CN214924413U

CN214924413U - SCARA manipulator

Info

Publication number: CN214924413U
Application number: CN202022716667.5U
Authority: CN
Inventors: 邓亚军; 范秀广; 梁文华; 陈成波; 陈戴通
Original assignee: Zhuhai Zhixin Automation Technology Co ltd
Current assignee: Zhuhai Zhixin Automation Technology Co ltd
Priority date: 2020-11-20
Filing date: 2020-11-20
Publication date: 2021-11-30
Anticipated expiration: 2030-11-20

Abstract

The utility model discloses a SCARA manipulator, which comprises a base, wherein an electric control component is arranged in the base; the large arm is arranged on the base and can horizontally rotate relative to the base; one end of the small arm is horizontally and rotatably connected with the large arm, the other end of the small arm is provided with an output assembly, a driving assembly is arranged in the small arm, and the driving assembly is in transmission connection with the output assembly; the big arm is connected to bellows, one end, and the forearm is connected to the other end, and the bellows passes through the inside of electric wire route intercommunication base, and electric control assembly passes through electric wire electric connection with drive assembly, and the electric wire wears to locate in electric wire route and the bellows in proper order. The big arm of this manipulator can not receive the blockking of bellows when rotating to the rotatable angle scope of big arm is greater than 360, makes this manipulator can snatch and transport article without the dead angle.

Description

SCARA manipulator

Technical Field

The utility model relates to an automation equipment field, in particular to SCARA manipulator.

Background

With the development of science and technology, people invent a manipulator to replace people to carry out heavy work, and the automation of production can be realized. The robot arm has a function of simulating some motions of a human hand and arm, can grasp, carry an object or an operation tool according to a fixed procedure, and has many advantages that human beings cannot compare with, such as the robot can continuously perform repetitive and boring labor, is not tired, is not afraid of danger, and is powerful.

SCARA is a common robot. SCARA is an abbreviation for Selective company Assembly Robot Arm, meaning a Robot Arm that is used in Assembly operations. It has 3 rotary joints, and is most suitable for plane location.

However, the wiring mode of current SCARA manipulator sets up improperly for the pipeline of connecting the electric wire has restricted the rotation of manipulator, makes the rotatable angle scope of manipulator less, does not reach 360 far away, can't satisfy user's processing demand, and production efficiency also receives the restriction.

SUMMERY OF THE UTILITY MODEL

The utility model discloses aim at solving one of the technical problem that exists among the prior art at least. Therefore, the utility model provides a SCARA manipulator, rotatable angle scope is greater than 360, can snatch and transport article no dead angle ground.

The SCARA manipulator comprises a base, wherein an electric control assembly is arranged in the base; the large arm is arranged on the base and can horizontally rotate relative to the base; one end of the small arm is horizontally and rotatably connected with the large arm, the other end of the small arm is provided with an output assembly, a driving assembly is arranged in the small arm, and the driving assembly is in transmission connection with the output assembly; the electric control assembly is electrically connected with the driving assembly through electric wires, and the electric wires sequentially penetrate through the electric wire passage and the corrugated pipe.

The method has the following beneficial effects: the mechanical arm is provided with a large arm, the large arm can rotate relative to the base horizontally, a small arm is installed at one end of the large arm, and an output assembly used for grabbing or carrying objects is installed on the small arm. In addition, automatically controlled subassembly and the inside drive assembly electric connection of forearm, the electric wire wears to locate in electric wire route and bellows in proper order, and bellows one end is run through and is connected big arm, and the other end runs through and is connected the forearm, consequently, big arm can not receive blockking of bellows when rotating to the rotatable angle scope of big arm is greater than 360, makes this manipulator snatch and transport article without the dead angle.

According to the utility model discloses a some embodiments, install first motor in the base, first motor is connected with the harmonic speed reducer ware through the transmission of transmission shaft, the transmission shaft run through in the center of harmonic speed reducer ware, the transmission shaft has been seted up along radially running through electric wire route, big arm passes through the harmonic speed reducer ware install in on the base.

According to the utility model discloses a some embodiments, drive assembly with output assembly connects, output assembly includes the output shaft, be equipped with the keyway that screw thread and a plurality of vertical direction in edge set up on the output shaft, be provided with spline housing and screw-nut along vertical direction interval on the output shaft.

According to the utility model discloses a some embodiments, drive assembly includes the second motor, first synchronous pulley is installed to the output of second motor, first synchronous pulley is connected with second synchronous pulley through first hold-in range, second synchronous pulley fixedly connected with the spline housing, the spline housing passes through the keyway and connects the output shaft, the spline housing rotationally install in on the forearm.

According to some embodiments of the utility model, the drive assembly includes the third motor, third synchronous pulley is installed to the output of third motor, third synchronous pulley is connected with fourth synchronous pulley through the second hold-in range, fourth synchronous pulley fixed connection screw-nut, screw-nut with output shaft threaded connection, screw-nut rotationally install in on the forearm.

