CN214959349U

CN214959349U - SCARA robot based on full-closed-loop stepping motor

Info

Publication number: CN214959349U
Application number: CN202121338218.XU
Authority: CN
Inventors: 李渊; 陈新梢; 朱国伟; 张天洪
Original assignee: Shenzhen Hor Technology Co ltd
Current assignee: Shenzhen Hor Technology Co ltd
Priority date: 2021-06-16
Filing date: 2021-06-16
Publication date: 2021-11-30
Anticipated expiration: 2031-06-16

Abstract

A full-closed loop stepping motor-based SCARA robot mainly comprises a robot controller, a first closed loop stepping motor, a second closed loop stepping motor, a third closed loop stepping motor, a fourth closed loop stepping motor, a first rotating arm, a second rotating arm, a lead screw, a lifting shaft, a spline shaft and a tail end connector; compared with the prior art, the utility model discloses with controller and power high integration with reduce cost, adopt closed loop step-by-step power so that appearance is compact, can use PLC singlechip control, control technology is simple, easy to get to the hand to reduced and used the threshold, be favorable to market popularization.

Description

SCARA robot based on full-closed-loop stepping motor

Technical Field

The utility model relates to the technical field of robot, concretely relates to SCARA robot based on full cut-off loop step motor.

Background

Industrial robots are multi-joint manipulators or multi-degree-of-freedom robots for industrial applications. An industrial robot is a machine device which automatically executes work, and is a machine which realizes various functions by means of self power and control capability. The robot can accept human command and operate according to a preset program, and modern industrial robots can also perform actions according to a principle formulated by artificial intelligence technology. SCARA (Selective Compliance Assembly Robot Arm, chinese translation name: Selective Compliance Assembly Robot Arm) is a special type of industrial Robot of the cylindrical coordinate type. The SCARA robot has compliance in the direction X, Y and good stiffness in the Z-axis, a characteristic that is particularly suitable for assembly work as well as sorting work.

In the prior art, the SCARA robot is controlled by a pulse control mode frequently, equipment with a plurality of motors is needed, the cost is high, the appearance is huge, the control technology is complex, and therefore the use threshold is too high, and the market popularization is influenced.

SUMMERY OF THE UTILITY MODEL

To the above-mentioned defect that exists among the prior art, the utility model aims to provide a SCARA robot based on full cut-off loop step motor, with controller and power high integration with reduce cost, adopt the step-by-step power of closed loop so that compact appearance can use PLC singlechip control, control technique is simple, easy to go to the beginning to reduced and used the threshold, be favorable to market popularization.

The utility model discloses a realize like this, the utility model relates to a SCARA robot adopted's technical scheme is based on full cut-off loop step motor: a SCARA robot based on a full-closed loop stepping motor comprises

The robot controller comprises a control panel, an integrated power supply module and an interface board, wherein the control panel is connected with the interface board through a communication interface, the integrated power supply module is electrically connected with the control panel, and the interface board is provided with an Ethernet communication interface and an external power supply interface; the Ethernet communication interface supports modbus TCP and RS485, so that the robot can be controlled by using a PLC/single chip microcomputer; the external power supply interface is connected with an external power supply through a power supply input cable;

the device comprises a first closed-loop stepping motor, a second closed-loop stepping motor, a third closed-loop stepping motor and a fourth closed-loop stepping motor, wherein the first closed-loop stepping motor is used for driving a first rotating arm to transversely move along the horizontal direction, the second closed-loop stepping motor is used for driving a second rotating arm to transversely move along the horizontal direction, the third closed-loop stepping motor is used for driving a screw rod to longitudinally move along the horizontal direction, and the fourth closed-loop stepping motor is used for driving a spline shaft to rotationally move along a central point; the first closed-loop stepping motor is positioned at one end of the first rotating arm, the second closed-loop stepping motor is positioned at the intersection of the other end of the first rotating arm and one end of the second rotating arm, the third closed-loop stepping motor and the fourth closed-loop stepping motor are installed on the second rotating arm, a lifting shaft is arranged at the top end of the screw rod and the top end of the spline shaft, two ends of the lifting shaft are respectively connected with the top end of the screw rod and the top end of the spline shaft, and the bottom end of the screw rod and the middle part of the spline shaft are installed on the second rotating arm at a certain interval;

the end connector is mounted at the bottom end of the spline shaft penetrating through the second rotating arm, and is used for connecting external equipment to realize grabbing or lowering of materials.

