. a second speed reducer; 37. a second arm cylinder; 38. a first arm casing;

4. a second arm; 41. a second arm body; 42. a fourth motor; 43. a seventh timing pulley; 44. an eighth timing pulley; 45. a fourth synchronous belt; 46. a third speed reducer; 47. a second arm casing.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings and a preferred embodiment.

Example 1

Referring to fig. 1 to 5, the embodiment provides a flip-chip robot widely used in PCB production line and transportation of large inertia components, the SCARA robot 1 of the embodiment has a base 2, a first arm 3 is connected below the base 2, and a second arm 4 is connected below the front end of the first arm 3; a J1 shaft, a first driving device for driving the J1 shaft to move up and down and a second driving device for driving the J1 shaft to rotate are arranged in the base 2; the front end of the first arm 3 is provided with a J2 shaft and a third driving device for driving the J2 shaft to rotate; the front end of the second arm 4 is provided with a J3 shaft and a fourth driving device for driving the J3 shaft to rotate; the J1 axis, the J2 axis and the J3 axis are parallel to each other; the rear end of the first arm is fixed on a J1 shaft, and the first arm 3 moves up and down or rotates horizontally around a J1 shaft under the drive of the J1 shaft; the rear end of the second arm is fixed on the J2 shaft, and the second arm 4 rotates around the J2 shaft under the drive of the J2 shaft. Each part will be described in detail below.

As shown in fig. 1 and 2, the base 2 is located at the uppermost part of the robot 1, a base bottom plate 22 is provided at the top of the base 2, a mounting hole is provided in the base bottom plate 22, the mounting hole is used for fixing the robot 1 upside down on a ceiling installation surface at the top of a production line, and a base body 21 is connected below the base bottom plate 22.

As shown in fig. 3, two guide rails 213 are axially symmetrically arranged at one end of the base body 21, and a sliding block 214 is slidably connected to the guide rails 213. A screw 212 is axially arranged between the two guide rails 213, a first synchronous belt pulley 215 is connected to the shaft end of the screw 212, a nut 218 is spirally sleeved on the screw 212, and the nut 218 can move up and down along the screw 212 under the driving of the screw 212. The outer side of the base body 21 is provided with a base cover 23, a first motor 211 is arranged in the base cover 23, the axis of the first motor 211 is parallel to the axis of the screw 212, the shaft end of the first motor 211 is connected with a second synchronous belt pulley 217, the second synchronous belt pulley 217 is connected with a first synchronous belt pulley 215 through a first synchronous belt 216, and the first motor 211 drives the screw 212 to rotate through the first synchronous belt 216 to drive the nut 218 to move up and down on the screw 212. The first motor 211, the first timing pulley 215, the second timing pulley 217, and the first timing belt 216 constitute a first driving device.

The other end in the base 2 is further provided with a base 221, as shown in fig. 4, the base 221 is L-shaped, and the vertical side of the L-shaped base 221 is fixedly connected to the two sliders 214 and the nut 218; a first speed reducer 223 is connected to a lower side of the horizontal side surface of the L-shaped base 221, and the first speed reducer 223 is a planetary speed reducer. The output shaft of the first speed reducer 223 is a shaft J1, and the lower end of the shaft J1 is coaxially and fixedly connected with a first arm barrel 227. The upper end of the input shaft of the first speed reducer 223 is connected with a third synchronous pulley 225, the upper side of the horizontal side surface of the L-shaped base 221 is connected with a second motor 222, the axis of the second motor 222 is parallel to the axis of the first speed reducer 223, the shaft end of the second motor 222 is connected with a fourth synchronous pulley 224, and the fourth synchronous pulley 224 is connected with the third synchronous pulley 225 through a second synchronous belt 226. The second motor 222 drives the J1 shaft to rotate via the second timing belt 226. The second motor 222, the third timing pulley 225, the fourth timing pulley 224, and the second timing belt 226 constitute a second driving device.