According to some embodiments of the invention, the output assembly further comprises a pneumatic clamping jaw, which is mounted in the lower end of the output shaft.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic structural diagram of an embodiment of the present invention;

fig. 2 is a partial schematic structural diagram of an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a base according to an embodiment of the present invention;

fig. 4 is a partial cross-sectional view of an embodiment of the invention;

fig. 5 is a schematic view of an internal structure of the forearm according to the embodiment of the present invention.

Reference numerals: the device comprises a base 1, a large arm 2, a small arm 3, a corrugated pipe 4, an electric wire passage 5, a harmonic reducer 6, an output assembly 7, an output shaft 71, a spline housing 72, a screw rod nut 73, a driving assembly 8, a second motor 81, a third motor 82 and a transmission shaft 9.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.

In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper and lower directions, is the orientation or positional relationship shown on the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore should not be construed as limiting the present invention.

In the description of the present invention, a plurality of means are one or more, and a plurality of means are two or more. If there is a description of the first, second, third and fourth only for the purpose of distinguishing between technical features, this is not to be understood as indicating or implying a relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present invention, unless there is an explicit limitation, the words such as setting, installation, connection, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in combination with the specific contents of the technical solution.

Referring to fig. 1 to 5, a SCARA robot according to an embodiment of the present invention includes a base 1, a large arm 2, a small arm 3, a bellows 4, a wire passage 5, an output assembly 7, and a driving assembly 8.

Wherein, the inside of base 1 is provided with automatically controlled subassembly. And the large arm 2 is arranged on the base 1 and can horizontally rotate relative to the base 1. Forearm 3, one end level is rotated and is connected big arm 2, output assembly 7 is installed to the other end, the internally mounted of forearm 3 has drive assembly 8, drive assembly 8 with output assembly 7 transmission is connected. Bellows 4, one end is connected big arm 2, and the other end is connected forearm 3, bellows 4 passes through 5 intercommunications of electric wire route the inside of base 1, automatically controlled subassembly with drive assembly 8 passes through electric wire electric connection, the electric wire wears to locate in proper order electric wire route 5 and in the bellows 4.

Big arm 2 of this manipulator can for the base level rotates, and forearm 3 is installed to the one end of big arm 2, and forearm 3 installs the output subassembly that is used for snatching or transport article. In addition, the electric control assembly is electrically connected with the driving assembly 8 inside the small arm 3 through an electric wire, the electric wire sequentially penetrates through the electric wire passage 5 and the corrugated pipe 4, one end of the corrugated pipe 4 is connected with the large arm 2, and the other end of the corrugated pipe is connected with the small arm 3, so that the large arm 2 cannot be blocked by the corrugated pipe 4 when rotating, the rotatable angle range of the large arm 2 is larger than 360 degrees, and the manipulator can grab and carry articles without dead angles.

Referring to fig. 2, fig. 3 and fig. 4, in some embodiments of the present invention, a first motor is installed in the base, the first motor is connected to the harmonic reducer 6 through a transmission shaft 9, the transmission shaft 9 runs through the center of the harmonic reducer 6, the transmission shaft 9 has a wire passage 5 along a radial direction, and the large arm 2 is installed on the base 1 through the harmonic reducer 6.

The harmonic reducer 6 is composed of a wave generator, a flexible gear with an external gear ring and a rigid gear with an internal gear ring. The wave generator is a member that produces controlled elastic deformation of the flexspline. When the wave generator is installed in the flexible gear, the cross section of the flexible gear is forced to change from original round to elliptical shape, the teeth near the two ends of the major axis of the flexible gear are completely meshed with the teeth of the rigid gear, and the teeth near the two ends of the minor axis of the flexible gear are completely separated from the rigid gear. The teeth of the other sections on the perimeter are in a transition state of engagement and disengagement. When the wave generator rotates continuously, the flexible gear deforms continuously, so that the meshing state of the flexible gear and the rigid gear is changed continuously, and meshing, disengaging and re-meshing are carried out repeatedly, and the flexible gear rotates slowly relative to the rigid gear.

Specifically, the transmission shaft 9 is connected with the wave generator through a key, and the motor drives the transmission shaft 9 to rotate, so that the transmission shaft 9 can drive the wave generator to rotate, and the wave generator further drives the flexible gear to rotate. Further, the large arm 2 is mounted on a flexspline of the harmonic reducer 6, and when the flexspline rotates, the large arm 2 also rotates.