Further, the robot controller further comprises a WIFI receiver, a general I/O interface and a USB interface, the WIFI receiver is arranged on the interface board and used for wirelessly and remotely controlling the SCARA robot, the general I/O interface is used for controlling peripheral equipment, and the USB interface is used for loading and upgrading a software program installed on the control board.

Further, the SCARA robot further comprises a first harmonic reducer and a second harmonic reducer, the first harmonic reducer is connected with the first closed-loop stepping motor through a first connecting shaft, the second harmonic reducer is connected with the second closed-loop stepping motor through a second connecting shaft, the first harmonic reducer is further connected with one end of the first rotating arm through a first synchronizing shaft, and the first harmonic reducer is further connected with the intersection of the other end of the first rotating arm and one end of the second rotating arm through a second synchronizing shaft; the first harmonic speed reducer enables the first closed-loop stepping motor to stably drive the first rotating arm to move through harmonic transmission, and the second harmonic speed reducer enables the second closed-loop stepping motor to stably drive the second rotating arm to move through harmonic transmission.

Furthermore, first closed loop step motor second closed loop step motor third closed loop step motor and fourth closed loop step motor are many circles of encoder motors, many circles of encoder motors are through setting up the hall switch of electricity storage component connection for the number of turns of rotation of motor axis of rotation can pass through all the time hall switch accurately measures through the hall effect under induction magnetic field's effect, thereby has realized right the accurate control of SCARA robot motion.

Further, the both sides of lead screw are equipped with the line rail, the line rail is used for making the lift of lead screw is steady, the top of line rail is fixed in the lower surface of first fixing base, the bottom of line rail is fixed in the upper surface of second rocking arm, first fixing base is equipped with the opening, so that the both ends of lift axle can pass in order to connect respectively the top of lead screw with the top of integral key shaft, the third installed part will through the screw one side of lift axle is fixed in on the first fixing base, the fourth installed part will through the screw the another side of lift axle is fixed in on the first fixing base.

Further, the lift axle with the department of meeting of integral key shaft is fixed through connecting the mount, and the fifth installed part will through the screw the lift axle is fixed in connect on the mount, the other end of connecting the mount with be located the connecting piece at lead screw middle part meets, the connecting piece adopts two slider structures, in order to improve the steadiness of lead screw longitudinal movement.

Further, the spline shaft is fixed on the position above the second rotating arm through a second fixed seat, so that the spline shaft can rotate along a central point; the screw rod is fixed at a position above the second rotating arm through a third fixing seat, the third closed-loop stepping motor is fixed at a position above the second rotating arm through a fourth fixing seat, and the fourth closed-loop stepping motor is fixed at a position above the second rotating arm through a fifth fixing seat.

Further, a third synchronizing shaft is installed at the lower end of the third closed-loop stepping motor, a fourth synchronizing shaft is installed at the lower end of the fourth closed-loop stepping motor, a first synchronizing belt is sleeved on the peripheries of the third synchronizing shaft and the third fixing seat, and a second synchronizing belt is sleeved on the peripheries of the fourth synchronizing shaft and the second fixing seat; the third closed-loop stepping motor drives the third synchronous shaft to rotate so as to drive the first synchronous belt to rotate, and then the first synchronous belt rotates to drive the screw rod to move; and the fourth closed-loop stepping motor drives the fourth synchronous shaft to rotate so as to drive the second synchronous belt to rotate, and then the second synchronous belt rotates to drive the spline shaft to move.

Further, the SCARA robot still includes the bellows, the bellows is used for accomodating the control pencil, the one end of bellows pass through first installed part fixed mounting in robot controller is higher than, the other end of bellows passes through second installed part fixed mounting on first mount, first mount with second closed loop step motor is adjacent.

Further, the SCARA robot further includes a first housing installed on the second boom to cover a part installed on the second boom, a second housing installed on the first boom to cover a part on the first boom, and a base, a bottom of the third housing being combined with the base to cover the robot controller.