As shown in fig. 1 and 2, one end of the first arm 3 is fixedly connected to a lower portion of the first arm cylinder 227. The first arm 3 is provided with a first arm body 31, as shown in fig. 5, the first arm body 31 is a hollow flat rectangular structure, a first arm cover 38 is provided on the upper side of the front end of the first arm body 31, and the first arm cover 38 is used for sealing the third motor 32. A third motor 32 is arranged in the first arm body 31, and a fifth synchronous belt wheel 33 is sleeved at the output shaft end of the third motor 32; the second speed reducer 36 is arranged on the lower side of the front end of the first arm body 31, the second speed reducer 36 is a hollow planetary speed reducer, the output shaft of the second speed reducer 36 is a shaft J2, and a second arm cylinder 37 is sleeved at the shaft end of a shaft J2. The force input shaft of the second speed reducer 36 vertically extends upwards into the cavity of the first arm body 31, the shaft end is sleeved with a sixth synchronous belt wheel 34, and the sixth synchronous belt wheel 34 is connected with the fifth synchronous belt wheel 33 through a third synchronous belt 35. The third motor 32 rotates the J2 shaft via a third timing belt 35. The third motor 32, the fifth timing pulley 33, the sixth timing pulley 34, and the third timing belt 35 constitute a third driving device.

As shown in fig. 1 and 2, one end of the second arm 4 is fixedly connected to a lower portion of the second arm cylinder 37. The second arm 4 is provided with a second arm body 41, as shown in fig. 5, the second arm body 41 has a hollow flat rectangular structure, and the second arm body 41 has the same structure as the first arm body 31. A second arm cover 47 is provided on the upper side of the front end of the second arm body 41, and the second arm cover 47 closes the fourth motor 42. The fourth motor 42 is arranged in the second arm body 41, and a seventh synchronous belt wheel 43 is sleeved at the output shaft end of the motor. A third speed reducer 46 is arranged on the lower side of the front end of the second arm body 41, the third speed reducer 46 is a planetary speed reducer, and the output shaft of the third speed reducer 46 is a shaft J3. The input shaft of the third speed reducer 46 vertically extends upwards into the cavity of the second arm body 41, the shaft end is sleeved with an eighth synchronous pulley 44, and the eighth synchronous pulley 44 is connected with the seventh synchronous pulley 43 through a fourth synchronous belt 45. The fourth motor 42 drives the shaft J3 to rotate through the fourth timing belt 45, and the shaft end of the shaft J3 can be connected with a gripper and other end executing structures. The fourth motor 42, the seventh timing pulley 43, the eighth timing pulley 44, and the fourth timing belt 45 constitute a fourth driving device.

The utility model discloses a theory of operation is:

the first motor 211 drives the screw 212 to rotate, the nut 218 moves up and down along the screw 212, the nut 218 drives the base 221 and the first speed reducer 223 to move up and down along the axis J1, and the first speed reducer 223 drives the first arm cylinder 227 to move up and down, so as to drive the first arm 3 and the second arm 4 to move up and down along the axis J1;

the second motor 222 drives the output shaft of the second speed reducer 223 to rotate, so as to drive the first arm cylinder 227 to rotate around the axis of the J1 shaft, and further drive the first arm 3 and the second arm 4 to rotate around the J1 shaft;

the third motor 32 drives the output shaft of the second speed reducer 36 to rotate, so as to drive the second arm cylinder 37 to rotate around the axis of the J2 shaft, and further drive the second arm 4 to rotate around the J2 shaft;

the fourth motor 42 drives the input shaft of the third speed reducer 46 to rotate, and drives the gripper and other end executing structures to rotate around the axis of the J3 shaft.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and the improvements and modifications are also within the protection scope of the present invention.