Referring to fig. 5, in some embodiments of the present invention, the driving assembly 8 is connected to the output assembly 7, the output assembly 7 includes an output shaft 71, a thread and a plurality of key slots are disposed on the output shaft 71, and a spline housing 72 and a lead screw nut 73 are disposed on the output shaft 71 at intervals along the vertical direction. Specifically, the output shaft 71 is provided with a thread and a plurality of key grooves arranged in the vertical direction, and functions of a screw and a spline shaft can be simultaneously realized.

Further, the driving assembly 8 comprises a second motor 81, a first synchronous pulley is installed at the output end of the second motor 81, the first synchronous pulley is connected with a second synchronous pulley through a first synchronous belt, the second synchronous pulley is fixedly connected with a spline housing 72, the spline housing 72 is connected with the output shaft 71 through a key slot, and the spline housing 72 is rotatably installed on the small arm 3. Specifically, the inner surface of the spline housing 72 is provided with a plurality of splines along the vertical direction, the splines are embedded with the spline grooves on the output shaft 71, and when the second synchronous pulley drives the spline housing 72 to rotate, the spline housing 72 drives the second motor 81 to rotate. In addition, a speed reducer is arranged between the output end of the second motor and the first synchronous belt wheel.

In addition, the driving assembly 8 further includes a third motor 82, a third synchronous pulley is installed at an output end of the third motor 82, the third synchronous pulley is connected with a fourth synchronous pulley through a second synchronous belt, the fourth synchronous pulley is fixedly connected with a lead screw nut 73, the lead screw nut 73 is in threaded connection with the output shaft 71, and the lead screw nut 73 is rotatably installed on the small arm 3. Specifically, the third motor 82 rotates the fourth timing pulley, thereby rotating the feed screw nut 73. When the second motor 81 does not rotate, the spline housing 72 restricts the rotation of the output shaft 71, and at this time, the output shaft 71 does not rotate along with the feed screw nut 73 but performs the lifting movement.

Referring to fig. 1, 2 and 5, in some embodiments of the present invention, the output assembly further comprises a pneumatic clamping jaw mounted at a lower end of the output shaft. Specifically, big arm 2 and forearm 3 can drive output shaft 71 and make horizontal rotation, and output shaft 71 can rotate moreover, can also carry out elevating movement, and pneumatic clamping jaw can snatch and transport article effectively in the lower extreme installation of output shaft 71, and convenient to use and installation are swift. It will be appreciated that the pneumatic jaws may also be other gripping members that can be used to grip and carry objects, such as vacuum cups.

The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.

Claims

1. A SCARA robot, comprising:

the base (1) is internally provided with an electric control assembly;

the large arm (2) is arranged on the base (1) and can horizontally rotate relative to the base (1);

one end of the small arm (3) is horizontally and rotatably connected with the large arm (2), the other end of the small arm is provided with an output assembly (7), a driving assembly (8) is arranged inside the small arm (3), and the driving assembly (8) is in transmission connection with the output assembly (7);

bellows (4), one end is connected big arm (2), and the other end is connected forearm (3), bellows (4) pass through electric wire route (5) intercommunication the inside of base (1), automatically controlled subassembly with drive assembly (8) pass through electric wire electric connection, the electric wire is worn to locate in proper order electric wire route (5) and in bellows (4).

2. The SCARA manipulator according to claim 1, wherein a first motor is installed in the base, the first motor is in transmission connection with a harmonic reducer (6) through a transmission shaft (9), the transmission shaft (9) penetrates through the center of the harmonic reducer (6), the transmission shaft (9) radially penetrates through the wire passage (5), and the large arm (2) is installed on the base (1) through the harmonic reducer (6).

3. A SCARA robot according to claim 1, wherein the driving assembly (8) is connected with the output assembly (7), the output assembly (7) comprises an output shaft (71), the output shaft (71) is provided with a thread and a plurality of key slots arranged along the vertical direction, and the output shaft (71) is provided with spline sleeves (72) and screw nuts (73) at intervals along the vertical direction.

4. A SCARA robot according to claim 3, wherein the driving assembly (8) comprises a second motor (81), the output end of the second motor (81) is provided with a first synchronous pulley, the first synchronous pulley is connected with a second synchronous pulley through a first synchronous belt, the second synchronous pulley is fixedly connected with the spline housing (72), the spline housing (72) is connected with the output shaft (71) through a key slot, and the spline housing (72) is rotatably arranged on the small arm (3).

5. A SCARA robot according to claim 3, characterized in that the driving assembly (8) further comprises a third motor (82), the output end of the third motor (82) is provided with a third synchronous pulley, the third synchronous pulley is connected with a fourth synchronous pulley through a second synchronous belt, the fourth synchronous pulley is fixedly connected with the screw nut (73), the screw nut (73) is in threaded connection with the output shaft (71), and the screw nut (73) is rotatably arranged on the small arm (3).

6. A SCARA robot according to claim 3, characterized in that the output assembly (7) further comprises a pneumatic gripper mounted to the lower end of the output shaft (71).