Compared with the prior art, the utility model has the advantages that the SCARA robot based on the full closed-loop stepping motor mainly comprises a robot controller, a first closed-loop stepping motor, a second closed-loop stepping motor, a third closed-loop stepping motor, a fourth closed-loop stepping motor, a first rotating arm, a second rotating arm, a lead screw, a lifting shaft, a spline shaft and a tail end connector; compared with the prior art, the utility model discloses with controller and power high integration with reduce cost, adopt closed loop step-by-step power so that appearance is compact, can use PLC singlechip control, control technology is simple, easy to get to the hand to reduced and used the threshold, be favorable to market popularization.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is an appearance schematic diagram of a SCARA robot based on a full closed loop stepping motor according to an embodiment of the present invention.

Fig. 2 is an external schematic view of another direction of the SCARA robot based on the full closed-loop stepping motor according to the embodiment of the present invention.

Fig. 3 is an exploded schematic view of a SCARA robot based on a full closed-loop stepping motor according to an embodiment of the present invention.

Fig. 4 is a partially exploded schematic view of a SCARA robot based on a full closed-loop stepping motor according to an embodiment of the present invention.

Fig. 5 is a schematic diagram of another partially exploded direction of a SCARA robot based on a fully closed-loop stepping motor according to an embodiment of the present invention.

Fig. 6 is a schematic diagram of a robot controller of a SCARA robot based on a full closed-loop stepping motor according to an embodiment of the present invention.

Fig. 7 is an external view diagram of another direction of a robot controller of a SCARA robot based on a full closed-loop stepping motor according to an embodiment of the present invention.

Fig. 8 is a schematic diagram of a multi-turn encoder for a multi-turn encoder motor.

Fig. 9 is an exploded view of a multi-turn encoder motor.

Fig. 10 is a schematic diagram of a hall switch arrangement for a multi-turn encoder motor.

FIG. 11 is a schematic diagram of the voltage signals received by the control circuit board of the multi-turn encoder motor.

The reference symbols in the above figures are: 101. a first housing; 1011. a projection; 102. a second housing; 1021. A U-shaped groove; 103. a third housing; 1031. a base; 10311. heat dissipation holes; 104. a bellows; 105. A lifting shaft; 106. a wire track; 1060. a screw rod; 1061. a connecting member; 107. a spline shaft; 1071. a terminal connector; 10711. a through hole; 108. a first rotating arm; 109. a second rotating arm; 1041. a first mounting member; 1042. a second mount; 1043. a first fixing frame; 1051. a third mount; 1052. a fourth mount; 1053. a fifth mount; 1054. a first fixed seat; 1055. a second fixed seat; 1056. a third fixed seat; 1057. a fourth fixed seat; 1058. a fifth fixed seat; 1059. connecting the fixed frame; 201. a first closed-loop stepper motor; 202. a second closed-loop stepper motor; 203. a third closed-loop stepper motor; 204. a fourth closed-loop stepper motor; 2011. a first synchronizing shaft; 2021. a second synchronizing shaft; 2031. a third synchronizing shaft; 20311. a first synchronization belt; 2041. a fourth synchronizing shaft; 20411. a second synchronous belt; 205. a first harmonic reducer; 2051. a first connecting shaft; 206. a second harmonic reducer; 2061. a second connecting shaft; 301. A robot controller; 3011. a control panel; 3012. an interface board; 3013. a WIFI receiver; 3014. a general purpose I/O interface; 3015. an Ethernet communication interface; 3016. a USB interface; 3017. an external power interface; 3018. an integrated power module; 1. an electric storage element; 2. a Hall switch; 21. hall switch No. 1; 22. Hall switch No. 2; 23. hall switch No. 3; 3. a magnetic sensor; 4. a rotating shaft; 5. an induction magnet; 6. a control circuit board; 10. an electric motor.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The same or similar reference numerals in the drawings of the present embodiment correspond to the same or similar components; in the description of the present invention, it is noted that when an element is referred to as being "fixed" to another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present, it is to be understood that the terms "upper", "lower", "left", "right", and the like, if any, refer to an orientation or positional relationship based on that shown in the drawings, that is for convenience in describing the invention and to simplify the description, and that no indication or suggestion that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, is intended to be used as an illustration only, and not as a limitation of the patent, since the terms describing the positional relationship in the drawings will be understood by those skilled in the art as having the specific meaning of the terms set forth herein.