Claims

1. A SCARA type robot is characterized in that the SCARA type robot is provided with a base, a first arm is connected below the base, and a second arm is connected below the front end of the first arm; the base is internally provided with a J1 shaft, a first driving device for driving the J1 shaft to move up and down and a second driving device for driving the J1 shaft to rotate; the front end of the first arm is provided with a J2 shaft and a third driving device for driving the J2 shaft to rotate; the front end of the second arm is provided with a J3 shaft and a fourth driving device for driving the J3 shaft to rotate; the J1 axis, the J2 axis and the J3 axis are parallel to each other; the rear end of the first arm is fixed on a J1 shaft, and the first arm moves up and down or rotates horizontally around a J1 shaft under the drive of a J1 shaft; the rear end of the second arm is fixed on the J2 shaft, and the second arm rotates around the J2 shaft under the drive of the J2 shaft.

2. The SCARA-type robot of claim 1, wherein a base is provided in the base, and a first planetary reducer and a second driving device are mounted on the base; the output shaft of the first planetary reducer is a shaft J1, the lower end of the shaft J1 is coaxially and fixedly connected with a first arm cylinder, and the lower end of the first arm cylinder can movably extend out of the base to be connected with a first arm; the first driving device comprises a first motor, a first synchronous belt wheel, a second synchronous belt wheel, a first synchronous belt, a screw and a nut; the base is fixed on a nut, the nut is spirally sleeved on a screw rod, the shaft end of the screw rod is connected with a first synchronous belt wheel, the shaft end of a first motor is connected with a second synchronous belt wheel, and the second synchronous belt wheel is connected with the first synchronous belt wheel through a first synchronous belt; the second driving device comprises a second motor, a third synchronous belt wheel, a fourth synchronous belt wheel and a second synchronous belt; the third synchronous belt wheel is connected to the upper end of the input shaft of the first speed reducer, the fourth synchronous belt wheel is connected to the shaft end of the second motor, and the fourth synchronous belt wheel is connected with the third synchronous belt wheel through a second synchronous belt.

3. The SCARA robot of claim 2, wherein the base is further provided with two guide rails symmetrically arranged at two sides of the screw, and the guide rails are connected with sliding blocks in a sliding manner; the base is fixed on the two sliding blocks.

4. A SCARA type robot as claimed in claim 3, wherein a base housing is provided on the outside of the base body, the first motor is provided in the base housing, and the axis of the first motor is parallel to the axis of the screw.

5. The SCARA-type robot according to claim 1, wherein the first arm is provided with a first arm body having a hollow flat rectangular body structure, the third driving means and the J2 shaft are provided in the first arm body, and the J2 shaft is a second hollow planetary reducer; the third driving device comprises a third motor, a fifth synchronous belt wheel, a sixth synchronous belt wheel and a third synchronous belt; and a sixth synchronous belt wheel is sleeved at the input shaft end of the second speed reducer, a fifth synchronous belt wheel is sleeved at the shaft end of the third motor, and the sixth synchronous belt wheel is connected with the fifth synchronous belt wheel through a third synchronous belt.

6. The SCARA robot of claim 5, wherein the second reducer has a second arm cylinder sleeved on the output shaft end, and the lower end of the second arm cylinder can movably extend out of the first arm body to connect with the second arm.

7. The SCARA-type robot according to claim 6, wherein the first arm body is provided with a first arm housing on the upper side of the front end thereof, the first arm housing enclosing the third motor.

8. The SCARA robot as claimed in claim 1, wherein the second arm is provided with a second arm body having a hollow flat rectangular body structure, the fourth driving means and the J3 shaft are provided in the first arm body, and the J3 shaft is a third planetary reducer; the fourth driving device comprises a fourth motor, a seventh synchronous belt wheel, an eighth synchronous belt wheel and a fourth synchronous belt, the seventh synchronous belt wheel is sleeved at the output shaft end of the fourth motor, the eighth synchronous belt wheel is sleeved at the input shaft end of the third speed reducer, and the seventh synchronous belt wheel is connected with the eighth synchronous belt wheel through the fourth synchronous belt.

9. The SCARA-type robot of claim 8, wherein the second arm body has a second arm housing provided on the upper side of the front end thereof, the second arm housing enclosing the fourth motor.