The technical solution of the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.

Referring to fig. 1 to 7, the preferred embodiment of the present invention is shown.

The utility model provides a SCARA robot based on full cut-off ring step motor, include

The robot controller 301, the robot controller 301 includes a control panel 3011, an integrated power module 3018, and an interface board 3012, the control panel 3011 is connected to the interface board 3012 through a communication interface, the integrated power module 3018 is electrically connected to the control panel 3011, and the interface board 3012 is provided with an ethernet communication interface 3015 and an external power interface 3017; the Ethernet communication interface 3015 supports modbus TCP and RS485, so that the robot can be controlled by a PLC/single chip microcomputer; the external power supply interface 3017 is connected to an external power supply through a power supply input cable;

the device comprises a first closed-loop stepping motor 201, a second closed-loop stepping motor 202, a third closed-loop stepping motor 203 and a fourth closed-loop stepping motor 204, wherein the first closed-loop stepping motor 201 is used for driving a first rotating arm 108 to transversely move along the horizontal direction, the second closed-loop stepping motor 202 is used for driving a second rotating arm 109 to transversely move along the horizontal direction, the third closed-loop stepping motor 203 is used for driving a screw rod 1060 to longitudinally move along the horizontal direction, and the fourth closed-loop stepping motor 204 is used for driving a spline shaft 107 to rotationally move along a central point; the first closed-loop stepping motor 201 is located at one end of the first rotating arm 108, the second closed-loop stepping motor 202 is located at the intersection of the other end of the first rotating arm 108 and one end of the second rotating arm 109, the third closed-loop stepping motor 203 and the fourth closed-loop stepping motor 204 are mounted on the second rotating arm 109, the top end of the lead screw 1060 and the top end of the spline shaft 107 are provided with the lifting shaft 105, two ends of the lifting shaft 105 are respectively connected with the top end of the lead screw 1060 and the top end of the spline shaft 107, and the bottom end of the lead screw 1060 and the middle of the spline shaft 107 are mounted on the second rotating arm 109 at a certain interval;

and the end connector 1071 is mounted at the bottom end of the spline shaft 107 penetrating through the second rotating arm 109, and the end connector 1071 is used for connecting an external device to realize the grabbing or the lowering of the material.

The SCARA robot based on the fully closed-loop stepping motor mainly comprises a robot controller 301, a first closed-loop stepping motor 201, a second closed-loop stepping motor 202, a third closed-loop stepping motor 203, a fourth closed-loop stepping motor 204, a first rotating arm 108, a second rotating arm 109, a screw 1060, a lifting shaft 105, a spline shaft 107 and a tail end connector 1071; compared with the prior art, the utility model discloses with controller and power high integration with reduce cost, adopt closed loop step-by-step power so that appearance is compact, can use PLC singlechip control, control technology is simple, easy to get to the hand to reduced and used the threshold, be favorable to market popularization.

Specifically, the robot controller 301 further includes a WIFI receiver 3013, a general I/O interface 3014, and a USB interface 3016, where the WIFI receiver 3013 is configured to implement wireless remote control of the SCARA robot, the general I/O interface 3014 is configured to control peripheral devices, and the USB interface 3016 is configured to load and upgrade a software program installed on the control board 3011.

As an embodiment of the present invention, the SCARA robot further includes a first harmonic speed reducer 205 and a second harmonic speed reducer 206, the first harmonic speed reducer 205 is connected to the first closed-loop stepping motor 201 through a first connecting shaft 2051, the second harmonic speed reducer 206 is connected to the second closed-loop stepping motor 202 through a second connecting shaft 2061, the first harmonic speed reducer 205 is further connected to one end of the first rotating arm 108 through a first synchronizing shaft 2011, and the first harmonic speed reducer 205 is further connected to an intersection of the other end of the first rotating arm 108 and one end of the second rotating arm 109 through a second synchronizing shaft 2021; the first harmonic reducer 205 is in harmonic transmission to enable the first closed-loop stepping motor 201 to smoothly drive the first rotating arm 108 to move, and the second harmonic reducer 206 is in harmonic transmission to enable the second closed-loop stepping motor 202 to smoothly drive the second rotating arm 109 to move.

As an embodiment of the utility model, first closed loop step motor 201, second closed loop step motor 202, third closed loop step motor 203 and fourth closed loop step motor 204 are many rings of encoder motors, and many rings of encoder motors are through setting up accumulate component connection hall switch for the number of turns of rotation of motor axis of rotation can be measured out through hall effect through hall switch under induction field's effect all the time, thereby has realized the accurate control to this SCARA robot motion.

As an embodiment of the present invention, both sides of the screw rod 1060 are provided with the linear rails 106, the linear rails 106 are used for making the lifting of the screw rod 1060 stable, the top of the linear rails 106 is fixed on the lower surface of the first fixing seat 1054, the bottom of the linear rails 106 is fixed on the upper surface of the second rotating arm 109, the first fixing seat 1054 is provided with an opening, so that both ends of the lifting shaft 105 can pass through the top of the connecting screw rod 1060 and the top of the spline shaft 107, the third mounting member 1051 is fixed on the first fixing seat 1054 by one side of the lifting shaft 105 through the screws, and the fourth mounting member 1052 is fixed on the first fixing seat 1054 by the other side of the lifting shaft 105 through the screws.

As an embodiment of the present invention, the connection between the lifting shaft 105 and the spline shaft 107 is fixed by the connection of the fixing frame 1059, the fifth installation member 1053 is fixed to the lifting shaft 105 by the screws on the connection of the fixing frame 1059, the other end of the connection of the fixing frame 1059 is connected to the connecting piece 1061 located at the middle of the lead screw 1060, and the connecting piece 1061 adopts a double-slider structure to improve the stability of the longitudinal movement of the lead screw 1060.

As an embodiment of the present invention, the spline shaft 107 is fixed in a position above the second rotating arm 109 by the second fixing base 1055, so that the spline shaft 107 rotates along the central point; the lead screw 1060 is fixed at a position above the second rotating arm 109 through a third fixing seat 1056, the third closed-loop stepping motor 203 is fixed at a position above the second rotating arm 109 through a fourth fixing seat 1057, and the fourth closed-loop stepping motor 204 is fixed at a position above the second rotating arm 109 through a fifth fixing seat 1058.

As an embodiment of the present invention, a third synchronizing shaft 2031 is installed at a lower end of the third closed-loop stepping motor, a fourth synchronizing shaft 2041 is installed at a lower end of the fourth closed-loop stepping motor, a first synchronizing belt 20311 is sleeved on peripheries of the third synchronizing shaft 2031 and the third fixing base 1056, and a second synchronizing belt 20411 is sleeved on peripheries of the fourth synchronizing shaft 2041 and the second fixing base 1055; the third closed-loop stepping motor drives the third synchronizing shaft 2031 to rotate so as to drive the first synchronizing belt 20311 to rotate, and then the first synchronizing belt 20311 rotates to drive the screw rod 1060 to move; the fourth closed-loop stepping motor drives the fourth synchronous shaft 2041 to rotate so as to drive the second synchronous belt 20411 to rotate, and then the second synchronous belt 20411 rotates to drive the spline shaft 107 to move.

As an embodiment of the present invention, this SCARA robot further includes bellows 104, and bellows 104 is used for accomodating the control pencil, and first installed part 1041 fixed mounting is passed through on robot controller 301 to the one end of bellows 104, and second installed part 1042 fixed mounting is passed through on first mount 1043 to the other end of bellows 104, and first mount 1043 is adjacent with second closed loop step motor 202.

As an embodiment of the present invention, the SCARA robot further includes a first housing 101, a second housing 102, a third housing 103, and a base 1031, the first housing 101 is installed on the second rotating arm 109 to cover the components installed on the second rotating arm 109, the second housing 102 is installed on the first rotating arm 108 to cover the components on the first rotating arm 108, and the bottom of the third housing 103 is engaged with the base 1031 to cover the robot controller 301.

Specifically, a protruding portion 1011 is disposed at an end of the first housing 101, which is connected to the second housing 102, a U-shaped groove 1021 is disposed at a position of the second housing 102 opposite to the protruding portion 1011, and the protruding portion 1011 and the U-shaped groove 1021 are engaged with each other to enable the first housing 101 to intersect with the second housing 102; a plurality of screw holes are further formed in positions of the first casing 101 corresponding to the second casing 102, so that the first casing 101 is connected and fixed to the second casing 102 through screws; the base 1031 is provided with a plurality of heat dissipation holes 10311 so that heat generated by the operation of the robot controller 301 is dissipated in time.

Preferably, the first rotating arm 108 is in the form of a flat plate to enlarge the movable range of the second synchronizing shaft 2021.

Preferably, the screw 1060 and the spline shaft 107 are designed separately, so that the cost is low and the maintenance is easy.

Preferably, the elevation axis 105 is a tank chain.

Preferably, the bottom of the end connector 1071 is provided with a through hole 10711, and the spline shaft 107 is a cavity to be able to connect with the solution transporting device.

The operating principle of the multi-turn encoder motor, referring to fig. 8 to 11, is as follows:

the multi-turn encoder includes: the Hall switch comprises at least three Hall switches 2, wherein all the Hall switches 2 are uniformly arranged around a central line A at intervals, one end of a rotating shaft 4 of a motor 10 is provided with an induction magnet 5, the rotating shaft 4 of the motor 10 is arranged on the central line A, the induction magnet 5 is provided with N, S poles along the direction vertical to the central line A, and all the Hall switches 2 are in the magnetic field range of the induction magnet 5; the power storage element 1 is electrically connected with all the Hall switches 2; the magnetic sensor 3, the magnetic sensor 3 is set up on central line A, the magnetic sensor 3 is in the magnetic field range of the induction magnet 5; the power interface is electrically connected with the magnetic sensor 3 and is used for connecting a power supply; and the control circuit board 6 is electrically connected with all the Hall switches 2 and the magnetic sensors 3.

Specifically, the hall switch 2 is a magnetic sensor based on the hall effect. They can be used to detect magnetic fields and their changes and can be used in various fields related to magnetic fields. If the switches integrated with the hall switches 2 are arranged regularly at predetermined positions on the object, the pulse signal can be measured from the measuring circuit when the permanent magnet mounted on the moving object passes over it. The displacement of the moving object can be sensed according to the pulse signal sequence. If the number of pulses emitted per unit time is measured, the speed of movement can be determined.

For example, suppose that there are three hall switches 2 on the control circuit board 6 (assuming that the hall switch 2 only outputs to the S pole, the S pole of the magnetic field is close to it, outputs a low voltage signal, the S pole of the magnetic field is away from it, outputs a high voltage signal), which are respectively a hall switch 1 No. 21, a hall switch 2 No. 22 and a hall switch 3 No. 23 arranged in sequence clockwise, as shown in fig. 10, the three hall switches 2 are arranged at intervals of 120 °, the power storage element 1 supplies power to the hall switch 2, the hall switch 2 is powered on to work, and when the rotating shaft 4 of the motor 10 rotates, the induction magnet 5 thereon rotates along with it.

Assuming that the S pole of the sensing magnet 5 is closest to the middle position between the hall switches 3 and 23 and 1 and 21, which is the position where the rotating shaft 4 of the motor 10 is 0 °, the rotating shaft 4 of the motor 10 continues to rotate clockwise, the S pole of the sensing magnet 5 gradually approaches the hall switch 1 and 21, and when the rotating reaches 60 °, the S pole of the induction magnet 5 is closest to the Hall switch No. 1 21, the rotating shaft 4 of the motor 10 continues to rotate clockwise, the S pole of the induction magnet 5 is gradually far away from the Hall switch No. 1 21, when the rotation reaches 120 degrees, the S pole of the induction magnet 5 is farthest from the Hall switch No. 1, based on the Hall effect, in the process of 0-120 degrees, the Hall switch No. 1 21 is close to the S pole of the induction magnet 5, and the Hall switch No. 1 21 outputs a low-voltage signal to the control circuit board 6; the rotating shaft 4 of the motor 10 continues to rotate, the Hall switch No. 1 21 is far away from the S pole of the induction magnet 5, and in the process of 120-360 degrees, the Hall switch No. 1 21 outputs a high-voltage signal to the control circuit board 6.

Similarly, for the Hall switch No. 2 22, the Hall switch No. 2 outputs low voltage at 120-240 degrees, and outputs high voltage to the control circuit board 6 at 0-120 degrees and 240-360 degrees; the Hall switch No. 3 23 outputs low voltage at 240-360 degrees and outputs high voltage to the control circuit board 6 at 0-240 degrees.

The control circuit board 6 collects all low voltage signals, and the control circuit board 6 receives the three voltage signals and records the number of the three voltage signals as 1 circle when the rotating shaft 4 of the motor 10 rotates for one circle; fig. 11 is a schematic diagram of the voltage signal received by the control circuit board 6. And each point on the voltage signal corresponds to a specific position where the rotating shaft 4 of the motor 10 is located, so that the single-turn rotating angle of the rotating shaft 4 of the motor 10 is accurately determined.

In addition, the 3 hall switches 2 can effectively judge the positive and negative rotation of the rotating shaft 4 of the motor 10, for example, the control circuit board 6 only records the positive number of turns when receiving the low voltage in the sequence of the hall switches 1, 2 and 23, and records the negative number of turns when receiving the low voltage in the sequence of the hall switches 1, 3 and 22.

Furthermore, the power storage element 1 is in a continuous power supply state when the electromechanical device in which the multi-turn encoder is located is in operation and at any time and under any scene that the rotating shaft 4 of the motor 10 can rotate, so as to ensure that the multi-turn encoder can accurately count.

Specifically, the magnetic sensor 3 is a TLE5012 angle sensor. The induction magnet 5 is opposite to the giant magnetoresistance induction area in the center of the magnetic sensor 3, when the rotating shaft 4 of the motor 10 rotates, the induction magnet 5 rotates along with the rotation, the magnetic sensor 3 can detect the magnetic field change parallel to the packaging surface of the magnetic sensor, record the magnetic field change and transmit a signal to the control circuit board 6. The scheme has the advantages of simple structure, low cost, small occupied space and high precision.

Wherein, when the induction magnet 5 mounted on the rotation shaft 4 of the motor 10 rotates with the rotation of the rotation shaft 4 of the motor 10, the giant magnetoresistance induction units Vx and Vy of the magnetic sensor 3 can detect the external magnetic field variation parallel to the surface thereof, and output cosine and sine signals, respectively. The signal is converted by a converter, then the arctangent calculation is carried out by a CORDIC (coordinate rotation digital calculation method) algorithm module in the sensor to obtain a required angle value, and finally information such as the angle is output to the control circuit board 6 through different signal protocols.

When magnetic sensor 3 circular telegram, the number of turns numerical value of the higher magnetic sensor 3 of preferred selection precision of control circuit board 6 and give electromechanical device's main control unit with data transmission, when magnetic sensor 3 outage, the number of turns numerical value of the output of whole hall switch 2 is chooseed for use to control circuit board 6 and gives electromechanical device's main control unit with data transmission, and this structure setting mode has guaranteed that number of turns numerical value can be accurately measured all the time.

Like this, connect hall switch 2 through setting up accumulate component 1 for no matter whether magnetic sensor 3 can the circular telegram work, the rotation number of turns of axis of rotation 4 of motor 10 can be measured out through hall switch 2 through hall effect under the effect of induction magnetic field accurately all the time.

The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims

1. A SCARA robot based on a full closed loop stepping motor is characterized by comprising

2. The fully closed-loop stepper motor-based SCARA robot of claim 1, wherein the robot controller further comprises a WIFI receiver, a universal I/O interface and a USB interface, the WIFI receiver is disposed on the interface board and is used for wirelessly and remotely controlling the SCARA robot, the universal I/O interface is used for controlling peripheral devices, and the USB interface is used for loading and upgrading software programs installed on the control board.

3. The fully closed-loop stepper motor-based SCARA robot as claimed in claim 1, further comprising a first harmonic reducer and a second harmonic reducer, wherein the first harmonic reducer is connected to the first closed-loop stepper motor through a first connecting shaft, the second harmonic reducer is connected to the second closed-loop stepper motor through a second connecting shaft, the first harmonic reducer is further connected to one end of the first rotating arm through a first synchronizing shaft, and the first harmonic reducer is further connected to an intersection of the other end of the first rotating arm and one end of the second rotating arm through a second synchronizing shaft; the first harmonic speed reducer enables the first closed-loop stepping motor to stably drive the first rotating arm to move through harmonic transmission, and the second harmonic speed reducer enables the second closed-loop stepping motor to stably drive the second rotating arm to move through harmonic transmission.

4. The SCARA robot based on the full-closed-loop stepping motor as claimed in claim 3, wherein the first closed-loop stepping motor, the second closed-loop stepping motor, the third closed-loop stepping motor and the fourth closed-loop stepping motor are multi-turn encoder motors, and the multi-turn encoder motors are connected with Hall switches through setting of electricity storage elements, so that the number of turns of a motor rotating shaft can be accurately measured through the Hall switches under the action of an induction magnetic field through a Hall effect, and accurate control of the movement of the SCARA robot is realized.

5. The fully closed loop stepper motor-based SCARA robot as recited in claim 4, wherein linear rails are disposed on two sides of the screw rod, the linear rails are used for enabling the screw rod to ascend and descend stably, the top of the linear rails is fixed to the lower surface of a first fixing seat, the bottom of the linear rails is fixed to the upper surface of the second rotating arm, the first fixing seat is provided with an opening, so that two ends of the elevating shaft can penetrate through the opening to be respectively connected with the top of the screw rod and the top of the spline shaft, a third mounting member fixes one side of the elevating shaft to the first fixing seat through screws, and a fourth mounting member fixes the other side of the elevating shaft to the first fixing seat through screws.

6. The fully-closed-loop stepping motor-based SCARA robot as claimed in claim 5, wherein the connection part of the lifting shaft and the spline shaft is fixed by a connection fixing frame, a fifth mounting member fixes the lifting shaft on the connection fixing frame by a screw, the other end of the connection fixing frame is connected with a connecting member positioned in the middle of the screw rod, and the connecting member adopts a double-slider structure to improve the smoothness of the longitudinal movement of the screw rod.

7. A fully closed loop stepper motor based SCARA robot as claimed in claim 6, wherein the spline shaft is fixed in position above the second rotating arm by a second fixing seat, so that the spline shaft moves rotationally along the center point; the screw rod is fixed at a position above the second rotating arm through a third fixing seat, the third closed-loop stepping motor is fixed at a position above the second rotating arm through a fourth fixing seat, and the fourth closed-loop stepping motor is fixed at a position above the second rotating arm through a fifth fixing seat.

8. The SCARA robot based on the fully closed-loop stepping motor as claimed in claim 7, wherein a third synchronizing shaft is installed at a lower end of the third closed-loop stepping motor, a fourth synchronizing shaft is installed at a lower end of the fourth closed-loop stepping motor, a first synchronizing belt is sleeved on the third synchronizing shaft and the outer periphery of the third fixing seat, and a second synchronizing belt is sleeved on the fourth synchronizing shaft and the outer periphery of the second fixing seat; the third closed-loop stepping motor drives the third synchronous shaft to rotate so as to drive the first synchronous belt to rotate, and then the first synchronous belt rotates to drive the screw rod to move; and the fourth closed-loop stepping motor drives the fourth synchronous shaft to rotate so as to drive the second synchronous belt to rotate, and then the second synchronous belt rotates to drive the spline shaft to move.

9. The fully closed-loop stepper motor-based SCARA robot of claim 1, further comprising a bellows for receiving a control harness, wherein one end of the bellows is fixedly mounted on the robot controller by a first mounting member, and the other end of the bellows is fixedly mounted on a first fixing frame by a second mounting member, and the first fixing frame is adjacent to the second closed-loop stepper motor.

10. A fully closed loop stepper motor based SCARA robot as claimed in claim 1, further comprising a first housing mounted on the second rotor arm to cover components mounted on the second rotor arm, a second housing mounted on the first rotor arm to cover components on the first rotor arm, a third housing having a bottom cooperating with the base to cover the robot controller, and a base.